CONTROL SYSTEM

PART 2

COURSE TITLE: AUTOMATION & CONTROL ENGINEERING Prepared by-

COURSE CODE: IPE 301 MD. TAREK UR RAHMAN ERIN
COURSE CREDIT:3.0 Assistant Professor (Mechanical)
CTEC
TRANSFER FUNCTION OF CONTROL SYSTEM

• A transfer function represents the relationship between the output signal of a

control system and the input signal, for all possible input values. A block
diagram is a visualization of the control system which uses blocks to
represent the transfer function, and arrows which represent the various input
and output signals.
• For any control system, there exists a reference input known as excitation or
cause which operates through a transfer operation (i.e. the transfer function)
to produce an effect resulting in controlled output or response.
TRANSFER FUNCTION OF CONTROL SYSTEM

• In a Laplace Transform, if the input is represented by R(s) and the output is

represented by C(s), then the transfer function will be:

That is, the transfer function of the system multiplied by the input function
gives the output function of the system.
The transfer function of a control system is defined as the ratio of the
Laplace transform of the output variable to Laplace transform of the input
variable assuming all initial conditions to be zero.
TRANSFER FUNCTION OF CONTROL SYSTEM

Procedure for determining the transfer function of a control system are as

follows:
1.We form the equations for the system.
2.Now we take Laplace transform of the system equations, assuming initial
conditions as zero.
3.Specify system output and input.
4.Lastly we take the ratio of the Laplace transform of the output and the Laplace
transform of the input which is the required transfer function.
LAPLACE TRANSFORM
Laplace transformation is a technique for solving differential equations.

Laplace Transform Table

LAPLACE TRANSFORM
Laplace Transform Table
INVERSE LAPLACE TRANSFORM
TIME RESPONSE
If the output of control system for an input varies with respect to time, then it is
called the time response of the control system. The time response consists of two
parts.
❖ Transient response
❖ Steady state response
Here, both the transient and the steady states are
indicated in the figure. The responses corresponding
to these states are known as transient and steady state
responses.
Mathematically, we can write the time response c(t) as
TIME RESPONSE
Transient Response:
After applying input to the control system, output takes certain time to reach
steady state. So, the output will be in transient state till it goes to a steady state.
Therefore, the response of the control system during the transient state is known as
transient response.

The transient response will be zero for large values of ‘t’. Ideally, this value of ‘t’
is infinity and practically, it is five times constant.

Mathematically, we can write it as

TIME RESPONSE
Steady state Response:

The part of the time response that remains even after the transient response has
zero value for large values of ‘t’ is known as steady state response. This means, the
transient response will be zero even during the steady state.
TIME RESPONSE
TIME RESPONSE
TIME RESPONSE

Peak Resonance:
The peak resonance Mp is defined as being the maximum value of the magnitude
A large value of the peak resonance corresponds to a large value of the maximum
overshoot of a system.
Bandwidth:
The bandwidth is defined as the frequency band between which the magnitude
does not fall below 23 dB, the frequencies at which this occurs being termed the
cut-off frequencies.
TRANSIENT AND STEADY STATE RESPONSE IN A
CONTROL SYSTEM
Standard Input Signals : These are also known as test input signals. The input
signal is very complex in nature, it is complex because it may be a combination
of various other signals.
Now there are various types of standard input signals and they are written below:

Unit Impulse Signal : In the time domain it is represented

by ∂(t). The Laplace transformation of unit impulse
function is 1 and the corresponding waveform associated
with the unit impulse function is shown in the figure.
TRANSIENT AND STEADY STATE RESPONSE IN A
CONTROL SYSTEM
Unit Step Signal : In the time domain it is represented by u
(t). The Laplace transformation of unit step function is 1/s
and the corresponding waveform associated with the unit step
function is shown in the figure.

Unit Ramp Signal : In the time domain it is represented by

r (t). The Laplace transformation of unit ramp function is
1/s 2 and the corresponding waveform associated with the
unit ramp function is shown below.
TRANSIENT AND STEADY STATE RESPONSE IN A
CONTROL SYSTEM
Parabolic Type Signal : In the time domain it is
2
represented by t /2. The Laplace transformation of parabolic
type of the function is 1/s 3 and the corresponding waveform
associated with the parabolic type of the function is shown
in the figure.
Sinusoidal Type Signal : In the time domain it is
represented by sin (ωt).The Laplace transformation of
2
sinusoidal type of the function is ω / (s + ω ) and the
corresponding waveform associated with the sinusoidal
type of the function is shown in the figure.
TRANSIENT AND STEADY STATE RESPONSE IN A
CONTROL SYSTEM
Cosine Type of Signal : In the time domain it is
represented by cos (ωt). The Laplace transformation of the
cosine type of the function is ω/ (s +ω ) and the
corresponding waveform associated with the cosine type of
the function is shown below
DAMPING

• Damping is an influence within or upon an oscillatory system that has the

effect of reducing, restricting or preventing its oscillations. In physical
systems, damping is produced by processes that dissipate the energy stored in
the oscillation.
• Examples include viscous drag in mechanical systems, resistance in
electronic oscillators, and absorption and scattering of light in optical
oscillators. Damping not based on energy loss can be important in other
oscillating systems such as those that occur in biological systems.
DAMPING (CONT.)

The damping of a system can be described as being one of the following:

• Over-damped: The system returns (exponentially decays) to equilibrium without
oscillating.
• Critically
damped: The system returns to equilibrium as quickly as possible
without oscillating.
• Under-damped: The system oscillates (at reduced frequency compared to the
undamped case) with the amplitude gradually decreasing to zero.
• Undamped: The system oscillates at its natural resonant frequency (ωo).
 DAMPING (CONT.)
• For example, consider a door that uses a spring to close the door once open. This
can lead to any of the above types of damping depending on the strength of the
damping.
• If the door is undamped it will swing back and forth forever at a particular
resonant frequency.
• If it is under-damped it will swing back and forth with decreasing size of the
swing until it comes to a stop.
• If it is critically-damped then it will return to closed as quickly as possible
without oscillating.
• Finally, if it is over-damped it will return to closed without oscillating but more
slowly depending on how over damped it is. Different levels of damping are
desired for different types of systems
SYSTEM BEHAVIOR
• The behavior of the system depends on the relative values of the two fundamental parameters,
the natural frequency ω0 and the damping ratio ζ.

Fig 1: Time dependence of the system behavior on the value of the damping ratio ζ,
for undamped (blue), under-damped (green), critically damped (red), and over-damped (cyan)
cases, for zero-velocity initial condition.
SYSTEM BEHAVIOR (CONT.)
• Over-damping (ζ > 1)
--When ζ > 1, the system is over-damped and there are two different real roots. An over-
damped door-closer takes longer to close than a critically damped door does.

• Critical damping (ζ = 1)
--When ζ = 1, the system is said to be critically damped. A critically damped system
converges to zero as fast as possible without oscillating (although overshoot can occur).

--An example of critical damping is the door closer seen on many hinged doors in public
buildings. The recoil mechanisms in most guns are also critically damped so that they return
to their original position, after the recoil due to firing, in the least possible time.
SYSTEM BEHAVIOR (CONT.)
• Under-damping (0 ≤ ζ < 1)
--Finally, when 0 < ζ < 1, γ is comples, and the system is under-
damped. In this situation, the system will oscillate at the natural
damped frequency ωd, which is a function of the natural frequency and
the damping ratio.

--To continue the analogy, an underdamped door closer would close

quickly, but would hit the door frame with significant velocity, or
would oscillate in the case of a swinging door.
FREQUENCY RESPONSE
In signal processing and electronics, the frequency response of a system is the
quantitative measure of the magnitude and phase of the output as a function of
input frequency. In control systems, such as a vehicle's cruise control, it may be
used to assess system stability, often through the use of Bode plots. Systems
with a specific frequency response can be designed using analog and digital
filters.
The frequency response T(jω) is a function that relates the output response to a
sinusoidal input at frequency ω. They are therefore, In fact the frequency
response of a system is simply its transfer function as evaluated by substituting
s = jω.
FREQUENCY RESPONSE
The frequency of the input signal is varied over a specific range, and the
system's output is studied. The change in the system's output response with
respect to the varied input is known as the system's frequency response.
The frequency response is represented as T(jω), and it comprises of phase
function and the magnitude function. They are also known as the system's
frequency response, which can be evaluated both for the open-loop and closed-
loop systems.
FREQUENCY RESPONSE
The frequency of the input signal is varied over a specific range, and the
system's output is studied. The change in the system's output response with
respect to the varied input is known as the system's frequency response.
The frequency response is represented as T(jω), and it comprises of phase
function and the magnitude function. They are also known as the system's
frequency response, which can be evaluated both for the open-loop and closed-
loop systems.
FREQUENCY RESPONSE
FREQUENCY RESPONSE FOR A FIRST-ORDER
SYSTEM:
FREQUENCY RESPONSE FOR A FIRST-ORDER
SYSTEM:
MAGNITUDE AND PHASE IN FREQUENCY
RESPONSE ANALYSIS FOR SECOND ORDER
SYSTEM IN CONTROL ENGINEERING:

• https://www.youtube.com/watch?v=T4y85568XvY
FREQUENCY RESPONSE
Advantages of frequency response:
• It includes simple calculations.
• The frequency response method is easy to implement in the designs of the control
system. It also helps us to find the stability of the system.
• It provides the stability analysis of the system without the need for any complex and
time-consuming processes.
• The frequency response and the step response of the system are closely related. One
known parameter gives us the idea of the other parameter.
• We can obtain the frequency response of the given control system without the knowledge
of the transfer function.
• The stability analysis of the system can be performed even if it incorporates moderate
degree of non-linearity.
 FREQUENCY RESPONSE
Disadvantages of frequency response
• The frequency response method works better with the linear system. The
result in the cases of non-linear systems or the system with moderate non-
linearity does not show the exact results. Hence, it is generally applied only
to linear systems.
• The practical method to obtain the frequency response is time-consuming.
• There is a relation between the frequency response and the step response,
but it is not exact as expected. But the exact relation is possible if we use
the Fourier transformation to describe it, which is difficult to apply due to
complex calculations.
 FREQUENCY RESPONSE CURVE OF ELEVATOR
SYSTEM
For example, consider an elevator.
When the fourth-floor button is
pressed on the first floor, the
elevator rises to the fourth floor
with a speed and floor-leveling
accuracy designed for passenger
comfort. The push of the fourth-
floor button is an input that
represents our desired output,
shown as a step function in Figure.
The performance of the elevator
can be seen from the elevator
response curve in the figure.
FORCE VOLTAGE ANALOGY
Two systems are said to be analogous to each other when they
respond to inputs and disturbances in a mathematically equivalent
way, even though the underlying physical processes or components
are completely different. The systems can be modeled by the same
differential equations and exhibit similar transient responses, steady-
state behavior, and stability characteristics. For example, both
systems might show exponential decay, sinusoidal behavior, or other
recognizable responses. The core idea of the Force-Voltage analogy
in control systems engineering is to relate mechanical systems with
their electrical counterparts, by assuming Force in a mechanical
system to be analogous to the Voltage in an electrical system
RELATIONSHIPS FOR CAPACITOR, RESISTOR AND
INDUCTOR
TRANSLATIONAL MECHANICAL SYSTEM:
TRANSLATIONAL MECHANICAL SYSTEM:

Nise book Page 62

TRANSFER FUNCTION MATHEMATICS
Solve problem 1: https://www.youtube.com/watch?v=tWQubGjDY48
Solve problem 2: https://www.youtube.com/watch?v=yvfpHA_4_bo
Solve problem 3: https://www.youtube.com/watch?v=tnICE28uJto
Solve problem 4: https://www.youtube.com/watch?v=9nNSRyLTDNM
Solve problem 5:https://www.youtube.com/watch?v=kAvFMo6uA14&t=180s
Translational Mechanical Systems:
https://www.youtube.com/watch?v=Av86LcNuiMQ
TRANSLATIONAL MECHANICAL SYSTEMS:

In Series, Keq = (1/K1+1/K2)-1

In Parallel, Keq = K1+K2
THANK YOU