Time Response Analysis of System

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR

 Motivation
• How to know the performance of a control systems for any
input signal?
• How to design a control system which meets the desired
response and control requirements?

• Time domain analysis refers to the analysis of system

performance in time i.e. the study of evolution of system
variables (specifically output) with 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.
• Two common ways of analyzing the response:
– Natural response and forced response
– Transient and steady state response
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 11
 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.

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR

 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

Steady State Response

• The response of the
system after the 4
Response
Amplitude

transient response is 3

called steady state 2

Transient Response
response.
1

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR
 Type and Order of a Syatem

• Every TF representing the control system is of particular type

and order.
• Order: Highest power of [1+G(s)H(s)]
• The transient state analysis depends on order of system

• Type: No of poles at origin of [G(s)H(s)

• Steady state analysis depends on the type of the system

Dr. Debanjan Das, ECE DSPM-IIIT NR 12

 Standard Test Signals
• 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.
• 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.

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR

 First Oder System
• The first order system has only one pole.
Y (s) K

R( s)  s  1
• Where K is the D.C gain and τ is the time constant of the system.

• Time constant is a measure of how quickly a 1st order system

responds to a unit step input.

• D.C Gain of the system is ratio between the input signal and the
steady state value of output.

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 123

 Impulse Response of 1st Order System
• Consider the following 1st order system
δ(t)

K
R(s ) Y (s)
1

 s 1
0
t
K
R( s )   ( s )  1 Y (s) 
 s 1
K/T*exp(-t/T)
1.5

• If K=3 and  =2s then

c(t)

0.5

0
0 2 4 6 8 10
Time

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 124

 Step Response of 1st Order System
• Consider the following 1st order system
K
R(s ) C(s )
 s 1
1
R( s )  U ( s ) 
s
K
C (s) 
s  s  1
• In order to find out the inverse Laplace of the above equation,
we need to break it into partial fraction expansion
Forced Response
K K Natural Response
C (s)  
s  s 1
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 125
 Step Response of 1st Order System
• If K=10 and τ =1.5s then c(t )  K 1  e
t / T
 
K*(1-exp(-t/T))
11

10

9 Step Response

8
steady state output 10
7 D.C Gain  K  
63% Input 1
6
c(t)

2
Unit Step Input
1

0
0 1 2 3 4 5 6 7 8 9 10
Dr. Debanjan Das, ECE Control System
Time DSPM-IIIT NR 126
 Step Response of 1st Order System
• If K=10 and T=1, 3, 5, 7 c(t )  K 1  e
t / T
 
K*(1-exp(-t/T))
11
10
T=1s
9

8 T=3s
7
T=5s
6
c(t)

5 T=7s

4
3
2
1
0
0 5 10 15
Time
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 127
 Step Response of 1st order System

• System takes five time constants to reach its final value.

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 12

 Step Response of 1st Order System
• If K=1, 3, 5, 10 and T=1 c(t )  K 1  e 
t / T

K*(1-exp(-t/T))
11
10
K=10
9

8
7
6
K=5
c(t)

5
4
K=3
3
2
K=1
1
0
0 5 10 15
Time
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 129
 Practical Determination of Transfer Function
of 1st Order Systems

• If we can identify T and K from laboratory testing we can

obtain the transfer function of the system.

C( s ) K

R( s ) Ts  1

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 130

 Practical Determination of Transfer Function
of 1st Order Systems
• For example, assume the unit
step response given in figure.
• From the response, we can K=0.72
measure the time constant, that
is, the time for the amplitude to
reach 63% of its final value.
• Since the final value is about
0.72 the time constant is T=0.13s
evaluated where the curve
reaches 0.63 x 0.72 = 0.45, or
about 0.13 second. • Thus transfer function is
obtained as:
• K is simply steady state value. C( s ) 0.72 5.5
 
R( s ) 0.13s  1 s  7.7
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 131
 1st Order System with a Zero
C( s ) K (1  s )

R( s ) Ts  1
• Zero of the system lie at -1/α and pole at -1/T.

• Step response of the system would be:

K (1  s )
C( s ) 
sTs  1
K K (  T )
C( s )  
s Ts  1
 
K
c(t )  K 1  e t / T c(t )  K  (  T )e t / T
T
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 132
 1st Order System with & W/O Zero

C( s ) K C( s ) K (1  s )
 
R( s ) Ts  1 R( s ) Ts  1

c(t )  K 1  e  t / T
 K
c(t )  K  (  T )e t / T
T

• If T>α the response will be same

K
c(t )  K  (  n )e t / T
T
𝑛 −𝑡 𝑇
𝑐(𝑡) = 𝐾 1 − 𝑒
𝑇

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 133

 1st Order System with & W/O Zero
• If T>α the response of the system would look like
Unit Step Response
10

9.5
C( s ) 10(1  2s )
 9
R( s ) 3s  1
8.5
c(t)

7.5
10
c(t )  10  ( 2  3)e t / 3 7
3
6.5
0 5 10 15
Time

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 134

 1st Order System with & W/O Zero
• If T<α the response of the system would look like

Unit Step Response of 1st Order Systems with Zeros

14

C( s ) 10(1  2s ) 13

R( s ) 1.5s  1
Unit Step Response
12

11

10
c(t )  10  ( 2  1)e t / 1.5 10
1.5
9
0 5 10 15
Time

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 135

 1st Order System with a Zero
Unit Step Response of 1st Order Systems with Zeros
14

13

12
Unit Step Response

11
T 
10

9 T 
8

6
0 5 10 15
Dr. Debanjan Das, ECE Time
Control System DSPM-IIIT NR 136
 1st Order System with & W/O Zero
Unit Step Response of 1st Order Systems with Zeros
14

12
T 
10
Unit Step Response

T 
8

1st Order System Without

4
Zero

0
0 2 4 6 8 10
Dr. Debanjan Das, ECE Time
Control System DSPM-IIIT NR 137
 Second Order Systems
• A general second-order system is characterized by the
following transfer function.

C( s ) n2
 2
R( s ) s  2n s  n2

n un-damped natural frequency of the second order system, which

is the frequency of oscillation of the system without damping.

 damping ratio of the second order system, which is a measure of

the degree of resistance to change in the system output.
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 138
 Example
• Determine the un-damped natural frequency and damping ratio of
the following second order system.

C( s ) 4
 2
R( s ) s  2s  4

• Compare the numerator and denominator of the given transfer

function with the general 2nd order transfer function.

C( s ) n2
 2
R( s ) s  2n s  n2

 n2  4  n  2 rad / sec  2n s  2s

 n  1
s 2  2n s   n2  s 2  2 s  4    0.5
Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 139
 Second Order Systems

C( s ) n2
 2
R( s ) s  2n s  n2

• Two poles of the system are

  n   n  2  1

  n   n  2  1

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 140

 Second Order Systems
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set into one
of the four categories:
1. Overdamped - when the system has two real distinct poles (  >1).
jω

δ
-c -b -a

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 141

 Second Order Systems
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set into one
of the four categories:

2. Underdamped - when the system has two complex conjugate poles (0 <  <1)
jω

δ
-c -b -a

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 142

 Second Order Systems
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set into one
of the four categories:

3. Undamped - when the system has two imaginary poles (  = 0).

jω

δ
-c -b -a

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 143

 Second Order Systems
  n   n  2  1

  n   n  2  1
• According the value of  , a second-order system can be set into one
of the four categories:

4. Critically damped - when the system has two real but equal poles (  = 1).
jω

δ
-c -b -a

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 144

 S-Plane

• Natural Undamped Frequency.

jω
• Distance from the origin of s-
plane to pole is natural
undamped frequency in n
rad/sec.
δ

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 145

 S-Plane

• Let us draw a circle of radius 3 in s-plane.

• If a pole is located anywhere on the circumference of the circle the

natural undamped frequency would be 3 rad/sec.

jω

-3 3
δ

-3

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 146

 S-Plane

• Therefore the s-plane is divided into Constant Natural

Undamped Frequency (ωn) Circles.

jω

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 147

 S-Plane

• Damping ratio.

• Cosine of the angle between jω

vector connecting origin and
pole and –ve real axis yields
damping ratio.

δ
  cos

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 148

 S-Plane

• For Underdamped system 0    90 therefore, 0    1

jω

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 149

 S-Plane

• For Undamped system   90  therefore,   0

jω

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 150

 S-Plane

• For overdamped and critically damped systems   0 

therefore,   0

jω

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 151

 S-Plane

• Draw a vector connecting origin of s-plane and some point P.

jω
P

45
δ

  cos 45  0.707

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 152

 S-Plane

• Therefore, s-plane is divided into sections of constant damping

ratio lines.

jω

Dr. Debanjan Das, ECE Control System DSPM-IIIT NR 153

 Step Response of underdamped System
C( s ) n2 Step Response n2
 2 C( s ) 
R( s ) s  2n s  n2 
s s 2  2n s  n2 
• The partial fraction expansion of above equation is given as

1 s  2n
C( s )   2
s s  2n s   n2

 n2 1   2 
1 s  2n
C( s )   2
s  2n 2 s s  2n s   2 n2   n2   2 n2

1 s  2n
C( s )  

s s  n 2   n2 1   2 
Dr. Debanjan Das, ECE DSPM-IIIT NR 154
 Step Response of underdamped System
1 s  2n
C( s )  

s s  n 2   n2 1   2 
• Above equation can be written as
1 s  2n
C( s )  
s s  n 2   d2
• Where  d   n 1   2 , is the frequency of transient oscillations
and is called damped frequency.
• The inverse Laplace transform of above equation can be obtained
easily if C(s) is written in the following form:
1 s  n n
C( s )   
s s  n 2   d2 s  n 2   d2

Dr. Debanjan Das, ECE DSPM-IIIT NR 155

 Step Response of underdamped System
1 s  n n
C( s )   
s s  n    d s  n 2   d2
2 2


n 1   2
1 s  n 1 2
C( s )   
s s  n    d
2 2
s  n 2  d2
1 s  n  d
C( s )   
s s  n    d
2 2
1 2 s   2   2
n d

 n t 
c(t )  1  e cos d t  e  nt sin d t
1 2

Dr. Debanjan Das, ECE DSPM-IIIT NR 156

 Step Response of underdamped System
 n t 
c(t )  1  e cos d t  e  nt sin d t
1 2

  
 n t 
c(t )  1  e cos  d t  sin  d t 
 1 2 
 

• When   0
d  n 1   2
 n

c(t )  1  cos  n t

Dr. Debanjan Das, ECE DSPM-IIIT NR 157

 Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.1 and n  3 rad / sec
1.8

1.6

1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10

Dr. Debanjan Das, ECE DSPM-IIIT NR 158

 Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.5 and n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Dr. Debanjan Das, ECE DSPM-IIIT NR 159
 Step Response of underdamped System
  
c(t )  1  e  nt cos  d t  sin  d t 
 1   2 
 
if   0.9 and n  3 rad / sec
1.4

1.2

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10
Dr. Debanjan Das, ECE DSPM-IIIT NR 160
 Step Response of underdamped System
2
b=0
1.8 b=0.2
b=0.4
1.6
b=0.6
b=0.9
1.4

1.2

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Dr. Debanjan Das, ECE DSPM-IIIT NR 161
 Step Response of underdamped System
1.4

1.2

0.8
wn=0.5
0.6 wn=1
wn=1.5
wn=2
0.4 wn=2.5

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Dr. Debanjan Das, ECE DSPM-IIIT NR 162
 Time-Domain Specification
For 0< <1 and ωn > 0, the 2nd order system’s response due to a
unit step input looks like

Dr. Debanjan Das, ECE DSPM-IIIT NR 163

 Time-Domain Specification
• The delay (td) time is the time required for the response to
reach half the final value the very first time.

164
Dr. Debanjan Das, ECE DSPM-IIIT NR
 Time-Domain Specification
• The rise time is the time required for the response to rise from 10% to
90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise time is
normally used. For overdamped systems, the 10% to 90% rise time is
commonly used.

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Time-Domain Specification
• The peak time is the time required for the response to reach the
first peak of the overshoot.

166
166
Dr. Debanjan Das, ECE DSPM-IIIT NR
 Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-state
value of the response differs from unity, then it is common to use
the maximum percent overshoot. It is defined by

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

Dr. Debanjan Das, ECE DSPM-IIIT NR 167

 Time-Domain Specification
• The settling time is the time required for the response curve to
reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually 2%
or 5%).

168
Dr. Debanjan Das, ECE DSPM-IIIT NR
 Example#1:Time Response

• Consider the system shown in following figure, where

damping ratio is 0.6 and natural undamped frequency is 5
rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when
the system is subjected to a unit-step input.

169
Dr. Debanjan Das, ECE DSPM-IIIT NR
 Example#1:Time Response
Rise Time Peak Time

  
tr  tp 
d d

Settling Time (2%) Maximum Overshoot

4 
t s  4T  
n Mp e
1 2
 100
3
t s  3T 
n
Settling Time (4%)
Dr. Debanjan Das, ECE DSPM-IIIT NR 170
 Example#1:Time Response

Rise Time

 
tr 
d

3.141  
tr  
2
n 1  

2
 1  
  tan 1 ( n )  0.93 rad
n

3.141  0.93
tr   0.55s
5 1  0.6 2
Dr. Debanjan Das, ECE DSPM-IIIT NR
 Example#1:Time Response
Peak Time
Settling Time (2%)

 4
tp  ts 
d n
4
3.141 ts   1.33s
tp   0.785s 0.6  5
4
Settling Time (4%)

3
ts 
n
3
ts   1s
0.6  5
Dr. Debanjan Das, ECE DSPM-IIIT NR 172
 Example#1:Time Response

Maximum Overshoot


1 2
Mp e  100

3.1410.6

1 0.6 2
Mp e  100

M p  0.095  100

M p  9.5%
Dr. Debanjan Das, ECE DSPM-IIIT NR 173
 Example#1:Time Response
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Dr. Debanjan Das, ECE Time (sec) DSPM-IIIT NR
 Example#2

• For the system shown in Figure-(a), determine the values of gain K

and velocity-feedback constant Kh so that the maximum overshoot
in the unit-step response is 0.2 and the peak time is 1 sec. With
these values of K and Kh, obtain the rise time and settling time.
Assume that J=1 kg-m2 and B=1 N-m/rad/sec.

Dr. Debanjan Das, ECE DSPM-IIIT NR 175

 Example#2

Dr. Debanjan Das, ECE DSPM-IIIT NR 176

 Example#2

Since J  1 kgm 2 and B  1 Nm/rad/sec

C( s ) K
 2
R( s ) s  (1  KK h )s  K
• Comparing above T.F with general 2nd order T.F

C( s ) n2
 2
R( s ) s  2n s  n2

(1  KK h )
n  K  
2 K
Dr. Debanjan Das, ECE DSPM-IIIT NR 177
 Example#2
(1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3.141
1

 n 1   2
)  ln0.2
1 2
ln( e
3.141
n 
1  0.456 2

 n  3.53

Dr. Debanjan Das, ECE DSPM-IIIT NR 178

 Example#2

 n  3.96

(1  KK h )
n  K  
2 K
3.53  K 0.456  2 12.5  (1  12.5K h )

3.532  K K h  0.178

K  12.5

Dr. Debanjan Das, ECE DSPM-IIIT NR 179

 Example#2

 n  3.96

  4
tr  ts 
n 1   2 n

t r  0.65s t s  2.48s

3
ts 
n
t s  1.86s
Dr. Debanjan Das, ECE DSPM-IIIT NR 180
 Example#3

When the system shown in Figure(a) is subjected to a unit-step input,

the system output responds as shown in Figure(b). Determine the values
of a and c from the response curve.

a
s( cs  1)

Dr. Debanjan Das, ECE DSPM-IIIT NR 181

 Application of Damped Systems

• Overdamped systems:
– Push button water tap shut-off valves
– Automatic door closer (can be critically damped also)
• Critically damped systems:
– Elevator mechanism
– Gun mechanism (returns to neutral position in shortest
possible time)
• Underdamped systems:
– All string instruments, bells are underdamped to make
sound appealing
– Analog electrical or mechanical measuring instruments

Dr. Debanjan Das, ECE DSPM-IIIT NR 18

 Steady State Error
• It is the error between the actual output and the desired output as t
ꝏ
• Any physical control system inherently suffers steady-state error
in response to certain types of inputs.

• A system may have no steady-state error to a step input, but the

same system may exhibit nonzero steady-state error to a ramp
input.

• Whether a given system will exhibit steady-state error for a given

type of input depends on the type of open-loop transfer function
of the system.

• The magnitudes of the steady-state errors due to the individual

standard inputs are indicative of the goodness of the system.
Dr. Debanjan Das, ECE DSPM-IIIT NR 18
 Steady State Error of Unity Feedback Systems

• Consider the system shown in following figure.

• The closed-loop transfer function is

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Steady State Error of Unity Feedback Systems

• The transfer function between the error signal E(s) and the input
signal R(s) is
E( s ) 1

R( s ) 1  G( s )
• The final-value theorem provides a convenient way to find the
steady-state performance of a stable system.

• Since E(s) is

• The steady state error is

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Error Constants

• The static error constants are figures of merit of control systems.

The higher the constants, the smaller the steady-state error.

• In a given system, the output may be the position, velocity,

pressure, temperature, or the like.

• Therefore, in what follows, we shall call the output “position,” the

rate of change of the output “velocity,” and so on.

• This means that in a temperature control system “position”

represents the output temperature, “velocity” represents the rate of
change of the output temperature, and so on.

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Position Error Constant (Kp)
• The steady-state error of the system for a unit-step input is

• The static position error constant Kp is defined by

• Thus, the steady-state error in terms of the static position error

constant Kp is given by

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Position Error Constant (Kp)
• For a Type 0 system

• For Type 1 or higher systems

• For a unit step input the steady state error ess is

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Velocity Error Constant (Kv)
• The steady-state error of the system for a unit-ramp input is

• The static position error constant Kv is defined by

• Thus, the steady-state error in terms of the static velocity

error constant Kv is given by

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Velocity Error Constant (Kv)
• For a Type 0 system

• For Type 1 systems

• For type 2 or higher systems

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Velocity Error Constant (Kv)
• For a ramp input the steady state error ess is

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Acceleration Error Constant (Ka)
• The steady-state error of the system for parabolic input is

• The static acceleration error constant Ka is defined by

• Thus, the steady-state error in terms of the static acceleration error

constant Ka is given by

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Acceleration Error Constant (Ka)
• For a Type 0 system

• For Type 1 systems

• For type 2 systems

• For type 3 or higher systems

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Static Acceleration Error Constant (Ka)
• For a parabolic input the steady state error ess is

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Summary

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Example#1

• For the system shown in figure below evaluate the static

error constants and find the expected steady state errors
for the standard step, ramp and parabolic inputs.

100( s  2)( s  5)
R(S) C(S)
2
s ( s  8)( s  12)
-

Dr. Debanjan Das, ECE DSPM-IIIT NR

 Example#1 (evaluation of Static Error Constants)
100( s  2)( s  5)
G( s ) 
s 2 ( s  8)( s  12)
K p  lim G( s )
s 0 K v  lim sG( s )
s 0
 100( s  2)( s  5) 
K p  lim  2   100s( s  2)( s  5) 
s 0  s ( s  8)( s  12 )  K v  lim  2 
s 0  s ( s  8)( s  12 ) 
Kp  
Kv  

2
K a  lim s G( s )  100 s 2
( s  2 )( s  5 ) 
K a  lim  2 
s 0  
s 0
 s ( s  8 )( s  12 ) 
 100( 0  2)( 0  5) 
K a     10.4
 ( 0  8)( 0  12 ) 
Dr. Debanjan Das, ECE DSPM-IIIT NR
 Example#1 (Steady Sate Errors)

Kp   Kv   K a  10.4

0

0

 0.09

Dr. Debanjan Das, ECE DSPM-IIIT NR