Th

is
PD
F
be
lo
Chapter - 02

ng
s
to
Time Response Analysis

Ab
hi
na
v
Kr
The first step in the analysis and design of control systems is to get the mathematical model. Once, the model is

is
hn
available, the next step is to anlyse the response of the system. This analysis can be carried in two domains.

a
M
te
(1) Time domain analaysis

fF
R
0
(2) Frquency domain analysis

(a
b
hi
In this chapter, we can focus time domain analysis only.

na
vm
kr
is
hn
Before giving electric supply to any system, it is preferrable to conduct experiments with some standard test input

a2
02
signals, is known as simulation. For mathematical response analysis, the following commonly used test input

0@
gm
signals can be considered because, the input signals to any system is not known in advance.

ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Response characteristic:

lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
Total response is always the sum of Natural response and Forced response.

0@
gm
In the initial period, Natural response is large and that portion of the response is known as "Transient Response".

ai
l.c
As time is progressing, natural reponse slowly decrases to zero and Forced response is large.

om
,8
The portion of response as t -> infiinity, is known as "Steady state response".

54
7
26
The two parts of chapter 2 are

80
34
(1) Transient response analysis

)
(2) Steady State Error Analysis
 Th
is
PD
F
be
Lecture - 08 B

lo
ng
s
Analytic Function: A function G(s) is known to be analytic, if G(s) and its derivatives

to
Ab
exists in the entire s-plane. The points where G(s) cannot be defined are known as

hi
na
Singular points.

v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
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02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Step Response of First Order System (Quantitative approach):

Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
If the system pole is much deeper into left hand side of s-plane, the the rate of decay of

lo
ng
s
exponential transient is much faster and hence the total response will reach to steady

to
Ab
state value very quickly. In this case the response is much faster.

hi
na
v
Hence, the fastnesss in the transient response depends on system pole location.

Kr
is
hn
a
M
Step Response of First Order System (Qualitative approach):

te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 Th
is
PD
F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
The response charactieristic of a first order system can expressed with one parameter known as Time Constant.

80
34
Time constant can be defined as the time taken for the step response to reach 63.2% of the final value as shown

)
in the response curve.
 Th
is
PD
F
be
lo
ng
s
Time response specifications of a first order

to
Ab
hi
system:

na
v
Kr
is
hn
(1) Rise time (tr): The time taken for step response to rach from 10%

a
M
to 90% of the final value is known as rise time.

te
fF
R
0
(a
b
(2) Settling time (ts): The time taken for step response to reach and

hi
na
vm
stay within a predefined tolerance limit, usually 2% of the final value,

kr
is
known as settling time.

hn
a2
02
0@
Note: The time response specifications of a first order system can be

gm
ai
characterized by one paramete, i.e. time constant.

l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
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02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
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te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
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Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Lecture - 09 A

lo
ng
Unit ramp response of a first order system:

s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
Impulse response of first order system:

hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Step response of Second order system (Quantitative analysis)

Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
Observations:

lo
ng
s
(1) System poles are real and distinct

to
Ab
(2) Forced response is defined by input pole

hi
na
v
(3) The exponential decay rate in natural response

Kr
is
is governed by system poles.

hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 Th
is
PD
F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
Observations:

gm
(1) System poles are complex with negative real part.

ai
l.c
om
(2) Forced response is defined by input pole

,8
54
(3) Natural response has two parts: one is exponential decay term

7
26
and sinusoidal oscillations.

80
34
)
- Exponential decay rate is defined by real part of the system pole.
- Frequency of sinusoidal oscillations is equal to imaginary part of
the system pole.
 Th
is
PD
F
be
lo
ng
Observations:

s
to
Ab
(1) System poles are purely impaginary.

hi
na
(2) Forced response is defined by input pole

v
Kr
is
(3) Natural response is pure sinusoidal and whose frequency is equal to

hn
a
imaginary part of system pole.

M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 Th
is
PD
F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
Observations:

(a
b
hi
(1) System poles are real and equal.

na
vm
(2) Forced response is defined by input pole

kr
is
hn
(3) The exponential decay rate in natural response is governed by system poles.

a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 Th
is
PD
F
be
lo
Overdamped property refers to the amount of energey absorption in the system, which

ng
s
inhibits the transient response from overshooting and oscillating about the steady-state

to
Ab
value for a step input.

hi
na
v
As the energy absorption is reduced, an overdamped system will become underdamped and exhibit overshoot.

Kr
is
hn
a
M
From the above problem, we can conclude the following:

te
fF
R
0
(a
b
(i) System poles are real and distinct - Overdamped response

hi
na
vm
kr
is
(ii) System poles are complex with negative real part - Underdamped response

hn
a2
02
0@
(iii) System poles are purely imaginary - Undamped response

gm
ai
l.c
om
(iv) Systems poles are real and equal - Critically damped

,8
54
7
26
80
Note: System pole with positive real part will make the system to be unstable, and this concept will be discussed

34
)
in chapter 3.
 Th
is
PD
F
be
lo
In order to describe the behaviour of second order system, we need the following two

ng
s
to
parameters: (1) Natural frequency

Ab
hi
(2) Damping ratio

na
v
Kr
is
hn
Natural Frequency: The natural proerty of second order system, in which the frequency of oscillations when there

a
M
is no damping in the system is known as "Natural frequnecy" or "Undamped natural frequency".

te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
Damping ratio: The ratio of exponential decay frequncy to natural frequency is constant and is known as damping

26
80
ratio.

34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
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ai
gm
0@
02
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hn
is
kr
vm
na
bhi
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0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
Lecture - 09B

na
hi
Ab
Step response of second order system (Qualitative approach)

to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
The natural response has

R
0
(a
- exponential decay term and the decay rate is given by real part of the

b
hi
na
system pole location.

vm
kr
is
- Sinusoidal oscillations whose frequency is given by imaginary part of the

hn
a2
system pole location. This frequency is known as "Damped natural frequency"

02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
lo
Transient response specifications of second order system (based on underdamped):

ng
s
to
Ab
(1) Delay time (td): The time taken by the step response to reach to 50% of the final

hi
na
v
value is known as delay time.

Kr
is
hn
a
M
(2) Rise time (tr): The time taken by the step response to reach from 10% to 90% of the final value is known as rise

te
fF
R
time.

0
(a
b
hi
na
vm
(3) Peak time (tp): The time taken by the step response to reach first peak is known as peak time.

kr
is
hn
a2
(4) Settling time (ts): The time taken by the step response to reach and stay within a specified tolerance limits,

02
0@
usually 2% or 5% of the final value, known as settling time.

gm
ai
l.c
om
(5) % Peak overshoot (%Mp): The amount of overshoot at t = tp, over and above the final value expressed as

,8
54
percantange of the final value is known as % Peak overshoot.

7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
to evaluate peak time (tp):
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
to evaluate % overshoot (% Mp):
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
damping ration in terms of % overshoot (% Mp):
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
to evaluate settling time (ts):
 Th
is
PD
F
be
lo
Expression for delay time and rise time:

ng
s
Note: Analytical expression for delay time and rise time are very complex in nature and

to
Ab
hence, we can use the following emphirical formuale.

hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
Lecture - 10

v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
Lecture 10

v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
From above calculations, we can conclude the following:

F
be
lo
- Damping ratio and percentage overshoot are inversely related each other.

ng
s
- Lower th damping ratio, higher is the percentage overshoot.

to
Ab
hi
- In order to have lower %Mp, we should increase the damping ratio.

na
v
- But, higher the damping ratio, the system response will be sluggish.

Kr
is
hn
- The optimum range of damping ratio is 0.4 to 0.7

a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
Important observations:

b
hi
na
vm
kr
Home work:

is
hn
a2
TYC - 2.1

02
0@
Question numbers - 01, 02, 03, 09, 10, 11, 12

gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
Effect of adding poles to a system
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
Lecuture 11

F
be
lo
ng
s
Effect of adding Zeros to a System

to
Ab
hi
na
v
Kr
is
hn
a
M
- When a zero is placed at s = - a, then the new response

te
fF
R
will have two terms.

0
(a
b
- One term is derivative of origina response and other term is

hi
na
vm
just scaling factor to original response.

kr
is
hn
a2
02
- Suppose, if zero is placed much deeper into left hand side

0@
of s-plane, then the effect of second term is more and we

gm
ai
l.c
negelct the first term.

om
,8
54
7
- Suppoee, if zero is placed near to imaginary axis, then the

26
80
effect of second term can be negligible and first term can

34
)
influence the new response and that is derivative of original
response.
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
Pole - Zero cancellation concept

na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
Velocity feedback in Servo systems

F
be
lo
- By taking velocity signal as feedback, we can improve damping in the

ng
s
to
system and the peak overshoot can be controlled effectively.

Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
Velcoity signal can be obtained by differentiating the position signal. But, by using differentiator there is

kr
is
hn
noise amplification problem.

a2
02
0@
Instead of using a differentiator, ther is one device that can take velocity as input signal and generate

gm
voltage as output signal. That device is known as "Tacho generator".

ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
Selected PYQs
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
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lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
Lecture - 12

F
be
lo
First step in the analysis and design of a control system is to get mathematical

ng
s
to
model of system. The next step is to analyse the response of the system.

Ab
hi
(1) Transient response analysis

na
v
Kr
(2) Stability analysis

is
hn
a
(3) Steady state response (mainly error) analysis

M
te
fF
We will focus on Steady State Error analysis in this lecture.

R
0
(a
b
hi
na
vm
Steady State Error: Error can be defined as the difference between input and present value of output.

kr
is
the value of error as time tends to infinity is known as steady state error.

hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 Th
is
PD
Steady state error bascially depends on (1) nature of the input and

F
be
lo
(2) the system architecture

ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
Conclusions from above figure:

0@
gm
ai
l.c
(1) Output - 1 reaches to the reference input as time is progressing and hence the SSE is zero.

om
,8
(2) Output - 2 reaches steady state but not exaactly the same as reference input. Hence, SSE is finite.

54
7
- Output 1 and 2, both are stable responses.

26
80
34
(3) Output - 3 is completly divergent from the reference input and hence the response is unstable. SSE cannot

)
defined in this case
Note: Steady State error definition is applicable for stable systsems only
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
Steady state error in terms of closed loop transfer function:

v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
Steady state error in terms of G(s) of unity feedback system:

v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
Steady state error of unity feedback system with different inputs:

te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
Steady state error of unity feedback system in terms of static error constants:

F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 Th
is
PD
Steady state error of unity feedback system in terms type number:

F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
The number of pure integrations or number of poles at the origin in the forward transfer function of a unity

(a
b
hi
feedback control system is known as Type number of system.

na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
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kr
vm
na
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(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
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Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
Lecture - 13

v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
Steady state error of unity feedback system with disturbance input

is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
from the above equation the conclusion is

F
be
lo
In order to minmize the steady state error due to step disturbance, the dc gain of

ng
s
to
controller should be high and the dc gain of plant should be low.

Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
Steady state error of non-unity feedback system:

ng
lo
be
F
PD
is
Th
 Th
is
PD
F
be
lo
ng
s
to
Ab
hi
na
v
Kr
is
hn
The type number of the system shown in figure

a
M
te
2 is equal to the number of poles at the origin of

fF
R
0
Ge(s) in figure 5.

(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 Th
is
PD
Lecture - 14

F
be
lo
Steady state error of non-unity feedback system with disturbance input:

ng
s
to
Ab
hi
na
v
Kr
is
hn
a
M
te
fF
R
0
(a
b
hi
na
vm
kr
is
hn
a2
02
0@
gm
ai
l.c
om
,8
54
7
26
80
34
)
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
Complete all the questions given in

02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
TYC - 2.1 and TYC - 2.2

te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
Homework:

lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
726
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
bhi
(a
0
R
fF
te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th
 )
34
80
7 26
54
,8
om
l.c
ai
gm
0@
02
a2
hn
is
kr
vm
na
hi
Chapter 2 completed

b
(a
0
R
fF
Note: Make sure to complete all PYQs from Chapter 2

te
M
a
hn
is
Kr
v
na
hi
Ab
to
s
ng
lo
be
F
PD
is
Th