PCEE-612

Control Systems
GEE-2020
Lecture-07: Time –response Analysis
Note: The lectures are prepared referring recommended books that are listed in Introductory Lecture

06-Oct-22 Prof. J.S. Dhillon 1

Second Order System
𝐶(𝑠) 𝐺(𝑠) r(t)=u(t) e(t)
= 𝜔𝑛2 c(t)
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠) +
𝐻 𝑠 =1 R(s) E(s) 𝑠 𝑠 + 2𝜉𝜔𝑛 C(s)
𝜔𝑛2
𝐶(𝑠) 𝑠 𝑠 + 2𝜉𝜔𝑛
=
𝑅(𝑠) 𝜔𝑛2
1+ ×1
𝑠 𝑠 + 2𝜉𝜔𝑛 𝜔𝑛2 𝑁(𝑠)
𝜔𝑛2 𝐺 𝑠 = =
𝑠 𝑠 + 2𝜉𝜔𝑛 𝐷(𝑠)
𝐶(𝑠) 𝑠 𝑠 + 2𝜉𝜔𝑛 𝐶(𝑠) 𝑁(𝑠)
= 2 =
𝑅(𝑠) 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 𝑅(𝑠) 𝐷 𝑠 + 𝑁 𝑠 𝐻(𝑠)
𝑠 𝑠 + 2𝜉𝜔𝑛 𝐶(𝑠) 𝜔𝑛2
𝐶(𝑠) 𝜔𝑛2 =
= 2 𝑅(𝑠) 𝑠 𝑠 + 2𝜉𝜔𝑛 + 𝜔𝑛2 × 1
𝑅(𝑠) 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 𝐶(𝑠) 𝜔𝑛2
= 2
𝑅(𝑠) 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
06-Oct-22 Prof. J.S. Dhillon 2
Effect of adding zero to transfer function
Addition of a zero to closed loop transfer function
𝐶(𝑠) 𝜔𝑛2
𝑇 𝑠 = =
𝑅(𝑠) 𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
Add a zero at 𝑠 = − 1Τ𝛼 ⇒ 𝑠 + 1Τ𝛼 = 0 ⇒ 𝛼𝑠 + 1 = 0
𝐶(𝑠) 𝜔𝑛2 1 + 𝛼𝑠
𝑇 𝑠 = =
𝑅(𝑠) 𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
𝜔𝑛2 𝜔𝑛2 𝑠
𝑇 𝑠 = 2 +𝛼 2 𝑠
𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
𝑐 𝑡 = 𝑐1 𝑡 + 𝛼𝑐1ሶ (𝑡)
• Rise time decreases
• Peak overshoot increases
• The peak overshoot further increases as the value of
𝛼 increases.
• Placing zero closer to imaginary axis will correspond Unit step response showing the effect of adding a zero
to larger peak overshoot. However the system to closed loop transfer function
continues to have dynamics of decaying nature
(stable system) provided 𝜉 > 0.
06-Oct-22 Prof. J.S. Dhillon 3
Effect of adding zero to transfer function
Addition of a zero to open loop transfer function
Add a zero at 𝑠 = − 1Τ𝛼 ⇒ 𝑠 + 1Τ𝛼 = 0 ⇒ 𝛼𝑠 + 1 = 0
𝜔𝑛2 1 + 𝛼𝑠
𝐺 𝑠 =
𝑠 𝑠 + 2𝜉𝜔𝑛
Closed transfer function with unity feedback.
𝐶(𝑠) 𝜔𝑛2 1 + 𝛼𝑠
𝑇 𝑠 = = 2
𝑅(𝑠) 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 1 + 𝛼𝑠
𝐶(𝑠) 𝜔𝑛2 1 + 𝛼𝑠
𝑇 𝑠 = =
𝑅(𝑠) 𝑠 2 + 2𝜉𝜔𝑛 + 𝛼𝜔𝑛2 𝑠 + 𝜔𝑛2

• Since α appears in coefficient of s in denominator, its obvious effect is that it improves the
damping i.e. reduce peak overshoot.
• The appearance of 1 + 𝛼𝑠 in the numerator will have an obvious effect of increasing the
peak overshoot.
• For smaller value of α , damping of system improves but higher values of α, the numerator
term begins to play more dominant role so that the damping of system worsens.

06-Oct-22 Prof. J.S. Dhillon 4

Effect of adding poles to transfer function
Addition of a pole to open loop (forward path)transfer function Unit step response for α=0, 3, 6 and ξ=1, ωn=1

Add a pole at 𝑠 = − 1Τ𝛼 ⇒ 𝑠 + 1Τ𝛼 = 0 ⇒ 𝛼𝑠 + 1 = 0

𝜔𝑛2 𝜔𝑛2
𝐺 𝑠 = = 2
𝑠 𝑠 + 2𝜉𝜔𝑛 1 + 𝛼𝑠 𝑠 + 2𝜉𝜔𝑛 𝑠 1 + 𝛼𝑠
𝐺(𝑠) 𝜔𝑛2
𝑇 𝑠 = = 3
1 + 𝐺(𝑠) 𝛼𝑠 + 1 + 2𝜉𝜔𝑛 𝛼 𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2

• Increases the order of the system.

• Reduces the stability
• As α increases i.e. as poles get closer to imaginary axis in s-plane, the peak overshoot goes on
increasing.
• As α increases, the rise time of step response also goes on increasing.
• It reduces bandwidth
• It pushes and bends the complex conjugate portion of the root loci of 2nd order system to the right half
of s-plane,

06-Oct-22 Prof. J.S. Dhillon 5

Effect of adding poles to transfer function
Addition of a pole to closed loop transfer function Unit step response for α=0, 0.5, 1 and ξ=0.5, ωn=1

Add a pole at 𝑠 = − 1Τ𝛼

⇒ 𝑠 + 1Τ𝛼 = 0 ⇒ 𝛼𝑠 + 1 = 0
𝜔𝑛2
𝑇 𝑠 = 2
𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2 1 + 𝛼𝑠

• As α increases, peak overshoot decreases.

• As α increases, the rise time increases.
• As far as peak overshoot is concerned, addition of a pole to closed loop
transfer poses the opposite effect to that of addition of a pole to pen loop
transfer function

06-Oct-22 Prof. J.S. Dhillon 6

Effect of Feedback on overall Gain
R(s) + E(s) C(s)
𝐺 𝑠
R(s) 𝐺(𝑠) C(s)
±
B(s)
1 ∓ 𝐺 𝑠 𝐻(𝑠)
H 𝑠
R(s) C(s)
𝐺(𝑠)
𝐸 𝑠 =𝑅 𝑠 ±𝐵 𝑠 (1)
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠 (2)
1 − 𝐺 𝑠 𝐻 𝑠 < 1 : Regenerative (Positive) Feedback :
𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠 (3)
Overall Gain will Increase
𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 ±𝐵 𝑠
𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 ±𝐻 𝑠 𝐶 𝑠 1 + 𝐺 𝑠 𝐻 𝑠 > 1 : Negative feedback
Overall gain will decrease
𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 ± 𝐺(𝑠)𝐻 𝑠 𝐶(𝑠) G(s) and H(s) are frequency dependent.
𝐶 𝑠 ∓𝐺 𝑠 𝐻 𝑠 𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 Overall gain may Increase in a particular frequency range
1 ∓ 𝐺 𝑠 𝐻(𝑠) 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 and
𝐶(𝑠) 𝐺(𝑠) Overall may decrease in a some other frequency range
=
𝑅(𝑠) 1 ∓ 𝐺 𝑠 𝐻(𝑠)
06-Oct-22 Prof. J.S. Dhillon 7
Effect of Feedback on Stability
• Autonomous System : A system excited by only initial conditions
• Non-autonomous System: A system having external input together with and without initial condition.
• A system is said to be stable if it provides finite response for finite input.
• A system is said to be stable if bounded input has bounded response.
G(s)H(s) = -1 T(s) will become infinite

Effect of Feedback on Sensitivity

Sensitivity of A to variation in K is designated as SKA
𝜕𝐴
𝐴
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐴 𝐴 𝜕𝐴 𝐾
𝑆𝐾 = = = ×
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐾 𝜕𝐾 𝜕𝐾 𝐴
𝐾
Sensitivity is measure of effectiveness of feedback in reducing the influence of parameter variation on
system performance.
The main aim of feedback in control system is to reduce sensitivity of system parameter variation or to
improve accuracy of system.
06-Oct-22 Prof. J.S. Dhillon 8
Sensitivity of overall gain with respect to forward path transfer function, G(S)
Sensitivity of T to variation in G is designated as SGT R(s) + E(s)
𝐺 𝑠
C(s)
𝜕𝑇 -
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑇 𝜕𝑇 𝐺
𝑆𝐺𝑇 = = 𝑇 = × Closed Loop B(s)
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐺 𝜕𝐺 𝜕𝐺 𝑇 H 𝑠
𝐺
𝐺(𝑠)
𝑇 𝑠 =
C(s) 1 + 𝐺 𝑆 𝐻(𝑠)
R(s)
Open Loop 𝐺(𝑠) 𝜕𝑇(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠) − 𝐺 𝑠 𝐻(𝑠)
=
𝜕𝐺(𝑠) 1 + 𝐺 𝑆 𝐻(𝑠) 2
𝜕𝑇(𝑠) 1
𝐶(𝑠) =
𝑇 𝑠 = =𝐺 𝑠 𝜕𝐺(𝑠) 1 + 𝐺 𝑆 𝐻(𝑠) 2
𝑅(𝑠) 𝐺(𝑠)
𝑇(𝑠) = 1 + 𝐺 𝑆 𝐻(𝑠)
=1 𝑇(𝑠)
𝐺(𝑠) 𝜕𝑇 𝐺
𝜕𝑇(𝑠) 𝑆𝐺𝑇 = ×
=1 𝜕𝐺 𝑇
𝜕𝐺(𝑠) 1
𝑇
𝜕𝑇 𝐺 𝑆𝐺 = 2
× 1 + 𝐺 𝑠 𝐻(𝑠)
𝑇
𝑆𝐺 = × =1 1 + 𝐺 𝑆 𝐻(𝑠)
𝜕𝐺 𝑇 1
𝑇
𝑆𝐺 =
1 + 𝐺 𝑆 𝐻(𝑠)
06-Oct-22
Reduced Sensitivity
Prof. J.S. Dhillon 9
Sensitivity of overall gain with respect to feedback path transfer function, H(S)
T C(s)
Sensitivity of T to variation in H is designated as SH R(s) + E(s)
𝐺 𝑠
𝜕𝑇 -
𝑇
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑇 𝑇 𝜕𝑇 𝐻
𝑆𝐺 = = = × B(s)
% 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐻 𝜕𝐻 𝜕𝐻 𝑇 H 𝑠
𝐻

𝐺(𝑠) 𝜕𝑇 𝐻
𝑇 𝑠 = 𝑆𝐻𝑇 = ×
1 + 𝐺 𝑠 𝐻(𝑠) 𝜕𝐻 𝑇
𝜕𝑇(𝑠) 0 − 𝐺 𝑠 𝐺(𝑠) − 𝐺(𝑠) 2 𝐻(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
= 𝑆𝐺𝑇 = ×
𝜕𝐻(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠) 2 1 + 𝐺 𝑠 𝐻(𝑠) 2 𝐺(𝑠)
𝐺 𝑠 𝐻(𝑠)
𝜕𝑇(𝑠) − 𝐺(𝑠) 2 𝑆𝐺𝑇 =−
= 1 + 𝐺 𝑆 𝐻(𝑠)
𝜕𝐻(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠) 2 • More sensitivity to variation in feedback
𝐻(𝑠) 1+𝐺 𝑠 𝐻 𝑠 parameters than the variation in forward path
=𝐻 𝑠 × parameters
𝑇(𝑠) 𝐺 𝑠 • Specification of H(s) is more rigid.
𝐻(𝑠) 𝐻(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
=
𝑇(𝑠) 𝐺(𝑠)
06-Oct-22 Prof. J.S. Dhillon 10
Effect Feedback on Time constant of a control system
𝑘
𝐺(𝑠) =
1 + 𝑠𝑇
𝐶 𝑠 𝑘
=
𝑅(𝑠) 1 + 𝑠𝑇
𝑘 1 𝑘Τ𝑇
𝐶 𝑠 = 𝑅 𝑠 = =
1 + 𝑠𝑇 𝑠(1 + 𝑠𝑇) 𝑠 𝑠 + 1
𝑇 𝑘 𝑇 1 𝑇 1
𝐶 𝑠 = × − ×
𝑐 𝑡 = 𝑘 1 − 𝑒 −𝑡 Τ 𝑇 𝑇 1 + 𝑘ℎ 𝑠 1 + 𝑘ℎ 𝑠 + 1 + 𝑘ℎ
𝑇
Introduce the feedback 𝑘 1 1
𝐶 𝑠 = −
𝑘 𝑘Τ𝑇 1 1 + 𝑘ℎ 𝑠 𝑠 + 1 + 𝑘ℎ
𝐶 𝑠 = 𝑅 𝑠 = × 𝑇
1 + 𝑠𝑇 + 𝑘ℎ 1 + 𝑘ℎ 𝑠 𝑘 1+𝑘ℎ
𝑠+ 𝑐 𝑡 = 1 − 𝑒− 𝑇 𝑡
𝑇 1 + 𝑘ℎ
𝑘 1 𝑘 𝐴 𝐵 𝑇
𝑇→ 𝑖𝑓 ℎ𝑘 > 0 then T < 1
= + 1 + 𝑘ℎ
𝑇 𝑠 𝑠 + 1 + 𝑘ℎ 𝑇 𝑠 𝑠 + 1 + 𝑘ℎ Response is fast because T < 1.
𝑇 𝑇
Feedback improves, time response of a
𝑇 𝑇 system.
𝐴= and 𝐵=
1 + 𝑘ℎ 1 + 𝑘ℎ
06-Oct-22 Prof. J.S. Dhillon 11
Effect Feedback on Stability
Open-loop gain
𝑘
𝐺(𝑠) =
𝑠+𝑢
Let impulse input R(s)=1
𝐶(𝑠) 𝑘
=
𝑅(𝑠) 𝑠 + 𝑢
𝑘
𝐶 𝑠 =
𝑠+𝑢
𝑐 𝑡 = 𝑘𝑒 −𝑢𝑡
Close-loop gain
𝐺 𝑠
𝑇 𝑠 =
1+𝐺 𝑠
𝑘
𝑇(𝑠) =
𝑠+𝑢+𝑘
𝐶(𝑠) 𝑘
=
𝑅(𝑠) 𝑠 + 𝑢 + 𝑘
𝑘
𝐶 𝑠 =
𝑠 + (𝑢 + 𝑘)
= 𝑘𝑒 −(𝑢+𝑘)𝑡
𝑐 𝑡 06-Oct-22 Prof. J.S. Dhillon 12
Effect of Feedback on Stability
Feedback can cause a system that is originally stable to become
unstable.
𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
if 1 + 𝐺 𝑠 𝐻 𝑠 = 0
Advantage of feedback is that it can stabilize an unstable system.
𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻 𝑠 + 𝐺 𝑠 𝐹(𝑠)
then 1 + 𝐺 𝑠 𝐻 𝑠 + 𝐺 𝑠 𝐹(𝑠) ≠ 0
G(s)H(s) is a function of frequency.
So stability of closed loop control system depends on magnitude
and phase of G(s)H(s)

• Feed back reduces sensitivity

• The closed loop system has higher bandwidth than open loop control system, this implies
increased speed of response.
• Feedback can reduce the effect of noise and disturbance on system performance.

06-Oct-22 Prof. J.S. Dhillon 13

Effect on Feedback of Disturbances

When R(s)=0
There is one forward Path: 𝑃1 = −𝐺2 𝑠
There is one individual loop:
𝐿1 = −𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠
∆1 = 1
∆= 1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠
𝐶𝐷 (𝑠) 𝑃1 ∆1 −𝐺2 𝑠
= =
𝑇𝐷 (𝑠) ∆ 1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠
𝑖𝑓 1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠 ≫ 1
𝐶𝐷 (𝑠) 1
=−
𝑇𝐷 (𝑠) 1 + 𝐺1 𝑠 𝐻 𝑠
𝐺1 𝑠 is made large, effect of disturbance can
be decreased by feedback.

06-Oct-22 Prof. J.S. Dhillon 14

Effect Feedback on Stability

𝐺2 𝑠
𝐶𝑁 𝑠 = − 𝑁 𝑠
1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠
𝐺1 𝑠 𝐺2 𝑠
𝐶𝑅 (𝑠) = − 𝑅(𝑠)
1 + 𝐺1 𝑠 𝐺2 𝑠 𝐻 𝑠

𝐶 𝑠 = 𝐶𝑅 𝑠 + 𝐶𝑁 (𝑠)
𝐶𝑁 (𝑠) represents the effect of noise on
output, so it must be minimized.
Increase 𝐺1 (𝑠).
The effect of noise can be reduced by
increasing the forward path gain earlier to
noise.

06-Oct-22 Prof. J.S. Dhillon 15

 Example: A negative feedback control system has forward path transfer function K
𝐺 𝑠 = 𝐾 Τ 𝑠 𝑠 + 1 and feedback path transfer function H(s) = 5. Determine sensitivity of closed loop
transfer function with respect to G and H at ω = 1 rad./sec. Assume K = 10 (nominal value)
Solution : 𝐺 𝑠 = 𝐾 Τ 𝑠 𝑠 + 1 and H(s) = 5, K=10

1 −𝐺𝐻
𝑆𝐺𝑇 = 𝑆𝐻𝑇 =
1 + 𝐺𝐻 1 + 𝐺𝐻
1 𝑠(𝑠 + 1) 𝐾
𝑆𝐺𝑇= = − ×5 −5𝐾
𝐾 𝑇 𝑠 𝑠+1
1+ × 5 𝑠 𝑠 + 1 + 5𝐾 𝑆𝐻 =
𝐾
=
𝑠 𝑠+1 1+ × 5 𝑠 𝑠 + 1 + 5𝐾
𝑗𝜔 𝑗𝜔 + 1 −𝜔2 + 𝑗𝜔 𝑠 𝑠+1
𝑇 −5𝐾 −50
𝑆𝐺 𝑗𝜔 = = 𝑇
𝑗𝜔 𝑗𝜔 + 1 + 5𝐾 −𝜔 2 + 𝑗𝜔 + 5𝐾 𝑆𝐻 𝑗𝜔 = =
𝑗𝜔 𝑗𝜔 + 1 + 5𝐾 −𝜔 2 + 𝑗𝜔 + 50
𝜔4 + 𝜔2
𝑆𝐺𝑇 𝑗𝜔 = 2500
5𝐾 − 𝜔 2 2 + 𝜔 2 𝑆𝐺𝑇 𝑗𝜔 =
50 − 𝜔 2 2 + 𝜔 2
𝜔4 + 𝜔2
𝑆𝐺𝑇 𝑗𝜔 = (𝐾 = 10 𝑔𝑖𝑣𝑒𝑛) 2500
𝜔=1 50 − 𝜔 2 2 + 𝜔 2 𝑆𝐺𝑇 𝑗𝜔 =
𝜔=1 50 − 𝜔 2 2 + 𝜔 2
2
𝑆𝐺𝑇 𝑗𝜔 = = 0.02885 2500
𝜔=1 2401 + 1 𝑆𝐺𝑇 𝑗𝜔 = = 1.020196
𝜔=1 2401 + 1

06-Oct-22 Prof. J.S. Dhillon 16

Example: A closed loop configuration is given in Figure where β1= 4 and β2 = 9. Calculate 𝑆𝛼𝑇 , T(s).
Find α such that 𝑆𝛼𝑇 equals 0.2 in steady state.

Solution:
𝛼𝛽2
𝑇 𝑠 =
𝑠 2 + 𝛽1 𝑠 + 𝛽2 + 0.2 𝛼𝛽2
9𝛼
𝑇 𝑠 = 2
𝑠 + 4𝑠 + 9 + 1.8𝛼
𝑇
𝜕𝑇 𝛼
𝑆𝛼 = ×
𝜕𝛼 𝑇
𝑇
𝑠 2 + 4𝑠 + 9 + 1.8𝛼 9 − 9𝛼 × 1.8 𝛼 𝑠 2 + 4𝑠 + 9 + 1.8𝛼
𝑆𝛼 = 2 2
×
𝑠 + 4𝑠 + 9 + 1.8𝛼 9𝛼
𝑇
𝑠 2 + 4𝑠 + 9
𝑆𝛼 = 2
𝑠 + 4𝑠 + 9 + 1.8𝛼
𝑇
9
𝑆𝛼 ቚ = = 0.2
𝑠=0 9 + 1.8𝛼
1.8 + 0.36𝛼 = 9
0.36𝛼 = 7.2
𝛼 = 20

06-Oct-22 Prof. J.S. Dhillon 17

Example: Consider the feedback controls system shown in the following figure. The normal value of
process parameter K is 1. Evaluate the sensitivity of the transfer function to Variation in parameter, K at
𝜔 = 5𝑟𝑎𝑑/𝑠
𝑠+1 𝐾 25𝐾
𝐺1 𝑠 = 25 × =
𝑠+5 𝑠 𝑠+1 𝑠 𝑠+5
25𝐾
𝑇 𝑠 = 2
𝑠 + 5𝑠 + 25𝐾
𝑇
𝜕𝑇 𝐾
𝑆𝐾 = ×
𝜕𝐾 𝑇

𝑠 2 + 5𝑠 + 25𝐾 25 − 25𝐾 × 25 𝐾 𝑠 2 + 5𝑠 + 25𝐾

𝑆𝐾𝑇 = ×
𝑠 2 + 5𝑠 + 25𝐾 2 25𝐾
𝑠 2 + 5𝑠 25 𝐾 𝑠 2 + 5𝑠 + 25𝐾
𝑆𝐾𝑇 = 2 × 252 + 252
𝑠 + 5𝑠 + 25𝐾 2 25𝐾
2 𝑆𝐾𝑇 =
𝑠 + 5𝑠 252
𝑆𝐾𝑇 = 2
𝑠 + 5𝑠 + 25𝐾 252 + 252 35.35
−𝜔2 + 𝑗5𝜔 𝑆𝐾𝑇 = = = 1.414
𝑆𝐾𝑇 𝑗𝜔 = (𝐾 = 1) 252 25
−𝜔 2 + 𝑗5𝜔 + 25
−25 + 𝑗25 −25 + 𝑗25
𝑆𝐾𝑇 𝑗5 = =
−25 + 𝑗25 + 25 𝑗25

06-Oct-22 Prof. J.S. Dhillon 18

 Proportional Controllers
Controller input is proportional to the error generated.
𝜔𝑛2
𝐺 𝑠 =
𝑠(𝑠 + 2𝜉𝜔𝑛 )
𝜔𝑛2
𝑇 𝑠 = 2
𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
To obtain steady state error
𝐾𝑝 = lim 𝐺(𝑠) = ∞
𝑠→0
𝜔𝑛
𝐾𝑣 = lim 𝑠𝐺(𝑠) =
𝑠→0 2𝜉
To improve the transient response, damping ratio is to be changed.
In general good time response demands
• Less settling time
• Less rise time
• Less overshoot
• Smallest steady state error

 An increase in Kv in an increase in the system gain and a decrease in the

steady state.
 Due to high gain, settling time and peak overshoot also increase
 This may lead to instability
 So keep steady state error and overshoot within acceptable limit.
06-Oct-22 Prof. J.S. Dhillon 19
 Proportional-Derivative (PD) Controllers
𝑑𝑒(𝑡)
𝐼𝑛𝑝𝑢𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 = 𝑘𝑒 𝑡 + 𝑘𝑑
𝑑𝑡 E(s)
𝐼𝑛𝑝𝑢𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 = 𝑘𝐸 𝑠 + 𝑠𝑘𝑑 𝐸 𝑠
𝐼𝑛𝑝𝑢𝑡 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 = 𝑘 + 𝑠𝑘𝑑 𝐸 𝑠
1 + 𝑠𝑘𝑑 𝜔𝑛2
𝐺 𝑠 = (𝑘 = 1)
𝑠(𝑠 + 2𝜉𝜔𝑛 )
1 + 𝑠𝑘𝑑 𝜔𝑛2
𝑇 𝑠 = 2
𝑠 + 2𝜉𝜔𝑛 + 𝜔𝑛2 𝑘𝑑 𝑠 + 𝜔𝑛2
2𝜉𝜔𝑛 = 2𝜉𝜔𝑛 + 𝜔𝑛2 𝑘𝑑
𝜔𝑛 𝑘𝑑
𝜉=𝜉+
2
To obtain steady state error • It increases damping ratio
𝐾𝑝 = lim 𝐺(𝑠) = ∞ • Type of system remains unchanged
𝑠→0
𝜔𝑛 • 𝜔𝑛 for system remains unchanged.
𝐾𝑣 = lim 𝑠𝐺(𝑠) = • It reduces peak overshoot
𝑠→0 2𝜉
• It reduces settling time
There is no change in error coefficients, • Steady state error remains unchanged
error remain same

06-Oct-22 Prof. J.S. Dhillon 20

 Proportional-Integral (PI) Controllers

Input to the controller = 𝑘𝑒 𝑡 + 𝑘𝐼 න 𝑒 𝑡 𝑑𝑡

𝑘𝐼
Input to the controller = 𝑘𝐸 𝑠 + 𝐸 𝑠
𝑠
𝑘𝐼
Input to the controller = 𝑘 + 𝐸 𝑠
𝑠
𝑘𝐼 2
1+ 𝜔𝑛 𝑠 + 𝑘𝐼 𝜔𝑛2
𝑠
𝐺 𝑠 = = 2 (𝑘 = 1)
𝑠 𝑠 + 2𝜉𝜔𝑛 𝑠 𝑠 + 2𝜉𝜔𝑛
𝑠 + 𝑘𝐼 𝜔𝑛2
𝑇 𝑠 = 3
𝑠 + 2𝜉𝜔𝑛 𝑠 2 + 𝜔𝑛2 𝑠 + 𝑘𝐼 𝜔𝑛2
Order of system increases.
The system becomes relatively less stable. • Order increases
𝑘𝐼 is adjusted for stability of system • Type of system increases
Steady state error
• 𝑘𝐼 is adjusted for stability of system.
𝐾𝑝 = lim 𝐺(𝑠) = ∞ ∶ 𝑒𝑠𝑠 = 0
𝑠→0 • The system becomes relatively less stable
𝐾𝑣 = lim 𝑠𝐺(𝑠) = ∞ ; 𝑒𝑠𝑠 = 0
𝑠→0 • Steady state error reduces for same type of input
Error becomes zero for ramp input as order increase
by one. Steady state of system improves and
become more accurate
06-Oct-22 Prof. J.S. Dhillon 21
 Proportional-Integral-Derivative (PID) Controllers
𝑑𝑒(𝑡)
Input to the controller = 𝑘𝑒 𝑡 + 𝑘𝑑 + 𝑘𝐼 න 𝑒 𝑡 𝑑𝑡
𝑑𝑡
𝑘𝐼
Input to the controller = 𝑘𝐸 𝑠 + 𝑠𝑘𝑑 𝐸 𝑠 + 𝐸 𝑠
𝑠
𝑘𝐼
𝐺𝑒 = 𝑘 + 𝑠𝑘𝐷 +
𝑠
𝑘𝐼 2
1 + 𝑠𝑘𝐷 + 𝜔𝑛 𝑘𝐼 + 𝑠 + 𝑠 2 𝑘𝑑 𝜔𝑛2
𝑠
𝐺 𝑠 = = 2
(𝑘 = 1)
𝑠 𝑠 + 2𝜉𝜔𝑛 𝑠 𝑠 + 2𝜉𝜔𝑛
𝑘𝐼 + 𝑠 + 𝑠 2 𝑘𝑑 𝜔𝑛2
𝑇 𝑠 = 3
𝑠 + 𝜔𝑛 𝑠 2 2𝜉 + 𝑘𝑑 𝜔𝑛 + 𝜔𝑛2 𝑠 + 𝑘𝐼 𝜔𝑛2
Order of system increases.
𝑘, 𝑘𝑑 𝑘𝐼 is adjusted for stability of system.
The process of selecting 𝑘, 𝑘𝑑 , 𝑘𝐼 is known as tuning of PID controller

06-Oct-22 Prof. J.S. Dhillon 22

 Output-Derivative Controllers
This is achieved by feeding back the derivative
of output signal
Internally (using tacho-generator) and
comparing with signal proportional to the error.
This called minor-loop feedback compensation
𝑑𝑒(𝑡) • The controller affects the steady state.
Input to the controller = 𝑘𝑒 𝑡 − 𝑘𝑡 • 𝑘𝑡 adjusted so that 𝜉 should cause not
𝑑𝑡
Input to the controller = 𝑘𝐸 𝑠 − 𝑠𝑘𝑡 𝐸 𝑠 large increase in steady state error .
𝜔𝑛2 𝜔𝑛2 • For step input, being type 1, steady error
𝐺 𝑠 = 2 = 2 is zero
𝑠 𝑠 + 2𝜉𝜔𝑛 + 𝑠𝑘𝑡 𝜔𝑛 𝑠 + 𝑠 2𝜉𝜔𝑛 + 𝑘𝑡 𝜔𝑛2
𝑘𝜔𝑛2 • Derivative output behaves exactly similar
𝑇 𝑠 = 2 to PD controller due to improvement in
𝑠 + 2𝜉𝜔𝑛 + 𝑘𝑡 𝜔𝑛2 𝑠 + 𝑘𝜔𝑛2
transition response of system.
2𝜉 𝑛 𝜔𝑛 = 2𝜉𝜔𝑛 + 𝑘𝑡 𝜔𝑛2
𝜔𝑛 𝑘𝑡 • Rise time is small; response is fast in
𝑛
𝜉 =𝜉+ comparison with rate feedback controller
2 because of addition of zero in forward
𝐾𝑝 = lim 𝐺 𝑠 𝐻(𝑠) = ∞
𝑠→0 path
𝑠𝜔𝑛2 𝜔𝑛
𝐾𝑣 = lim 𝑠𝐺 𝑠 𝐻(𝑠) = lim 2 =
𝑠→0
06-Oct-22
𝑠→0 𝑠 𝑠 + 2𝜉𝜔𝑛 + 𝑘𝑡 𝜔𝑛 2𝜉 + 𝑘𝑡 𝜔𝑛
Prof. J.S. Dhillon 23
Problem: Determine value of Td so that the system will be critically damped for the
shown figure. Calculate its settling time.

06-Oct-22 Prof. J.S. Dhillon 24

Problem: For the feedback system is shown in the figure. (a) In the absence of derivative feedback
controller, find 𝜉 and 𝜔𝑛 . (b) Find 𝐾𝑂 if 𝜉 is to be modified to 0.5 by the use of controller.

06-Oct-22 Prof. J.S. Dhillon 25

Dominant Poles of Transfer Functions
• The type of transient response is determined by the closed-loop poles.
• The Shape of the transient response is primarily determined by the closed-loop zeros.
• The poles of the input R(s), yield the steady state, the steady state response terms in the solution.
• The poles of C(s)/R(s) enters into the exponential transient response terms and/or damped
sinusoidal transient-response terms.
• The zeros of C(s)/R(s) do not affect the exponents in the exponential terms but they do affect the
magnitudes and sign of residue.
• The location of poles of a transfer function in the s-plane greatly affects the transient response of
the system.
• For analysis and design purposes, the poles are sorted out that have a dominant effect on the
transient response and are called the dominant poles.
• In design, the dominant poles are used to control the dynamic performance of the system.
• Whereas the insignificant poles are used for the purpose of ensuring that the controller transfer
function can be realized by physical components.
• The relative dominance of close loop poles is determined by the ratio of the real parts of the close
loop poles as we/I as by the relative magnitudes of the residues evaluated at the close loop poles.
06-Oct-22 Prof. J.S. Dhillon 26
 Poles

Inverse Laplace
Transform

Impulse Response

06-Oct-22 Prof. J.S. Dhillon 27

Dominant Poles of Transfer Functions
• The magnitudes of the residues depends on both, the close loop poles and zeros.
• If the magnitude of the real part of a pole is at least 5 to 10 times that of a dominant pole
or a pair of complex dominant poles and there are no zeros nearby, then the pole may
be regarded as insignificant pole as far as the transient response is concerned.
• The horizontal distance from a closed loop pole to the jω-axis determines the settling time
of transients due to that pole. The smaller is the distance, the longer is the settling time.
• The closed-loop poles that have dominant effects on the transient response behaviour are
called dominant closed-loop poles.
• Quite often the dominant-close loop poles occur in the form of a complex conjugate pair.
• The dominant closed-loop poles are most important amount all close loop poles.
• It is important to note that the gain of a higher order system is often adjusted that there will
exist a pair of dominant complex conjugate close loop poles.
• The presence of such poles in a stable system reduces the effects of such non-linearities
as dead-zone, backlash and coulomb friction

06-Oct-22 Prof. J.S. Dhillon 28

 Continued….
Note: The lectures are prepared referring recommended books that are listed in Introductory Lecture

06-Oct-22 Prof. J.S. Dhillon 29