Module - 9 Time Peaponne:- ‘The Response qiven by athe Sytem which io qfunchioen gq, athe time, do the applied Excitohon in Called +ime herpome 9g, a Control Sytem, BA Me have two types ¢ Time Reaponne. a) Tnansient Response by Steady State Response. elnansiecto akan peng The cutput Variation ducing tthe ctime dat Aaken tn adweve S32 gival Value is Catlecdh ar tranhient nespense The Hme mequived to achieve the ginal value in Catted transient Pertod. “The Transient expense may Joe tponextial @ OSciMatony to nakure, Symbolically 3x 3s doy denoted or ext) Steady Stoke. Reaponke Ste Gy tot pork g, the ime surpense wilich meemoh ater Compleke ckranaient esponse Vanishes grom she Sytem oakpuk z As a5 abso Com Joe defined os rnerponse A tre Sytem ar Aime approaches Baya em dike time ak Wich dronsient espenne Completely lion out. “The Steady Stade response Sudiicater the accumaty q Hee System The Scamiloal dor Steady Stecke output do Cy,”Hence total time Response Cl4) We Con Write os CU) = Gst+C,W) The Steady Stele Exror:- The Dijjerene. Between the derived cutput and actual output q the Septem uty Called Steatey Stede Brox. whidh un denoted By Ess. Standord test Siguals ‘- The Stguals voltdr ame most Commenly ured ob heperene: dinpuke gye enolytin anc dapined or Standard tot Sao. The Evaluation q che Sister Cow doe done on tre Basis, G, fre Menpenne Qwen by Hhe Syptem Ho athe Standard. fet Lupute . Thene Standard tet Stgralr ane: Step Tuput (Rsitron dunckien).- x fi Step qunchton Tepnetnts an Gnstautanesus Change ain dhe Deg ae Super * Mate mecicatly, B+ Gon doe dencribed as, may = }A i HU) OF .3 SNES A AL Ar1 then 44 in Catted. unit Step fundton aud denoted by Ut) Laplaw Tranajeren q, Sud, Lupuk in Alsby Ramp input [velocity function): x The Kamp tuput @ Junchon dn a Junction rot Changen Constantly With +me. % The Mathematical deroripton % amp guncion As On dpllow. HU) At. jor tyo YU) = H)<1 0 peteo eee ay fed Lt ty cotteck Unit Bmp Fon Ab ws dinotedk Hu). ° qyunetton ws dinote Py ope Ramp. ats Laploc Tram fern i Ye) c) Parabolic junction [ Aceclevatton quneten] :- % The porabolic junction eprenents a Stguah +okin One. ovderr jorter Won thre romp dunckion , x Mathematically ad is dereribeat ar followr. ee RY, 470 “AY in maguitude q ste oO tdo Parabolic geneween. gue Kew X Rerabolic qunctton us Crupreied, ae ar A/,4* So thot to taplou Hreina Lorene Ail yereut Stendord. cin puss Senjlanciiy will ae main teined x af Act ie KU) = 47, Sk ts Cited anit pora belt dnput, din laplac deandjerms ts Af,Impulae Input: x at is the uinpat applieat cin Standen eoushy a vend laigh roagnitude Jmplitucle as Strawn. et ly thre pulse whore de +70 ls, dodinite fohile iba wtdthy feuds fo yao apphed momentarily, we impale uy Noviaing Rat JA y Area the atnput : Ad in Catlect unit Magnitude at lite aren ty unity lutmpule to pat couoted ar dC). X Mecthemerh'cally ck can be Enprenreal os. M alt) ne) = A, for 420 =o) One me ae Definition: The unput amd output Nelationship q, Control Syutem Con Joe Gapresreat boy. @. ciyfenential Equation. The ovclew dhe Sytem th given bq Hoe order a, the di even hal Equashton geverrnio te i ed Hh i nbal Th, the System ain govern by nty avder os Equation, then the System ao Called. ate order Sytem PCs) G(s) “Trrangier funckoo Tes) = k= Constant’ R689 > Numevactor Palyrcomial , Q(S) > Devrominatrr Polynomial.Time Rcrpone analyses a, divat order Seyttems : (e+ ux» Consider cored loop Sater. RO) cu) OP Oxrewperae 1+ 41s)-HG) Censides a Simple Septem Shown in the ¥4 R 1 eee Vi) TO Vela) cant J then laplace Network. 45 Shouse Below. a T ie v8), 16) sa Vets) J = sila Apply Ku.b te the loop. Vics) = RIS) + ZT). Vols)= free), Tesy Is ve Mt ee vits) ScR16)+ Ils) a TTS Where ae Ts ReTime _Shespene analydn a, fivsk order Siyectem dor onit Step Stal: - Roe WK. T Tae l4+Ts CiGS) i RCS) x_4 = 1+T3 Now Wwe ane pear Unit Step Junckon am a input fe (UG) ee A ee Cet) The Laplaa -ranvte meter q RU+) dn RIS) = I/s Sub the Value % RS) ion) Cs) = L (+73 I aa pace, S (14 Ts) 1 2 ple ee) S(1tTs) Ss (+73) a = A(H+T3) + BS ~SCPKT.8) = stu Ho = AUth eles Put Sso. ooo Purse tTTe © Calulote Ge cL). Tate the bap Tnveme laplau trannform 9 Ces) C(S) aot eg =. ors Lifes] = a parle [ i s 1473 <4) When t= 0 CUt) =) = Coa ee +217 Ct) = dre =p nese tT Clt) = 4 Cm aanscon tr cu) 2 1-e Unit Step I/P- Response ay dist order ate) System so voit Step dinpuk cu)Vine Keporne arasiytn y Utord bin bypem We cloned Inap goansper hureston oO, Besand, wade Lays iy Ct RS) B+ SEW d+ OR” Wyma Undemped Caburead. fetapecn, gob Aer a dam ging othe, Damping hatte ‘- Damping ratte is deyned. am the roto 4 the actual damping 45 Woe CoritteaS damping Foun Camen:- Conerin undamped. tydem Exo, Caney: ndexdamped Lyhem O Nrtcorped. Bykem Cok : ChavaderitHe fayatton a Second, order "a 2 + BZ 10,8 + 19% 20. Bi, = eee bf -4ae ; ada,= -aG& 9, t Vg e* 419) pam red = = 9219, 4 [G09 (E21) Pe) = = 2E 19,4 249,17 E57 2 = -$[%19,+ 09,/e=1 J Cose 2!- Underdomped Syke where O< &<1 $8, = =& 49, + 19, isan 2 -& 19, +49, [Enli-g) = EL + jrIn Jie S$) $1 = - E19, + jd —The Roots ane Complent Conjuaerte :- $= -En9, ty Wot S22 EAS, -J Wel Gates Crthiealty damped System ¢- when EFL SUS r= este 0 eno ear $18, = -149, t 19,10) 33, = eo, 8,+-W, $,=-b9, foots ane Bouol and Same Cas 4!- Overtdamped 8 When E>4 8.8, = E09, t 19, MEAG pee ae pent] Moon ane Gast ancl. Sp 2 ~&A9, - AD, Vet 7 eared Reaponse gq, undamped Second ardew Sytem jor unit Step Input WteT The Clonecl nop chrannjer gunchion q Second. oxder Sgtem in 2 Cus), - os a Rus) S74 9E 19,84 I”When E=0. aca eel Sr Ris) 8? 4198 When the Tnpt us unit Step qguncten Ht) = then Susd= Ye ccs) = rer f ge sLOnieras: 8(8?+193) Rut S=0- A(S*4 193) + B.S 19,2 = AAIE Yur S2j 19a MOP A (Gv9n)*4 192) + B09, HOE = A (15,84 1) + BjLn WS = Bin.Response in 3-domoin s a ets) = Ve Rano Reaponne ain me demain. ew = u'fecsy] Se ee ll ean ee & [%] = cdl GC) Lo — Cont cu) = ConwInt Response O onderdamped Second order Syetem gee vnit Step Input Transjer dunction ces). __ Wer Ris) S*4 HE ig es + Wg* Roots $= -Eb9, t Jun Vi-E* EG hSp t SHS Response sin S-domain Cis) cls) = Rls), bar SP42E 19,8 + 9,muy= 1 Risd Ws CU) = ie ae S 884 25st, S19 ee ee eras = S(S't 2ELG,S hh” S gt42& 19,84) A= ccs).s | caret: oe BCS74 2E U9 8 t OS) el ee shank ety, +S Wir = A(S442619,8 +19,1) +(BS+C)s Put Az | W0,t = [82+ AE 1S +9] HBS +S. WK = S?#2EWIS+bIn + BS*4 CS. QO = (14+8)8* + (2E WIA tC)S. Equake & tects Equode 8 hewm's We have. 142 =0 QE Wn tC =OResponse sin S-domain, ci) = Ale S742 E 19,8 + b9nt CUS) * 1 4g HS + (-28 190) 2S S 6428 19,8 Hum ee S* + 25, 19,8 + bIn* _t. ~ (849609) S*4+2% 19,8 thn Ss ‘The above in requencg Rerponse. The Response stn A-domain C4) = 2 cts) = 1 _ (826%) S*+ QEAGS 41g Add 6 Subbrating EtG! fo the denominator. cesy= 1 _ (8+ 264%) (S*4.28 15,8 + Antgt)= B09! + E'H9, ee eae (StEAR) + HEY Rake T ASA = WOT g* AIL @ 1C- 8)849% Wn (8% 09n) + ty! 94 26 En (Sa won)” Tu9e CSR UDA) + Wa Sten _. Ely Wa +E, L9n)* + L9at od (Sh ny" rou “ 4 : al” g¢& on ~ 40) LB (cesd] = bs {¥s| eel (san 19.1 - i} Tit ee CC wea |e , COA = Fn Wd ohn sinwas (Ode Sone ace Eh ce Wat if Con we + Te Y, Me = ERM com nat Er gin nod | Vege Eat mee [Sinn IaLt + [tg Canodat] Vina and 2 Hl-g* Con0 = & 4 oe Gnomes a ae [eo Sind + Sind consat] v1 a Sinn. cose, + ash. Bing « Sin(A18)[Sérvoae CHO + Cont Sina] Raponse q, Betord order Sytem for Gritty donigec Can aud when input tr unit Step La We © s+ a WS t We Ti) = LO Ris) &=1 cw 2 ae 2 Ss RE St 29,84 Oe (34+ 9n)® Responne in g- elomain ib Rene (s* Wn) > R= 12> RUSD= Ye. AGS. Yh. Se Is (StW,)* Rerchal dracton Enupawsion. B ia) nee + + “ 2 Grin)" (34%) cs) = & (StWn)* A (StWn) t5B + CCSt On) S enous E(S4 Wn)? $C S44)