Feedback Control Systems (FCS)

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. δ(t)

A
A t 0
 (t )  
0 t0
0 t

– If A=1, the impulse signal is

called unit impulse signal.
 Standard Test Signals
• Impulse signal

Source: English Wikipedia. Iain. Original image: [1]

 Standard Test Signals
• Step signal
– The step signal imitate
the sudden change u(t)

characteristic of actual
A
input signal.

A t 0 t
u(t )   0
0 t 0

– If A=1, the step signal is

called unit step signal
 Standard Test Signals
• Ramp signal r(t)

– The ramp signal imitate

the constant velocity
characteristic of actual
input signal.
0 t

 At t 0
r (t )  
r(t)

0 t 0 ramp signal with slope A

– If A=1, the ramp signal r(t)

is called unit ramp
signal unit ramp signal
 Standard Test Signals
p(t)
• Parabolic signal
– The parabolic signal
imitate the constant
acceleration characteristic
of actual input signal. 0 t

 At 2 p(t)

 t0
p(t )   2
0 t0
parabolic signal with slope A
 p(t)

– If A=1, the parabolic

signal is called unit
parabolic signal. 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

 Laplace Transform of Test Signals

• Impulse
A t 0
 (t )  
0 t0

L{ (t )}   ( s)  A

• Step
A t 0
u(t )  
0 t 0

A
L{u(t )}  U ( s ) 
S
 Laplace Transform of Test Signals

• Ramp  At t 0
r (t )  
0 t 0

A
L{ r(t )}  R( s )  2
s
• Parabolic  At 2
 t0
p(t )   2
0 t0

2A
L{ p(t )}  P( s )  3
S
 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
5
• The response of the

Steady State Response

system after the transient 4
Response
Amplitude

response is called steady 3

state response. 2 Transient Response

1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
 Time Response of Control Systems
• Transient response is dependent 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.
 UNIT-II
TIME RESPONSE ANALYSIS
 Introduction
 Influence of Poles on Time Response
 Transient Response of First-Order System
 Transient Response of Second-Order System
 The concept of poles and zeros, fundamental to the
analysis of and design of control system, simplifies
the evaluation of system response.
 The poles of a transfer function are:
i. Values of the Laplace Transform variables s, that cause
the transfer function to become infinite.
ii. Any roots of the denominator of the transfer function
that are common to roots of the numerator.
 The zeros of a transfer function are:
i. The values of the Laplace Transform variable s, that
cause the transfer function to become zero.
ii. Any roots of the numerator of the transfer function that
are common to roots of the denominator.
 The output response of a system is a sum of
i. Forced response
ii. Natural response

a) System showing an input and an output

b) Pole-zero plot of the system
c) Evolution of a system response. Follow the blue
arrows to see the evolution of system
component generated by the pole or zero
Effect of a real-axis pole upon transient response

a) First-order system
b) Pole plot of the system
 General form:
C ( s) K
G( s)  
R( s) s  1
 Problem: Derive the transfer function for the following
circuit

1
G(s) 
RCs  1
 Transient Response: Gradual change of output from
initial to the desired condition.
 Block diagram representation:
Where,
K
R(s) C(s) K : Gain
s  1  : Time constant

 By definition itself, the input to the system should be

a step function which is given by the following:

1
R(s) 
s
 General form:

C ( s) K
G( s)   C(s)  G(s)R(s)
R( s) s  1

 Output response:

 1  K 
C (s)    
 s  s  1 
A B
 
s s  1
B
c(t )  A  et 

 Problem: Find the forced and natural responses for the
following systems
First-order system response to a unit step
 Time constant, 
◦ The time for e-at to decay 37% of its 1
initial value. 
a

 Rise time, tr
◦ The time for the waveform to go
from 0.1 to 0.9 of its final value.
2.2
tr 
a
 Settling time, ts
◦ The time for the response to reach,
and stay within 2% of its final value. t  4
s
a
 Problem: For a system with the transfer function
shown below, find the relevant response specifications

50
G(s) 
s  50

i. Time constant, 
ii. Settling time, ts
iii. Rise time, tr
 General form:
Kn2
Gs   2
s  2n s  n2
Where,
K : Gain
ς : Damping ratio
n : Undamped natural frequency
 Roots of denominator:

s2  2n s  n2  0

s1, 2  n  n  2 1
 Natural frequency, n
◦ Frequency of oscillation of the system without damping.

 Damping ratio, ς
◦ Quantity that compares the exponential decay frequency
of the envelope to the natural frequency.

Exponentia l decay frequency


Natural frequency (rad/s)
 Problem: Find the step response for the following
transfer function

Gs   2
225
s  30s  225
 Answer:
ct   1  e15t 15te15t
 Problem: For each of the transfer function, find the
values of ς and n, as well as characterize the nature
of the response.
Gs   2
400
a) s  12s  400

Gs   2
900
b) s  90s  900

Gs   2
225
c) s  30s  225

Gs   2
625
d)
s  625
 Step responses for second-order system damping
cases
 Pole plot for the underdamped second-order system
 Second-order response as a function of damping ratio
 Second-order response as a function of damping ratio
 When 0 < ς < 1, the transfer function is given by the
following.
Kn2 Where,
Gs       
s  n  jd s  n  jd 
2
d n 1

 Pole position:
 Second-order response components generated by
complex poles
 Second-order underdamped responses for damping
ratio value
 Second-order underdamped response specifications
 Rise time, Tr
◦ The time for the waveform to go from 0.1 to 0.9 of its
final value.

 Peak time, Tp 
Tp 
◦ The time required to reach the first
2
n 1  
or maximum peak.

 Settling time, Ts
◦ The time required for the transient’s 4
Ts 
damped oscillation to reach and stay n
within ±2% of the steady-state value.
 Percent overshoot, %OS
◦ The amount that the waveform overshoots the steady-
state, or final value at peak time, expressed as a
percentage of the steady-state value.

( / 1 2 )
%OS  e 100%

 ln(% OS / 100)

 2  ln 2 (%OS / 100)
 Percent overshoot versus damping ratio
 Lines of constant peak time Tp, settling time Ts and
percent overshoot %OS

Ts2 < Ts1

Tp2 < Tp1
%OS1 < %OS2
 Step responses of second-order underdamped
systems as poles move

a) With constant
real part
b) With constant
imaginary part
 Step responses of second-order underdamped
systems as poles move

c) With constant damping ratio

 The steady state response is that part of the
output response where the output sognal
remails constant.
 The parameter that is important in this is the
steady state error(Ess)
 Error in general is the difference between the
input and the output. Steady state error is
error at t→∞
STEADY STATE ERROR

 Static error coefficient

 The response that remain after the transient
response has died out is called steady state
response
 The steady state response is important to find
the accuracy of the output.
 The difference between the steady state response
and desired response gives us the steady state
error.
 Kp = positional error constant
 Kv = velocity error constant
 Ka = acceleration error constant
 These error constant called as static error co
efficient. they have ability to minimize steady
state error.
STEADY STATE ERROR