‫بسم هللا الرحمن الرحيم‬

‫وبه نستعين‬
 Automatic Control Systems
Lecture Note 4

• Prepared by Dr: Tarek Hassan Mohamed

Faculty of Energy Engineering - Aswan
Actuator

Linear motion

Plant

Sensor
 Linear motion

Actuator Plant

Sensor
Dynamics of Power Drive are very small comparing with
System’s dynamics. So, it can be neglected
First Order System

R(s)=1/s c(s)
 ,,R(s) unit step =

T is the Time constant

 Time Constant
The time needed for the step response to rise to 63% of
its final value
 Second Order System

R(s)=1/s c(s)

Damping ratio, 
C(s)=

c(t)=
There are four major specifications that define the response of a second order
.system
The swiftness of the response is measured by the rise time Tr
Rise time is the time required for the response to get from 10% to 90% of yss
The closeness of the response signal to the reference is measured in terms
of% Precentage overshoot taht hcus ) OP (
PO = (cp –final value)/final value *100
The time taken to reach the maximum response is denoted by Peak
Time . The % overshoot is measured at the same location. Finally, the Settling
Time niatrec a nihtiw elttes ot metsys eht rof deriuqer emit eht sa denifed si )
tupni ecnerefer eht fo egatnecrep (δ±)
For a second order system, the above four specifications could be defined in
terms of natural frequency and damping factor of the system as :
 Maximum overshoot, MP

• MP is a measure of the maximum response value

• MP is often expressed as a percentage of yss and is

related directly to the damping ratio:
•Rise time is the time required for the response to get from
10% to 90% of yss
 Exercise
For the system shown in the following figure,
determine K, Kh so that Mp=0.2, tp=1 sec. (all at
unit step input)and then obtain the rise time and
settling time .
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