Module -3

Tine Reponte of feedbok Conlhhol Systng s

-+*tohas, Tinte seeie scpcohy f eCCne

ddei systuut, Stody star cuRO ad coi
Cntau . Lnhodutien to PE, PD and Pro
coclleag (exu dag degn)
Vnt veastty &uestOt papea Bucrhoil

une
sYsteuue fi wnit step 3na 10M
win near geap, explain tue tine douare Speai'fa
-tiou ot Secend doee systent
obtaaa me AeRPue of ty feedboek Systnl cokke
SSt5) and hen

) what is the Me sGH)CS2)

systy?
i) Ffnd statrc eno coetiei?
() ad Steody Shae eut ve mput i
Y=
 folloog tur siqral wite tie
fraph and MaTauattal expretog
9

t a SeCond deA Peesback control sYShee loi

ederdanped second &dea SyStun.

by cu ope loep haefu fuch h) ) k

Derane the Sy shee qan h, Sothat tuesUsti).
systut
wll hve a
of k, hnd ne ete,
ud peok oVashoot.
peak N'nae, cetlevg tine
Auune tue systeu
Subjeted to a step IV.
(9 Andte posihion, vlouy
velotily and caeeeleatre cea
Consiaui rh a Contol systut havnq, opur locp
sys) A.to aleula
thne ja a uwy sg npuut wnt ctep inpud, ealig
and ateady stala
input dened by tne polynoral
8t)= 2tht+6i2, tzo.
 Tnepulac
2
parabol unit
2
A At2 Paacbolre
At.
srp wnit
n Y)
sijned, of
oplace a done Time Nameg
ue
Sumneyy ograls Stondaad
ter
 Derve the (pacqion of upoee of bias
Consrder the lesed loop hut &dea Systere
RO)
(4Ts
R)

FL doscd log puast ordea systeu. ItTs Cs)

.. cl&ed
Adea Systeul

c(9.
s(s+).

Cs) = A
St+
 S2 s

|t

t
T-d5()2

0)2D-l
 the lsel

nuinpled y A.

whex,t=0, c) =|-e =0
when, t=lT, c) =|-=o-63)
sher t=2T, c)=(-z o-l65
Lohee t-3T
wheu t kr,

wheu t= 043
te sl

b RespeniL

irstel t ipur
 fecond &dee ysten
geueaal Secend da doed oop
The blakdicgrauL ga
slhown below
Stou
Conel syste
RS)
wn

RST s2swnsty
Ff dosd loop Secord eiden Syse,
s2 6ws
The staudad phae clded loop
Cecod dea Systeu enll
S26s t Wh
w
RO)
whea, Wn= Uadauped naiual Rqy, Rodlg
Aadlse
RatiokÇ
actual
tne ato tee
dauy, o tue thal
nthe vave dauupuy saho.
Systen depuudy
Valie

Calee,

cae3. CHcal ly dupedsm,

OVA daped systeu,
 CC) ane KueUt al tie peley
RS)
clsed
Nuuleaal Soot C)
are Knon the
R)
te daied loop Noife
fut,
luyjated to
Qahio as iiown belo

2.

t
by tne yoots Hie decutnato plyoeal,
wt'elr te fact ace tie
Heuce deuoiiatt pobyoneal cal ed tee
daaaetCASHO
ie. as clasateeshe
1t60) Hs)=0
s
 S=-2wn t
2a

-heen Yoots Cae

’wheel el, S,S>=-Wn, Yooh aae Qe ao

tue Sr OVea

Glloh
 Cis)

f wdesdauRJ syteed, oe64| and Took Aue

deoataelacatche eyuahor ae
deno ncëMato ale S
Stnte Ge. a4o let thoa l, and <o
|-6olwag

The

GCs)

st269,6t,?
 lay S=o.

w
To Scve Baud C, crst Whpy eya0 aud quale

s(szEuSTwi )
wt =A (st+ofuys tu)+ sst)s

wegel B0
Equatiy eckout S, wegt
B-|

st2fwustw
 Qud
Second teu
St244
. cO =

1
2

n
St2-40n

esquatteri
stfun
'.cCs)=

Stfwn
(tfw)}

e saalLsSin (St)tu
-at

(t)w
tttnwt)
 (StaLst
c)

with
we

tne
uder dawrd clobed bop fecovid bd
L
Value A
tne
Snatb= SimaBt

Teporte-A
 hue doue Spetifohy
Sconldea syckeue

7he desi yet pesjawaue chaa atteakhcg Conttolsy ftauss

Aowabe ea

td tr t ts

&eponee chatacaknea
sln to a wit
jollewg ve douan feaycat

2. Riae nte,ty
3. Pean ie,tp
H. Maz.ovachoot,Mp
(Urly Tiate ) %! the irctakese be arporlee ko

Aaise bsont 0t0 l00. h teue Veoy

biy hnie,
få unde dauped st,it ia
alilalel bo Oto lcol.
Få (nhally daupe slu, \o1. tofo
s to 15).
Nure Tp) te he takeu htue
tie
peak Value te Veey b r tiue
t e Peah oveaclodt,

tie MaDtiwl peak Vale io e tal Value

oheae tue ma. peak value ue Mealusc Wou foeae.
Ral Vale
COp) Max, Valele 9 ))
Nouw, peoK
peak oveathoot MpMo = c c(s
. peak oVeashoot,
Mp= c)-c(1)xI00
Sctiag hme); ): It a deh ed athe tiae taue by te
gespoLie to Aeacl k sky wiruit
tiil a spefied ca
The
 Secend &du systen.
Rne hnc (tr)
ihe u t step AePOLee Second &dea sySteue
bA ender daiuped cate is qvu by,
tå

At t= tr, c)= clhr) =| (1eeseiy i)

cCt - e
Sra(atyte)=|
Sin (wstrte)o
Se un0,
e te (eane Ronlerto) =0
wht, =0,, 2,3T, ---, Cing=0
Note
watrtG=

:Rie th, tr TT-0

tan@=
Here G= tautl VI2
T-ta
fa Sec
tp, djeaeufore c(t) omt.t aud enjuale to 0.

we have
the
Seceud do
Cystee
c) =|-ealtto))

-(-fw.)nwt)tJalud
t

tte)

.êwatseSoi(astr)-Smosaat
wnt

Wn
e
Stfart)
Sace
ohee

peak hrue, tp=

peak hne, tp

clip)-co)
whe,
State
&des

-
At t=, ( = l e
 wt te)

Smfto) z-n&
e Vrç

oves sheot,.Mp

K\00
 Seit lhg tinte (t)
"Tne
-fwat

Ln tu

Huree settlue hae e deti'ded by fue

Conyevle us tuc sttlip tie Cauc be obtanea by
to toleaae cendy

Få 2 to leaace eaRa bau o at t- tp

,-utr z 0 - 0 2

intsSO-02
tokng natual eogsihuu we pr
=-4
=HT whee T=

z0-05.
= -3
= 3 T , lese T
-fwats
 (s+) ) B=
keo (st) (st) s|sco= C0> =A
Sth (s+) (S1) <(st)
StI S
A
wte GpaioM,
out foltn raaol By
) (st)s(se)(St) sti)s(su)
stssty wut inpuf
ig tue Siee
Qt)S SS=
HSS LSz (stu)(S) Rs)
sS+s)
sssts(s+5)t4, SSt)tH. ss+5) Ro)
Sts) s
it6(s) R&)
clhowm0 systeuv
ae leop closed ThE
R(S)
S(St5)
Nienearots.
 systeu
ia tue Rune OVeasloor. Pear Qerd
have
a
tl Systeu ee to te
te RoK, feli Delanurte
sySteu
ig Conbrol back feel
=|-.t 3
LcS? =c)
devai, tathnte Respone
invere
douan ttne Tls
-h(3)
-h(-h)
 RC)

s(Stio)
2

. eclAd lcop sa efea fuehon C)

RG)
k ItG)
SSti0) stso) K
Res) |t k S(sto)tK sostK
sCstt
Tle Velue K Can be Cal.elale
st au das
k
RCS)
soStu
K=|00

20-5AVK=0

peiceutage pcak ovtisleot, 7o MpV

Mp=e

.2
 -tat

(&66
&68P

ts 3

0. 6 sec
tr= 0-2klee.
te 0.8ke
tg= 0-6teo. 51.
 SOt2)

(tG)H(s)
(oO
C)
sSt2)
cs)
HC) (oolst) X
(o|St)
S(S+)tioo (o-|st) (00
loo

Heue,
St) sst las tloo sI2Sti

2
YooK
 loo

By post s(si2cte)
() loo
frortnepanceon, awr Ga wrtre

loo
(CO

povwa S. A
tBStc
 s2tt0
=L-StI2
s2s+36+64
--tbtb St6
S (st94g 6

t e douat

Tiate Yespae, ct)=

Cct) =|-zt 2

The elutr Gau be CoWeeeo to uOtea Shaudaas&L

Aah

stauadtn letovd &dea teouepa

w
ROS) s26wtw (00
s2s tbo
 = 2

-0.6
w

-S3= S3Aad

-Rtjuttlht Respoee ta hhue deaut,

 lop trouafuulig,

c),
St60
= Gfdstto +o-2S (Sto) l·2S (st60)
S(st6o stto)

sst)Sto)
Snue

C)=RL) 6o0 RtS) 600

$(st6o) tn)
s+boa)(tI)
R)
Raio ud halural
dcit.nhent
Cau be ehiytto
trauea fuwtlen weStauudadoyoyan
Ruu
e systeua
RCS)
 wboo 26wn =0
2wn

Reit
SM.
R)
Natwa

A posihvnal Courol Systeu wIa Vetou fecdboe

biaure below. wha the Atlporee
ct) to tne cwtt Step iiput G
GVe tuat §=05.
ALO CaÂLlare YMe
hePeam hrute, Nau
oh RC) l6
S(Sto)

kst

RC)

sstO
 VC+)

C(S)

S(Sto)
(ket) s(stogt6 (ket)
|6

Tre Valreg aae ob taun e bi

tie sM TE, wt Stadaad

(6
st (o"gtl6)s +ls

o-8tl6h=24w4
= 2xO SX;-O-p

|Ks0. 2
RC
tlbxo2)s
the slm dauuprg
uude derubed Cue'Raho o. S. tuy
&o tie Regpoe
Tlhe

Tlkc

F& R)
l6
s(usHo
By asta saacthon e Cau wnte
(s) l6 expeuelon
S
sustl6
=

pe
Sstl6|S>0
deudued B46 ae eyataled by cx
aak hucspy
ke eucet s,
l6 A
s (sustle) BStC

l6 = A(sus H)
tBst)s
6yt eoyuotng Coclbeueh S we get
- B=- A -0/
 s4sthtH2
=-St2+2 - St2,
-2

(St) t2 2

-ea2 t -26 1)' 12

S iet
t)
\ ' I
 Qi

i
 ~ () -
) esr ;c ~ ]

' \

) '

' ' '

(
j TIM k, kJ t}(_ d,, 0-ro-w <ff ()._ ~ I ~~el..b (Wt :/'R>,1-rl'&(
~y~u_ ~ ~MLC)vt. ~ b~e b~-uJ,

~ ...
I
2-o
(}'-t 0 (S:~5"J
... Gl0
(
I

II

I 'I
, . I . /
"""
G c~'1/ ?,-o ,?-,a 1
_;;--:?' 1'---
2--- s ·
~?--r 6St 2- 5
t

~ ,-=- '.2-$ . s2-+ bf t)...j

I --.
: . -n,z e,~.wt'L ~ cc! ~'\f'-VL "'r
[ ,; :,._+ 6H 9-.5 =C! l .s.)..:+ .2- ~ 0 "' J t lAj (12_

'2--
Wt1 ~ ~ 5 <),~ t,..,vt f .::- 6§

I4 2-; ~
1 •

( ~"' =- ~/~!Ju J =- -:=().{o J

WJ =-wri y\-42--

1~
-:=- 5 .~ ~62-
 y -
@ohto1'&1.. ¼ttG> .~•ie, h~., pea-~ h~e/ 1- ~ ovug~c)/.,
1e.,l+~i \i'nAC. pA_ ht e LUA1' t g. f __q_
IoO p '>i S.'r<1M.)L lo '--/ wv~
e,e,-Q_ _ 2- 5
e '/ o.. c~~ ,g ~rn.e
1f
¾t~ e JcU.(...' <lyl !!<.. lit C 0 lvl rw-. RtA) - s\6~+~S' Au 0 ~'~ I

~ ~ Cb nf;'._:s,-1.3 ~
</vLe ~, 1/'UA T. F t» /-UL 1:\-o..J.A &c:,.!ld ~~
&ott-0t.. co zt rro s ~ ~ ~ = 1. Ll..9v1 ~
{<CJ) .(?? _2.,~ Wvt~ t2.--~ .
I
l~ ~ ~ C9j]
')....._ ' '
L,u(\ ~ ;2_ 5 '"2-- ~ Wvt.:: b
[~,'l ;o 5 $_ad ls(c, J =
' :
~ J e) [7trt~ {) (K~
1
\il~ CC,!) · Wt ,, ~ '':

~Yht <fill_ ;;
r c-0
li---
.(91 ()~-t s - I,,

· cls) -=-- ~co. ?- s

~~ b~ ·P-s .
({s) .::= ?-S
s ( s)...t£St7- 5)
bf f a./A•~1 rcu"ftaJ ~Ml I
ccs) -= '2-'3 )I-,- b-+ ~ ----@
~G-~ Gt +2-0 - I~ &~651t.2..5

P: ~ f1J~ ~ f'vWLh'}1~ ClfJ by ~ g_rJi;:(] s ~

'

~ , z_ s-
" "C

r ~I]
~-=- ccs.J H /
..\'""7() I ,fCs~ G!.t-~SJ
;1,,d / )_s

s:a~ =--2-5 :::0 I

E, ,{_ C ~ ~ , 'f,/ ~ rig 9,'<i(]) ) ~ ~'rf
c Cs) - z, 5 , , ~ !'~2-.~ t.f ci-.is-) + J Cn1 t-0

~
~~
2-- 5 ~ $
!2.
i-6'-¥:2-5\ f
'~

g~2:t- C ~
I
---r
A- -

~
1

s\ ~:::-o
1

6s -t cs o ~

$.)._ c 1-t~) - ?J s: ( 6-t 0 ='0

1±:~~1]
1

[c= -b]
\·$-t6 _J__.$+-3+3
t

- - e,ayf1() =>ao = 1
s
-
,.2-i 6s+2..> - s;. ~\6s t "i-t'~
GG~J ~ J____.. ~+3 ._ '3 x tr
s 0-+Dt~,_~0:+i)"=f-i/- J
:=- l- i~ )f ~--} e:-3-t- !~~'11- I/
 f~ e itve.v ~lrvt . GtC~) .\tc'° ;:__ ~__:_)__
tf1 (
s:.c~ t2) U'=i-2-s+-?)
I
>1.oJM-P ~ Ky <'!\. rc.q,,/_
I
(D f {,__ WAH- j ·-'l+cJ).:: I

~v-- Lrl'\A C, ~U),ttc-£) ~ \ L'wl ff. ' )< . . ,

Y ' ~k
-
s: ➔ V s: ,...;>7J t Cs ti) C.f':+2-s. ti) 2- ,s

V
f'v'
2
~
k !
rv 1
 5
~f;l'ld- If,_ e fJ/;,_t, (prte ~o.Mh P:p , /,<v ~ /-0L ~ «-t
/te.d ~(t.t/l S.y !s\f.11,L __,9..1~°'-,v,.CJAh'.J \,~ y--C,u__ ~<,c'h1'
lOOJ> \--J,.(I ItefUc_ [(11All.,,.el t1 • At< 0 ~c,u,<-Yl.R_ t-tA.e. i
S.\-ciK z_°'- (''-~'- co~cu \tA~ cvful' J-R tCt) ~ l+t·-t-2t~
t''l t1) ::: lcio
~ '-C ~t'--) Cs.1-s-)

g~l ~ l \4 lS) -"' \ ~ u.w-7 ~u_olb 0-W-- ~ !~ .

o/ ~;:c l'),,~ ~l.(),\<\{0"" ;,_'M. ~ :::. 1 - ~

.S.-==t<t) ~➔it) .s. Llit2-)Ut~ o- ✓
.t# Kv :;:_ ~'yv\ s ,(\t..s).\~L0 =- ~'vvl~. ~tr0 ~ ~ i - v
v S--?O ~~o -s?-Ut2-)Csts) 0 -~
~ /;C.o._ := l.v0--- g"--. G,-6~) MY== j,.)cl ,,f_ I0-V .z ~ = I(') ✓
~~'O ~~a /O>t'2-)Ut_V lo ~
rA t@) = 1--+++2-e- ,-~ :. i+ t- t- ..!L t 9-;- srh€_ ~
1
I·, · 2- ' ) / -~

f<,ti)~ J__ +-L -t i _½~

~ S 1L- ~-.]. , I

A, = 1 vuAlr tte-F) f',, .-- '\ ... 1-- g

' j ,\ n:,.~ I Llv\t1 o~~ /Is ·= '1 1

r~l,rc_
/ 0 ei1 .:= e~~, + 2 .sfL 1 ers:~ . .)
- Pr-I . \ +~ + fb
1-t Kp rv !/<.a- . I

_\~..--\:' +4:
I

~ 1--tt>O ' f>o I

\0

l
It' , II

_
1
• 1is2.'l ,
( Xr01J ===- 0 ·'1 Q6,>Z l oD

;; 3 'O ~i ~/~
if ~r
 50
2"' ::::. l
s + 55-f:-So

i CC)_:::- +4r 1 6t ➔ 2-"t 4 t- + LJ(~ t '}_

J__ 'L
2.,,
~I .::::- 2. t lti\15 Wf •'(\ /'--Lt'

~ J-, ::::L< h'rvtex rc_o.)AA.r tYLj>uJ-

~3. -=- 12.. ti1"'~~ rc,Jl-Rbo v-c_ ; ~ ,

- ' - (, ~J := _!!2-- --t f'r :i-. , .-t;._ fir3 _

l -t t o o -
I

[XJ -+ [X) ::::: [ --t t?o +Co I I

\ \
 (!) R- w-u'.Xt~ JtMbw,(_ ~ /111 h.cu ~ w;, Cit .s)
:2-00
~ ~C2-i.9 Cit+~
caLQJ,oft vM stto~ 41-aTt wa. fo1t4<"0•4AJ:j f-Uld
Ov\..A \,Ohm h1-l'... O-ffk'fo~ /(\,fuf Ill)= Lio+2-t +sf,
qok- W,;\,"1/ !/b:=- tHi)
- ·

kv =- ~)1t ~- Ctcf)·HC:})===-h1v1 ,~- :2-00C1t~) ,.. , _ YvJ

S.-rO ~➔ O ~~('.2.1-i)(~t-9- 0 ~,
\<0-:: ~'nl s,7'- ~OOL/tQ
5:2:ltLt) · H(~ ~~'nA _::J.,1;;{
S-=co S~B rC')_-t:00i-t~) -7;::::25

t(JJ- µeJ+.2-t+ 5 t-~ , . I

;::_ 4 (<) t 2 t -t 5.12- t ~ ' 1 ;_ I I: { \

9--- I
y(1) ::= ~ 0 + ~+ +J!?_..;;2-- .
;z,.- ,' '' II 'I I (' '

- -_ A- f ;::. )j O h'(l;LaJ J 1-e'f~ A--z, ;-c 2--,Hvvt .l,J y~I A~ )0 f ().~

I) - A---1 :.
0 0 e,1S - . '°T _ft-2.-._ -t_&-
lt- t-<-r }<.v ~
_ J.-t..o + Q,._ + lO • I

l t C>rv f7v 2,5

-
~
0 k-0 +- ~ 0 Lr ' ! '
! I I I

I
I,
I .

' I

I I
 ® /;, SZt():in a 3,J.ul Cov\ \--rt91 s:'{~h.vvl ~ 9-r-A_e,f
~ O {) 0

d Oa -t k (90 ---+ 2-- 5 00 ==- '.2.,:J i'.9c . D e2 .eR 1W'Vle..

c1 o..i ¼r) ~ v ) ntt'C<u,_aJ f,,e9;u (!,v(_y,
Ml-, rl~'1Jt,
t
Jo t l_LFHQ \ I'< °\f lJ_ ~ L"-' d ~ 1,., ll " "'OYLf I f-(p._f""-. h 'ft{p/
(9

O'YlMheo\ bifi- 0- w'Vf Ktef ,'Vl.ful,

---
qo\1,; c:__<Vu~ \HQ d,,'.~b{.A_~ ¥ r ,Jvv--~Uav...

e,l'\ 9- <) 6-, &

w
J 1-i-- -t ~
Jr
0
+ '),...,5 tto 2 :2--56xe,
.
1s<f httt"1<r Vlfl~ ~~_, ~ ~
i,vh'al co.,LJ,:n.'Dv½/ w ~ 1 •

S:-ffrPD f 1-f f 0oc P --+ ?--5 19-oC'.D s .2-'5"" ()cl 0

6\,C ~) Ls+Hs + 1>,,~\/,oc~ ~ '.?-~

T. t-= . ~ 't-i'lrt,,{_ ~
1
.
, \ I
GoCJ) ~5 .
-- ""7
- -
..--
1 I I
I I l

(kU) .S:~1..tHz.5 I I I

U}yv\~~ w ~ wh 1 , ,

. ·; s'-f 2-¼ ~-n,_i,,i...

\) ,
'N'-1-w--o..\l rf"q,,
~I v-9;;--;:: 2- s ClaAMft'
2.-~ w 11 .:o
>:J fl0,.-1..,'1) ;
~ 11j
I~ t-:J/,
r-'"'~
o

11 v

;;;?"'/ cl, &,t·\a.~ ~:::. V-!v..{R2. :z.S/1~

· 5 82- Y--o-cJ. /.kc
 ' '

tI
""'7 pe.o:J'---h"VlAc (\--p/ ::: "\! 7
I

wJ
tp.::. D. bQ SA

~ W'--O-l ~ ~ t? I/w kvtrt i'. MpJ ·

\"~
, \D _::_ ~ - -e v'T='i q t\
2... , '

. A-2- \ L~ ~t- i~.•~J:

~ - N\ f : : - -- o, k'W-
e, v1~0:()_
Mp.::. O <2-53, \
I
.' , ,

-}- ['J\ f' ~ [J . i_ 5 ._S :,_ 2- 5 -_s / II

I ,
I tp:c 7
tf~?
fr/Ip~ 7
~:,J
r, F,' i: '

f J'-©w,i a_ l'Vl e,~ca) V; b.Aa ~ .Yf .r-r 41{1

W a. bflte__ of
~ ,q new~ A {)fpk'eJ fT9 h,,te_ r1lrlw\
the. n~ &u'tb r~ ~ .tll!.Vu..i0- tYt lr'tl)_)Le 2-\ be rU1.v1A.Cn1c
7i1-e_ V~w.~ 1 !M ) & OJ.A cl IZ , ?L(f)

~ofn/ ~(~

F-0)
tvow JCt).~g,1rJ,
,~ ~ f CJ) : K 9
9
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 6.9 CONTROL ACTIONS
An automatic control system is used to maintain its output within desirable limits by means
of a control action. Any deviation of the output from the reference input is detected by an
error detector. The error thus detected is used as an actuating signal for control action
through a controller. The proportional control action and types of control actions used for
improving transient and steady state response of a control system are described hereunder.
6.9.1. Proportional control
In proportional control the actuating signal for the control action in a control system is_
proportional to the error signal. Theerror signal being the difference between thereference
input signal and the feedback signal obtained from the output.
For the system considered as shown in Fig. 6.9.1. The actuating signal is proportional
to the error signal, therefore, the system is called proportional control system.
Ref. signal Error signal Actuating Output
R(s) E(s) signal C(s)
K G(s)
B(s)

Feed back signal

H(s)

Fig. 6.9.1. Proportional control action.

It is desirable that the control system be underdamped for the point of view of quick
response. An underdamped control system exhibits exponentially decaying oscillations in
the output time response during the transient period.
The sluggish overdamped response of a control system can be made faster by
increasing forward path gain of the system. The increase in forward path gain reduces the
steady state error, but at the same time maximum overshoot is increased. For satisfactory
performance of a control system a convenient adjustment has to be made between the
maximum overshoot and steady state error.
Without sacrificing the steady state accuracy, the maximum overshoot can be reduced
to same extent by modifying the actuating signal.
Aforesaid modification is carried out in a manner described below.

.9.2. Derivative control

For the derivative control action the actuating signal consists of proportional error signal
added with derivative of the error signal. Therefore, the actuating signal for derivative con
trõl action is given by
de (t)
e,(t) = et) + T¡ .(6.131)
dt
where ,is a constant.
dea e

aulnalug
 LINEAR CONTROL SYsTEMS

the Laplace transform of the actuating signal incorporating derivative control is

B,(8) =Bs) +s. T,E (s) ..(6.132)
For a second erder unity edback control system the block diagram representation
using derivative control is shown in Fg. 6.92.

Rs)
C(s)
E(s) S(s +2Ce,)

Ris)
E(s) E,(s)
1+sT s(s + 2o)
C(s)

Fig. 6.9.2 Derivative control.

From the block diagram
seond order control system using(Fig. 6.9.2) the overall transfer function of a
derivative control is closed-loop
determined below
:
C(s) (1+ sT;).
s(s+ 2o,)
R(s)
1+(1+ sT;). s (s + 2o,)
or C(s) (1+ sT,)o
R(s) $+ (2o, + o,T,)s +o ..(6.133)
Thecharacteristic equation for the overall transfer function (6.133) is
s + (2 o, + 0,T,)s + o,'=0
As per characteristic Eq. (6.134) the ..(6.134)
control is damping ratio of the system using derivative
= 2,0, +a~T,
2o,
or
=+n 2ae ...(6.135)
2
Thus, using derivdtive control the effective
maximum overshoot is reduced. The overall transferdamping is increased and therefore, the
function given by (6.133) can be written
as Centho

C(s)
Rs) = oTa ...(6.136)
+2o,s + o,
The overall transfer function of a second order control system
tive control is given by without using deriva
 TIME RESPONSE ANALYSIS OF CONTROL SYSTEMS
175
C(s)
R(s) s ...(6.137)
+20,s + o,
In the block diagram (Fig. 6.9,2) the forward path
transfer function is
Gs) = (1 + sT). s(s +2(o,) ...6.138)
and the feedback path transfer function is
H(s) = 1 ...6.139)
The transfer function relating E(s) and R(s) is given by
E(s) 1
Rs) 1+ Gs) H(s) ...(6.140)
Substituting (6.138) and (6.139) in (6.140) following relation between the error and
input signal for derivative control action is obtained
E(s) 1
R(s)
1+ (1+ sT) o, 1
s(s + 2<o,)
or
E(s) s(s + 2o,) ...(6.141)
R(s) [ss² +(2 o, + oT;) s + o]
For a unit ramp input, R(s) = 1/s2,
E(s) =
1 s(s + 2,ao,)
..(6.142)
s² s² +(2to, +o,T;) s+ o]
The steady state error for unit ramp input is determined below :
= lim sE(s)
S’0

ess lim s.
/1 s(s +2fo,)
s’0 $ s +(2,0, + oT;) s+ o]
2%
Or .(6.143)

Comparing (6.50) àndt6.143} itis concluded that the steady state error is not affected
by derivative control action. As the derivative of the error is used in actuating signal and as
such if the error varies with time, then in that case the derivative control reduces the error.
On comparing transfer functions (6.136) and (6.137) it is noted that using derivative
control the natural frequency , is unchanged but a zero (s =- /T) is added which results
in different expression for timtë response wherein thê rise time t, is reduced. The determina
tion of the time response of a second order system using derivative controt is illustrated in
the example below :
6.9.3. Integral control
For integral control action the actuating signal consists of proportional-error signal added
with integral of theerror signal. Therefore, the actuating signal for integral control action is
given by
 TINME RESPONSE ANALYSIS OF
CONTROL SvsTEMS

...6.144)
where K, is a constant!
The Laplace transform of the actuating signal incorporating integral control is
E, (s) = E(s) + K, E(s) ..6.145)

For a second order unity feedback control systenm the block diagram representation
using integral control action is shown in Fig. 6.9.5.

R(s) E(s) E,(s) C(s)

s(s +20)

R(s) E(s) E,(s) C(s)

s(s + 2(o,)

Fig. 6.9.5 Integral control.

From the block diagram (Fig. 6.9.5) the transfer function of a closed-loop second order
control system using integral control is determined below:
2

C(s) s (s+2 ao,)

R(s)
K o," 1 wn
s/ s(s+ 2 a,)
C (s) (s tK;) O,2
R(s) = ...(6.146)

The characteristic equation for the overall transfer function (6.146) is

s+20, s +os +K, o, 2= 0 ...(6.147)
The characteristic Eq. (6.147) is of third order and it will be shown later (Routh
Hurwitz Criterion) that, if 2 o, < K,, then out of three roots of the above characteristic
equation two roots have positive real and as such system is unstable. However, if 2 o, >K,
then all the three roots have negative real parts indicating a stable system.
In the block diagram representation (Fig. 6.9.5) the forward path transfer function is
2
G(s) = (s tK;) o, .(6.148)

and the feedback path transfer function is

H (s) = 1 .(6.149)
 LINEAR CONTAOL SYSTEMS

The transfer function relating E (s)and R (s) is given by

1
...(6.150)
E(s)
R(s) 1-p G(s) H(s)
relation between the error
Substituting (6.148) and (6.149) in (6.150), he following
and input signal for integral control action is obtained.
E(s) 1

R(s)
1
14 (sf 2 0,)
...(6.151)
or E(s) = R(s).
s'2,s
In case of integralcontrol action the error for a second order control system is given by
(6.151) andit can be shown that if the inputis a unit ramp function i.e. Rs) =1/s the steady
state errore is zero Without using integral control the steady state error in case of a second
Drder control system for a unit ramp input is
=2 Yo,
The steady state error for aparabolic input in the case of a second order control
system is infinite However, if the input is unit parabolic (acceleration) i.e. R(s) = 1/s the
steady state error using integral control is determined below :
E(s) = R(s). $ (s 2 o,)

R(s) =1/g3

E(s) =

es lim sE (s) = lim s:

s 0 s 0
gs +K;0
2 ..(6.152)

The table below gives the steady state error for a second order control system with and
without using integral control action.

Steady state errot

Without Integral Control Withn tegral Control

Unit ramp 25

Unit parabolic 2%
TIME RESPONSE ANALYSIS OF CONTROL SYSTEMS 181
6.9.4. Proportional Plus Derivative Plus ntegral Control (PIDControl)
For PlD control the actuating signalconsists of proportional error signal added with deriva
ve and integral of the error signal. Therefore, the actuating signal for PID control is
e, (t) =e () +T, dedt(t) +K,e(0) dt ..(6.153)

The Laplace transform of the actuating signal incorporating PID control is

E, (s) = E(s) + sT, E (s) + Ki
S
E(s)
or
E, (9) =Els)1+ sTt ...(6.154)

The block diagram of a second order control system incorporating PID control is
shown in Fig. 6.9.6.

E(s) K E(s) o C(s)

R(s)
1+sTa+ s(s + 2a)

Fig. 6.9.6. PID control.

PID control combines the advantages of proportional, derivative and integral control
actions.