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UNIT - II
For some standard inputs, the output of the
system can be determined. Performance and behavior of
the system can be determined via.
a) Step signal:
r (t ) Au (t ).
b) Ramp signal: r (t ) At ; t 0.
c) Parabolic signal: r (t ) At 2 / 2; t 0.
d) Impulse signal: r (t ) (t ).
What is order and type number of the system?
Open loop transfer function of a system in pole-zero form
( S Z 1 )( S Z 2 ) . . .( S Z m )
G( S )
S N ( S P1 )( S P2 ) . . .( S Pn )
C(S) G( S )
C.L.T.F
R( S ) 1 G ( S ) H ( S )
C (t ) ?
1
unit step input R( S )
S
Applying inverse laplace transformation
Time response
1
Steady state output C ( t )t 1 e 1 1
e
C ( ) 1
Error is the difference between input and output
When time approaches infinity, the error is, steady state error
R(S) 2 C(S)
n
+ S ( S 2 n )
-
when 0
C(S) n2
2
R( S ) S n2
1
unit step input R( S )
S
1 n2
C(S ) 2
S ( S n2 )
1 S
C(S ) 2
S ( S n2 )
C(S) n2
2
R( S ) S 2 n S n2
1
unit step input R( S )
S
1 n2
C(S) 2
S S 2 n S n2
A BS C
C(S) 2
S S 2 n S n2
A 1, B S , C 2 n
1 S 2 n
C(S) 2
S S 2 n S n2
1 S 2 n
C(S) 2
S S 2 n S n2 2 n2 2 n2
1 S 2 n
C(S)
S ( S n ) 2 n2 2 n2
1 S 2 n
C(S)
S ( S n ) 2 n2 (1 2 )
where d2 n2 (1 2 )
1 S 2 n
C(S)
S ( S n ) 2 d2
1 S n n
C(S)
S ( S n ) d ( S n ) 2 d2
2 2
Multiply and divide the 3rd term by d
1 S n n d
C(S)
S ( S n ) 2 d2 ( S n ) 2 d2 d
n t n n t
C (t ) 1 e cos d t e sin d t
d
n
C ( t ) 1 e n t [cos d t sin d t ]
d
n t n
C (t ) 1 e [cos d t sin d t ]
2
n 1
n t
C (t ) 1 e [cos d t sin d t ]
2
1
e n t
C (t ) 1 [ 1 2 cos d t sin d t ]
1 2
sin 1 2 cos
e n t
C (t ) 1 [sin cos d t cos sin d t ]
1 2
e n t
C (t ) 1 sin( d t )
2
1
Output or time response of underdamped second order
system has
exponentially damped sinusoidal oscillations.
Time response of Under damped Second order system with
unit step input
Time response specifications
tr 1 2
d C ( t p ) 1 e
.
2 2 C ( t p ) C ( )
1 2
1
cos d (1 )
n Mp e
C ( )
Rise time, tr : It is the time required for the response to rise from 0 to
100% of the final value for the underdamped system.
e n t r
C (t r ) 1 sin( d t r ) 1
1 2
sin(d tr ) 0 sin
tr cos 1
d
n
d
e
C (t p ) 1 sin( d )
1 2 d
1 2
e
C (t p ) 1 sin( )
1 2
1 2
e
C ( t p ) 1 sin
2
1
1 2
e
C ( t p ) 1 sin
sin
1 2
e
C ( t p ) 1 sin
sin
1 2
C ( t p ) 1 e
.
C ( t p ) C ( )
1 2
Mp e
C ( )
d 10 5 rad / sec
0.15 5 rad / sec
Mp 32.67%
tp 0.149 sec
8
ts sec
15
1. A second order servo has unity feedback and open-loop
transfer function
500
G( S )
S ( S 15)
Find the following:
i) The numerical values of natural frequency and damping
ratio
ii) The values of % maximum overshoot and the time from
the start of the transient to maximum overshoot.
iii) The settling time
iv) %Mp for 2 units of input.
2. A system has G(S) with unity feedback when K and T are
constant. Determine the value of gain K to reduce the overshoot
from 85% to 35%
K
G( S )
S (1 ST )
1
2 KT
1
1 1 0.0517
2 K 1T
1
2 2 0.317
2 K 2T
K 2 0.02659 K 1
3. Find the time response of the system for unit step input. Where
Y is output and X is input.
d2y dy
2
5 16 y 9 x
dt dt
Y (S) 9
2
X ( S ) S 5 S 16
16 9 9 16
2 2
16 S 5 S 16 16 S 5 S 16
9 e n t
1 sin( d t )
16 1 2
4. A second order control system is represented by a transfer
function
(S) 1
T ( S ) JS 2 DS K
Where is the proportional output and T is the input signal. If a
step input of 12 Nm is applied to the system, calculate the values
of J, D and K for the following results. a) Mp = 7% , b) tp = 1.2 sec
and c) steady-state value of output is 0.6 rad.
.
1 2 for 12 units of input
Mp e 0.07
0.07
Mp for 1 unit of input
12 Ans
J 1.4185 N m /( rad / sec 2 )
D 6.011 N m /( rad / sec)
t p 1.2
d K 16.67 N
5. For the closed loop system shown in fig, determine the value of gain
‘K’ for damping ratio 0.5. Also determine peak overshoot, rise time, and
time response for unit step input.
R(S) C(S)
0.2 s 1
+ + 0.84 s 2
- -
Ks
C (s) 0.2 s 1
2
R( s) S S 1
1 Bs C
C ( s) 2
s s s 1
1 s 0.8 1 s 0.8
C ( s) C ( s)
s s2 s 1 1 1 s 1
2
1
4 4 s 1
2 4
1 s 0. 8 1 s 0.5 0.3
C ( s) 2
C ( s) 2
s 2
1 3 s 2
1 3
s s
2 2 2 2
Time response specifications
• Delay time,
• Rise time,
• Peak time,
• Settling time,
• Peak overshoot,
• Steady-state error.
e ss Lt [r ( t ) c( t )] Lt [ R( S ) C ( S )]
t S 0
C 0 Lt F ( S )
S 0
d 1
C1 Lt F (S) F (S)
S 0 dS
1 G( S )H ( S )
dn
C n Lt n
F(S)
S 0 dS
Pb.5 A unity feedback system is characterized by the
open-loop transfer function G ( S ) 1
S (0.5 S 1)(0.2 S 1)
Determine the steady state error for unit step, ramp
and parabolic inputs using static error coefficients
Pb.8 Determine the steady state errors for a system that has
the open loop transfer function
Controllers
Controller is used to reduce the deviation (i.e. error) between actual
output and desired value.
Controller output is directly proportional to error
The following fig illustrates the type of issues that
determine whether P, PI or PID control is selected for a
particular system, the choice generally being restricted to
these three types of control law.
With P controller, increasing the controller gain speeds up the
response to changes in inputs and decreases, but does not
eliminate, the output offset.
General form of
CHARACTERISTIC EQUATION
CHARACTERISTIC EQUATION
2.
3.
4.
A row of zero elements indicates the system is limitedly
stable or it may be unstable, if there is a negative sign in the
first column of routh array.
5.
6.
STABLE
K
G( S ) With unity feedback
S ( S 1)( S 2)
1 G ( S ) H ( S ) S ( S 1)( S 2) K 0
ROOT LOCUS
Calculate closed loop poles from characteristic equation for k=0 to ∞
1 G ( S ) H ( S ) S ( S 1)( S 2) K 0
1
∞ or = Open loop zeros
Determine open loop poles and zeros of the given G(S)H(S), and mark
the them in graph sheet. Zeros are marked by circles and poles by
cross.
Determine the segment of root locus lies on real axis. The real axis
poles and zeros divide the axis into segments. A real axis segment is
the part of the root locus if the number of poles and zeros to the right
of that segment is odd.
Construction Rules for Root Locus
Contd…
Centroid ,
real part of poles real part of zeros
PZ
180 ( 2q 1)
Asymptote angle , A Where q=0,1,2….(P-Z-1)
PZ
Construction Rules for Root Locus
Contd…
5. Angle of departure at complex pole
i3 i 1
θD= -[180° + 90° + sum of angles contributed by other O.L.Poles – Sum
of of angles contributed by O.L.Zeros]
6. Angle of arrival at complex zero
i 1 i 3
2.
3. Obtain force-voltage and force-current analogous electrical systems.
ASSIGNMENT
C2 SLOT
1. Obtain torque-voltage and torque-current analogous electrical systems.
3. Draw the root locus of the system whose GH is given below. Determine
the Open Loop gain K at desired closed loop pole whose damping ratio is
0.44.