1. Application of cloc ed loop Systes?

* Room Heatng System (onvoller- plant

eCs) Relay suitch Tarnace ’ roor temp

Ahermostat

thermOStat act aS a
foedback elemert,ihs functon
Syotor compares tn the desired
to sense the actu al ten
erature anc
eenent &uch as relqu
temperature Based on Woe error the conttoling
are the ctvated to produce a necoSsary Sgnal to tho
and Stch
plant
So bas to obtan the desired outpnt tempea ture f he room

* Autcmoile Speed control

eyes an 4ctuat Sped
acelexttor engine
brain

Speodometer

In the
oystem Speedonneter measures he actual Speed of he
engine nd com pares oith the desired Sped to erera te the eror
Based oh the ervor Controlng unit Sb eyes and ban takes

deison cnd leg mules the aceleator i actuated

to increa se or decrease he Speed of he engin e.

 2 Al the eq4ahions md
syols used fu mechancal
Trne domain ean frequeny donain equatrcn
1. Mass m
FCS) MS K)

Dashpot fct)- Bdxt)

dt

9- Sprtng ft): kx4)

3. kansfer funchon for 4 AC motor.

 GCS)G)+I RG) ’
x.
Gs)] + RG) ecs)
G) RCS)
RS)
GIG)
apter pointSamming Movg 3.
block a
’cs). Gus)-G2C5)
Cs) Gg + RCS).
4cG)
RCS)
paralel Blocks
In Combine e
cc«) RCs)
/series cascade Blocks
ln Combine 1.
dagvAm. block veduckon
df for Rules
bewrite
1.
 GL)

a ok .

cs)

Bls)

BCs) = RS)

RC)
c)

G. Moving a take of
point before blok

BCG)

Brs) RCS )Gncs)

 RS) ccs)

BS)
G
BCs) = RS) GG)

*. Eliminting a feedback loop ier lbop)

RCS)

R$) GG)
1+GGHG)

8- Rearanging Suoming peiot

RCS) Cs)

RCS)

a
5urmnaing poiet
RS)

cs) RCS) +24

 RCS)
cs)

Mergng a Sumralng pont

I0.
cG)
RG)

cG)
 AssiGNMENT O2
Torms used in stabllihy Analysts
3. StatBe System: A Sytom is Said to be Sable ie the
ay houndod / is Sad to be egibium. if
tus a
The efp evetually comoa back to its eaiibnum state: when toe
yeten is Sbted to disturbance
2. Wstabe System : A Syatem te Said to bewttabe s he p is
uhbounded for an bonded p. it means Yp xero ,op
S
Inreases ntaley mdegike
Margn alluy stable : A System
system is Said to be agina lly
the Sytem is ust on he verge
stabe it
udy of becoron unstable
RH Gitein

The necessay and Sçfrcent conditon for

al te terms m Tt
colurgn f
Systenm stabikty is tha
Routh's array must
exist then the Sytero is unstable Sarse gn
no
f Sign changes TSt colun elements of oe Routh 's
1S eaual to the number of Routh's f the dharacteristtc
vignt Halp ¢ he £ plane
t is an
algebrate metthod to determine the Stabilkly the
linear time
ivarient yst
The characteristo ean af
af the
the
t asn-2
system is qiven
giver by.

. This method (s
coeHfteteot pically tVe real nynber
based on he
characteriste ean in the arrangemet of Coeffrcrent 4
the form ¢ array khown as
Routis
array
? using Rtt Oritera Investig ate he Stablihy af Siyctem
st+ 25+ s18s +18 = 0
Comnent on the stabilihy f -the Syetern al fnd tbe pequeny of
Bhstalned osci lations

st 1

13

Co)

ACs) as+ (8

Soling

13?

Mavginaly statde

? check the stabilihy

stabiliy the system having charactershc egn
f the
 4

12

Co)
I6

Q66

A) Dst+ 1as+ G
ds AG) 8s'+ 245 -

2x4(2x+16 -0
+6 + 8= 0

= -61/ 86-32

-Q,-4.

e - 2 ,-4

marg1naly stable
 TA- 1to.458 Delay ne

Rise tme

peak tinyo

Settn tye:

Maximum or pek overshoot

Mp - e

?A wnity feedtack Sytems chavacterised by open loop transserfuncton

S428+6

detemane y ndaped natrafequeny

i> damped ratto
In) peak overshoot
peak time.
tme

s t 29+G

1 4 I0 1 = o
s25t6

S425+6

Compartng te daracteriste 2a with the standarf forn

S 2& uns + Wn =0
24 un & = &8
n= 4.
 tme x 4
Ts
onstay
Tp
/4.33 Mp
1 Q&
-
5 &x
5
un*O ns +2
ompalng
he
chavactertstC
wwitth eyn
form standard
5s+25 S*+
SCs+5
1t HCS) &G) 14
1
25
250 S5St
SCst
)
25 Gs)
ttme Seing Hme,
sCs+5
he
Obtan acs)
ase ttme, peakorershoot-
vegati
ve ty unl f
a ncton tansfer loeP open The
ck
Cs. 4aotoa
ttne Setng
X4
O23 un
cNnstt th
peaktne 8ec cOB|
peak 44:A XIO0 O4
M
tme conGtaut O4
O.5X5

1 6 Sec

express icn tor transcient response of 1 order syatem.

deive he
ccs)

B18 1+ Y
Ts+ 1

|4TS

cG): RCS)
|4Ts

i) step lnput, R6) =Ys

1+ Ts S+ST

Solvtng parial fractron

1+Ts

ccs): Als
ie, A

S+S TS
Js=o
4= 1+TS

1
A =

B- Cs) (1+s] S=-r

1
StsTS
 sCi413)

by takany trverse tapige tasforrm

steaby shate eno

)= t)-cl4)
r)= nit step inpt
e)" -(1--)

Stesdy state arror

ce) et)

444

2T
dí) Ray foput

S+sTS
1+T5

using patial acton

1+TS

: AS (TS)+ B (475)+ c s?
sC14T5)
AS+ AsS+ B+ BTS + cs
SC+TS)

os't0S+1 (AT+)s +A+B)s+ B

AT C O.

B1.
A+BT =0

A +T0

AT+C 0

C- -A2 -TR

1+TS

Rearvanging

Taking tnverse Laplace ran sfora

ect) = t-t-Te -
unit ramp ip for the frst
Aove equation represent the response r
response ca) =o 4ne
order byotem This egyn states that t o , p
ases linoarly
increases

Ie, C) = o0
 static stoady
error

nd,

Koutput
responee

) nit mpulse nput: R$) 1

RCS)

tating tnverse laplace trasform

The above eqn states nat at to, output res pons'e ct)
dec veases
te ,ct) =o

ct)

t
 respone fo Second Order mystom
EC
RA)
SQT5)

*/sCi+TS)
1+

RCS) s(4T6)+ k.

c$)
RG)

a)
C(s)
RO)
motion for
The denominator s+ +k/ is in the fomm f equation ef
a torslonal vibratay System
te, öce+ 54.

cS) -Ca)
RC5) s+2 wns wn

where G= darpng factor

damping coefcient
critical dam ping coeficlent

Comparin9 4) and B)
29 wns = S/
2wn
 known as Standavd fornm ot Seond ordor Ssten.
Case 1:
for Undamped System (G-)
step Vp
ROS)
St 2¬wns+ wn

Wnz

s s+2wns+wn)
using partial fracton
CCS) = A BS+ D
s 22wrstWn

ACS+ 2gwns n +sCes+D)

SCs42¬wnstwn) S(s 2¬wnst wn).
u9n As 2A Eonst wnA + Bs²+ Ds
os´+ost wn sCAtg)t s (2Awn+D) + wor A
AB=0 A= 1
Ae-B
2x1 xn+D=0
B-1 2 Gwnso:
D.

-1S+~a Gwn
2Gwns+wn:

cCo) (S+24,wn)
S 2wn n2
Adding ad Gubsttating wn o the denonator 2hdterm
St24wn
Cce) s2uwnt n+ wn
ccs)= - S+2£w
(3 2e, wn 5+Pwn)+ wn' e,wn

c() - S 26wn

s+2wn

g wn
tgwn' wa tGwn4 wd
Taking mverse laplare transform
Gont
c t ) - 1- e Cos w t in wt
wd

-ont
Ca) =1 -e Cos w t - Epwnt
Sin wdt

= 1 - e
Gwnt
Cos wdt -g²+ Sin wdt

taking ire Stn and Cos

Gwnt
CA) = 1- e
-[coswat Bine Coso Sjntt

gonte
2 1 e
(sin Cual +o)
 -Gwnt
1+e

G<

1-¬ ywnt

Condctiong o Roct locus

onsider a
dharaceristic ean a dosed lbop agtem is
1+ GGACS) =0
ie, G)HCs)
z-plane is complas Se can orte the aboYe
eab as.

in S- plane s values can be (ju)

So o any value o S
ezpvessed
f t as to be on the voot locus t must
Satis4y
As both
Hhe Zove

Sides of he ean ave n the

we
Vectagular forng
conve. both Si4es in polar form and
hen equata the ange
and magitude f soth Sides
iy MAnge Conditsn
ees iy Magitude conditiu
 ASSGNMENT O.3

onstant Manitude Ciclo M-CIRCLE

M-Cla re tho onstant mantude chcle or (onstant Maantude loi of a closed
oop tansfer fuxtion dtainod from he polar plot to detemine the closed
lep froqucny isponse
Conade a unity tedback contol Syotem.,we know at closed loop trasfer fixtrar
c(s) GG$) ': HG) 1.
RG) 14G(9)

Sioce 's' is the cowplex quanthy, let

M-M(u9)-CG) R 1+

.:. M

Squaring both Sides, we get

M[ite)'ay}*+g
Ml1++2z eg--fo

Dividng by (M-D, we ge

(M) (M)
2
2MX M2
(-m²) |-M2

Addeng MTon both ades ye get

(-M2

2 M2
I- M2
|-M?
M? MM?
|-M2 +4=
|-M2
 12

|-M
This is Sinilar to (x)
(y-b)* equaton of cirde thus e4n2) repre.
enyatons o circle with centve M² and y 0 with adius - M
(-M2
for M1 the en )

is is he equation a strarqht line paralel to the t azis and pssing

trough CY2,) in the ao) plane. hus; for dujerent vaues ¢ M
re calle d M- cirde or constant magnitude cirles or constat magitud
locr

M Centre Radius
M

(o:01010,o)
62
(o.o4164.) o. 208

(o-6989,) o329
(o.1904,0) 46
o-933,0)
1

2
C1.389,0) |333
5
C1.0416,) Oi 208'
(-1:0101,)
Case 1 : Ffor Me1
As tho M decreases the radi of
Constant M- arde redas and centres
are located on positive real aUS shiet towards the ogi n
ase 2. For M=o
M-ciele has the adius xeYo andd cantre at tho oriain.
Case 3; for M =1.
1-cocle has the Inpinite raduus with centte at the
infiny On thhe
 cts it ntersect the
real axi6. t , is a shid line pArallel to the imaginany
real axis at a.
Case 4: For M) reduros and centres
Mio Ina eqses , he acn of conStant - Circle
As the
nogatve real axis Shit towards ho origin
Are loated on -tbe adus berornS
MlncreaeS or dareas0s,
Thus, ftnaly ,whether
Smaler and finally rles Converge to Hhe critical pont
Smaller and
2
M=l2. M=0.8

M=13

M20 M=06

Ma famiky of constant Mcircles

N-Crele constant phace Shit Circles]

NCircles are the constant phase shift cireles or constant phase shift loce ¢
a cosed loop transjer used to determine thte clos ed loop trequeny response
The phase shipt af a closod lap Systemmay be writern as
: angle f Cty) - ange Citx+H)
- tant y
-tan
-9

N= tan 4
 we get

Ths equation reprsnk equaton of circle wth

centra z = ,1 wit
Padius, r=

for ditferent alues of Nin tha equation,. faroil f clrcles ave obtined
shown n knon as N-eeles. hese are dso knaUn as
constat phase shqt Circles or Constat

30

-2 120
2

-2
3

A Co nstnt N circtes
 Centre tadius
N tan
4N2
Ch,o)
45 -1 ( , -o.5) 404

-O5443
CYa,-o 866) 1

(%, )
05143
EYs, o866)
t45