CONTROL & Instrumentation

ENGINEERING

By

eng. W magaramagara
Time domain Analysis
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. wm
 Time domain analysis

The dynamic behavior of a system is judged under the

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.
Standard test signals

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  Z1 )( S  Z 2 ) . . .( S  Z m )
G( S ) 
S N ( S  P1 )( S  P2 ) . . .( S  Pn )
 For feedback system with H(S)=1 (unity feedback system)

C(S) G( S )
C.L.T.F 
R( S ) 1  G ( S ) H ( S )

Order is the highest power of S term in the denominator of

transfer function.
i.e. The order of 1  G( S ) H ( S )  0
Order of the system = No.of poles of the system

The denominator of C.L.T.F is called as CHARACTERISTIC

EQUATION, which determines the stability and performance of the
system.
1  G( S ) H ( S )  0
 ( S  Z1 )( S  Z 2 ) . . .( S  Z m )
G( S ) H ( S )  N
S ( S  P1 )( S  P2 ) . . .( S  Pn )

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

T = time constant of the system

C (t )  ?
R(t) = 1
unit step input
1
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

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

R(S) C(S)
 2
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

Apply partial fraction

A  1, B   S , C  2n

1 S  2n
C(S)   2
S S  2n S   n2

Add and subtract  2 n2 to the denominator

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  t

C (t )  1  e cosd t  e sin d t
n

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 ]
 n 1  2
 n t 
C (t )  1  e [cos d t  sin d t ]
1  2

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   )
1  2

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
 .
C ( t p )  C ( ) 
  cos 
1
 d   (1   )
2
n
2
Mp  e 1  2

C ( )
Rise time, t r : 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 (tr )  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
1  2
 

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 ( )
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. 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

3. 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 / sec2 )
  D  6.011 N  m /(rad / sec)
t p  1.2 
d K  16.67 N
4. 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)
0.2s  1
+ + 0.84s 2
- -

Ks
Time response specifications

• Delay time,

• Rise time,

• Peak time,

• Settling time,

• Peak overshoot,

• Steady-state error.

1. Static Error Coefficient method

2. Dynamic Error Coefficient method
Steady-state error, ess : It indicates the error between the actual output and
desired output as ‘t’ tends to infinity.

ess  Lt [r (t )  c(t )]  Lt [ R( S )  C ( S )]
t  S 0

It is seen that steady-state error depends on the input

R(S) and the forward transfer function G(S)H(S).
 Static Error Coefficient method

Steady-state error with unit step input

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

C0  Lt F ( S )
S0

d
C1  Lt F(S) F (S) 
1
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.6 Consider a unity feedback system with a closed-

loop transfer function C(S) KS  b

R( S ) S 2  aS  b
Determine the O.L.T.F G(S). Show that steady state
error with unit ramp input is given by a  K
b
Pb.7 A unity feedback system has the open-loop
transfer function K 1 ( 2 S  1)
G( S ) 
S ( 5 S  1)( S  1) 2
Determine the minimum value of K1 so that the steady
error is less than 0.1.

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.

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.
 STABILITY
General form of
CHARACTERISTIC EQUATION

CHARACTERISTIC EQUATION
1. Obtain torque-voltage and torque-current analogous electrical systems.

2. A unity feedback system has open loop transfer function G ( S )  400

S (1  0.1 S )
Determine the steady state error for the following inputs
i) r(t)=5t.
ii) r(t)=(1+t)2

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.