CONTROL SYSTEMS

UNIT - II
REVIEW of UNIT I

Types of Control System
Mathematical modeling of Mechnical, Electrical and
Electromechanical systems
Their Transfer function
Analogous systems
Block diagram representation and its Reduction
Signal Flow Graph representation
What is the use of Transfer function?

It relates system input and output through system
constants and laplace variable.

For some standard inputs, the output of the system
can be determined. Performance and behavior of the
system can be determined via.

Transient analysis ( Time domain analysis) to know the
dynamic behavior of the system, for a change in input

i. time for reaching steady state
ii. Overshoot
iii. time for rising from initial value to
steady state value (speed of response of the
system)
iv. System accuracy

Steady state analysis (Frequency domain analysis) to
know the magnitude and phase angle variation of the
system, for sinusoidal input signal.
Time domain analysis
The dynamic behavior of a system is judged under application
of standard test signals
an impulse,
a step,
a constant velocity (Ramp), and
constant acceleration (Parabolic).

The output of the system for time domain signal (time
dependent signal) is called as time response.

The time response of any system has two components:
transient response and the steady-state response.
( ) ( ). r t Au t =
( ) ; 0. r t At t = >
2
( ) / 2; 0. r t At t = >
( ) ( ). r t t o =
Standard test signals
a) Step signal:
b) Ramp signal:
c) Parabolic signal:
d) Impulse signal:
What is order and type number of the system?
) .( . . ) )( (
) .( . . ) )( (
) (
2 1
2 1
n
N
m
P S P S P S S
Z S Z S Z S
S G
+ + +
+ + +
=
Open loop transfer function of a system in pole-zero form
Order is the highest power of S term in the denominator
of transfer function.
Order of the system = No.of poles of the system


Type number is the power of integral factor in the
transfer function.
Type number of the system = No.of poles at the origin in
S-plane
For feedback system with H(S)=1 (unity feedback system)
) ( ) ( 1
) (
) (
) (
S H S G
S G
S R
S C
+
=
C.L.T.F
Order is the highest power of S term in the denominator of
transfer function.
i.e. The order of
Order of the system = No.of poles of the system
0 ) ( ) ( 1 = + S H S G
The denominator of C.L.T.F is called as CHARACTERISTIC
EQUATION, which determines the stability and performance of the
system.


0 ) ( ) ( 1 = + S H S G
) .( . . ) )( (
) .( . . ) )( (
) ( ) (
2 1
2 1
n
N
m
P S P S P S S
Z S Z S Z S
S H S G
+ + +
+ + +
=
Type number is the power of integral factor in loop gain
or loop transfer function.
Type number of the system = No.of poles at the origin in
S-plane
Time response of First order system with unit step input
unit step input
S
S R
1
) ( =
? ) ( = t C
T = time constant of the system
Applying inverse laplace transformation
Time response
Error is the difference between input and output
Steady state output
1
1
1 1 ) ( = = =



e
e t C
t
1 ) ( = C
When time approaches infinity, the error is, steady state error
steady state error
When time t = T
Time constant (T) of first order system is defined as the
time taken by the system output to reach 63.2% of the steady
state value.
Time response of Second order system with unit step input
+
-
) 2 (
2
n
n
S S e
e
+
R(S)
C(S)
2 2
2
) (
) (
n
n
S S R
S C
e
e
+
=
unit step input
S
S R
1
) ( =
) (
1
) (
2 2
2
n
n
S S
S C
e
e
+
- =
0 = when
) (
1
) (
2 2
n
S
S
S
S C
e +
=
2 2
2
2 ) (
) (
n n
n
S S S R
S C
e e
e
+ +
=
unit step input
S
S R
1
) ( =
2 2
2
2
1
) (
n n
n
S S S
S C
e e
e
+ +
- =
Apply partial fraction
2 2
2
) (
n n
S S
C BS
S
A
S C
e e + +
+
+ =
n
C S B A e 2 , , 1 = = =
2 2
2
2 1
) (
n n
n
S S
S
S
S C
e e
e
+ +
+
=
Add and subtract
2 2
n
e
to the denominator
2 2 2 2 2 2
2
2 1
) (
n n n n
n
S S
S
S
S C
e e e e
e
+ + +
+
=
2 2 2 2
) (
2 1
) (
n n n
n
S
S
S
S C
e e e
e
+ +
+
=
) 1 ( ) (
2 1
) (
2 2 2
e e
e
+ +
+
=
n n
n
S
S
S
S C
) 1 (
2 2 2
e e =
n d
2 2
) (
2 1
) (
d n
n
S
S
S
S C
e e
e
+ +
+
=
where
2 2 2 2
) ( ) (
1
) (
d n
n
d n
n
S S
S
S
S C
e e
e
e e
e
+ +

+ +
+
=
d
d
d n
n
d n
n
S S
S
S
S C
e
e
e e
e
e e
e
-
+ +

+ +
+
=
2 2 2 2
) ( ) (
1
) (
Multiply and divide the 3
rd
term by
d
e
t e t e t C
d
t
d
n
d
t
n n
e
e
e
e
e e
sin cos 1 ) (

=
] sin [cos 1 ) ( t t e t C
d
d
n
d
t
n
e
e
e
e
e
+ =

] sin
1
[cos 1 ) (
2
t t e t C
d
n
n
d
t
n
e
e
e
e
e

+ =

] sin
1
[cos 1 ) (
2
t t e t C
d d
t
n
e

e
e

+ =

u u = = cos 1 sin
2
] sin cos 1 [
1
1 ) (
2
2
t t
e
t C
d d
t
n
e e

e
+

=

] sin cos cos [sin
1
1 ) (
2
t t
e
t C
d d
t
n
e u e u

e
+

=

) sin(
1
1 ) (
2
u e

e
+

=

t
e
t C
d
t
n
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
1
cos u ,

=
r
d
t
t u
e

=
2
1
.
) (
) ( ) (

t

= e
C
C t C
M
p
p
2
1
1 ) (

t

== e t C
p
) 1 (
2 2
e e =
n d
sin( ) 0 sin
d r
t e u t + = =
1 ) sin(
1
1 ) (
2
= +

=

u e

e
r d
t
r
t
e
t C
r n
r
d
t
t u
e

=
Rise time,
r
t
: It is the time required for the response to rise from 0 to
100% of the final value for the underdamped system.
1
cos u ,

=
) sin(
1
1 ) (
2
u
e
t
e

e
t
e
+

=

d
d p
d
n
e
t C
) sin(
1
1 ) (
2
1
2
u t

e
t C
p
u

sin
1
1 ) (
2
1
2

==

e
t C
p
u
u

sin
sin
1 ) (
2
1

==
e
t C
p
u
u

sin
sin
1 ) (
2
1

==
e
t C
p
2
1
1 ) (

t

== e t C
p
2
1
.
) (
) ( ) (

t

= e
C
C t C
M
p
p
) 15 (
500
) (
+
=
S S
S G
1. A second order servo has unity feedback and open-loop
transfer function
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.
sec
15
8
sec 149 . 0
% 67 . 32
sec / 5 15 . 0
sec / 5 10
=
=
=
=
=
ts
tp
Mp
rad
rad
d

e
) 1 (
) (
ST S
K
S G
+
=
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%
KT 2
1
=
0517 . 0
1
=
317 . 0
2
=
T K
1
1
2
1
=
T K
2
2
2
1
=
1 2
02659 . 0 K K =
3. Find the time response of the system for unit step input. Where
Y is output and X is input.
x y
dt
dy
dt
y d
9 16 5
2
2
= + +
16 5
9
) (
) (
2
+ +
=
S S S X
S Y
16 5
16
16
9
16 5
9
16
16
2 2
+ +
- =
+ +
- =
S S S S
(
(

=

) sin(
1
1
16
9
2
u e

e
t
e
d
t
n
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.
u
4. A second order control system is represented by a transfer
function
K DS J S S T
S
+ +
=
2
1
) (
) ( u
07 . 0
2
1
.
= =

t
e M
p
for 12 units of input
12
07 . 0
=
p
M for 1 unit of input
d
p
t
e
u t
= = 2 . 1
N K
rad m N D
rad m N J
67 . 16
sec) / /( 011 . 6
) sec / /( 4185 . 1
2
=
=
=
Ans
2
84 . 0
1 2 . 0
s
s +
C(S)
Ks
+
-
R(S)
+
-
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.
1
1
) (
2
+ +
+
=
s s
C Bs
s
s C
4
1
4
1
1
8 . 0 1
) (
2
+ + +
+
=
s s
s
s
s C
1
1 2 . 0
) (
) (
2
+ +
+
=
S S
s
s R
s C
4
1
1
2
1
8 . 0 1
) (
2
+
|
.
|

\
|
+
+
=
s
s
s
s C
2
2
2
3
2
1
8 . 0 1
) (
|
|
.
|

\
|
+
|
.
|

\
|
+
+
=
s
s
s
s C
2
2
2
3
2
1
3 . 0 5 . 0 1
) (
|
|
.
|

\
|
+
|
.
|

\
|
+
+ +
=
s
s
s
s C
Delay time,

Rise time,

Peak time,

Settling time,

Peak overshoot,

Steady-state error.
Time response specifications
1. Static Error Coefficient method
2. Dynamic Error Coefficient method
)] ( ) ( [ )] ( ) ( [
0
S C S R Lt t c t r Lt e
S t
ss
= =

Steady-state error,
ss
e
: It indicates the error between the actual output and
desired output as t tends to infinity.
It is seen that steady-state error depends on the input
R(S) and the forward transfer function G(S)H(S).
Steady-state error, with unit step input
Static Error Coefficient method
Steady-state error, with unit ramp input
Steady-state error, with unit parabolic input
Drawbacks of Static Error Coefficient method

1. It does not show the variation of error with time
2. It is calculated for standard inputs
Dynamic Error Coefficient

It gives error as a function of time.

In this method, the error is given by
) (
0
0
S F Lt C
S
=
) (
0
1
S F
dS
d
Lt C
S
=
) (
0
S F
dS
d
Lt C
n
n
S
n

=
) ( ) ( 1
1
) (
S H S G
S F
+
=
Pb.5 A unity feedback system is characterized by the
open-loop transfer function

Determine the steady state error for unit step, ramp
and parabolic inputs using static error coefficients
) 1 2 . 0 )( 1 5 . 0 (
1
) (
+ +
=
S S S
S G
Pb.6 Consider a unity feedback system with a closed-
loop transfer function

Determine the O.L.T.F G(S). Show that steady state
error with unit ramp input is given by
b aS S
b KS
S R
S C
+ +
+
=
2
) (
) (
b
K a
Pb.7 A unity feedback system has the open-loop
transfer function

Determine the minimum value of K
1
so that the steady
error is less than 0.1.
2
1
) 1 )( 1 5 (
) 1 2 (
) (
+ +
+
=
S S S
S K
S G
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 PI controller, The presence of integral control eliminates
steady-state offsets and this is generally an important feature
required in a control system.
With PD controller, Derivative control has the controller
effectively anticipating the way an error signal is growing and
responding as the error signal begins to change. (i.e. improves
transient respone of the system). Adding derivative control to
proportional control still leaves the output steady-state offset.
With P controller, increasing the controller gain speeds up the
response to changes in inputs and decreases, but does not
eliminate, the output offset.
STABILITY
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.
LIMITEDLY or MARGINALLY STABLE
STABLE
) 2 )( 1 (
) (
+ +
=
S S S
K
S G
0 ) 2 )( 1 ( ) ( ) ( 1 = + + + = + K S S S S H S G
With unity feedback
Consider a system
ROOT LOCUS
Characteristic equation of the given system is
2 1 , 0
3 2 1
= = =
o o o
P P P Open loop poles are
0 ) 2 )( 1 ( ) ( ) ( 1 = + + + = + K S S S S H S G
Calculate closed loop poles from characteristic equation for k=0 to
ROOT LOCUS
= Open loop poles

- - -
- - -
2 1 0
3 2 1
P P P

-
1
0
K
Closed loop poles
or = Open loop zeros
Plotting closed loop poles in S-plane gives ROOT LOCUS
Number of Open loop poles = Number of root locus branches
APPLICATION OF ROOT LOCUS

to analyze the stability of control systems in time domain.

to design closed loop control systems in time domain.
Construction Rules for Root Locus
Root locus can be constructed using G(S)H(S) transfer function
1. Each branch of the root locus begins at an open-loop pole (K = 0)
and ends at an open-loop (finite) zero or at a zero at infinity (K ).
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.
2. Part of Root locus on real axis
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
3. The Root locus branches terminate at infinity along asymptotes
The Root locus branches terminating at infinity can be drawn
along asymptotes which are straight lines extending to infinity.
No.of asymptotes = No.of branches terminate at infinity
= No.of O.L.Poles (P) - No.of O.L.Zeros (Z)
4. Meeting point of asymptotes (Centriod) on real axis, and asymptotes
angle w.r.t positive real axis.
Z P
zeros of part real poles of part real
Centroid

=

o ,
Z P
q
angle Asymptote
A

+
=
) 1 2 ( 180
,

| Where q=0,1,2.(P-Z-1)
Contd
5. Angle of departure at complex pole
(

Z Z + + =

= =
n
i
m
i
i i D
z p p p
3 1
1 1
) ( ) ( 90 180

u
The root locus makes an angle
D
with positive real axis.

D
at complex conjugate pole (P
1
) with positive imaginary part given by
6. Angle of arrival at complex zero

= =
Z Z + =
n
i
m
i
i i A
z z p z
1 3
1 1
) ( ) ( 90 180

u
The root locus makes an angle
A
with positive real axis.

A
at complex conjugate zero (Z
1
) with positive imaginary part given by
Construction Rules for Root Locus
Contd

D
= -[180 + 90 + sum of angles contributed by other O.L.Poles Sum
of of angles contributed by O.L.Zeros]

A
= 180 - 90 + sum of angles contributed by O.L.Poles Sum of of
angles contributed by other O.L.Zeros
Example fig for Angle of departure

D
= -180 + 90 + sum of angles contributed by other O.L.Poles
Sum of of angles contributed by other O.L.Zeros
7. Break-away and Break-in ponits
Calculate the break-away and break-in points from the
equation
0 =
dS
dK
If the root locus on the real axis lies in the interval between
two open-loop poles, there will always be a break-away point
between the poles where the root locus leaves the real axis.
If the root locus on the real axis lies in the interval between
two open-loop zeros, there will always be a break-in point
between the zeros where the root locus enters the real axis.
If the root locus on the real axis lies in the interval between
an open-loop pole and an open-loop zero, there may or may not be
break points between the pole and zero.
At breakaway and breakin points K>0 and real
8. Root locus intersection point on imaginary axis.
Calculate the intersection point using Routh-hurwitz criterion.
Contd
r

180
break-away angle =
Where r no.of
branches meeting at
break-away point
) 4 )( 2 (
20 4
) (
2
+ +
+ +
=
S S
S S
S G
) 4 )( 2 (
20 4
) (
2
+ +
+ +
=
S S
S S
S G
ASSIGNMENT
C1 SLOT
1. 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.
2.
3. Obtain force-voltage and force-current analogous electrical systems.
ASSIGNMENT
C2 SLOT
1. Obtain torque-voltage and torque-current analogous electrical systems.
2. A unity feedback system has open loop transfer function

Determine the steady state error for the following inputs
i) r(t)=5t.
ii) r(t)=(1+t)
2
) 1 . 0 1 (
400
) (
S S
S G
+
=
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.