Control Systems-I

Instructor
Dr. Hafiz Farhan Maqbool

Department of Mechanical, Mechatronics & Manufacturing

Engineering
University of Engineering and Technology, Lahore
Faisalabad Campus
TODAY
Review of 1st order Systems
• Characteristics
• Examples with different
test input signals
Introduction
 In time-domain analysis the response of a dynamic system to an
input is expressed as a function of time.

 It is possible to compute the time response of a system if the

nature of input and the mathematical model of the system are
known.

 Usually, the input signals to control systems are not known fully
ahead of time.

 For example, in a radar tracking system, the position and the

speed of the target to be tracked may vary in a random
fashion.

 It is therefore difficult to express the actual input signals

mathematically by simple equations.
Standard Test Signals

 The characteristics of actual input signals are a

sudden shock, a sudden change, a constant velocity,
and constant acceleration.

 The dynamic behavior of a system is therefore judged

and compared under application of standard test
signals – an impulse, a step, a constant velocity, and
constant acceleration.

 Another standard signal of great importance is a

sinusoidal signal.
Standard Test Signals
■ Impulse signal
– The impulse signal imitate the sudden
shock characteristic of actual input
signal.

A t0 δ(t)
 (t )  
0 t0
A
– If A=1, the impulse signal is called unit
impulse signal.
0 t
Standard Test Signals
■ Step signal
– The step signal imitate the
sudden change characteristic
of actual input signal. u(t)

A t0
u( t )   A
0 t0

– If A=1, the step signal is called

0 t
unit step signal
Standard Test Signals
■ Ramp signal r(t)
– The ramp signal imitate the
constant velocity characteristic
of actual input signal.

 At t0
r(t )   t
0 t0 0

– If A=1, the ramp signal is r(t)

called unit ramp signal
ramp signal with slope A

r(t)

unit ramp signal

Standard Test Signals
p(t)
■ Parabolic signal
– The parabolic signal imitate
the constant acceleration
characteristic of actual input
signal.
 At 2
 t0 0 t
p(t )   2
0 t0
p(t)

– If A=1, the parabolic signal is
called unit parabolic signal.parabolic signal with slope A
p(t)

Unit parabolic signal

Relation between standard Test Signals

A t0
■ Impulse  (t )  
t0
d
0
 dt
A t0
■ Step u( t )  
0 t0 d
 dt
 At t0
■ Ramp r(t )  
t0
0 d
  At 2
dt
 t0
■ Parabolic p(t )   2
0 t0

Time Response of Control Systems

• Time response of a dynamic system response to an

input expressed as a function of time.

System

• The time response of any system has two

components
• Transient response
• Steady-state response.
Time Response of Control Systems

• When the response of the system is changed form rest

or equilibrium it takes some time to settle down.

• Transient response is the response of a system from rest

or equilibrium to steady state.
-3
x 10 Step Response
6

Step Input

Steady State Response

5
• The response of the
system after the 4
Response
transient response is
Amplitude

called steady state 2

Transient Response
response.
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Time Response of Control Systems

• Transient response depend upon the system poles only and

not on the type of input.

• It is therefore sufficient to analyze the transient response

using a step input.

• The steady-state response depends on system dynamics

and the input quantity.

• It is then examined using different test signals by final value

theorem.
 Introduction
• The first order system has only one pole.
C( s ) K

R( s ) Ts  1
• Where K is the D.C gain and T is the time constant of the
system.

• Time constant is a measure of how quickly a 1st order

system responds to a unit step input.

• D.C Gain of the system is ratio between the input signal and
the steady state value of output.
 Introduction
• The first order system given below.
10
G( s ) 
3s  1
• D.C gain is 10 and time constant is 3 seconds.

• And for following system

3 3/ 5
G( s )  
s  5 1 / 5s  1

• D.C Gain of the system is 3/5 and time constant is

1/5 seconds.
 Impulse Response of 1st Order System

• Consider the following 1st order system

δ(t)

K
R(s ) C(s )
1

Ts  1
t
0

R( s )   ( s )  1

K
C( s ) 
Ts  1
 Impulse Response of 1st Order System
K
C( s ) 
Ts  1
• Re-arrange following equation as

K /T
C( s ) 
s  1/ T

• In order represent the response of the system in time domain

we need to compute inverse Laplace transform of the above
equation.
K t / T
1 
C  c(t )  e
L    Ce  at T
sa
Impulse Response of 1st Order System
K t / T
• If K=3 and T=2s then c(t )  e
T
K/T*exp(-t/T)
1.5

1
c(t)

0.5

0
0 2 4 6 8 10
Time
 Step Response of 1st Order System

 Consider the following 1st order system

K
R(s ) C(s )
Ts  1

1
R( s )  U ( s ) 
s
K
C( s ) 
sTs  1
• In order to find out the inverse Laplace of the above
equation, we need to break it into partial fraction
expansionForced Response
K KT Natural Response
C( s )  
s Ts  1
 Step Response of 1st Order System

1 T 
C( s )  K   
 s Ts  1 
 Taking Inverse Laplace of above equation


c(t )  K u(t )  e t / T 
• Where u(t)=1

c(t )  K 1  e t / T 
• When t=T

 
c(t )  K 1  e 1  0.632 K
Step Response of 1st Order System

• If K=10 and T=1.5s then 

c(t )  K 1  e t / T 
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain  K  
63% Input 1
6
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Time
Step Response of 1st Order System

• If K=10 and T=1, 3, 5, 7 c(t )  K 1  e  t / T


K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
Step Response of 1st order
System
 System takes five time constants to reach its final
value.
Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1 c( t )  K 1  e 
t / T

K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Relation Between Step and
impulse response
■ The step response of the first order system is

 
c(t )  K 1  e t / T  K  Ke t / T
■ Differentiating c(t) with respect to t yields

dc(t ) d
dt

dt

K  Ke t / T 
dc(t ) K t / T
 e
dt T
 Example#1
Impulse response of a 1st order system is given below.

c(t )  3e 0.5t

Find out
◦ Time constant T
◦ D.C Gain K
◦ Transfer Function
◦ Step Response
 Example#1
• The Laplace Transform of Impulse response of a system
is actually the transfer function of the system.
• Therefore taking Laplace Transform of the impulse
response given by following equation.

c(t )  3e 0.5t
3 3
C( s )  1    (s)
S  0.5 S  0.5
C( s ) C( s ) 3
 
 ( s ) R( s ) S  0.5
C( s ) 6

R( s ) 2S  1
 Example#1
Impulse response of a 1st order system is given below.

c(t )  3e 0.5t

Find out
◦ Time constant T=2
◦ D.C Gain K=6
C( s ) 6
◦ Transfer Function 
R( s ) 2S  1
◦ Step Response
◦ Also Draw the Step response on your notebook
 Example#1
For step response integrate impulse response

c(t )  3e 0.5t

0.5t
 c( t )dt  3 e dt

cs (t )  6e 0.5t  C

• We can find out C if initial condition is known e.g. cs(0)=0

0  6e 0.50  C
C6
cs (t )  6  6e 0.5t
 Example#1
If initial Conditions are not known then partial fraction
expansion is a better choice
C( s ) 6

R( s ) 2S  1
1
since R( s ) is a step input , R( s ) 
s
6
C( s ) 
s 2S  1

6 A B
 
s2S  1 s 2s  1

6 6 6
 
s 2S  1 s s  0.5

c(t )  6  6e 0.5t
Ramp Response of 1st Order System
 Consider the following 1st order system

K
R(s ) C(s )
Ts  1

1
R( s ) 
s2
K
C( s ) 
s 2 Ts  1
• The ramp response is given as


c(t )  K t  T  Te t / T 
 Ramp Response of 1st Order System
• If K=1 and T=1 
c(t )  K t  T  Te t / T 
Unit Ramp Response

10
Unit Ramp
Ramp Response
8

6
c(t)

4
error

0
0 5 10 15
Time
 Ramp Response of 1st Order System
• If K=1 and T=3 
c(t )  K t  T  Te t / T 
Unit Ramp Response

10 Unit Ramp
Ramp Response

6
c(t)

4
error

0
0 5 10 15
Time
Parabolic Response of 1st Order
System
■ Consider the following 1st order system
K
R(s ) C(s )
Ts  1

1 K
R( s )  Therefore, C( s ) 
s 3
s 3 Ts  1
• Do it yourself
 Practical Determination of
Transfer Function of 1st Order
Systems
 Often it is not possible or practical to obtain a system's
transfer function analytically.

 Perhaps the system is closed, and the component parts

are not easily identifiable.

 The system's step response can lead to a representation

even though the inner construction is not known.

 With a step input, we can measure the time constant

and the steady-state value, from which the transfer
function can be calculated.
Practical Determination of
Transfer Function of 1st Order
Systems
 If we can identify T and K from
laboratory testing we can obtain the
transfer function of the system.

C( s ) K

R( s ) Ts  1
 Practical Determination of Transfer
Function of 1st Order Systems
– For example, assume the unit
step response given in figure. K=0.72
• From the response, we can
measure the time constant, that
is, the time for the amplitude to
reach 63% of its final value.
• Since the final value is about T=0.13s

0.72 the time constant is

evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or • Thus transfer function is
about 0.13 second. obtained as:
• K is simply steady state value. C( s ) 0.72 5.5
 
R( s ) 0.13s  1 s  7.7
 1st Order System with a Zero
C( s ) K (1  s )

R( s ) Ts  1
– Zero of the system lie at -1/α and pole at -1/T.
• Step response of the system would be:
K (1  s )
C( s ) 
sTs  1
K K (  T )
C( s )  
s Ts  1
 
K
c(t )  K 1  e t / T c(t )  K  (  T )e t / T
T
 1st Order System with & W/O Zero
C( s ) K C( s ) K (1  s )
 
R( s ) Ts  1 R( s ) Ts  1


c(t )  K 1  e t / T
 K
c(t )  K  (  T )e t / T
T

• If T>α the response will be same

K
c(t )  K  ( n )e t / T
T
 Kn t / T 
c(t )  K 1  e 
 T 
 1st Order System with & W/O Zero
• If T>α the response of the system would look like

Unit Step Response

10
C( s ) 10(1  2s )

R( s ) 3s  1 9.5

8.5
c(t)

8
10
c(t )  10  ( 2  3)e t / 3 7.5
3
7

6.5
0 5 10 15
Time
 1st Order System with & W/O Zero
• If T<α the response of the system would look like

Unit Step Response of 1st Order Systems with Zeros

14

C( s ) 10(1  2s )

R( s ) 1.5s  1 13

Unit Step Response

12

10 11
c(t )  10  ( 2  1)e t / 1.5
1.5
10

9
0 5 10 15
Time
1st Order System with a Zero
Unit Step Response of 1st Order Systems with Zeros
14

13

12
Unit Step Response

11
T 
10

9 T 
8

6
0 5 10 15
Time
1st Order System with & W/O Zero
Unit Step Response of 1st Order Systems with Zeros
14

T 
12

10
Unit Step Response

T 
8

1st Order System Without Zero

4

0
0 2 4 6 8 10
Time
Home Work

– Find out the impulse, ramp and parabolic response of the

system given below.

C( s ) K (1  s )

R( s ) Ts  1
Examples of First Order
Systems

– Armature Controlled D.C Motor (La=0)

Ra La
B
ia
u eb T J


Ω(s)

K t Ra 
U(s) Js  B  K t K b Ra 
Examples of First Order
Systems

– Electrical System

Eo ( s ) 1

Ei ( s ) RCs  1
Examples of First Order
Systems

– Mechanical System

X o (s) 1

X i (s) b
s 1
k
NEXT

■ Review of 2nd Order Systems

■ Introduction of Control Systems
Introduction
■ We have already discussed the affect of location of poles and
zeros on the transient response of 1st order systems.

■ Compared to the simplicity of a first-order system, a second-order

system exhibits a wide range of responses that must be analyzed
and described.

■ Varying a first-order system's parameter (T, K) simply changes the

speed and offset of the response

■ Whereas, changes in the parameters of a second-order system

can change the form of the response.

■ A second-order system can display characteristics much like a

first-order system or, depending on component values, display
damped or pure oscillations for its transient response.
48
Introduction
■ A general second-order system is characterized by the
following transfer function.

C( s ) n2
 2
R( s ) s  2 n s  n2

n un-damped natural frequency of the second order system,

which is the frequency of oscillation of the system without
damping.

 damping ratio of the second order system, which is a

measure of the degree of resistance to change in the system
output. 49
 Example#1
■ Determine the un-damped natural frequency and damping
ratio of the following second order system.

C( s ) 4
 2
R( s ) s  2 s  4

• Compare the numerator and denominator of the given transfer

function with the general 2nd order transfer function.
C( s ) n2
 2
R( s ) s  2 n s  n2

n2  4   n  2 rad / sec

 2 n s  2s
  n  1
s 2  2 n s  n2  s 2  2s  4
   0.5 50
 Introduction

C( s ) n2
 2
R( s ) s  2 n s  n2

• Two poles of the system are

  n   n  2  1

  n   n  2  1

51
Introduction
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set
into one of the four categories:
1. Overdamped - when the system has two real distinct poles
(  >1).
jω

δ
-c -b -a

52
Introduction
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set into
one of the four categories:

2. Underdamped - when the system has two complex conjugate poles (0 <
<1)
jω

δ
-c -b -a

53
Introduction
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set
into one of the four categories:

3. Undamped - when the system has two imaginary poles (  = 0).

jω

δ
-c -b -a

54
Introduction
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set
into one of the four categories:

4. Critically damped - when the system has two real but equal poles (  = 1).
jω

δ
-c -b -a

55
Time-Domain Specification
For 0<  <1 and ωn > 0, the 2nd order system’s response
due to a unit step input looks like

56
Time-Domain Specification
• The delay (td) time is the time required for the
response to reach half the final value the very first
time.

57
Time-Domain Specification
• The rise time is the time required for the response to rise from
10% to 90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise
time is normally used. For overdamped systems, the 10% to
90% rise time is commonly used.
Time-Domain Specification
• The peak time is the time required for the response to
reach the first peak of the overshoot.

59
59
Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-
state value of the response differs from unity, then it is
common to use the maximum percent overshoot.

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

60
 Time-Domain Specification
• The settling time is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually
2% or 5%).

61
Step Response of underdamped System

C( s ) n2 Step Response

 n2
 2 C( s ) 
R( s ) s  2 n s  n2 
s s 2  2 n s   n2 
• The partial fraction expansion of above equation is given
as
1 s  2 n
C( s )   2
s s  2 n s   n2

 n2 1   2 
1 s  2 n
C( s )   2
s  2 n 2 s s  2 n s   2 n2   n2   2 n2

1 s  2 n
C( s )  

s s   n 2  n2 1   2  62
Step Response of underdamped System

1 s  2 n
C( s )  

s s   n 2  n2 1   2 
• Above equation can be written as
1 s  2 n
C( s )  
s s   n 2  d2
• Where d  n 1   2 , is the frequency of transient
oscillations and is called damped natural frequency.
• The inverse Laplace transform of above equation can be
obtained easily if C(s) is written in the following form:
1 s   n  n
C( s )   
s s   n   d s   n 2  d2
2 2
63
Step Response of underdamped System

1 s   n  n
C( s )   
s s   n   d s   n 2  d2
2 2


n 1   2
1 s   n 1 2
C( s )   
s s   n    d
2 2
s   n 2  d2
1 s   n  d
C( s )   
s s   n    d
2 2
1 2 s   2   2
n d

 n t 
c(t )  1  e cos  d t  e  nt sin  d t
1 2
64
Step Response of underdamped System

 n t 
c(t )  1  e cos  d t  e  nt sin  d t
1 2

  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

• When   0
d  n 1   2
 n

c(t )  1  cos nt

65
Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.1 and  n  3 rad / sec
1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0 66
0 2 4 6 8 10
Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.5 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0 67
0 2 4 6 8 10
Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.9 and  n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0 68
0 2 4 6 8 10
Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 

69
Step Response of underdamped System
2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
70
Step Response of underdamped System
1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
71
Time Domain Specifications

Rise Time Peak Time

     
tr   tp  
d 2 d  1   2
n 1   n

Settling Time (2%)

4
t s  4T  Maximum Overshoot
 n


3 Mp e
1 2
 100
t s  3T 
 n
Settling Time (4%)
72
Example
■ Consider the system shown in following figure, where
damping ratio is 0.6 and natural undamped frequency
is 5 rad/sec. Obtain the rise time tr, peak time tp,
maximum overshoot Mp, and settling time 2% and 5%
criterion ts when the system is subjected to a unit-step
input.

73
Example

Rise Time

 
tr 
d
3.141  
tr  
2
n 1  

2
 1  
  tan 1( n )  0.93 rad
 n

3.141  0.93
tr   0.55s
5 1  0.6 2
74
Example

Peak Time
Settling Time (2%)

 4
tp  ts 
d  n
4
3.141 ts   1.33s
tp   0.785 s 0.6  5
4
Settling Time (4%)

3
ts 
 n
3
ts   1s
0.6  5 75
Example
Maximum Overshoot


1 2
Mp e  100

3.1410.6

1 0.6 2
Mp e  100

M p  0.095  100

M p  9.5%
76
Example
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
77
Time (sec)
Example
■ For the system shown in Figure-(a), determine the values of
gain K and velocity-feedback constant Kh so that the
maximum overshoot in the unit-step response is 0.2 and the
peak time is 1 sec. With these values of K and Kh, obtain the
rise time and settling time. Assume that J=1 kg-m2 and B=1
N-m/rad/sec.

78
Example

79
Example

Since J  1 kgm2 and B  1 Nm/rad/sec

C( s ) K
 2
R( s ) s  (1  KK h )s  K
• Comparing above T.F with general 2nd order T.F

C( s ) n2
 2
R( s ) s  2 n s  n2

(1  KK h )
n  K  
2 K
80
Example
(1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3.141
1

 n 1   2
)  ln 0.2
1 2
ln( e
3.141
n 
1  0.456 2
 n  3.53
81
Example
 n  3.96

(1  KK h )
n  K  
2 K
3.53  K 0.456  2 12.5  (1  12.5K h )

3.532  K K h  0.178

K  12.5

82
Example
 n  3.96

  4
tr  ts 
n 1   2  n

t r  0.65s t s  2.48s

3
ts 
 n
t s  1.86s
83
Example
Given the system shown in following figure, find J and D to yield
20% overshoot and a settling time of 2 seconds for a step input
of torque T(t).

84
Example

85
Example

86
87
 Second – Order System
Example: Describe the nature of the second-order system
response via the value of the damping ratio for the systems with
transfer function

12
1. G ( s )  2
s  8s  12

16
2. G ( s )  2 Do them as your own
s  8s  16 revision

20
3. G ( s )  2
s  8s  20

88
Example
■ For each of the transfer
functions find the
locations of the poles and
zeros, plot them on the s-
plane, and then write an
expression for the general
form of the step response
without solving for the
inverse Laplace
transform. State the
nature of each response
(overdamped,
underdamped, and so
on).

89
Example
■ Solve for x(t) in the system shown in Figure if f(t) is a
unit step.

90