Dr.

Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 1
 System
Dynamic Mathematical
Performance
System Model
Analysis

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 2
 Particular Input Test Signal

Control System Models

Comparison of System Responses

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 3
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 4
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 5
 E(s)
R(s) C(s)

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 6
 C (s) G 1
 
R(s) 1  GH 1  H
G
R
E (s) 
1  GH
 For any given input, 𝑅 𝑠 :
sRG
css  lim
s 0 1  GH

sR
ess  lim
s 0 1  GH

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 7
 A
R
s
A
E (s) 
s 1  GH 
A A
ess  lim sE (s)  lim 
s 0 s  0 1  GH 1 K p

K p  lim GH Position error coefficient

s 0

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 8
 A
R
s2
A
E (s)  2
s 1  GH 
A A
ess  lim sE (s)  lim 
s 0 s  0 s 1  GH  Kv

K v  lim sGH Velocity error coefficient

s 0

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 9
 A
R
s3
A
E (s)  3
s 1  GH 
A A
ess  lim s E (s)  lim 2
2

s 0 s  0 s 1  GH  Ka

K a  lim s 2GH Acceleration error coefficient

s 0

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 10
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 11
 The steady-state response of a dynamic
system to a sinusoidal input.
 We vary the frequency of the input signal
over a certain range and study the resulting
response.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 12
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 13
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 14
 The methods offer a good basis for
Synthesizing systems, in that they indicate
clearly the type of change that is required to
improve system dynamic behavior.
 One of the useful frequency response
methods of analysis is the Bode plots.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 15
 Transfer functions of linear systems:
C (s)
G (s) 
R(s)
 If 𝑟 𝑡 = sin(𝜔𝑡) and provided that the system is stable it
could be proved that:

c(t) t   G (j )  sin( t  G (j ))

 The amplitude ratio and phase as a function of
frequency can thus be obtained from the transfer
function 𝐺(𝑠) by replacing 𝒔 by 𝒋𝝎 and determining
the modulus and argument of 𝐺(𝑗𝜔).

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 16
 TheBode plots consists of two plots,
normally drawn on semi logarithmic graph
paper: a gain plot in decibels i.e.
20𝑙𝑜𝑔10 𝐺(𝑗𝜔) and a phase plot ∠ 𝐺(𝑗𝜔)
both on a linear scale, against frequency 𝜔
plotted on a logarithmic scale.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 17
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 18
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 19
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 20
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 21
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 22
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 23
 The form of transient response of a dynamic
system is largely dependent on the location
in the S-plane of the roots of the
characteristic equation.

 Let:

Q(s)  1  G(s) H(s)  a o s n  a1s n 1  a2 s n  2  ...a n 1 s  an  0

 This equation has n-roots and these may be
located anywhere in the complex plane.
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 24
 Routh and Hurwitz independently developed
similar methods for determining whether any
roots of a linear equation in the complex
variables have positive real parts without
having to solve the equation to find the
values of the roots.
 For there to be no roots with positive real
parts there is a necessary but not sufficient
condition that all coefficients have the
same sign and that none are zero.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 25
 sn ao a2 a4 a6 ...
n 1
s a1 a3 a5 a7 ...
s n2 b1 b2 b3
s n 3 c1 c2 c3
n4
s d1 d2
...
o
s
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 26
 These coefficients are calculated until only
zeros are obtained, the rows shortening until
S0 row contains only one value.
 Every change of sign in the first column of
this array signifies the presence of a root
with positive real part.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 27
A control system is unstable if the open loop
(𝑮𝑯) frequency response exhibits a gian
exceeding 0 dB at the frequency for which
the phase lag is 180º. This frequency is called
the cross over frequency 𝜔𝑐𝑜 .
 The rule is not quite general, it only applies
for systems for which the gain and phase
curves decrease continuously with
frequency.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 28
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 29
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 30
 Letus consider the general problem of
selecting the transfer function of the
controller Gc(s)

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 31
A simple method for selecting optimum
controller settings for conventional
controllers on typical single-loop process
control system was proposed by Zeigler &
Nichols as a result of empirical studies of a
wide variety of systems.

Dr.Ahmed Aboulmagd-Cairo University-Faculty of

Engineering-Mechanical Power Dept. 32
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 33
Dr.Ahmed Aboulmagd-Cairo University-Faculty of
Engineering-Mechanical Power Dept. 34