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Control systems
Lecture-3 : Time domain analysis
V. Sankaranarayanan
V. Sankaranarayanan
Control system
Outline
Assignment
V. Sankaranarayanan
Control system
Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
V. Sankaranarayanan
Control system
Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
Magnitude of a complex variable is
V. Sankaranarayanan
2 + 2
Control system
Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
Magnitude of a complex variable is
Angle with respect to real axis is
2 + 2
tan1 (/)
V. Sankaranarayanan
Control system
Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
Magnitude of a complex variable is
Angle with respect to real axis is
2 + 2
tan1 (/)
V. Sankaranarayanan
Control system
Laplace Transform-Defination
Defination
The Laplace transform can be defined as
f (t)est dt
V. Sankaranarayanan
Control system
Laplace Transform-Defination
Defination
The Laplace transform can be defined as
f (t)est dt
V. Sankaranarayanan
Control system
Laplace Transform-Defination
Defination
The Laplace transform can be defined as
f (t)est dt
V. Sankaranarayanan
Control system
Laplace Transform-Defination
Defination
The Laplace transform can be defined as
f (t)est dt
V. Sankaranarayanan
Control system
Laplace Transform-Defination
Defination
The Laplace transform can be defined as
f (t)est dt
V. Sankaranarayanan
Control system
Impulse Function
Impulse function is a special limiting class of pulse function. It can be defined as
g(t) = lim
a0
A
a
=0
The height of function is A/a and duration is a. Area under the function is A.
V. Sankaranarayanan
Control system
Impulse Function
Impulse function is a special limiting class of pulse function. It can be defined as
g(t) = lim
a0
A
a
=0
The height of function is A/a and duration is a. Area under the function is A.
Laplace Transform of impulse function is
L[g(t)] = lim [
a0
= lim
a0
A
(1 eas )]
as
d
A(1 eas )
da
d
(as)
da
As
s
=A
=
V. Sankaranarayanan
Control system
f (t)
F (s)
1
s
1
s2
tn (n = 1, 2, 3..
n!
sn+1
eat
sin t
cos t
V. Sankaranarayanan
1
s+a
s2 + 2
s
s2 + 2
Control system
SL. No.
Theorem
Remark
Linearity
L[eat f (t)] = F (s + a)
L[
d
f (t)] = sF (s) f (0)
dt
Rt
F (s)
s
L[
L[tf (t)] =
L[f ( at )] = aF (sa)
f (t)dt] =
Differentiation theorem
Integration theorem
dF (s)
ds
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Scaling theorem
Control system
Defination
If f (t) and df (t)/dt are Laplace transformable and if limt f (t) exist then
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s0
Control system
Defination
If f (t) and df (t)/dt are Laplace transformable and if lims sF (s) exist then
V. Sankaranarayanan
Control system
Transfer function
Representation
G(s) =
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
V. Sankaranarayanan
Control system
Transfer function
Representation
G(s) =
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
V. Sankaranarayanan
Control system
Transfer function
Representation
G(s) =
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
V. Sankaranarayanan
Control system
Transfer function
Representation
G(s) =
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
V. Sankaranarayanan
Control system
Transfer function
Representation
G(s) =
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
V. Sankaranarayanan
Control system
Convolution integral
Convolution
G(s) =
Y (s)
U (s)
g(t )u( )d
y(t) =
0
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Control system
Convolution integral
Convolution
G(s) =
Y (s)
U (s)
g(t )u( )d
y(t) =
0
V. Sankaranarayanan
Control system
Convolution integral
Convolution
G(s) =
Y (s)
U (s)
g(t )u( )d
y(t) =
0
V. Sankaranarayanan
Control system
System definitions
Convolution integral
Z
g(t )u( )d
y(t) =
0
V. Sankaranarayanan
Control system
System definitions
Convolution integral
t
g(t )u( )d
y(t) =
0
Definition
System is said to be time invariant if
t
Z
y(t)
g(t )u( )d
=
0
t
g( )u(t )d
=
0
V. Sankaranarayanan
Control system
System definitions
Convolution integral
t
g(t )u( )d
y(t) =
0
Definition
System is said to be time invariant if
t
Z
y(t)
g(t )u( )d
=
0
t
g( )u(t )d
=
0
Definition
System is said to be CAUSAL if t
V. Sankaranarayanan
Control system
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
V. Sankaranarayanan
Control system
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
Poles
Solution to the denominator polynomial called poles
a0 sn + a1 sn1 + . . . + an1 s + an = 0
V. Sankaranarayanan
Control system
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
Poles
Solution to the denominator polynomial called poles
a0 sn + a1 sn1 + . . . + an1 s + an = 0
Zeros
Solution to the numerator polynomial called zeros
b0 sm + b1 sm1 + . . . + bm1 s + bm = 0
V. Sankaranarayanan
Control system
b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an
Poles
Solution to the denominator polynomial called poles
a0 sn + a1 sn1 + . . . + an1 s + an = 0
Zeros
Solution to the numerator polynomial called zeros
b0 sm + b1 sm1 + . . . + bm1 s + bm = 0
Pole-Zero format
G(s)
(s + z1 )(s + z2 ) + . . . + (s + zm )
(s + p1 )(s + p2 ) + . . . + (s + pn )
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Control system
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Control system
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1
s+1
s
s2 + 2s + 4
Control system
1
s+1
s
s2 + 2s + 4
Definition
The number of poles located in the origin is defined as type of the system.
V. Sankaranarayanan
Control system
1
s+1
s
s2 + 2s + 4
Definition
The number of poles located in the origin is defined as type of the system.
Example
Type 1 system
G(s) =
V. Sankaranarayanan
1
s(s + 2)
Control system
Impulse
u(t) = lim
t0 0 t0
=0
u(t)dt = 1
0
U (s) = 1
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Control system
Step
u(t) = 1
U (s) =
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1
s
Control system
Ramp
u(t) = t
U (s) =
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1
s2
Control system
Parabolic
u(t) = t2
U (s) =
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1
s3
Control system
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1
Ts + 1
Control system
1
Ts + 1
1
1
s Ts + 1
Y (s) =
1
T
s
Ts + 1
V. Sankaranarayanan
Control system
1
Ts + 1
1
1
s Ts + 1
y(T ) = 1 e1 = 0.632
at t = 2T
1
T
Y (s) =
s
Ts + 1
Taking inverse Laplace transform
y(t) = 1 et/T
V. Sankaranarayanan
y(2T ) = 0.865
1
1
dy
|t=0 = et/T =
dt
T
T
Control system
V. Sankaranarayanan
Control system
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1
Ts + 1
Control system
1
Ts + 1
1
1
s2 T s + 1
T2
1
T
+
2
s
s
Ts + 1
V. Sankaranarayanan
Control system
1
Ts + 1
1
1
s2 T s + 1
T2
1
T
+
2
s
s
Ts + 1
V. Sankaranarayanan
Control system
1
Ts + 1
1
Ts + 1
1 t/T
e
T
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Control system
1
Ts + 1
1
Ts + 1
1 t/T
e
T
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Control system
Standard representation
G(s) =
s2
2
n
2
+ 2n + n
n - Natural frequency
- Damping factor
Pole-zero form
2
n
(s + n + jd )(s + n jd )
d = n
p
1 2 - Damped natural frequency
V. Sankaranarayanan
Control system
0<<1
Step response
Y (s) =
2
n
(s + n + jd )(s + n jd )s
Partial fraction
s + n
n
1
s
(s + n )2 + d2
(s + n )2 + d2
Taking inverse Laplace transform
y(t) = 1 en t cos d t + p
sin d t
2
1
further
en t
y(t) = 1 p
sin d t + tan1
1 2
V. Sankaranarayanan
Control system
p
1 2
=1
Step response
Y (s) =
2
n
(s + n )2 s
V. Sankaranarayanan
Control system
Response
Step Response
1.8
1.6
Change in Response
with
1.4
Amplitude
1.2
1
0.8
0.6
0.4
0.2
0
10
Time (seconds)
V. Sankaranarayanan
Control system
15
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Control system
basic definitions
Delay time td - The delay time is the time required for the response to reach
half of the final value the very first time
Rise time ts - The rise time is the time required for the response to rise from
0 100% of its final value
Peak time tp - The peak time is the time required for the responce to reach
the first peak of the overshot
Maximum overshoot Mp
y(tp ) c()
100%
c()
Settling time ts - Settling time is the time required for the response curve to
reach and stay with in the range about the final value
V. Sankaranarayanan
Control system
V. Sankaranarayanan
Control system
1
d
tan1
d
n
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Control system
1
d
tan1
d
n
Peak time
tp =
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Control system
1
d
tan1
d
n
Peak time
tp =
Maximum overshoot
Mp = e
V. Sankaranarayanan
1 2
100%
Control system
1
d
tan1
d
n
Peak time
tp =
Maximum overshoot
Mp = e
1 2
100%
Settling time
ts =
V. Sankaranarayanan
4
n
Control system
where c1 , c2 ...cn are the residue of G(s) at pi . So the inclusion of zeros only
afftecting the values of ci .
For poles with multiplicity, partial fraction can be done in similar way with some
change in computation of c.
V. Sankaranarayanan
Control system
G(s) =
U (s) =
1
s
Step Response
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0.5
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1.5
Time (seconds)
Control system
2.5
With Zero
s+1
s+2
s+1
Y (s) =
s(s + 2)
0.5
0.5
+
=
s
s+2
G(s) =
U (s) =
1
s
Amplitude
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0.5
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1.5
Time (seconds)
Control system
2.5
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Control system
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Control system
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Control system
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Control system
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Control system
4
s2 + 1.2s + 4
4(s + 1)
s2 + 1.2s + 4
T2 (s) =
T3 (s) =
4(s + 15)
15(s2 + 1.2s + 4)
T1(s)
T2(s)
Amplitude
1.5
T3(s)
0.5
5
Time (seconds)
0.6t
y1 (t) = 1 0.95393e
10
V. Sankaranarayanan
Control system
Consider a system
G(s) =
1
(s + a)(s2 + bs + c)
If a is very far from imaginary axis the exponential responce will die very fast.
V. Sankaranarayanan
Control system
Consider a system
G(s) =
1
(s + a)(s2 + bs + c)
If a is very far from imaginary axis the exponential responce will die very fast.
So here the 2nd order poles are dominant and a is a insignificant pole
V. Sankaranarayanan
Control system
Consider a system
G(s) =
1
(s + a)(s2 + bs + c)
If a is very far from imaginary axis the exponential responce will die very fast.
So here the 2nd order poles are dominant and a is a insignificant pole
If the magnitude of a real part of a pole is more than 5 to 10 times the real
part of dominant pole that the pole is considered as insignificant
V. Sankaranarayanan
Control system
Consider a system
G(s) =
1
(s + a)(s2 + bs + c)
If a is very far from imaginary axis the exponential responce will die very fast.
So here the 2nd order poles are dominant and a is a insignificant pole
If the magnitude of a real part of a pole is more than 5 to 10 times the real
part of dominant pole that the pole is considered as insignificant
V. Sankaranarayanan
Control system
Example
Consider the following systems
T1 (s) =
4
s2 + 1.2s + 4
T2 (s) =
4
(s + 1)(s2 + 1.2s + 4)
T3 (s) =
28
(s + 7)(s2 + 1.2s + 4)
Step Response
1.4
1.2
Amplitude
0.8
T1(s)
T2(s)
0.6
T3(s)
0.4
0.2
4 Time (seconds)
V. Sankaranarayanan
Control system
Example
Consider the following systems
T1 (s) =
4
s2 + 1.2s + 4
T2 (s) =
4
(s2 + 1.6s + 1)(s2 + 1.2s + 4)
T3 (s) =
400
(s2 + 16s + 100)(s2 + 1.2s + 4)
Step Response
1.4
1.2
Amplitude
0.8
0.6
T1(s)
T2(s)
0.4
T3(s)
0.2
5
Time (seconds)
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Control system
10
Open-loop
G(s) =
V. Sankaranarayanan
Y (s)
U (s)
Control system
Closed-loop system
G(s) =
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Y (s)
U (s)
Control system
Closed-loop system
G(s) =
Y (s)
U (s)
C(s)
G(s)
=
R(s)
1 + G(s)
V. Sankaranarayanan
Control system
Closed-loop system
G(s) =
Y (s)
U (s)
C(s)
G(s)
=
R(s)
1 + G(s)
E(s) =
V. Sankaranarayanan
R(s)
1 + G(s)
Control system
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Control system
Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =
V. Sankaranarayanan
R(s)
1 + G(s)
Control system
Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =
R(s)
1 + G(s)
V. Sankaranarayanan
Control system
Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =
R(s)
1 + G(s)
V. Sankaranarayanan
s0
Control system
Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =
R(s)
1 + G(s)
s0
s0
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sR(s)
1 + G(s)
Control system
Type 0 system
Type 0 system
G(s) =
V. Sankaranarayanan
Control system
Type 0 system
Type 0 system
G(s) =
Step input
s0
sR(s)
s
1
1
= lim
= lim
=
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+K
V. Sankaranarayanan
Control system
Type 0 system
Type 0 system
G(s) =
Step input
s0
sR(s)
s
1
1
= lim
= lim
=
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+K
Ramp input
s0
sR(s)
s
1
= lim 2
= lim
=
s0 s (1 + G(s))
s0 s(1 + G(s))
1 + G(s)
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Control system
Type 1 system
Type 1 system
G(s) =
V. Sankaranarayanan
Control system
Type 1 system
Type 1 system
G(s) =
Step input
s0
1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+
V. Sankaranarayanan
Control system
Type 1 system
Type 1 system
G(s) =
Step input
s0
1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+
Ramp input
s0
sR(s)
s
1
1
= lim 2
= lim
=
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)
K
V. Sankaranarayanan
Control system
Type 1 system
Type 1 system
G(s) =
Step input
s0
1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+
Ramp input
s0
sR(s)
s
1
1
= lim 2
= lim
=
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)
K
Parabolic input
s0
sR(s)
s
1
1
= lim 3
= lim 2
= =
s0 s (1 + G(s))
s0 s + s2 G(s)
1 + G(s)
0
V. Sankaranarayanan
Control system
Type 2 system
Type 2 system
G(s) =
V. Sankaranarayanan
Control system
Type 2 system
Type 2 system
G(s) =
Step input
s0
1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+
V. Sankaranarayanan
Control system
Type 2 system
Type 2 system
K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)
s2 (Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)
G(s) =
Step input
s0
1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+
Ramp input
s0
sR(s)
s
1
1
= lim 2
= lim
=
=0
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)
V. Sankaranarayanan
Control system
Type 2 system
Type 2 system
K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)
s2 (Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)
G(s) =
Step input
s0
1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+
Ramp input
s0
sR(s)
s
1
1
= lim 2
= lim
=
=0
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)
Parabolic input
s0
sR(s)
s
1
1
= lim 3
= lim 2
=
s0 s (1 + G(s))
s0 s + s2 G(s)
1 + G(s)
K
V. Sankaranarayanan
Control system
Type
Type 0 system
Type 1 system
Type 2 system
Step Input
1
1+K
Ramp input
0
0
V. Sankaranarayanan
1
K
Parabolic input
Control system
1
K
Assignment
dF (s)
, where F (s)= L[f (t)]
d(s)
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Control system
Assignment
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Control system
Assignment
3. Find the steady state error of the unity feedback system shown below to a step
and parabolic inputs.
G(s) =
10
s2 (s + 1)
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Control system
Assignment
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Control system
Assignment
5. Consider the system shown in the figure. Determine the feedback constant K0 ,
which will increase damping factor of the system to 0.6. What is the steady-state
error resulting from unit ramp input with this setting of the feedback constant.
V. Sankaranarayanan
Control system
Assignment
V. Sankaranarayanan
Control system
Assignment
7. Consider the system shown in the figure. Determine the system type.
V. Sankaranarayanan
Control system
Assignment
8. Consider the system shown in the figure .To yeild 0.1% error in the steady state
to step input find the value of K.
V. Sankaranarayanan
Control system
Assignment
1
s(0.5s + 1)(0.2s + 1)
Determine the steady state state errors for the unit step, unit ramp and unit
acceleration inputs. Also determine the damping ratio and natural frequency of
the dominant roots.
V. Sankaranarayanan
Control system
Assignment
10. A speed control system of an armature-controlled dc motor as shown in the
figure . uses the back emf voltage of the motor as a feedback signal. (i) Calculate
the steady-state error of this system to a step input command setting the speed to
a new level. Assume that Ra =La =J=b=1, the motor constant is Km =1, and
Kb =1. (ii) Select a feedback gain for the back emf signal to yield a step response
with an overshoot of 15%.
V. Sankaranarayanan
Control system