attase vB Second ovdex cont! system Ss one. wwhervem the highest power of sm 4he dlenominator of its chanster Time Resronse OF Second _Onven Systems daunctoy equals ae ” A gene) express” Pox the -bvansfov dunction OF eecond order conbdl system As ever a a=: Gy) Where , Ga dei ot atin , will Cetexmine how much the system oscillates os the vesporse decays toward a ctate GIAIES , ud cletermine how stast oo undambed matuva) frequencs yansient yes ponse the system oscillates ae and qesenrtetion of the rans qer beloud VU The Bock diagram ep ”4 ee G) $s Shovon sfancton ts ie as), Ris) eee ee Mee Lorde. Content SystemSSP tomtion, " of Ind Order System €lectvieal system, R a _ * vitb) — Vis) a ae Volt) = Vols) Me? ag r O23) R =R Les eas eos Vile) = IIR + Ts)ps) + 2S) re Wis. [as Hs | zo cs Vols)” = SEs apst cS oy ei Vee. Wels) oa a HO [ae ] Rost td Nols) = } vis) Prec +Rest]lime response of a Secend exdev contyel system subgectel to writ step Input qunction +e ° “The owkpet or the syctern is eer > a ee ee =) Ris) S4 BE URS TUR The output “Vs 2d op = Se S7hGUnst On Geese eer ond RIS) == As the a vp =) ve ee eee Ss 24 8G, Us HON eb S264 SS styaguyst Lom 2 a 4a Gos UN + Gig Gen = 87 2f vy + On ees gy =(St Gon) a te (1-@) ail (OOS SN = (st geen) +404 = Sheen — |r sy) G(r uy “(sreeays ia nt US (St Gear) + Ly a Site 00 tee Sete Wn | Wel Cr quop)4 Zi tl (StevanPreudete eT omer. _ ae inverse, laPlace. brarsform on both Sides : ~qust Ba = | eters tape ene BONE on wyt Wel Since usd = uN &~ Snir, ee em aicctn = sae a! BHT in wat de Ge cl) = (ence G en ore ee OU ona tree gen = eee [re ang Cage eee Sm wat | tee pe test = eer ia: ee ate ile ent [Sind cos uagt + cos} cinuagt | fre rare eee cma sin (wyt+o ) Vree — GLO ,t- CGR) aha Slfiome Ht + tan! (Tee | Vr ee « SS a Steady cate. | “Prancrent ResponseeRor, elt) = Ct) — Cl+) © ey == = ea Sinfloontrgt)-+ mnie) | fae mer + eS ene Ses ee ieee Whe aleacly alate pen Huo?) Ee a OB eel eS Au) Bye = AGwnt Jaa et Cones Nica a Sin = Belen BU TEET 2 Sir = fla a = 2 Undamped sysery_ > 0|ime Res Ponse Srecipications OF Seconp ORDER CONTROL = Tr Snr=0 | Wnrli-@> ty = b p " where = +tan! fre> { 2) Maxime OversHovT (Mp) Re underdeumped systern presents oscilletions 7 tyancentl pest ef its time vesponse. At=son Are some ‘nstonces ef time the elp exceeds tls desivel value whle at seme other Snstances the ofp is fowey than its dlesived value. he saimum besitve deviation of the B}P with retpedt™ to its clesived value is Known as ynatimmum oxexshedt and dlencte| a Me.va input ‘Ss unit steb 4 the desived eff is ai i Athexefove rae ci = clmay =! top I @) Rex “Time (tp) VaR. ime aoeeded 4p seach the menimnum oversh oat js called peak time amd. denated os tp - @) Seri Time — Time Cts) $ 4p se srem zew ” by the ave epons & _* ~The time take ond b ste uith In oO dolevance band of QJ. to eye kpovor 2 te time - or» Ieee eel ronee Cet ee? aforesaid oscillations Ath desixecl value af the of? is pothin af. ef the Knows as Soe time ° ~ for Tal oreler System, ce where T= Ve von # |] @% solewance = 47 54 Joleanee = BT,* In Cortel enga, a condsot system is dlesivable wsrth @ = medeste deri Rplosana Some overshoot ) — quick -yesponse Sheed. — Shovt aad time- STEADY STATE ERRORS ~ A desrable featre ef a contot system is the farthtal following of iks Input by the output © However, if he actual ofp ef a contsd systen er | Bee) state deviates thar “the eference “WP Cie desixed ofp) , the system js = S90 $s 14+ GIsHU) Qim 870 Sqaqne) L =% oe —_____. ss = ON SE SGU HES) exvor coeff cient ® Static acceleration exer Stotic _occelesotion coedpicient (ka) is poxabdic ‘input Oppiied +o a closed - Loop jg determined below : coefficient $ assoeatec| with unit control &y Stem q Qin & Res) S70 1+GQu) Hs) As che inbat 3 rs RUS) = Kes (« xt) = 7.) Cas = Vim S21 ) S70 S* 14+ Gls) HIS)eri Vln. abet aloe AD | 50 8? 144s) HIS) Lim S90 Ss Gls) Hts) cea rp gel sete S30 97 Gls) Hts) eta eee eras pacman Sze exvor coePpicient | Ka (A Fyre OF Transeer fonetions Ano bin KU STa) U4STo) $90 SCrreT)) (14812) ee) BGnee- Con = Kp eat 2a 1400, 0 ° Tgbe © 4? system cudth unt vamp ‘mpat - © la Y Pp i for a type SL systenn the © Tete oe ae ne Qos) =k (4+STa) (4 ST,)— ~ S (HeT0tsh) - — ky = fim S Gs) Hts) So tn kK (4ST )(014+ ST) - Sa ‘SU(HST OST). - kok Since ecg = L© Type £4) system udth unit parabohe np: ee 2 ae rE ystem -the OrL Is a be Gts)His) = Kk (1+S8Ta)CI+sT,). — d Sst) 4572). - ka = Lim = Gls) nts) S20 > Bir 8* i (irsta) Oeste). Se) Seah Ka =o Since ees = Ka Css = ©} 7 © We (2° system with unit step “ope fox a ae ©” system the OTF is Qiven 4 GesHts) =k (14ST) (HST) -- <* Ci#ST,)(1+Sh) kp = bn Ges) HIs) Seo = bin K UrSTa) (4ST). ere 2 (14ST) (14ST, ).. a0 Snee ess =_!} pet Be I+ kp 1420 2oF ake £2? system edith unit yam ‘npat : ®) toy~a. type 'P system the ol TF is ooo Gide) = KP ST) STe) A= first) Ursits)- = ky = lim Sts) Ms) a = Din, SK sa) (4ST): So Senet), = ky = 0 Since (a Mey @ss=l =0 2 © “yh 2 system edith Udit parabolic mute for a ype {system the OL TF bs ‘lag EA Ginn) = k Citsies) ests) — a (st) Cts Ts) . — Ka = Dro s? Gls)HIs) S?0 = hn 2k (itsTa) {14 Sto) seo a* (yen (tse). —“TYPE LAR Ace “hre'8 Wyre «! TRANSPO — coed means an | Inport ae age Seo 5 |etetic evr. le uw | aoore Da Cl ess i ag i Lf pot} wt | eboehy en Coe} + | yest ee: pe co kp=k | eK Kp=00 oO Kp=2 fe UNIT a ky =0 00 |-ky =k Te ky =o © | RANIP ONIT a ka=o 0 Ko = 0 20 Ka =k pa PARABOLIC K, |GENERALIZED ERROR COEFFICIENTS ann SERIES ® he oe. exsor1 detesmned “nd puon meh es20¥ Co idents does mat ge any “nclication as +o hous vores udth tme anel is ee Oe sor step, vamp and _jeaxabohe inputs: a ape Generalized esr cetpicients owes the steacly steie exrer_bextormance 64 a -fealboack “ emstro! system il any arbrhary input feunction 4 Tre exvor transfer —farctor) 6f a feedback eontol aystem js a by es) Rts) 1+ GtspHls) - The ays: of abore eq? can be expanded me a Maclauin Sewes in 8 Els) Be saline = kthS+ Kes Sy ee Ris) 4GespHts) Gls) = KgRIS) + K)S-RIS) + Ky S* RY) +] eae aS steele eT Inverse Lapbee- -hansfomn Ripa te) es = } or eee ef = ket) +k aie: expression deiived is known as Gene valiz exror Saies>Also In teams ef Satie \ erwr » Coctficlenls <7 Obsewetions = axe made A ko 3s assogated vorth ef ina > ~ Is assosiated sth samp inbut- Ky “Ke iS associated edth posebellie: Inbar Lone 7 Where Ko,ky , Kx Ore known os Generalized exvoy Cocfficrents + 4 ett) canbe rewstted as. ee ee) | \4ep Key ae