e

e
d

d
in

in
aj

aj
+ Time Kesponse 0
Fist- Oordey Systemg

R
Let
Conside the tst- ondey System with uhity ferdboc
E(s) cls) R() 4
T8+1
The
System, cls)
ar

ar
R(s) Ts+1
• Re sponse to the nit step input
um

um

u
1
cls)s(Ts+)
K

K
Using Potiel raction,
r

r
de

de
A
S(Ts+) 8
Ts+ 1 S
in

in
1 = As + B(Ts +
1) (A+ BT)S + B
aj

aj
On comping ceeicient S
R

R
A+ BTo
c (s) =
-T 1
Ts + 1
1aling the inverse laplace transfonm,
we
ar

ar
um

um

e4)

u
K

K
elt)
r

r
de

de
=
el)- R)- c) AT
in

in

Response to the unit- Ramp Iypu

aj

aj

. C(s) --
to7 unit-romp inpd, Rl)= s(Ts+1)
R

Using PostialFsaciion,
Bs+ C

sTs+) Tst2 +
1= As°+ BTs+ Bst CTs +
C: S(A+ 8T) + S(B+ CT) C

coeieients,
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
A +BT= 0 =) A= T

(s) T'
!. C

Ts+1
5 +/
inverse Laploce Transton
Taking
Clt)t T+Te
=

- T-Te TÚ-e)
e4) R) c)= Steo dy
ar

ar
Stote
um

um

u
K

K
r

r
Response of 2nd order system.
de

de
Time

Let us Consider the ahd-order system with unity

in

in
eed ba.
aj

aj
R

R
S(s+ 2
.)

C Ghls) S(6 + 25O)

R 1+ G(Hls
"s (s + Pwn)
ar

ar

.R(s)
um

um

cLs)
s+ 2Gco,S + Co

u
K

K
where co, is natural frequency.
r

is damping constant (or

damping ratio)
r
de

de

he time response o
any system is chanacteized by the
in

in

roots of the denominator polynomial, cohich oe the poles

aj

aj

transfer unetion The deno mí uatox polynomial thesleg

R

ec chanacterisie eat", he chana defsh

is call
eguction under consideralion is
co -+
s+2nS =0
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
Let,

Casa »d,
-D (Undamped)
ar

ar
Jmg
um

um
Case-2, 1(Critically dampede
-,

u
=
S,
-Q4
S
K

K
Caseg, ž= (0,) (Under
clare
r

r
de

de
S, e S, are complex touyugk
Caset, (overdan)
>1
in

in
aj

aj
Time Response.
R

R
CE)
TE =
R(S) -R(S)
S'+2Z0,3 +O;
Fos unit step input, RCS):

C(s) =
S°+PconS + co; S
ar

ar

Using Parlial Fraclion,

Bs+C
um

um

S+La,g + cO; S S

u
w
ACs²+ co3) + (83+C)s
2%0, 3 +
K

K
= S°(A+ B) +
S(2%co,A+ C) + Aw;
r

r
de

de
On comping LhS wit RHS, A= 1
A+8=0 >B--1|
in

in

C+2%0,A >
C=-2Zo
aj

aj
R

S+QZ4n
(8+~,)+ Q-o;

-4-g
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
(S+ Z0)?+
taking inverse Laplace,
-Gu,t
-Sin COat
ar

ar
Sincoat/
um

um

u
mprd

z- sin4
K

K
put %- cos1-
any
r

r
de

de
+
CoS wat %sinat
J4
in

in
1-e sin.coscigt + cos¢-. Sin@at)
aj

aj
R

R
) eGi(wat + ) :
Ch):
4-Sinle-2't+ tara
he error is as, -(wat
ar

ar

Aiven
sin [w,-g't +
um

um

The steady sloto erros is g ven as

u
o.s-+tant4
K

K
s in
r

r
c.
de

de
The term is called natural freguerncy of
oscillations. The
erm wy
con4-2 iscalled damped freguency of oscillations.
in

in

he term affects the damping and called damping ratio and

aj

aj

the term tom is called dampin9 actor or actual camping

R

damping cocicients.
The tirme response ot a second order control
system is inluenced by its damping aato (3).The
case ox the volues of damping sahio as: a) ,«1 (6) X-0
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
are plot ted and responBe poeS ents
(&) Time respon3e or r1
a response is callec nderdaped
amped oscillations and such
YespohSe.
respon se of a second order Systen
(5) Hn expression tor time desi ved as:
hoving g:D lohen subjected to unit step ilp is
ar

ar
-ols,t
sin) o1-07t + taj'
um

um
1 - sin (co,t +
tan'c) =
d- sin(ct +)

u
K

K
The time response is indicates sustained (undampe)
r

r
de

de
bscillatins.
c) An ecpre ssion tos time response a second order system
in

in
having G-1,
+
tan1-'
aj

aj
c
l)- i |4-sin(,a-+
R

R
put tan
edont sin
CC) = o.1-°t t )
- TsinCo, -g)cosd + cos(to, a-g) sind
ar

ar

Lim
iesin (eo,ss-gt)%+ cooss (o.-y).4
um

um

u
m
Now SinCco,
J-g) co,J-yt
K

K
r

r
de

de
w,t
Lim
in

in
aj

aj
R

respon se eiti caly

he is called dampeol

vesponse is overdamped.
W) F t1 he
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
Tirne Responge 0.& <1(-0.)

R
ar

ar
Response Spectcsions 9l3lag
#Iime
um

um

u
K

K
r

r
de

de
in

in
45t
aj

aj
R

R
(a) Delay Eme t)-T is time required for he response to'
reach 50%, of the irst value in irst attempt.
req uined tor the response
ar

ar

( Rise lirme tr)- Jt is the lime

to rise from 107. to o7 the inal value Yo overdoe
o
um

um

to 1007. of the ina value tor 'underdamped

System and 0

u
systems.
K

K
he tr is obtcined y when c4)
n ton
eaches unity
r

r
de

de
irst time, ie,_LWt,
Clt,) 1 -e
in

in
aj

aj
R

R
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
response

R
Peak to-
Time is the time required for the
C) response or the peak overshoot.
to reach the peak of time
eoen t'aa time response wt to ' ancd eguate
di
tu nerO, -tW,te
dcl)
ar

ar
um

um

u
4- G0g
(w, 4-2,+ ) =Sin[eo.4-+Jo
K

K
r

r
de

de
in

in
, ,
aj

aj
coni-t, On, 37n,
o
R

R
1* ovess hoot

(d) Peak Overshoot M,: 34 indicates the normali zed

di?}exenre
between the me
response peak and stea cy o/p
and
is
ar

ar

c
Peak pevcpyt ovex shost =
Cltp)- («)
um

um

-tonte
tan
sin o,-gt,*

u
K

K
r

r
de

de

Sin(a+ )
eTp
in

in
aj

aj
R

sind:
H, =-e
X100
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
responge
Seting Time- JA is the time required fon the

R
to reach and stay twj thin &
specitied tolerance bând
Or 5%) o
is Hinc) vetuc
Cusually
t 4T=
-
ts 37 3.3

. br
ar

ar
The block diagram of a unily teedback Control syslen
um

um
20

u
R(s) (s+)ls+5)
K

K
Determine characteristic eg,uation
o system, Wn, B, wd, t,,
r

r
de

de
o
Mp, time at which irs undeshout tie peu'od
os cill ions number o cycde completd belor
in

in
the
steay stete,
aj

aj
Si+ The TF 's,
R

R
20
(s+ 1)(s+5) 20
R(S) 20
C5+)(s + 5)
The chasactemistic eq,ualion is
s'+ 6s + 25 =o
ar

ar

Faom honacteoisic equaton

um

um

w, =
P5
=
5nad/sec.

u
2wn= 6
K

K
-0.6
r

10 5
r
de

de
in

in

- Sx
b.) Unad/sec
aj

aj

ovess hovt
Time at cohich mand mum oCcUS.
R

0.621

Haumim
e at which di sh undersh vd
= 1.Ssec
t-
ar

ar

os cillatons, I.Ssec
The peiod f 4
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
#Root Locus Technique:
4 opern - loop transfer funclion of a control system
Ihe
is given by. G(S)Hl)= +
s(8+ 6)(s+ 43 13)
Sketch the root Locus and deterrnine: (a) The break aw poit,
ay
The angle of depature from complex poles and t) he
ar

ar
stability condition.
um

um
Solution ddentify start ing points of Locus/P.
) )

u
4ac
3= 0, 8=-6, 8=-2 +i3), S-(-213) S: -5tb'-
K

K
i9) Jdentiy end points of Locus,
r

r
de

de
.
Hs klo-) End poinl->
in

in
no. of brancheg
aj

aj
('v) Existance of Locus on real ayis.
R

R
lie between two
poles S-0 and S--6
&) Breakaway Point
Chas n, 1+ G(s)
H()= D
(5°+6) (s43+ 13) 4ke0 ) Ke
-s'+ 10s +
37g° + 79s
dk -[4g° +30s? + 79s +73
ar

ar

ds
put
um

um

clk
dS)

u
=
/s) dk
K

K
.. +
cl3
r

43 30s+ 14s + 18= O r

de

de
=
(0) 73 )=1 8|-s)- -42
44)= -45D
in

in

#-4) 6 A(-4.): 0.04 o

aj

aj

Thus eg.uotion is satistied at break way

point is -4.3,
S- 4.2, Hene
R

(1) Angles bt asymptodes, (ak+ 1)x180 where k- D, 1

x0 1)X180 4s° (D) (3 +1)45' = 135 k: , 93
a,./e2D
,
\I) (Sr3 +)43 315
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
real xíg at

R
)() The asymptotes intersect on he
a - 10 --2.5
(0-6 -a+3j- -3-0
p-z
angle of departure from he pole c2+J3 is
Mn)he
colculat ec below,
+
+ ton'/)
ar

ar
s 480 -|(18o'- ton3))
t
um

um
: 180' -|180- 56.3044
+
36.869

u
-70.46
K

K
r

r
Ox)The intensection of the root locus plot with im a ginq 2y
de

de
Cou's,
usng Rott hus wid2,
in

in
s+ 10s3 +37s² +
8s +ko
aj

aj
1 37 K
R

R
16
29,2
S' 78-0.34k
S
K
The
ar

ar

intes-seciion o rout locus wih

78-0,34K=o
um

um

u
K

K
From hoot locus plot it i8 noted to
that k> as44 he
r

ve
r
two bots
de

de
ha +Ve real pt,'.) System ste
is ble
i k
2. Sketch root locus plot for the systern when
in

in

open
19llog
aj

aj

loop TF is given by K(S +2)

G (3) H(S) =
S(s*+2 + e) (S+5)
R

(s+)
Ö) Tdenty starting points of locus,(P:5)
S= 0, -5, -6,1+y.(3-)
40 Jdentify the end points of locug,
ar

ar

(z= 1)
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
DS-JbA3 -1b13-
-
6U3-10US 10-3248* - 3ao3
Ae.
ar

ar
S(s +6)( S+4s +3)
um

um

u
K=234.9)
K

K
r

r
de

de
K=oX
R470.9"
in

in
-5.5
aj

aj
135
R

R
-5.53

Breakaway
31S Hen
Point
ar

ar

(-u)
um

um

u
K-a34,4
K

K
-ja.48
r

r
de

de
in

in
aj

aj
R

135, aa5, 315

ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
ar

ar
dk -5s52s-1
um

um
$Cs²+23+)(ss)s+) ds

u
t 135
K

K
dk -4s°-49s
yg
498
r

r
de

de
Let
(9)= de
. 45+49s"+
in

in
ds
aj

aj
R

R
{0)= 12o

rot (-)= 48
-2 -5.54)- -0.
Breakav ay
Trà The equat
Pojut puint is t4
ar

ar

ori) Anges o
t it
i4
um

um

(2k+ 1)4:

u
p-Z
K

K
s pl d:
r

r
de

de
4
by
G(3)HL)= s/g42s +2) (s+ 5) (S+6)
in

in

s(s²+2
aj

aj
R

R
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
hranches. N= p- 5 P>] L
GiD Tdentiy num bea o

R
(iv) Eistance o
Locus n
xeal acis lie between poleg
(0 to -2) and (-5 to -6)
V) Breakaway Point
Charactesistie -n, -+ Kls+2)= D
1 + G(S):H(s) D (s+2g?+2g) (s+ 11s +30)
ar

ar
g+11s+80s'+2s+ 22 9>+60s + 2s +
22s? + 60s + kCSt)*
um

um
K(S
+):-[s+138"+ 543) + 8as? + 60s]
54s4 8as'+60s

u
+
keS'+139*
K

K
S+2
-S+2) (5s*+ 528+ 162 s?+ 464yg+60)+ (s13s*54s'+8as+k0-)
r

r
X
de

de
(S+2)*
Clk-5352s'-162s°-1643*-60s-10s"- 10Y-324 -3a8s-l0+si3s'54s-J3g+60s
in

in
ds (S +a)?
aj

aj
dk -4s5 49s-313g*-406s398s -l90
R

R
Let =
(S+a)? 3gi4 3s
+s) dk
o
43+443 +a1as'+
-
40634323s +120:
(-5.5) =3a
$(o)= 13o | s) Q55s) j5915
AL)= 48 -6): -624 (-
5)= 1032 (-5.5)=8.127
ar

ar

-
-5.54)- -040| (-5.539) 6.4 S 0
um

um

The eutiun is satisied at S: -5.53q, Hente breckway

u
puint is +:4 -5,539
K

K
fngles o Asompiocer
r

(eK+ 4)180, K-0,4,., (P-Z-)

r
de

de
p-2
, a,
in

in

K= 0 3
-(RK1) 80,
aj

aj

ak{+ (aK+1) 45 3 K=01,9,3

R

45, 135, aas

es
3/5
(vn) The asymptod intersec on the real qcis at
(o-5-6-14 j-4- )--3)
p-2 !-2.75
(vm) The angle o
deporture rom the pule (-l+j) is
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
er+i)

+ ).30)
180-[480'-45) 40+ 45+ 14.03
+
ar

ar
=
-1|5.33
um

um
o-i) 115.33
rot lo cys wit jmoqinay ae,

u
itessechon of
K

K
Using Routh Hurwitz
r

r
g+41g+ 30s
de

de
+ 13s* + 54s + 82s +
(60+K)s +
ak= 0
in

in
54 60+K
aj

aj
13 82 2K 47.33 a)-13(60 -0,246))
R

R
Y7,692 60-0.84 6IK
s² 65. 695+0.JK
65.(45 6.23/
ar

ar

-> 60-0, 8461K 95.3 84K -:o (60-0. 8461K)(65.845+0.33 )-95.3 59C
um

um

65.645-t O.23 K

u
39387 4 13.9K -55.54ak- ,)9y61q5. 3 4K
K

K
0.1946K* +
137.16K-393 87 =0
r

-137.126 803.5 +
3065 .}
r
de

de
o.359?
0.156 -a 35.0 09
in

in

0.3842 0.392
aj

aj

-
K= Q7, 636, 73 84
8,
R

S65.645 + o.33 (97. 63 0) + a (a1630 o

s
10,00128 =
-55. a 79 -) s'= -55.a7 =
-0167653
79. oo127
S=j0.876!5s09
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
ar

ar
um

um

u
K

K
r

r
de

de
Q. Draco Bode Plot tor. 920/23
in

in
Solt put s- joo, G(S
aS(1+
5/4-635 100
019)(4+ 0.2$)
aj

aj
G(i) 100
R

R
Ceitical eguenties,
D0Mpaeit oit 1+sT
10
ar

ar

lo
-Sradlsec
um

um

u
K

K
r

r
de

de
in

in
aj

aj
R

R
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
IGCj)): 20ogk- a0lgto - a0

Gain o} t ine at cu1 srad/sec.

- 20legk= 20leg1oo 20leg(1o)
lecjla., :
ar

ar
4olog40
Write all reg. in ascending orden and ind slope of all
um

um
COSneh reg

u
K

K
Pole/2ero Slope 1Resultant Slope
r

r
de

de
NTER Pole -0dB/dec -20dB/dlec
in

in
5 Pole
-a0 dB/dec -HOdB/dec
aj

aj
J0 Pole -20l6/dec
R

R
-60dB/er
Waite phase equation ond make table o cw.

-q0 - ton
at osigin
ar

ar

-107.0Q05356
5-148.4349y88
um

um

40 -98, 434448?

u
K

K
5o- 58.4794744
r

30o- 61,4a 70o6

r
de

de

G(G)= 80 Oac the Bode plot. Detexmine GM, PM.

in

in

S(s+) (s+ 26)

Cwge COpe. Comment on
stabi lity
aj

aj

Sol' G(S) = 86
R

S(S+) (S +20) sa(1), 20() Y).

K=&.
Pole at oxiqin >
-0 d6/dec

nodsen
ar

ar
um

um

u
K

K
 e

e
d

d
in

in
aj

aj
R

R
-60d8/dec

c20cse
ar

ar
um

um

u
K

K
GMa0.0540
-H0dB/dec
r

r
Stable
de

de
10'
646
in

in
-blogkr
89
is
aj

aj
7
Syslem
6
R

R
5

3
ar

ar
um

um

10

u
20dB/dec

89
K

K
7
r

6
r
de

de
5
in

in

4
aj

aj
R

-a04 -24D
30dBt -I50 -180
60d&
50d6
40d6 -60
ar

ar
um

um

u
K