TIME DOMAIN

ANALYSIS
Email: hasansaeedcontrol@gmail.com
URL: http://shasansaeed.yolasite.c
om/

SYED HASAN 1
SAEED
 BOOKS

1. AUTOMATIC CONTROL SYSTEM KUO &

GOLNARAGHI
2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED

SYED HASAN 2
SAEED
 DEFINITIONS
TIME RESPONSE: The time response of a system is the
output (response) which is function of the time,
when input (excitation) is applied.
Time response of a control system consists of two parts

1. Transient 2. Steady State

Mathematically c(t)  ct (t) Response
Response css
, (t)
Where, ct (t ) = transient response

css (t ) = steady state

SYED HASAN
response 3
SAEED
TRANSIENT RESPONSE: The transient response is
the part of response which goes to zero as
time increases. Mathematically
Limit ct (t) 
t
0
The transient response may be exponential or
oscillatory in nature.
STEADY STATE: The steady state response is the part
of the total response after transient has died.
STEADY STATE ERROR: If the steady state response
of the output does not match with the input then
the system has steady state error, denoted by ess .
SYED HASAN 4
SAEED
TEST SIGNALS FOR TIME RESPONSE:
For analysis of time response of a control
system, following input signals are used
1. STEP FUNCTION:
Consider an independent voltage source in series with
a switch ‘s’. When switch open the voltage
at terminal 1-2 is zero.

SYED HASAN 5
SAEED
Mathematically
, ;   t  0
When the  0 is closed at
v(t)switch
t=0 v(t)  K ; 0t
Combining above two 
v(t)  0
equations ;   t  0
v(t)  K ; 0t
 by u(t) and defined
A unit step function is denoted
as u(t)  ; t
0 ; 0
u(t)  0t
1
SYED HASAN 6
SAEED
Laplace transform:
  st 
 e
£f(t)=  u(t)e dt   1.e dt     1
 st  st

0 0   s 0
s
2. RAMP FUNCTION:
Ramp function starts from origin and increases or
decreases linearly with time. Let r(t) be the
ramp
function then, r(t)
K>0
r(t)=0 ; t<0
=Kt ;
t>0 t

SYED HASAN 7
SAEED
LAPLACE TRANSFORM:
 
£r(t)   r (t )e st st K
0 dt  0 Kte dt 
s2
 R(s)  K2
s
F
or unit ramp K=1 r(t)
0
t

K<0

SYED HASAN 8
SAEED
3. PARABOLIC FUNCTION:
The value of r(t) is zero for t<0 and is quadratic
function of time for t>0. The parabolic function
represents a signal that is one order faster than the
ramp function.
The parabolic
r(t) function is defined as
t0
0 Kt
r(t)  2 t0
2
For unit parabolic function
K=1 r(t)  0
t0
r(t)  t t
22
0
SYED HASAN
SAEED
9
LAPLACE TRANSFORM:
 
Kt 2
e  st dt  K
 r(t)e dt  
 st
£r(t)  2 s3
0 0

R(s)  K3
s

SYED HASAN 10
SAEED
IMPULSE RESPONSE: Consider the following fig.

The first pulse has a width T and height 1/T, area of

the pulse will be 1. If we halve the duration and
double the amplitude we get second pulse. The
area under the second pulse is also unity.

SYED HASAN 11
SAEED
We can say that as the duration of the
pulse approaches zero, the amplitude approaches
infinity but area of the pulse is unity.
The pulse for which the duration tends to zero
and amplitude tends to infinity is called impulse.
Impulse
function also known as delta
Mathematically function.
δ(t)= 0 ; t ≠ 0
=∞ ; t = 0
Thus the impulse function has zero value
everywhere except at t=0, where the
amplitude
is infinite. SYED HASAN 12
SAEED
An impulse function is the derivative of a step function
δ(t) = u(t)

£δ(t) = £ d
u(t)  s. 1 
1
INPUT r(t) dt SYMBOL R(S)
s
UNIT STEP U(t) 1/s

UNIT RAMP r(t) 1/s2

UNIT PARABOLIC - 1/s3

UNIT IMPULSE δ(t) 1

SYED HASAN 13
SAEED
 THANK
YOU FOR
ATTENTIO
N
SYED HASAN 14
SAEED
 TIME RESPONSE
OF
FIRST ORDER
SYSTEM

Email : hasansae
edcontrol@gmail.com URL:
http://shasansaeed.yola
SYED HASAN 1
SAEED
 BOOKS

1. AUTOMATIC CONTROL SYSTEM KUO

&
GOLNARAGHI
2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED

SYED HASAN 2
SAEED
RESPONSE OF FIRST ORDER SYSTEM WITH UNIT
STEP
INPUT:
For first order system
C (s)


1
1
C(s)  R(s)
sT 1
1
Input is unit R(s) 
s
step 1
sT 1
C(s)
s(sT
11) T
After partial fraction C (s)  
s 1
SYED HASAN
SAEED sT 3
Take inverse Laplace
c(t)  1
ec(t)
t / T
 1 e T / T  1 e 1 
When t=T
0.632
Where ‘T’ is known as ‘time constant’ and defined
as the time required for the signal to attain
63.2% of final or steady state value.
Time constant indicates how fast the system
reaches the final value.
Smaller the time constant, faster is the
system
response.
SYED HASAN 4
SAEED
RESPONSE OF FIRST ORDER SYSTEM WITH UNIT RAMP
FUNCTION:
C(s) 1
We know R(s)  sT 1
that
1
C(s)  R(s)
sT 1
1
Input is unit Ramp R(s) 
s2
1
C(s)  2
s (1
sT
1 ) T 1
After partial fraction C(s)  2  
s s 1
T s
T
SYED HASAN 5
SAEED
Take inverse Laplace, we get
c(t)  t  T  Te  t /
T
Error signal e(t)  r(t)  c(t)
e(t)  t  t  T  Te t /

T

Steady state e(t)t  T (1 e t / T )
error
The steady state error is
equal to ‘T’,t / where ‘T’ is
 Limit(T  Te T
)
the time constant of the system.
T
For smaller time constant steady state error will
be
small and speed of the response will increase.
SYED HASAN 6
SAEED
RESPONSE OF THE FIRST ORDER SYSTEM WITH UNIT
IMPULSE FUNCTION:
Input is unit impulse function
R(s)=1 1
C(s)  R(s)
sT 1
1
C(s)  .1
sT 1
1 1
C(s) 
1
T s 1/
c(t)  Te t / T
Inverse Laplace T
transform

SYED HASAN 7
SAEED
SYED HASAN 8
SAEED
 Compare all three responses:

1
For unit Ramp R(s)  c(t)  t  T 
Input
R(s) 
1s 2 Te t / T

For Unit Step

s c(t)  1
Input
R e t / T 1 t / T
For Unit Impulse c(t)  e
Input (s)  1 T
It is clear that, unit step input is the derivative of
unit ramp input and unit impulse input is the
derivative of unit step input. This is the property of
LTI system. SYED HASAN 9
SAEED
THANK YOU

SYED HASAN 10
SAEED
 TIME RESPONSE
OF
SECOND ORDER SYSTEM

Email : hasansaeedcontrol@gmail.com
URL: http://shasansaeed.yolasite.com/

SYED HASAN 1
SAEED
 REFERENCE BOOKS:

1. AUTOMATIC CONTROL SYSTEM KUO &

GOLNARAGHI
2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED

SYED HASAN 2
SAEED
Block diagram of second order system is shown in fig.

R(s) n C(s)
+  2
_ s(s 
2n )

n2
C(s) 
R(s)   2n s 
2 2
n ( A)
s  2
n
R(s)
R(s) s  2n s 
2 2
C(s) n
R(s)  
1
For unit step s
input
SYED HASAN 3
SAEED
 1
C(s)  . 2 
n
2
2     
s s  2n s  n (1)
Replace s 2
 2 
 s   2
(s   ) 2   2 (1 
by
n
2
)
n n
C(s)  n  2
n

1
. s (s  n )  n (1  (2)
2 2

2
)
Break the equation by partial fraction and  2
  2
(1 
put
2
)
d n
1  2
A B
n
      
s (s  n )  d s2 (s   )   (3)
2
2

.2
A n
d
1
SYED HASAN 4
SAEED
Multiply equation (3)
by
(s   )    and put
n
2 2
d

s  n  jd

B  n
2s

B 
n

 2n 
jd   2 (  j )
B n n d

(n  jd )(n  jd )

 jd  s  n
B  (n  s  n )  (s 
2 )
SYED HASAN 5
SAEED
Equation (1) can be written as
1 s  n 
C(s)  
s (s
 nn ) 2   d
2
1  
C(s)    s  n  
 . 2
n d
s  (s  n  d d (s  n  d  (4)
2 2 2

 )of equation
Laplace Inverse   ) 
(4)  n n n 
c(t)  1 et .cosd t e t .sin d    
  d t  (5)

Put d  1 
2
n

SYED HASAN 6
SAEED
   
c(t)  1

cosd t  .sin d t 
nt

e 1  
 2

c(t) 
1
e


1 
t

n

1 2 .cosd   sin d


2
Put 1  2  t t
sin 
cos   2
1
tan 



et
c(t)  sin(d t 
n

1 1   )
2
SYED HASAN 7
SAEED
Put the values of d & 
e
  1  2
c(t)  sin ( 1  2 )t 
nt
n
    (6)
1     
1 tan 1
2

Error signal for the

system
e(t )  r (t) c(t )  1  2
et s in      (7)
e(t)  n
1   2
)t 

n
(  
tan 1

1  2
The steady statevalue of
c(t)
ess  Limit c(t) 
t
1
SYED HASAN 8
SAEED
Therefore at steady state there is no error
between
n and
input output.
= natural frequency of oscillation or undamped
natural frequency.
d = damped frequency of oscillation.
n = damping factor or actual damping
or
damping coefficient.
For equation (A) two poles (for 0 1) are
   j 1  2
n n

  SYED HASAN
 j 1 9
2 SAEED
Depending upon the value of  , there are four cases

UNDERDAMPED ( 0    1): When the system has two

complex conjugate poles.

SYED HASAN 10
SAEED
From equation (6):
 Time constant 1/
 is n
Response having damped oscillation with overshoot and
under shoot. This response is known as under-damped
response.

SYED HASAN 11
SAEED
UNDAMPED (  0 ): when the system has
two
imaginary poles.

SYED HASAN 12
SAEED
From equation (6)
For  0
c(t)  1 sin(n t   / 2)
c(t)  1 cosn t
Thus at n the system will oscillate.
The damped frequency always less than the
undamped frequency ( n ) because of  . The response
is shown in fig.

SYED HASAN 13
SAEED
CRITICALLY DAMPED (  1): When the system has two
real and equal poles. Location of poles for
critically damped is shown in fig.

SYED HASAN 14
SAEED
 For  1
 2
n
C(s) 
1
s s 2
 2 n s  n
. 2

C(s)  
n
s(s 2 n ) 2
1 1 n
After partial 
n
  
fraction s(s 2 n ) 2
s s n s(s n )

Take the inverse
Laplace c(t)  1 e  t  t
n
n
 t
ec(t)
n
 1 e  t (1 n t)   
n

(8) SYED HASAN 15

SAEED
From equation (6) it is clear that n is the actual
damping. For   1 , actual damping =n . This actual
damping is known as CRITICAL DAMPING.
The ratio of actual damping to the critical damping
is known as damping ratio  . From equation (8)
time constant = 1 / n . Response is shown in fig.

SYED HASAN 16
SAEED
OVERDAMPED (  1 ): when the system has two
real
and distinct poles.

Response of
the system

SYED HASAN 17
SAEED
From equation (2)
C(s)   2
n

1
. s (s  n )  n ( 2 2 2
(9)
1)2
Put    2
( 2

1)
d n 2
C(s)  n
We 
1
. s (s  n )  d (10)
2
get

2

Equation (10) can be written

as
C(s)  
n2

s(s  n  d )(s  n  d (11)
)
SYED HASAN 18
SAEED
After partial fraction of equation (11) we
get 1
C(s)   1
s
2  1   
2
s  n d 2



1
 
1
 
2  2 1   1 s  n d (12)
2


Put the value
C(s)  
1 of d 
1
s
2  1  
2
 2
1 s  n n (   2



2  2 1  
2 
s1   ( 
n n
1)
2
 
(13)

 1  SYED HASAN
SAEED 1)  19
Inverse Laplace of equation (13)
(   2 1)n (   2 1)n
e t e t
c(t)   
1 2  2 1(  2 1)  2  2 1(  2 1) (14)
 

From equation (14) we get two time

constants 1
T1 
(   1)n
2

1
T2 
(  
2

1)n

SYED HASAN 20
SAEED
From equation (14) it is clear that when  is greater than
one there are two exponential terms, first term has time
constant T1 and second term has a time constant T2 . T1 <
T2 . In other words we can say that first exponential term
decaying much faster than the other exponential
term. So for time response we neglect it, then
(   2 1)n
e t
c(t)  
1 2  1(
2
 2
(15)
 1)

1
T2  
(   2 n (16)
1)
SYED HASAN 21
SAEED
THANK YOU

SYED HASAN 22
SAEED
TIME DOMAIN SPECIFICATIONS
OF SECOND ORDER
SYSTEM
Email : hasansaeedcontrol@gmail.com
URL: http://shasansaeed.yolasite.com/

SYED HASAN 1
SAEED
 BOOKS

1. AUTOMATIC CONTROL SYSTEM KUO

&
GOLNARAGHI
2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED

SYED HASAN 2
SAEED
Consider a second order system with unit step input and
all initial conditions are zero. The response is shown in
fig.

SYED HASAN 3
SAEED
1. DELAY TIME (td): The delay time is the time
for the response to reach 50% of the final value
required
in
first time.
2. RISE TIME (tr): It is time required for the response to
rise from 10% to 90% of its final value for
over- damped systems and 0 to 100% for under-
Wedamped systems.
know that:
 1   t 
 
e nt
2
c(t)  1  sin n
1 2



1 2

Where,   tan 1


SYED HASAN 4
SAEED
Let response reaches 100% of desired value. Put

 

c(t)=1 et
sin n 1 t 
2
1  1 n

1   

2

sin 1  t  

e nt 2
2 n
1

  0
Since,

0
e
sin((
nt n 1  2 )t   ) 
 0
Or n 1  2 )t   ) 
, sin(( sin(n )

Put n=1
SYED HASAN 5
SAEED
 (n 1  2 )tr   

tr  
Or n 1 
, 2

2
1


t r  tan
1
Or
n 1 
, 2

SYED HASAN 6
SAEED
3. PEAK TIME (tp): The peak time is the time required
for the response to reach the first peak of the
time response or first peak overshoot.



e 2
Since c(t)  nt

2
sin 
n 1  t 
1 1

For
maximum

dc(t )
0


dt


nt
 cos n
2
t1  n 1  2
dt
dc(t) 1  

 
sin 1  t 
2
e
n
2
n

0
1  e (1)
  
2 nt

SYED HASAN 7
SAEED
Since,
 
0
e can be written
Equation
   1  
nt
as cos n 1  2 t   2
 n 1  2 t 
Put
 1  2 
  sin
sin  and
cos


 

Equation (2)
becomes
cos  n  
1  2 t   sin   n 1  2 t
sin1  )t 
 sin((   cos 
2
sin

cos(( n 1
)  2 )t   cos
n
 )
SYED HASAN 8
SAEED
 tan((n 1  )t   ) 
2

n2
The time to various (n 1  )t p 
peak n
Where n=1,2,3,…….
Peak time to first overshoot, put
n=1 
tp 
n 1 
2

First minimum (undershoot) occurs at n=2

2
t min
n 
1  2
SYED HASAN 9
SAEED
4. MAXIMUM OVERSHOOT (MP):

 t

e
sin n 1
2
c(t)  nt

1 1 
  2

Maximum overshoot occur at peak time,

t=tp 
Put, tp 
n 1  in above
2
equation


 
n
 n 1
e 2
sin  1   
c(t)  n
1 1   2 . n 1  2
2

SYED HASAN 10
SAEED
 

1
c(t)  1
sin( 
2

e 1   )
2

1
c(t)  1 
sin 
 2

sin(   ) 
e 1   sin 
2

Put, sin   1  2


1
c(t)  1
1 
2

e 1  2
2

SYED HASAN 11
SAEED
 

1
c(t)  1 2

eM p  c(t) 1

 1
M p  1 2 1

e 
1
Mp  2

e


1
M p%  2 *100
e
SYED HASAN 12
SAEED
5. SETTLING TIME (ts):

The settling time is defined as the time required for

the transient response to reach and stay within
the prescribed percentage error.

SYED HASAN 13
SAEED
Time consumed in exponential decay up to 98% of the
input. The settling time for a second order system
is
approximately four times 4 the time constant ‘T’.
t s  4T 
 n
6. STEADY STATE ERROR (ess): It is difference
between actual output and desired output as time
‘t’ tends to infinity.
ess  Limit
t
r(t) 
c(t)

SYED HASAN 14
SAEED
EXAMPLE 1: The open loop transfer function of a
servo system with unity feedback is given by
10
G(s) 
(s  2)(s 
Determine the damping 5)ratio, undamped natural frequency
of oscillation. What is the percentage overshoot of
the response to a unit step input.
SOLUTION: Given that
10
G(s) 
(s  2)(s 
H (s) 5)
1
Characteristic 1 G(s)H (s) 
equation 0
SYED HASAN 15
SAEED
 10
1 0
(s  2)(s 
s 2 5)7s  20 
0 s 2  2 s   2 
Compare with We
0 get
n2  n
20 n
2n  n 4.472rad /
7   20  4.472rad /
 sec
n

sec 
2*  * 4.472   0.7826
7 M p  1.92%
  0.7826 
 *0.7826
1 1(0.7826) 2
Mp  

2  *100 
e e 1.92%
SYED
SAEED
HASAN 16
EXAMPLE 2: A feedback system is described by the
following transfer
function 12
G(s)  2
s  4s 16
H (s)  Ks
The damping factor of the system is 0.8.
determine the
overshoot of the system and value of ‘K’.
SOLUTION: We know that
R(s)
C (s) 1 G(s)H G(s)
(s) 
C (s) 2 16

R(s) s  (4 16K )s
16 )s 16 
s 2  (4 16K is the characteristic
0 SYED HASAN
SAEED eqn. 17
Compare with
s  s 
2 2
n n
2 
 
2 0 n  4rad /
n
sec.
216
n  4 16K

2*0.8*4  4  K  0 .1 5
16K 
 0.8
1 1(0.8) 2

Mp   *100  2 *100
eM  e
p 
1.5%

SYED HASAN 18
SAEED
EXAMPLE 3: The open loop transfer function of a
unity feedback control system is given by
K
G(s) 
s(1
sT )
By what factor the amplifier gain ‘K’ should be multiplied
so that the damping ratio is increased from 0.3 to 0.9.
SOLUTION: K
C (s)

G(s)

s(1  sT )
R(s) 1 G(s)H K
1 .1
(s) s(1
sT )
C (s) K/T

R(s) s 2  s  K
s K
T T
s   0
2

Characteristic T T
Eq. SYED HASAN 19
SAEED
Compare the characteristic eq. with s 2  2 s   2 
0
n
1
We 2n  n

get T
2  n  K
n
K T T

2 K 1


T T
1
Or 
2 KT
, 1
1 
Given 1  2 K1T
that: 0.3 1
2  0.9 2 
2 K 2T

SYED HASAN 20
SAEED
 
1  K 2
2 K1
2

K 2   0.3  1
  
K1  0.9  9
K1  9K 2

Hence, the gain K1 at which   0.3 Should be multiplied

By 1/9 to increase the damping ratio from 0.3 to
0.9

SYED HASAN 21
SAEED
 ERROR
ANALYSIS

Email : hasansaeedcontrol@gmail.com
URL: http://shasansaeed.yolasite.com/

SYED HASAN 1
SAEED
 BOOKS

1. AUTOMATIC CONTROL SYSTEM KUO

& GOLNARAGHI
2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED

SYED HASAN 2
SAEED
STEADY STATE ERROR:
The steady state error is the difference between
the input and output of the system during steady
state.
For accuracy steady state error should be
minimum. We Eknow
(s) that 1
R(s) 1 G(s)H
(s) R(s)
 E(s)
 1 G(s)H
The steady state error of(s)the system is obtained by
final value theorem
ess  lime(t) 
t s0
lim s.E(s)
SYED HASAN 3
SAEED
 R(s)
ess  lim
s.
s0 1 G(s)H
For unity H (s)  (s)
feedback 1 R(s)
ess  lim
s.
s0 1
G(s)
Thus, the steady state error depends on the input
and open loop transfer function.

SYED HASAN 4
SAEED
 STATIC ERROR COEFFICIENTS
STATIC POSITION ERROR CONSTAN Kp: For unit
input R(s)=1/s
step
1 1
Steady state error ess  lim s.
.
s0 s 1 G(s)H
(s)1 1
ess  
1 limG(s)H
s0
1 K p
(s)
K p  limG(s)H
s0
(s)
Where K p is the Static position error
constant

SYED HASAN 5
SAEED
STATIC VELOCITY ERROR CONSTANT (Kv):
1
ess  Lim
s0
s.R(s). 1 G(s)H
(s)
Steady state error with a unit ramp input is given
by R(s)=1/se2ss  lim 1 . 1
 lim
1
2
s0
s. s 1 G(s)H s 0 s  sG(s)H (s)
(s) 1 1
ess  lim 
s 0 sG(s)H (s) Kv

 lim sG(s)H Static velocity

Where Kv
(s) error
s0
SYED HASANcoefficient 6
SAEED
STATIC ACCELERATION ERROR CONSTANT (Ka):
The steady state error of the system with unit
parabolic input is given by
1
R(s) 
3
s
 lim
ess 1 s. 1 1
.  lim 2
s 0 s  s 2 G(s)H (s)
s0 s 3
1 G(s)H
(s)
1 1
ess  lim 
s 0 s G(s)H (s)
2
Ka


where, a s0 G(s)H
K lim s 2
Static acceleration
(s) constant.
SYED HASAN 7
SAEED
 STEADY STATE ERROR FOR DIFFERENT TYPE OF
SYSTEMS
TYPE ZERO SYSTEM WITH UNIT STEP
INPUT:
Consider open Kloop transfer function
(1 sT )(1 sT )..........
G(s)H (s)  s m (1 sT1 )(1 2

a
1
R(s)  sTb ).........
(1) s

K p  limG(s)H (s) 
K
s0 Hence , for type zero
1 1 system the static
ess  
1 K p 1
position error constant
K
ess  Kp is finite.
11K SYED HASAN 8
SAEED
TYPE ZERO SYSTEM WITH UNIT RAMP
INPUT: K (1  sT1 )(1  sT2 )...
K  lim sG(s)H (s)  lim s.
v

0
s0 s0
(1 sTa )(1
sTb )....
ess  1  ess 
 Kv 
TYPE ZERO SYSTEM WITH UNIT PARABOLIC
INPUT: K (1  sT1 )(1  sT2 )...
K  lim s 2 G(s)H (s)  lim s 2 .
a

0
s0 s0 (1 sTa )(1 b
sT )....
ess  1
Ka
ess 
 state error is infinite for
For type ‘zero system’ the steady
ramp and parabolic inputs. Hence, the ramp and
parabolic inputs are not acceptable.
SYED HASAN 9
SAEED
TYPE ‘ONE’ SYSTEM WITH UNIT STEP INPUT:
K p  limG(s)H
s0
(s)
Put the value of G(s)H(s) from
eqn.1
Kp  1 ess 
ess  
0 1 K p 0
TYPE ‘ONE’ SYSTEM WITH UNIT RAMP
INPUT: K v  lim s.G(s)H
s0
(s)
Put the value of G(s)H(s) from
eqn.1 K  K
 ess  1
v

ess 1 1 K
 K  K
v
SYED HASAN 10
SAEED
TYPE ‘ONE’ SYSTEM WITH UNIT PARABOLIC INPUT:
K a  lim s 2G(s)H
s0
(s)
Put the value of G(s)H(s) from
eqn.1
Ka  0
ess  1  
ess 
Ka 
Hence, it is clear that for type ‘one’ system step input
and ramp inputs are acceptable and parabolic input
is not acceptable.
SYED HASAN 11
SAEED
Similarly we can find for type ‘TWO’ system.
For type two system all three inputs (step,Ramp,
Parabolic) are acceptable.
INPUT TYPE ‘0’ TYPE ‘1’ TYPE ‘2’
SIGNALS SYSTEM SYSTEM SYSTEM

UNIT STEP 1 0 0
INPUT 1K


UNIT RAMP 1 0
INPUT
K

  1
UNIT
PARABOLIC
INPUT K

SYED HASAN 12
SAEED
DYNAMIC ERROR COEFFICIENT:
For the steady-state error, the static error
coefficients gives the limited information.
The error function is given by
1
E(s) 
R(s)  1 G(s)H (1)
(s)
For unity feedback
system E(s) 1 
R(s)  1 (2)
G(s)
The eqn.(2) can be expressed in polynomial
form
(ascending power of ‘s’) SYED HASAN 13
SAEED
 E(s) 1 1 1
  s s 2  ........     
R(s) K1 K 2
(3) K3
1 1 1 2
Or, E(s)  R(s)  sR(s)  s R(s).......   
(4)
K1 K2 K3
Take inverse Laplace of eqn.(4),

the error is given by
1 1 1
e(t)  r(t)  r(t)  r (t )  .......     
(5) K1 K2 K3
Steady state error is given
by e  lim sE(s)
ss
s0
R(s)  1
Let s

SYED HASAN 14
SAEED
 1 1 1 1 1 2 1 
ess  lim .  .s.  s . 
s0 
s.  K1  ....... 2 3 
s K s K s
ess  1
K1

Similarly, for other test signal we can find steady

state error.
K1 , K 2 , are known as “Dynamic error
K 3 ....... coefficients”

SYED HASAN 15
SAEED
EXAMPLE 1: The open loop transfer function of unity
feedback system is given by
50
G(s) 
(1 0.1s)(s
10)
Determine the static error coefficients K p , K v , K a
SOLUTION: K p  limG(s)H
s0
(s)
50
 lim 
s0 (1 0.1s)(s
5
K v10)
 lim s.G(s)H
s0
(s)
50
 lim 0
s. (1 0.1s)(s
s0
10)
K a  s 2G(s)H
(s) 50
 lim 0
s 2 (1 0.1s)(s
s0
10)
SYED HASAN 16
SAEED
EXAMPLE 2: The block diagram of electronic pacemaker
is shown in fig. determine the steady state error for
unit ramp input when K=400. Also, determine the value
of K for which the steady state error to a unit ramp
will be 0.02.

1
Given that: K=400, R(s)  , H (s)  1
K s2
G(s)H (s)
 s(s 
20) SYED HASAN 17
SAEED
 R(s)  lim s. 1
ess  lim 2  0.05
s0 1 G(s)H 1 s0
. s 1 K
s.
(s) s(s 
20)

Now, ess  0.02 Given

e  lim s. 1
1ss s0 K
. s 2 1
s(s  20)
s
0.02 
2020) 
s 0 s(s 
lim
K  K
1000
SYED HASAN 18
SAEED
THANK
YOU

SYED HASAN 19
SAEED
 BASIC CONTROL ACTION AND
CONTROLLER CHARACTERISTICS

Email : hasansaeedcontrol@gmail.com
URL: http://shasansaeed.yolasite.com/

SYED HASAN 1
SAEED
 BOOKS

1. AUTOMATIC CONTROL SYSTEM KUO

&
GOLNARAGHI
2. CONTROL SYSTEM ANAND KUMAR
3. AUTOMATIC CONTROL SYSTEM S.HASAN SAEED

SYED HASAN 2
SAEED
INTRODUCTION:
 The automatic controller determines the value
of controlled variable, compare the actual value to
the
desired value, the deviations
determines produces a and that will reduce
control signal
deviation the
to zero or to a smallest possible
 value.method by which the controller
The automatic
produces the control signal is called control
 action.
control action may operate either
The
mechanical,
through hydraulic, or
pneumatic mechanical means. electro-

SYED HASAN 3
SAEED
ELEMENTS OF INDUSTRIAL AUTOMATIC CONTROLLER:

The controller consists

of :
 Error Detector
 Amplifier SYED HASAN
SAEED
4
 The measuring element, which converts the
output variable to another suitable variable
such as displacement, pressure or electrical
signals, which can be used for comparing the
output to the reference input signal.
 Deviation is the difference between controlled
variable and set point (reference input).
e=r-b

SYED HASAN 5
SAEED
CLASSIFICATION OF CONTROLLERS:
Controllerscan be classified on the basis of type
of controlling action used. They are classified as
i. Two position or ON-OFF controllers
ii. Proportional controllers
iii. Integral controllers
iv. Proportional-plus-integral controllers
v. Proportional-plus-derivative controllers
vi. Proportional-plus-integral-plus-derivative
controllers

SYED HASAN 6
SAEED
Controllers can also be classified according to the
power source used for actuating mechanism, such as
electrical, electronics, pneumatic and hydraulic
controllers.
TWO POSITION CONTROL: This is also known as ON-
OFF
or bang-bang control.
In this type ofcontrol the output of the controller is
quickly changed to either a maximum or
minimum value depending upon whether the
controlled variable (b) is greater or less than the
set point.
Let m= output of the controller
SYED HASAN 7
SAEED
M2=Minimum value of controller’s output
E= Actuating error signal or deviation
The equations for two-position control will
be m=M1 when e>0
m=M2 when e<0
The minimum value M2 is usually either zero or –
M1

BLOCK DIAGRAM OF ON-

OFF CONTROLLER

SYED HASAN 8
SAEED
Block diagram of two position controller is shown
in previous slide. In such type of controller there is
an overlap as the error increases through
zero or decreases through zero. This overlap
creates a span of error. During this span of error,
there is no change in controller output. This span
of error is known as dead zone or dead band.
Two position control mode are used in room
air conditioners, heaters, liquid level control in
large volume tank.

SYED HASAN 9
SAEED
PROPORTIONAL CONTROL ACTION: In this type of
control action there is a continuous linear
between the output of the
relation ‘m’ and
controller
actuating signal ‘e’. Mathematically
In terms of Laplace M (s)KKp e(t)
m(t) p
Transform E(s)
K p  M (s)
E(s)
Where, Kp is as proportional gain or
proportional
known
sensitivity.

SYED HASAN 10
SAEED
SYED HASAN 11
SAEED
INTEGRAL CONTROL ACTION:
In a controller with integral control action, the
output of the controller is changed at a rate
which is proportional to the actuating error signal
e(t).
Mathematically,
d
m(t)  K i e(t)   
dt
(1)
Where, Ki is constant
Equation (1) can also be written
as
m(t)  K i  e(t)  m(0)    (2)

Where m(0)=control output at

SYED HASAN 12
SAEED
Laplace Transform of eqn. (1)
sM (s)  K i
E(s)
M (s) K i   

(3)
The block diagramE(s) s response is shown in
and step
fig.

SYED HASAN 13
SAEED
The inverse of Ki is called integral time Ti and is
defined as time of change of output caused by a
unit change of actuating error signal. The step
response is shown in fig.
 For positive error, the output of the controller is
ramp.
 For zero error there is no change in the output of
the controller.
 For negative error the output of the controller
is negative ramp.

SYED HASAN 14
SAEED