AutomaticControl

SystemTimeResponseAnalysis

22Nov16
Aimsforthischapter
Inearlychaptersitwasstatedthatthefirststepinanalyzinga
controlsystemwastoderiveamathematicalmodelofthe
system.
Oncesuchamodelisobtained,variousmethodsareavailable
fortheanalysisofsystemperformance.
Inanalyzinganddesigningcontrolsystems,wemusthavea
basis(orastandardrule) forcomparisonofvariouscontrol
systemperformance.
Thisbasismaybesetupbyspecifyingparticulartestinput
signals(i.e.,goldeninputpattern)andbycomparingthe(time
domain) responsesofvarioussystemstotheseinputsignals.
TypicalTestSignals
Commonlyusedtestinputsignalsincluding:
impulsefunctions
stepfunctions
rampfunctions
parabola
sinusoidalfunctions
whitenoise(forfilteringdesign)
TypicalTestSignals
TypicalTestSignals

Tracking error
evaluation

Ofcourse,thetestsignalcanbemanipulatedtobedifferent
varieties.Ex.
TypicalTestSignals
TestsignalgenerationbyMATLABSimulink
TimeResponses
TransientResponse
Bytransientresponse,wemeanthatwhichgoesfromtheinitialstateto
thefinalstate.
SteadyStateResponse
Bysteadystateresponse,wemeanthemannerinwhichthesystem
outputbehavesastimeapproachesinfinity
Overallsystemresponse=T.response+S.Sresponse

tinfinity
TimeResponseofStandard1st OrderSystem
Considerthefollowingfirstordersystemwithunitstepinput

SincetheLaplacetransform(LT)oftheunitstepfunctionis1/s,we
have
1

1 1

C s 1 C s R s
Ts 1
Ts 1 s
Rs Ts 1

TakingtheinverseLTgives:

Theerrorresponseis:

et r t ct 1 1 e t / T e t / T
TimeResponseofStandard1st OrderSystem
Examinethesolution(i.e.,timeresponse)ofthedynamicsystem

Itstatesthatinitiallytheoutputc(t)iszeroandreachesunityfinally.
Oneimportantcharacteristicofsuchanexponentialresponsecurve
c(t)isthatatt=Tthevalueofc(t)is0.632,ortheresponsec(t)has
reached63.2%ofitstotalchange.
Underthissituation,T iscalledatimeconstant.

ItiseasytoseethatthesmallerthetimeconstantT,thefasterthe
systemresponse.
TimeResponseofStandard1st OrderSystem
Responsecurveoftheexponentialfunction

S.S is about 4T

Theslopeofthecurvecanbeobtainedbyconsidering
TimeResponseofStandard1st OrderSystem
LetsmakeapracticebyusingMATLABSimulink.
TimeResponseofStandard1st OrderSystem
Considerthefollowingfirstordersystemwithunitrampinput

SincetheLaplacetransform(LT)oftheunitrampfunctionis1/s^2,
wehave C s 1 1 1 1
C s R s 2
Rs Ts 1 Ts 1 s Ts 1

TakingtheinverseLTgives:

Theerrorresponseis:
et r t ct

T 1 e t / T T , t
TimeResponseofStandard1st OrderSystem
Rampinputresponse

ThesmallerthetimeconstantT,thesmallerthesteadystateerror
infollowingtherampinput.
TimeResponseofStandard1st OrderSystem
LetsmakeapracticebyusingMATLABSimulink.
TimeResponseofStandard1st OrderSystem
Considerthefollowingfirstordersystemwithunitimpulseinput

SincetheLaplacetransform(LT)oftheunitimpulseinputis1,we
have C s 1 1 1
C s R s 1
Rs Ts 1 Ts 1 Ts 1

TakingtheinverseLTgives:

Theoutputdissipatestozero
astimeincreasestoinfinity.
TimeResponseofStandard1st OrderSystem
Howtorealizeimpulseresponse?
Sincethemagnitude/holdingtimeoftheimpulseareinfinite/zero,
respectively.
Itisimpossibletogeneratesuchtypeofsignals.
However,basedonthepreviousanalysis,responseforasystemsubject
toaimpulsesystemcanbetransformedtoanothersystemsubjectto
zeroinputbutnonzeroinitialcondition.
Hereistheinitialcondition
forunitimpulseinput=1
1 1
C s R s
Ts 1 Ts 1

1
ct e t / T
T

Hereistheinitialcondition
TimeResponseofStandard1st OrderSystem
Systemoutputresponses:
UnitstepInput:

UnitrampInput:

PulseInput:

Systemoutputspeedresponses:
UnitstepInput: dct 1 t / T
e + speed at t=0
dt T
dct
UnitrampInput: 1 et / T zero speed at t=0
dt
dct 1
PulseInput: 2 e t / T - speed at t=0
dt T
TimeResponseofStandard2nd OrderSystem
Thestructureofastandard2nd ordersystemis

C s n2

Rs s 2 2 n s n2

Doesthereexistsuchthesystemintherealworld?
Whatarethepropertiesofthisstandard2nd ordersystem?
TimeResponseofStandard2nd OrderSystem
A typicalsecondordercontrolsystemsubjecttoa
stepinput
rampinput
impulseinput
aregoingtobeaddressed.

Servomotorisagoodcandidatetostart!
T istheappliedtorque
J isthemotormomentofinertia
B isaviscouscoefficient(i.e.,damper)
c isthesystemopenloopoutputresponse(i.e.,rotationangle)
TimeResponseofStandard2nd OrderSystem
Considerasimpleproportional servocontrolsystem open-loop plant

T isthecontroltorque
K isaproportionalcontrolgain
r isthereferencecommandinput
e isthecorresponding(positioningortracking)error

Withzeroinitialvalues,onehas

SothetransferfunctionbetweenC(s) andT(s) is

open-loop TF
TimeResponseofStandard2nd OrderSystem
TheclosedloopTFcanbeeasilyderivedasfollows
closedloopplant

ThesystemclosedloopTFhastwopolesandisthuscalledasecond
ordersystem.
closedloopplant

R s K/J C s
s 2 B / J s K / J

BasedontheCLplant,threetestsignalsaregoingtobeapplied.
 TimeResponseofStandard2nd OrderSystem

Standard 2nd order

motor control system
control system

closedloopplant closedloopplant

R s K/J C s R s n2 C s
s 2 B / J s K / J s 2 2n s n2
TimeResponseofStandard2nd OrderSystem
RecalltheclosedloopTF

Onecanrewritethesystemby

Pole-1 Pole-2
Frommathematicalpointofview,theroots(ortheclosedlooppoles)
arecomplexconjugatesif B 2 4 JK 0
arereal if B 2 4 JK 0
TimeResponseofStandard2nd OrderSystem
Itwillbeshownlaterthatthevalueoftherootswilldeterminethe
dynamicresponseofthesystem.
Nextquestion:

Now,tofacilitatesystemresponseanalysis,considerachangeof
coefficients

C s n2

Rs s 2 2 n s n2
TimeResponseofStandard2nd OrderSystem
Recalla massdamperspring mechanicalsystem massdisplacement
Thegoverningequationis
dampingforce springforce
appliedforce u

my by ky u

Withzeroinitialvalues,takingtheLTgives

ms 2Y s bsY s kY s U s

SothetransferfunctionbetweenY(s) andU(s) is
Y s 1 standard 2nd order
2
U s s bs k system??
TimeResponseofStandard2nd OrderSystem
Itmaynotmeetexactlythestandard2nd orderform
LetsrewritetheTFbetweenY(s) andU(s) by

Y s 1 1 k
2 2
U s s bs k k s bs k
1 n2
2
k s 2 n s n2

Itisclearthestandard2nd ordersystemsubjecttoannonunitgain
isnowavailable.
Notethatonceagivensystemcanbetranslatedintosuchthe
system,standardanalysisprocedurescanbedirectlyapplied.
Letsgoforthenextstage:timeresponseanalyses.
TimeResponseofStandard2nd OrderSystem
Refertothestandardformofthe2nd ordersystemintermsof and
n.

where
isthedampingratio
n istheundamped naturalfrequency

Therearethreecases:
(A).Underdamped case: 0 1
(B).Criticallydampedcase: 1
(C).Overdamped case: 1
Inthefollowing,wearegoingtodiscussaboutthesecasessubject
toaunitstepinput;thatisR(s)=1/s.
TimeResponseofStandard2nd OrderSystem
(A).Underdamped case: 0 1
TheTFcanberewrittenby
twocomplexpoles

whereiscalledthedampednaturalfrequency.
SinceR(s)=1/s(unitstepinput),wecanderive

wherethecompletingsquaretechniqueisinvokedinthederivation.
TimeResponseofStandard2nd OrderSystem
Basedonthisspecificstructure

Onecaneasilygetthetimedomainresponsebyusingtheinverse
Laplacetransform.
TimeResponseofStandard2nd OrderSystem
Examinethetimedomainsolution c0 t sin t
oscillation frequency: d=2/T constant

vanishes as time increases

c1 t sin t o c2 t e t sin t o c3 t 1 e t sin t o

unit response
TimeResponseofStandard2nd OrderSystem
Ifthedampingratio isequaltozero,theresponsebecomes
undamped andoscillationscontinueindefinitely.
Theresponsec(t)forthezerodampingcasemaybeobtainedby
substituting=0.
unit value zero value

NOT vanishes as time increases

always oscillates

Thisiswhyn iscalledtheundamped naturalfrequency(i.e,=0).

TimeResponseofStandard2nd OrderSystem
Recallthestructureofthestandard2nd ordersystemagain
C s n2
T s
Rs s 2 2 n s n2

Intheunderdampedcase,thetransferfunctioncanbefactoredby
n2
T s
s jd s jd
Thepositionofthecomplexconjugateroots(orpoles)onthe
complexplanisshownasfollows:

s1, 2 jd

n

d n 1 2
TimeResponseofStandard2nd OrderSystem
Therefore,forgivencomplexconjugatepoles,onecaneasily
determinetherampingratio&dampednaturalfrequency
d(orundampednaturalfrequency n)bygeometricsense.

s1, 2 jd

n

d n 1 2

Basedonthegeometricproperties,wehave
n 2 d2
n
cos n 2 n2 1 2
n n
n

n 2 d2
TimeResponseofStandard2nd OrderSystem(ex.)
Considerasimplefeedbacksystem
1 s1, 2 jd
K s s 10

n

d n 1 2
Pleasefindthedampingratio&undampednatural
frequencywhenK=30&50.

closedloopTF
TimeResponseofStandard2nd OrderSystem
(B).Criticallydampedcase: 1

Foraunitstepinput,wecaneasilyderive

TakingtheinverseLaplacetransformgives

n increases
TimeResponseofStandard2nd OrderSystem
(C).Overdamped case: 1
Foraunitstepinput,wecanderive

TakingtheinverseLaplacetransformgives

twodecayrates
TimeResponseofStandard2nd OrderSystem
Examinethesolutionagain

>>1
S1>>S2

If >>1,thenthereexistsadominantdecayrateS2 (oradominant
pole)

n e s1t e s2t
ct 1
2 1 s1
2 s2

n e s2t
ct 1
2 1 s2
2
TimeResponseofStandard2nd OrderSystem
Putitsimply,forthetwopolessystem
C s ab
, b a 0
Rs s a s b

Forunitstepinput
ab 1 b 1 a 1
C s
ss a s b s a b s a a b s b

Underthisconditionb>>a>0,thetimeresponseis
ab b at a C s a
ct 1 e e bt 1 e at
s s a s b a b a b R s s a

decays very fast reduced order system

Theconceptofdominantpoleisveryimportantsinceitcanbeused
toreducetheorderofcontrolsystem whendesigningacontroller.
TimeResponseofStandard2nd OrderSystem
Foradesirabletransientresponseofasecondordersystem,the
dampingratio()between0.4and0.8ispreferred.
Remark1 :Asmall valuesof(ex.,<0.4)yieldexcessiveovershoot.
Remark2 :Alarge valueof(ex.,>0.8)respondssluggishly.
TimeResponseofStandard2nd OrderSystem
Forthestandard2nd ordersystem,thesystemcharacteristicshave
beenillustratedbymeansofdifferent
dampingratio
n undamped naturalfrequency

Weneedmoreindicestoevaluatethevarietyofthedynamic
responsesincluding:
1.Delaytime
2.Risingtime Transient-Response
3.Peaktime Specifications
4.Settlingtime
5.Maximumovershoot
Then,thedesignedcontrolsystemsmustmeetprescribedtime
responses.
TimeResponseofStandard2nd OrderSystem
Fromtheviewpointofcontrolsystemdesign,thetimedomain
specificationsarequiteimportant,sincemostcontrolspecifications
aremadeintimedomain.
TimeResponseofStandard2nd OrderSystem
1.Delaytimetd:Thedelaytimeisthetimerequiredforthe
responsetoreachhalfthefinalvalue.
TimeResponseofStandard2nd OrderSystem
2.Risetimetr:Therisetimeisthetimerequiredfortheresponseto
risefrom10%to90%(or0%to100%)ofitsfinalvalue.
TimeResponseofStandard2nd OrderSystem
3.Peaktime,tp:Thepeaktimeisthetimerequiredfortheresponse
toreachthefirstpeakoftheovershoot
TimeResponseofStandard2nd OrderSystem
4.Settlingtime,ts:Thesettlingtimeisthetimerequiredforthe
responsecurvetoreachandstaywithin(usually)2%or5% about
thefinalvalue.
TimeResponseofStandard2nd OrderSystem
5.Maximumovershoot,Mp:Themaxovershootisthemaximum
peakvalueoftheresponsecurvemeasuredfromunity.
ct ct max output s.s output
Mp p 100% 100%
ct s.s output

5%
2%

t t
steady state output
ct ct
TimeResponseofStandard2nd OrderSystem
Whataretherelations?
Specifications EquivalentDesign
Parameters
1.Delaytime
2.Risingtime C s n2 dampingratio
3.Peaktime 2
Rs s 2 n s n2 wn naturalfrequency
4.Settlingtime
5.Maxovershoot
TimeResponseofStandard2nd OrderSystem
Sothecontrolsystemdesignproblemcanbeformulatedasfollows:

To pursue a desired dynamic behavior, designer

must define the corresponding specification.

For a given specification, can we find the

corresponding design parameters?

How to realize these parameters in real

control systems?

Inthefollowing,wearegoingtodeterminetherisingtime,peak
time,settlingtimeandmaxovershootofthe2nd ordersystemin
termsofdampingratio andnaturalfrequencyn.
TimeResponseofStandard2nd OrderSystem
Howtodeterminerisingtimetr?
Therisetimeisthetimerequiredfortheresponsetorisefrom10%
to90%(or0%to100%)ofitsfinalvalue.
Letc(tr)=1,itgives

where
TimeResponseofStandard2nd OrderSystem
Recallthestandard2nd ordersystem
C s n2
2
Rs s 2 n s n2
n2 n

s n jd s n jd d n 1 2
n2

s jd s jd
Therearetwopoles(i.e.,roots)onthecomplexplane(i.e.,splane)
TimeResponseofStandard2nd OrderSystem
Refertothesolutionoftherisingtime

Itisclearthatthelargethed
leadstothesmallertherisingtimetr!!
a
tra<trb<trc b
c

Good or Not?
TimeResponseofStandard2nd OrderSystem
HowtodeterminePeaktimetp?
Thepeaktimecanbeeasilydeterminedbydifferentiatingc(t)with
respecttotimeandlettingthisderivativeequalzero
1st peak
3rd peak

2nd peak
zero-derivative

non-zero
1st peak
TimeResponseofStandard2nd OrderSystem
HowtodetermineMaximumovershootMp?
Itisevidentthatthemaximumovershootoccursatthepeaktime.
Recalltheformula:
ct p ct
Mp 100%
ct
Onehas
ct p 1
Mp 100% ct p 1
1

Themaximumpercentage overshoot: % O. S . e 1
2

100%
TimeResponseofStandard2nd OrderSystem
Basedontheformulate,wecandrawtheresponsebetween
maximumovershootMp anddampingratio.



2
1
Mp e

overshoot no
longer exists
when >1
TimeResponseofStandard2nd OrderSystem
HowtodetermineSettlingtimets?
Refertotheunderdampedsystem,thetimeresponsesatisfies
c t c t

Theresponseisboundedbytwoenvelopes.
1
c t 1 e nt
1 2

c o t 1

1
c t 1 e nt
1 2
TimeResponseofStandard2nd OrderSystem
Recallthestepresponseofthe1st ordersystem,weusetime
constanttoevaluatethedynamicresponse,wherethetime
constantisthetimerequiredfortheresponsec(t)toreach63.2%of
itsfinalvalue.
TimeResponseofStandard2nd OrderSystem
Itisclearthat
3Treaches95%(5%criterion)ofthefinalvalue.

4Treaches98.2%(2%criterion)ofthefinalvalue.
 TimeResponseofStandard2nd OrderSystem
Whatarethecrosscouplingeffectsbetweenthesespecifications?

d
C s n2
2

R s s 2 n s n2

d , n ,
 TimeResponseofStandard2nd OrderSystem
Fromthepracticalcontrolsystemdesignpointofview

closedloopplant closedloopplant

R s K/J C s R s n2 C s
s 2 B / J s K / J s 2 2n s n2
Ex.Standard2nd OrderSystem
Considerthestandard2nd ordersystem,where =0.6andn =
5rad/sec.Findtherisingtimetr ,peaktimetp,maximumovershoot
Mp,andsettlingtimets whenthesystemissubjectedtoaunitstep
input.

R s n2 C s
s 2 2n s n2

(2%criterion)
Ex.ServoSystemwithSimpleFeedback
Followingistheopenloopservomotor

Considerdualloopcontrolarchitecture,wherethevelocityloop
containsafeedbackgainvariableandthepositioningloopcontainsa
unitfeedbackgain. velocity position
Ex.ServoSystemwithSimpleFeedback
Thedualloopfeedbacksystemcanberepresentedbythefollowing
singleloopfeedbacksystem.

Andonecanfurtherrepresentthefeedbacksystembythefollowing
closedloopsystem

Toanalyzethetimeresponse,wehavetorerepresenttheCLinthe
formofthestandard2nd ordersystem.
Ex.ServoSystemwithSimpleFeedback
ComparetheCLsystemandthestandard2nd ordersystem
C s K C s n2
2 2
Rs Js B KK h s K Rs s 2 n s n2

C s K/J
2
Rs s B KK h / Js K / J
B KK h

2 n B KK h / J 2 JK
2
n K / J K
n J
BasedonthegivenmotorparametersJ&B
Theundamped naturalfrequencycanbedesignedviaK.
OnceKisdetermined,thedampingratio canbedesignedviaKh
Ex.ServoSystemwithSimpleFeedback
LetJ=0.5(Kgm^2),B=0.25(Nm/rad/sec).Itisdesiredthat =
0.707&wn =1.
Findthecontrolgains(K,Kh)
B KK h
0.707 K h 0.9
2 JK

K 1 K 0.5
n J

Try to change
the pair (K, Kh)!!
Ex.ServoSystemwithSimpleFeedback
Letsmaketheproblemmorepractical!
Supposethatyouareancontrolsystemengineer.Youhopethatthe
maximumovershoot intheunitstepresponsecanreach0.5 andthe
peaktimeis1sec.
Basedonthesetimespecifications,howtodesignthegains(K,Kh)?
Followingisthesimulationresult.
Ex.ServoSystemwithSimpleFeedback
Since / 1 2 2 2
Mp e
ln M p ln M p
2

1 2 1 2

ln M p 2
1/ 2

ln M p 2
2 2 2

ln M p 2
ln M p
2

ln 0.52
1/ 2

2
2
0.2155
ln 0.5
Fromthedefinitionofpeaktime

tp 1 d n 1 2 n 3.2172
d
B KK h
Therefore 0.2155 K h 0.0857
2 JK

K 3.2172 K 5.1752
n J
Ex.ServoSystemwithSimpleFeedback
Nowthespecificationschange:Itisdesiredthatthemaximum
overshoot intheunitstepresponsecanreach0.5 alsobutthe
settlingtimets needstobewithin2sec.
Basedonthesetimespecifications,howtodesignthegains(K,Kh)?
Followingisthesimulationresult.

same O.S% but with

fast convergence speed
Ex.ServoSystemwithSimpleFeedback
SincetheMpisunchanged,thedampingratioisthesame.

ln 0.52
1/ 2

2
2
0.2155
ln 0.5

However,thesettlingtimeneedstobeshorter.

4
ts 2 n 9.2807
n
Therefore

B KK h
0.2155 K h 0.0406
2 JK

K 9.2807 K 43.0657
n J
SteadyStateErrorAnalysis
Sofar,ifonewantstofindoutthesteadystateperformance,solving
timedomainresponsesisrequired.
Recalltheexample
C s 1

Rs Ts 1

whereR(s)isconsideredtobearampinput.ThentheSSEcanbe
calculatedby C s R s
1 1

1
Output response
Ts 1 s 2 Ts 1

Fraction decomposition

Time domain solution

et r t ct

T 1 et / T T , t
Error response
SteadyStateErrorAnalysis
Actually,changesinthereferenceinputwillcauseunavoidable
errorsduringtransientperiodsandtherebycausethesocalled
steadystate errors(SSE).
However,solvingtheSSEthroughtimedomainsolutionmayleadto
tediouscalculations.
Inthefollowing,wearegoingtoinvestigateatypeofSSE(whichis
causedbytheclosedloopsystemtofollowcertainparticulartypes
ofreferenceinputs:step(1),ramp(t),parabolic(t^2)andsoon)by
usingaFinalValueTheorem.
Notethatthefinalvaluetheoremprovidesaconvenientwaytofind
thesteadystateperformanceofaSTABLESYSTEM.
Putitsimply,ifsystemdiverges,thefinalvaluecannotbedefined!!
SteadyStateErrorAnalysis
Considerthesystem

WhereG(s)isanopenlooptransferfunction

Itinvolvestheterms^N inthedenominator,representingapoleof
multiplicityN attheorigin.
Thesystemiscalled
type0 N=0 A.Itwillbeshownthatasthetypenumberis
increased,accuracy(orSSE)isgoingtobeimproved.
type1 N=1 B.However,increasingthetypenumbercausesthe
type2 N=2 stabilityissue.
SteadyStateErrorAnalysis
Considerthesystem

TheTFbetweenthereferenceinputandthefollowingerroris

BasedontheFinalValueTheorem,theSSEiscalculatedby

NotethatthefinalvaluetheoremevaluatetheSSEbyusingopen
looptransferfunctionG(s),insteadofclosedlooptransferfunction.
SteadyStateErrorAnalysis
Inthefollowing,wearegoingtodiscusstheSSEbyusingthefinal
valuetheoremfordifferenttypesofreferenceinput.
Final Value Theorem
Forstep inputr(t)=1 R(s)=1/s.
Forrampinputr(t)=t R(s)=1/s^2
Forparabolicinputr(t)=t^2/2 R(s)=1/s^3

step
R(s)
ramp

parabolic Final results?

SteadyStateErrorAnalysis
Inthefollowing,wearegoingtodiscusstheSSEbyusingthefinal
valuetheoremfordifferenttypesofreferenceinput.
Final Value Theorem
Forstepinputr(t)=1 R(s)=1/s.
Forrampinputr(t)=t R(s)=1/s^2
Forparabolicinputr(t)=t^2/2 R(s)=1/s^3
Itgives

Letastaticpositionerrordefinedby

Thus,theSSEis
SteadyStateErrorAnalysis
Inthefollowing,wearegoingtodiscusstheSSEbyusingthefinal
valuetheoremfordifferenttypesofreferenceinput.
Final Value Theorem
Forstepinputr(t)=1 R(s)=1/s.
Forrampinputr(t)=t R(s)=1/s^2
Forparabolicinputr(t)=t^2/2 R(s)=1/s^3
Itgives

Letastaticvelocityerrordefinedby

Thus,theSSEis
SteadyStateErrorAnalysis
Inthefollowing,wearegoingtodiscusstheSSEbyusingthefinal
valuetheoremfordifferenttypesofreferenceinput.
Final Value Theorem
Forstepinputr(t)=1 R(s)=1/s.
Forrampinputr(t)=t R(s)=1/s^2
Forparabolicinputr(t)=t^2/2 R(s)=1/s^3
Itgives

Letastaticaccelerationerrordefinedby

Thus,theSSEis
SteadyStateErrorAnalysis
Step Input Ramp Input Parabolic Input

Itisclearthatess dependsonthepropertiesofG(s).
SteadyStateErrorAnalysis
LetsexaminethedifferenttypesofG(s)andtheresultingerror
constants.
Forpositionerrorconstant

Type -0

Type -1 & higher

Foraunitstepinput,thesteadystateerroress maybesummarized
asfollows
SteadyStateErrorAnalysis
LetsexaminethedifferenttypesofG(s)andtheresultingerror
constants.
Forvelocityerrorconstant

Type -0

Type -1

Type -2 & higher

SteadyStateErrorAnalysis
LetsexaminethedifferenttypesofG(s)andtheresultingerror
constants.
Foraccelerationerrorconstant

Type -0

Type -1

Type -2

Type -3 & higher

SteadyStateErrorAnalysis
Asaresult,agiveG(s)subjecttodifferentreferenceinputwilllead
todifferentSSE. %%...De
num =[
HeresummarizestheSSE: den=[1
%%...Co
sys=tf(
%%...Ap
[y,t]=st
plot(t,y)
G(s)

G(s)
G(s)

InMATLAB,itprovidesafunctiontosimulatethestepresponse.
num = [1];
[y,x,t]=step(num,den,t) den = [1 1];
[y,t] = step(num,den,10);
plot(t,y)
SteadyStateErrorAnalysis(ex.)
Forthetype0 system,trytofindthesteadystateerrorsforstep
rampparabolainputs

KP = 20

Kv = 0

Ka = 0
SteadyStateErrorAnalysis(ex.)
Forthetype1 system,trytofindthesteadystateerrorsforstep
rampparabolainputs

KP = inf

Kv = 100

Ka = 0
Homework
Q.1 Findtheunitimpulseresponseandtheunitstepresponseofa
unityfeedbacksystemwhoseopenlooptransferfunctionisshown
asfollows

Q.2 Considertheunitstepresponseofaunityfeedbackcontrol
system,wheretheopenlooptransferfunctionis

Pleasefindtherisingtime,peaktime,maximumovershoot,and
settlingtime(using2%criterion).
Homework
Q.3 Anoscillatorisdesignedasastandard2nd ordersystem

Forthefollowingdecayingoscillation,pleasecalculatethedamping
ratio(whichisrepresentedintermsofx1,xn,andn).

oscillation frequency: d=2/T constant

vanishes as time increases

Homework
Q.4 Forthefollowingsystem,trytodeterminethevalueofk such
thatthedampingratio =0.5.Moreover,calculatetherisingtimetr,
peaktimetp,maximumovershootMp,andsettlingtimets inthe
unitstepresponse.
Homework
Q.5 Considerastandard2nd ordersystemsubjecttoanunitimpulse
input.Notethatforaunitimpulseinputr(t),thecorresponding
Laplacetransformisunity,orR(s)=1.

Pleasederivethesolution c(t)underthefollowingthreecases:
(A).Underdamped case: 0 1
(B).Criticallydampedcase: 1
(C).Overdamped case:
1
Homework
Q.6 Forthefollowingthreesystems((a)type0,(b)type1,(c)type2),
trytofindthesteadystateerrorsforsteprampparabolainputs