Dr.K.

Prithivi
21EE501 - Control Systems
AP/EEE
Module-1
Basic elements of control system, open loop and closed loop systems,
mechanical and electrical systems, transfer function representations,
block diagram and signal flow graph. Time domain standard test signals,
first order system response- step, ramp and impulse test inputs, second
order system response for step input, design specifications for second-
order systems based on the time-response, error coefficients, steady state
error, introduction to controller design-P, PI, PID modes of feedback
control.

Course Outcome:
CO1 Construct the mathematical models of first and second order electrical
[AP]
and mechanical systems to obtain its transfer function
CO2 Analyze the first and second order time domain systems to implement
[AN]
basic controllers
21EE501 - Control Systems
 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Introduction to First Order System
❖ Consider a first order system shown in the Figure.

❖ The closed loop transfer function is given by

❖ Where, T is known as time constant of system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of First Order System to Unit
Step
❖ The closed loop transfer function of first order system is given by.

❖ To find A and B: 1 = A (1 + T s) + B s

Equating coefficients:

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of First Order System to Unit
Step

❖ Taking Laplace inverse,

❖ The steady state error 𝑒𝑠𝑠 is given by:

Unit Step Response

❖ Since, 𝑒𝑠𝑠 =0, the first order system is capable of responding to a unit
step without any steady state error.
21EE501 - Control Systems
1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response of First Order System to Unit Ramp
❖ The closed loop transfer function of first order system is given by.

❖ To find A,B, and C:

❖ Equating coefficients:

This video highlights the details

about first order system

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of First Order System to Unit
Ramp
❖ From equation S1 coefficient, C = – T,

❖ Taking Laplace inverse,

❖ The steady state error 𝑒𝑠𝑠 is given by:

Unit Ramp Response

❖ First order system is capable of responding with a finite error T.

21EE501 - Control Systems
1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of First Order System to Unit
Impulse
❖ The closed loop transfer function of first order system is given by.

❖ Taking Inverse Laplace

Unit Impulse Response

❖ Under steady state both input and output is zero. 𝑒𝑠𝑠 =0

21EE501 - Control Systems
1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Steady State Error
❖ The Steady State Error can be found in s domain directly using final
value theorem

❖ Final Value Theorem

❖ For Unit Step Input:

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System
❖ Consider a second order system

❖ The closed loop transfer function is given by

This video explains the details

about second order system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System
where z is called damping ratio,

wn is called undamped natural frequency,

where z = Actual damping / Initial damping

❖ The denominator polynomial of closed loop transfer function is known

as characteristic polynomial and when equated to zero is called as
“characteristic equation”.

❖ Characteristic equation of second order system

❖ The roots of the equation are,

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System
❖ Case 1: When z < 1, the system is termed under damped system.
The roots are complex.

❖ Case 2: When z = 1, the system is termed to be critically damped

system. The roots are real and equal.

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System
❖ Case 3: When z > 1, the system is termed to be overdamped system.
The roots are real and unequal.

❖ Case 4: When z = 0, the system is termed to be undamped system

(or) oscillating system.

❖ Roots are conjugates,

❖ Generally real parts of roots of characteristic equation contribute

damping to system and imaginary part of characteristic equation roots
contribute oscillations to system
21EE501 - Control Systems
1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
Case 1: Assume underdamped system,

❖ Consider a second order system with closed loop transfer function as,

❖ For unit step input,

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
❖ Using partial fraction method,

❖ Equating coefficients of,

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
❖ Adding and subtracting z2 ω2𝑛 in denominator of second function,,

❖ As per the definition of ω𝑑 for underdamped system,

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
❖ Taking Laplace inverse transform,

❖ Consider the triangle shown in the Fig,

❖ From triangle,

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input

❖ An underdamped system is most preferable for all system.

❖ The reason being that when it is disturbed by external signals then it

comes back to steady state quickly.

❖ The steady state error 𝑒𝑠𝑠 is given by:

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input

❖ Time constant ,

❖ Since 𝑒𝑠𝑠 = 0, the second order system is capable of responding to a

unit step input without any steady state error.

❖ The response is exponentially decaying sinusoidal wave for

underdamped.
21EE501 - Control Systems
1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
❖ The decay depends on Time constant. For the larger value

of, the exponential delay will be faster.

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
Case 2: Assume Critically damped system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
By partial fraction,

C=1

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
Case 3: Assume Over damped system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input
Case 4: Assume Undamped system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Time Response Analysis of Second Order System to a
Unit Step Input

=(1-cos𝝎𝒏 t)

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems in Second order System
Problem 1: Obtain the response of unity feedback system whose open
loop transfer function , when the input is unit step
Solution:

Closed loop system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems in Second order System

Result:

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems in Second order System
Problem 2: A positional control system in Fig. What is the response of the
unit step input

Positional control system

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems in Second order System

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems in Second order System

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Practice Problems

Problem 3:The response of servomechanism is C(t)=1+𝑒 −60𝑡 + 1.2 𝑒 −10𝑡

when subject to a unit step input. Obtain an expression in closed loop
transfer function. Determine the undamped natural frequency and
damping ratio.

Answer:

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Discussion Questions
1. The closed loop transfer function of first order system is__
(a) 1/S (b) 1/(ST+1) (c)1/(ST+1)^2 (d) 1/S^2
2. The Steady State Error can be found in s domain directly using
____theorem
(a) Initial value (b) final value (c) convolution (d)Integral
3. when damping ratio =1 in second order system, that system is called
____ (a)Undamped (b) Underdamped (c) critically damped (d)over
damped
4. 𝑒𝑠𝑠 = 0, the second order system is capable of responding to a unit
___input without any steady state error
(a) Step (b)Ramp (c)Impulse (d) parabolic
5. Write down the Characteristic equation of second order system
21EE501 - Control Systems
 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Rise time (tr)
❖ The response of second order system to unit step input is given by

❖ At t = tr, C(tr) = 1 from the definition of tr

❖ At t = tr, exponent cannot be equal to zero.

❖ Since zero is not possible,

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Rise time (tr)
❖ But we know that

❖ Now,

❖ Thus tr is a function of both wn and z. As z increases, wn increases.

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of peak time (tp)
❖ The response of second order system to unit step input is given by

❖ Exponential term cannot be equal to zero at t = tp.

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of peak time (tp)

❖It is not possible at t  0. For n = 1, we get tp i.e., Maximum

peak time.

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Maximum Peak overshoot
(Mp)
❖ By definition,

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Maximum Peak overshoot
(Mp)

❖ Mp is a function of z only; as z increases then corresponding fall in Mp.

Lesser value of Mp indicates a system with better relative stability.

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Settling Time (ts)
❖ The settling time has different values for various z. So an exact
expression for the above is not possible. Therefore only an appropriate
expression can be had,

❖ The following assumptions are necessary.

✓ Since settling time is measured around ‘1’. The negative sign

can be neglected.

✓ It is exponent that determines the ts and not ‘sine’ term. So ‘sine’

term is neglected.

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Settling Time (ts)
❖ For 5% Tolerance Band ,

❖ Taking natural log on both sides

❖ But we know that =>

21EE501 - Control Systems
 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Mathematical Expressions of Settling Time (ts)
❖ For 2% Tolerance Band ,

❖ Taking natural log on both sides,

21EE501 - Control Systems

1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Important Formulae

This video illustrates the

design of Second Order
System

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems
Problem 1: Find tr, tp, Mp, ts for system with z = 0.6 and wn = 5 rad/sec.

Solution:

This video highlights the solved problems of second order

systems with design specification
21EE501 - Control Systems
 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems

Problem 2: For a unity feedback system with overall transfer

function G(s) = 1/s (s + 1) . Find (1) Damping factor, (2)
Undamped natural frequency, (3) Peak time, (4) Maximum
overshoot.

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems
Solution:

❖ Comparing with standard form of second order system

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems

❖ Find tp,Mp

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems
Problem 3: A second order system has a unity feedback and an open
loop transfer function is G(S) = 500s / (s + 15) . 1.Draw a block diagram for
the closed loop system. 2. What is the characteristic equation of the
closed loop system. 3. What is the numerical values of natural frequency
and damping ratio. 4. What is the peak time of the system. 5. If the system
is subjected to ramp input of 0.5 rad/sec, what is the steady state error.

Solution:
1. Block Diagram

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems
2. Characteristic equation

C.E

3. Comparing the above C.E. with

Natural frequency

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Solved Problems
4. Peak time

5. For ramp input R(S) = 0.5/ s2

Steady state error𝒆𝒔𝒔

21EE501 - Control Systems

 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Practice Problems
Problem 4: A control system has following transfer function :

G(S) = 4 / s + 2 , H(S) = 1/ s

Find(1) Damping of system and damping ratio.

(2) Time of overshoot.

(3) Percentage overshoot

Answer: Wn =2 rad / sec; z=0.5 ; tp=1.813 s; % Mp = 16.3

Problem 5: The open loop transfer function of a unity feedback control

system is given by 10s /(s + 1). Find (i) Damping ratio, (ii) % over shoot.
Assume the input to be unit step.
Answer: z=0.158 ; % Mp = 60.4
21EE501 - Control Systems
 1.7 First order system response–Step, Ramp, Impulse-
Second Order System Response-Step input
Discussion Questions
1. ____________ is the time required for the response to rise from 0 – 100% for
first time.(a) delay time (b) rise time (c)peak time (d) settling time

2. ______is the time required for the response curve to stay within a tolerance
band a) delay time (b) rise time (c)peak time (d) settling time

3. The open loop transfer function of a system with unity feedback is given by
G(S) = 10/ (s (0.5 s + 1)). Determine the damping ratio,

(a) 0.5 (b) 0.221 (c)0.7 (d)0.443

4. Refer question No.3 and find the undamped natural frequency

(a) 4.358 (b) 4.472 (c)5.325 (d)7.26

5. Refer question No.3 and find the maximum peak overshot
(a) 0.486 (b) 0.1631 (c)0.472 (d)0.213
21EE501 - Control Systems