Automatic Control Systems: Time Response MENG @ EAS, NU

AUTOMATIC CONTROL SYSTEMS

(MENG421)
Course Outline

• Introduction & Basic Concepts of feedback Control

• SYSTEM PERFORMANCE (TIME RESPONSE)
• Stability of control system
• Sensitivity to parameter variation
• Disturbance rejection
• Control actions and Control modes
• Tuning of controller parameters
• PID Control design in time domain.
• PID Control design in frequency domain.

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Automatic Control Systems: Time Response MENG @ EAS, NU

AUTOMATIC CONTROL SYSTEMS

(MENG421)

Topic #2:
SYSTEM PERFORMANCE (TIME RESPONSE)

• Transient time response of general second order system

• Steady state response

Dr. Raafat SHALABY

[email protected]
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Automatic Control Systems: Time Response MENG @ EAS, NU

Transient Response of Second-order Systems

𝑌𝑌(𝑠𝑠) 2
𝐾𝐾𝜔𝜔𝑛𝑛
The standard form of TF is = 2
𝑅𝑅(𝑡𝑡) 𝑠𝑠 2 +2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛
𝐾𝐾: Steady-state gain,
𝜔𝜔𝑛𝑛 : Undamped natural frequency
ξ: Damping ration

2 2
Characteristic equation 𝑠𝑠 + 2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛 =0

−𝑏𝑏 ± √𝑏𝑏 2 − 4𝑎𝑎𝑎𝑎

𝑠𝑠1,2 = �𝑠𝑠 + ξ𝜔𝜔𝑛𝑛 + 𝜔𝜔𝑛𝑛 �ξ2 − 1� �𝑠𝑠 + ξ𝜔𝜔𝑛𝑛 − 𝜔𝜔𝑛𝑛 �ξ2 − 1�
Roots → 2𝑎𝑎 →

Thus, y(t) = 𝐴𝐴e𝑠𝑠1t + 𝐵𝐵e𝑠𝑠2t

Discriminant Roots Transient response type
ξ>1 𝑠𝑠1 & 𝑠𝑠2 real, different Overdamped
ξ=1 𝑠𝑠1 & 𝑠𝑠2 real, equal Critically Damped
ξ<1 𝑠𝑠1,2 = −𝜎𝜎 ± 𝑗𝑗𝑗𝑗 Underdamped

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Automatic Control Systems: Time Response MENG @ EAS, NU

UNDERDAMPED 0 < 𝜉𝜉 < 1

2
𝐾𝐾𝜔𝜔𝑛𝑛 𝐴𝐴 𝐵𝐵𝐵𝐵+𝐶𝐶 𝑅𝑅 (𝑠𝑠) = 1/𝑠𝑠 𝐾𝐾𝜔𝜔𝑛𝑛2 𝑌𝑌(𝑠𝑠)
𝑌𝑌(𝑠𝑠) = 2� = + 2 𝑠𝑠 2 + 2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
𝑠𝑠�𝑠𝑠 2 +2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛 𝑠𝑠 𝑠𝑠 2 +2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛

𝐾𝐾 −𝐾𝐾𝐾𝐾−2𝜉𝜉𝜔𝜔𝑛𝑛 𝐾𝐾 1 𝑠𝑠+2𝜉𝜉𝜔𝜔𝑛𝑛
𝑌𝑌(𝑠𝑠) = + 2 = 𝐾𝐾 � − ( 2 −𝜉𝜉 2 𝜔𝜔 2 �
𝑠𝑠 𝑠𝑠 2 +2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛 𝑠𝑠 𝑠𝑠+𝜉𝜉𝜔𝜔𝑛𝑛 )2 +𝜔𝜔𝑛𝑛 𝑛𝑛

1 𝑠𝑠+𝜉𝜉𝜔𝜔𝑛𝑛 +𝜉𝜉𝜔𝜔𝑛𝑛
= 𝐾𝐾 � − 2 �
𝑠𝑠 (𝑠𝑠+𝜉𝜉𝜔𝜔𝑛𝑛 )2 +�𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2 �

1 𝑠𝑠+𝜉𝜉𝜔𝜔𝑛𝑛 𝜉𝜉𝜔𝜔𝑛𝑛 𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2

𝑌𝑌(𝑠𝑠) = 𝐾𝐾 � − � 2 + × 2 ��
𝑠𝑠 (𝑠𝑠+𝜉𝜉𝜔𝜔𝑛𝑛 )2 +�𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2 � 𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2 (𝑠𝑠+𝜉𝜉𝜔𝜔𝑛𝑛 )2 +�𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2 �

𝜉𝜉
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡 cos 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡 − 2
𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡
sin 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡�
�1−𝜉𝜉

𝜉𝜉
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡 �cos 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡 − 2
sin 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡��
�1−𝜉𝜉

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𝜉𝜉
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − 𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡 �cos 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡 − sin 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡��
�1−𝜉𝜉 2

𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡
= 𝐾𝐾 �1 − ��1 − 𝜉𝜉 2 cos 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡 + 𝜉𝜉 sin 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡��
�1−𝜉𝜉 2

�1−𝜉𝜉 2
Define 𝜙𝜙 = 𝑡𝑡𝑡𝑡𝑡𝑡 , i.e., �1 − 𝜉𝜉 2 = 𝑠𝑠𝑠𝑠𝑠𝑠 𝜙𝜙 and 𝜉𝜉 = 𝑐𝑐𝑐𝑐𝑐𝑐 𝜙𝜙.
𝜉𝜉

𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − �sin 𝜙𝜙 𝑐𝑐𝑐𝑐𝑐𝑐�𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 �𝑡𝑡 + 𝑐𝑐𝑐𝑐𝑐𝑐 𝜙𝜙 𝑠𝑠𝑠𝑠𝑠𝑠�𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 �𝑡𝑡��
�1−𝜉𝜉 2

Consider 𝑠𝑠𝑠𝑠𝑠𝑠 𝐴𝐴 𝑐𝑐𝑐𝑐𝑐𝑐 𝐵𝐵 + 𝑐𝑐𝑐𝑐𝑐𝑐 𝐴𝐴 𝑠𝑠𝑠𝑠𝑠𝑠 𝐵𝐵 = 𝑠𝑠𝑠𝑠𝑠𝑠(𝐴𝐴 + 𝐵𝐵)

𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − 𝑠𝑠𝑠𝑠𝑠𝑠�𝜙𝜙 + 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 𝑡𝑡��
�1−𝜉𝜉 2

𝒆𝒆−𝝃𝝃𝝎𝝎𝒏𝒏 𝒕𝒕
𝒚𝒚(𝒕𝒕) = 𝑲𝑲 �𝟏𝟏 − 𝒔𝒔𝒔𝒔𝒔𝒔(𝝓𝝓 + 𝝎𝝎𝒅𝒅 𝒕𝒕)�
�𝟏𝟏 − 𝝃𝝃𝟐𝟐
, 𝜔𝜔𝑑𝑑 = 𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2 is the damped natural freq.
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𝒆𝒆−𝝃𝝃𝝎𝝎𝒏𝒏 𝒕𝒕
𝒚𝒚(𝒕𝒕) = 𝑲𝑲 �𝟏𝟏 − 𝒔𝒔𝒔𝒔𝒔𝒔(𝝓𝝓 + 𝝎𝝎𝒅𝒅 𝒕𝒕)�
�𝟏𝟏 − 𝝃𝝃𝟐𝟐

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Automatic Control Systems: Time Response MENG @ EAS, NU

UNDAMPED CASE 𝜉𝜉 = 0,

The response,

𝑒𝑒 −𝜉𝜉𝜔𝜔𝑛𝑛 𝑡𝑡
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − 𝑠𝑠𝑠𝑠𝑠𝑠(𝜙𝜙 + 𝜔𝜔𝑑𝑑 𝑡𝑡)�
�1 − 𝜉𝜉 2

becomes

𝜋𝜋
𝑦𝑦(𝑡𝑡) = 𝐾𝐾 �1 − 𝑠𝑠𝑠𝑠𝑠𝑠 � + 𝜔𝜔𝑛𝑛 𝑡𝑡��
2

𝒚𝒚(𝒕𝒕) = 𝑲𝑲[𝟏𝟏 − 𝒄𝒄𝒄𝒄𝒄𝒄𝜔𝜔𝑛𝑛 𝑡𝑡]

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Automatic Control Systems: Time Response MENG @ EAS, NU

CRITICALLY DAMPED 𝜉𝜉 = 1
2
𝐾𝐾𝜔𝜔𝑛𝑛 2
𝐾𝐾𝜔𝜔𝑛𝑛 𝐴𝐴 𝐵𝐵 𝐶𝐶
𝑌𝑌(𝑠𝑠) = 2� = = +( +(
𝑠𝑠�𝑠𝑠 2 +2ξ𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛 𝑠𝑠(𝑠𝑠+𝜔𝜔𝑛𝑛 )2 𝑠𝑠 𝑠𝑠+𝜔𝜔𝑛𝑛 )2 𝑠𝑠+𝜔𝜔𝑛𝑛 )

1 𝜔𝜔𝑛𝑛 1
𝑌𝑌(𝑠𝑠) = 𝐾𝐾 � − ( )2
− �
𝑠𝑠 𝑠𝑠+𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛

𝑦𝑦(𝑡𝑡) = 𝐾𝐾[1 − 𝑒𝑒 −𝜔𝜔𝑛𝑛 𝑡𝑡 (𝜔𝜔𝑛𝑛 𝑡𝑡 + 1)]

OVERDAMPED 𝜉𝜉 > 1
2
𝐾𝐾𝜔𝜔𝑛𝑛 𝐴𝐴 𝐵𝐵 𝐶𝐶
𝑌𝑌(𝑠𝑠) = 2� = + +
𝑠𝑠�𝑠𝑠 2 +2ξ𝜔𝜔𝑛𝑛 𝑠𝑠+𝜔𝜔𝑛𝑛 𝑠𝑠 𝑠𝑠+�ξ+�ξ2 −1�𝜔𝜔𝑛𝑛 𝑠𝑠+�ξ−�ξ2 −1�𝜔𝜔𝑛𝑛

𝐾𝐾 𝐾𝐾
𝐾𝐾 �1+ξ/�ξ2 −1� �1−ξ/�ξ2 −1�
2 2
= − −
𝑠𝑠 𝑠𝑠+�ξ+�ξ2 −1�𝜔𝜔𝑛𝑛 𝑠𝑠+�ξ−�ξ2 −1�𝜔𝜔𝑛𝑛

𝐾𝐾 𝐾𝐾 𝜉𝜉 −�𝜉𝜉+�𝜉𝜉 2 −1�𝜔𝜔𝑛𝑛 𝑡𝑡 𝐾𝐾 𝜉𝜉 −�𝜉𝜉−�𝜉𝜉 2 −1�𝜔𝜔𝑛𝑛 𝑡𝑡

𝑦𝑦(𝑡𝑡) = − �1 + � 𝑒𝑒 − �1 − � 𝑒𝑒
2 2 �𝜉𝜉 2 −1 2 �𝜉𝜉 2 −1

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Step Response Specification

1+0.7𝜉𝜉 𝐾𝐾𝜔𝜔𝑛𝑛2
1. Delay time: 𝑡𝑡𝑑𝑑 = 𝐺𝐺 (𝑠𝑠) = 2
𝜔𝜔𝑛𝑛
𝑠𝑠 + 2𝜉𝜉𝜉𝜉𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛2
𝜋𝜋−𝑐𝑐𝑐𝑐𝑐𝑐 −1 𝜉𝜉 𝜋𝜋−𝑐𝑐𝑐𝑐𝑐𝑐 −1 𝜉𝜉
2. Rise time: 𝑡𝑡𝑟𝑟 = =
𝜔𝜔𝑑𝑑 𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2

ξπ
−
�1−𝜉𝜉2
3. The peak response: 𝑀𝑀𝑝𝑝 = 1 + 𝑒𝑒

ξπ
−
�1−𝜉𝜉2
4. Peak overshoot: 𝑀𝑀𝑜𝑜𝑜𝑜 = 𝑒𝑒
𝜋𝜋 𝜋𝜋
5. Peak time: 𝑡𝑡𝑝𝑝 = =
𝜔𝜔𝑑𝑑 𝜔𝜔𝑛𝑛 �1−𝜉𝜉 2

4
6. The 2% settling time: 𝑡𝑡𝑠𝑠 = 4𝜏𝜏 =
𝜉𝜉𝜔𝜔𝑛𝑛

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System Pole-zero plot Response

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Automatic Control Systems: Time Response MENG @ EAS, NU

System Pole-zero plot Response

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Automatic Control Systems: Time Response MENG @ EAS, NU

Steady-state Response Analysis

OBJECTIVES
• Open loop transfer function of feedback control systems will be classified.
• Selection of controller parameters for a specified steady state error and the measures to be
taken to reduce steady state error will be examined.

STEADY STATE RESPONSE

• It is the response of a system as 𝑡𝑡 → ∞.
• If the input and output don’t agree exactly, then a steady state error exists.
• Note that for the steady state response to exist, the system must be stable.
o Therefore, before going into steady state analysis it would be good to check the stability
of the system.

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STEADY-STATE ERROR (𝑒𝑒𝑠𝑠𝑠𝑠 )

• The actuating error 𝐸𝐸 (𝑠𝑠) and the actual error 𝑅𝑅(𝑠𝑠) − 𝐶𝐶 (𝑠𝑠) will be identical only for a unity
feedback system (with an ideal sensor).
• For a non-unity feedback system, the actual error may not be zero when the actuating error
is zero.
• For a general closed loop system
𝐸𝐸 (𝑠𝑠) = 𝑅𝑅 (𝑠𝑠) − 𝐵𝐵(𝑠𝑠) = 𝑅𝑅(𝑠𝑠) − 𝐸𝐸 (𝑠𝑠)𝐺𝐺𝐺𝐺 (𝑠𝑠)
[1 + 𝐺𝐺𝐺𝐺(𝑠𝑠)]𝐸𝐸 (𝑠𝑠) = 𝑅𝑅(𝑠𝑠)
𝑅𝑅(𝑠𝑠)
𝐸𝐸 (𝑠𝑠) =
1+𝐺𝐺𝐺𝐺(𝑠𝑠)
𝑅𝑅(𝑠𝑠)
• For a unity FB system: 𝐸𝐸 (𝑠𝑠) =
1+𝐺𝐺 (𝑠𝑠)

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𝑒𝑒𝑠𝑠𝑠𝑠 IN UNITY FEEDBACK SYSTEMS

• Find 𝑒𝑒𝑠𝑠𝑠𝑠 using the final value theorem:

𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑒𝑒(𝑡𝑡) = lim 𝑠𝑠𝑠𝑠 (𝑠𝑠) = lim
𝑡𝑡→∞ 𝑠𝑠→0 𝑠𝑠→0 1 + 𝐺𝐺 (𝑠𝑠)

• Thus, 𝑒𝑒𝑠𝑠𝑠𝑠 for a unity feedback system depends on the input type (step, ramp, or parabolic)
and the type of its open-loop transfer function 𝐺𝐺 (𝑠𝑠).
• The open loop TF of a unity FB system takes the form:
𝐾𝐾 (𝑠𝑠 + 𝑧𝑧1 )(𝑠𝑠 + 𝑧𝑧2 ) … �𝑠𝑠 + 𝑧𝑧𝑝𝑝 �
𝐺𝐺 (𝑠𝑠) = 𝑛𝑛
𝑠𝑠 (𝑠𝑠 + 𝑝𝑝1 )(𝑠𝑠 + 𝑝𝑝2 ) … (𝑠𝑠 + 𝑝𝑝𝑚𝑚 )
where 𝑛𝑛 is known as the system type

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Automatic Control Systems: Time Response MENG @ EAS, NU
𝐵𝐵
STEP INPUT: 𝑅𝑅(𝑠𝑠) = :
𝑠𝑠

𝑠𝑠𝑠𝑠(𝑠𝑠) 𝐵𝐵 𝐵𝐵
𝑒𝑒𝑠𝑠𝑠𝑠−𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = lim = =
𝑠𝑠→0 1+𝐺𝐺 (𝑠𝑠) 1+lim 𝐺𝐺 (𝑠𝑠
𝑠𝑠→0
) 1+𝐾𝐾𝑝𝑝

where 𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 (𝑠𝑠) is known as the position constant.

𝑠𝑠→0

• To achieve 𝑒𝑒𝑠𝑠𝑠𝑠−𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = 0, the position constant 𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 (𝑠𝑠) must be infinite.
𝑠𝑠→0

o What does this imply about G(s)?

o G(s) must have at least one pole at s = 0. i.e., 𝑛𝑛 ≥ 1.

𝐾𝐾 (𝑠𝑠 + 𝑧𝑧1 )(𝑠𝑠 + 𝑧𝑧2 ) … �𝑠𝑠 + 𝑧𝑧𝑝𝑝 �

𝐺𝐺 (𝑠𝑠) = 𝑛𝑛
𝑠𝑠 (𝑠𝑠 + 𝑝𝑝1 )(𝑠𝑠 + 𝑝𝑝2 ) … (𝑠𝑠 + 𝑝𝑝𝑚𝑚 )

• i.e., the system must have at least one pure integration in the forward path.

• Otherwise, we will be stuck with some finite value for 𝑒𝑒𝑠𝑠𝑠𝑠−𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠

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𝑄𝑄
RAMP INPUT: 𝑅𝑅(𝑠𝑠) = :
𝑠𝑠 2

𝑠𝑠𝑠𝑠(𝑠𝑠) 𝑄𝑄/𝑠𝑠 𝑄𝑄 𝑄𝑄
𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = lim = lim = =
𝑠𝑠→0 1+𝐺𝐺 (𝑠𝑠) 𝑠𝑠→0 1+𝐺𝐺 (𝑠𝑠) lim 𝑠𝑠𝑠𝑠 (𝑠𝑠
𝑠𝑠→0
) 𝐾𝐾𝑣𝑣

where 𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 (𝑠𝑠) is known as the velocity constant.

𝑠𝑠→0

• To achieve 𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = 0, the velocity constant 𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 (𝑠𝑠) must = ∞.
𝑠𝑠→0

o What does this imply about G(s)?

𝐾𝐾 (𝑠𝑠 + 𝑧𝑧1 )(𝑠𝑠 + 𝑧𝑧2 ) … �𝑠𝑠 + 𝑧𝑧𝑝𝑝 �

𝐺𝐺 (𝑠𝑠) = 𝑛𝑛
𝑠𝑠 (𝑠𝑠 + 𝑝𝑝1 )(𝑠𝑠 + 𝑝𝑝2 ) … (𝑠𝑠 + 𝑝𝑝𝑚𝑚 )
o G(s) must have at least two poles at s = 0. i.e., 𝑛𝑛 ≥ 2. Otherwise,
 With 1 integration 𝐾𝐾𝑣𝑣 would be finite, & so we will be stuck with some finite
𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟

 With no integrations 𝐾𝐾𝑣𝑣 = 0 & 𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = ∞.

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𝐾𝐾
PARABOLIC INPUT: 𝑅𝑅(𝑠𝑠) = :
𝑠𝑠 3

𝑠𝑠𝑠𝑠(𝑠𝑠) 1/𝑠𝑠 2 1 1
𝑒𝑒𝑠𝑠𝑠𝑠−𝑝𝑝𝑝𝑝𝑝𝑝 = lim = lim = =
𝑠𝑠→0 1+𝐺𝐺 (𝑠𝑠) 𝑠𝑠→0 1+𝐺𝐺 (𝑠𝑠) lim 𝑠𝑠 2 𝐺𝐺 (𝑠𝑠 ) 𝐾𝐾𝑎𝑎
𝑠𝑠→0

where 𝐾𝐾𝑎𝑎 = lim 𝑠𝑠 2 𝐺𝐺 (𝑠𝑠) is known as the acceleration constant.

𝑠𝑠→0

• To achieve 𝑒𝑒𝑠𝑠𝑠𝑠−𝑝𝑝𝑝𝑝𝑝𝑝 = 0, the acceleration constant 𝐾𝐾𝑎𝑎 = lim 𝑠𝑠 2 𝐺𝐺 (𝑠𝑠) must be ∞.

𝑠𝑠→0

• This requires 𝑛𝑛 ≥ 3 for the form

𝐾𝐾 (𝑠𝑠 + 𝑧𝑧1 )(𝑠𝑠 + 𝑧𝑧2 ) … �𝑠𝑠 + 𝑧𝑧𝑝𝑝 �

𝐺𝐺 (𝑠𝑠) =
𝑠𝑠 𝑛𝑛 (𝑠𝑠 + 𝑝𝑝1 )(𝑠𝑠 + 𝑝𝑝2 ) … (𝑠𝑠 + 𝑝𝑝𝑚𝑚 )
o With 𝑛𝑛 = 2 → 𝐾𝐾𝑎𝑎 & 𝑒𝑒𝑠𝑠𝑠𝑠−𝑝𝑝𝑝𝑝𝑝𝑝 would be finite.

o With 𝑛𝑛 < 2, → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = ∞

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RELATIONSHIP BETWEEN SYSTEM TYPE & STEADY-STATE ERROR (𝑒𝑒𝑠𝑠𝑠𝑠 )

𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 (𝑠𝑠)
𝑠𝑠→0
𝐾𝐾𝑣𝑣 = 𝑙𝑙𝑙𝑙𝑙𝑙 𝑠𝑠𝑠𝑠 (𝑠𝑠)
𝑠𝑠→0
𝐾𝐾𝑎𝑎 = 𝑙𝑙𝑙𝑙𝑙𝑙 𝑠𝑠 2 𝐺𝐺 (𝑠𝑠)
𝑠𝑠→0
Type 0 Type 1 Type 2
Error Error Error
Input 𝑒𝑒𝑠𝑠𝑠𝑠 𝑒𝑒𝑠𝑠𝑠𝑠 𝑒𝑒𝑠𝑠𝑠𝑠
constants constants constants
1
𝑢𝑢(𝑡𝑡) 𝐾𝐾𝑝𝑝 = 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝐾𝐾𝑝𝑝 = ∞ 0 𝐾𝐾𝑝𝑝 = ∞ 0
1 + 𝐾𝐾𝑝𝑝

1
𝑡𝑡𝑡𝑡(𝑡𝑡) 𝐾𝐾𝑣𝑣 = 0 ∞ 𝐾𝐾𝑣𝑣 = 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝐾𝐾𝑣𝑣 = ∞ 0
𝐾𝐾𝑣𝑣
1 2 1
𝑡𝑡 𝑢𝑢(𝑡𝑡) 𝐾𝐾𝑎𝑎 = 0 ∞ 𝐾𝐾𝑎𝑎 = 0 ∞ 𝐾𝐾𝑎𝑎 = 𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓
2 𝐾𝐾𝑎𝑎

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Example: Determine the steady-state error for the following systems and the following inputs:
5𝑢𝑢(𝑡𝑡), 5𝑡𝑡𝑡𝑡(𝑡𝑡), 5𝑡𝑡 2 𝑢𝑢(𝑡𝑡).

Answer: Firstly, we should assess for stability (not shown).

120×2 𝐵𝐵 5
𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 (𝑠𝑠) = = 20 → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = =
𝑠𝑠→0 3×4 1+𝐾𝐾𝑝𝑝 21

𝑄𝑄 5
𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 (𝑠𝑠) = 0 → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = = =∞
𝑠𝑠→0 𝐾𝐾𝑣𝑣 0

𝐾𝐾 5
𝐾𝐾𝑎𝑎 = lim 𝑠𝑠 2 𝐺𝐺 (𝑠𝑠) = 0 → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑝𝑝𝑝𝑝𝑝𝑝 = = =∞
𝑠𝑠→0 𝐾𝐾𝑎𝑎 0

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Example: Determine the steady-state error for the following systems and the following inputs:
5𝑢𝑢(𝑡𝑡), 5𝑡𝑡𝑡𝑡(𝑡𝑡), 5𝑡𝑡 2 𝑢𝑢(𝑡𝑡).

Answer: Firstly, we should assess for stability (not shown).

120×2 𝐵𝐵 5
𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 (𝑠𝑠) = = ∞ → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = = =0
𝑠𝑠→0 3×4 1+𝐾𝐾𝑝𝑝 ∞

𝑄𝑄 5 1
𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 (𝑠𝑠) = 100 → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = = =
𝑠𝑠→0 𝐾𝐾𝑣𝑣 100 20

𝐾𝐾 5
𝐾𝐾𝑎𝑎 = lim 𝑠𝑠 2 𝐺𝐺 (𝑠𝑠) = 0 → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑝𝑝𝑝𝑝𝑝𝑝 = = =∞
𝑠𝑠→0 𝐾𝐾𝑎𝑎 0

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Automatic Control Systems: Time Response MENG @ EAS, NU

Example: Find the value of 𝐾𝐾 so that the system below exhibits 10% steady-state error for an
appropriate input.
Answer: The system is type 1, so a unit-ramp
signal is the appropriate input.
5×𝐾𝐾 5𝐾𝐾 1 336
𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 (𝑠𝑠) = = → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 = = = 10%
𝑠𝑠→0 6×7×8 336 𝐾𝐾𝑣𝑣 5𝐾𝐾

𝐾𝐾 = 672

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CONVERT GENERAL FB SYSTEM TO UNITY FB ONE

• For the general FB system

𝐶𝐶 (𝑠𝑠) 𝐺𝐺 (𝑠𝑠)
= (1)
𝑅𝑅(𝑠𝑠) 1+𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠)

• For the equivalent unity FB system

𝐶𝐶 (𝑠𝑠) 𝐺𝐺̀ (𝑠𝑠)
= (2)
𝑅𝑅(𝑠𝑠) 1+𝐺𝐺̀ (𝑠𝑠)

Both systems are equivalent if Eq. (1) = Eq. (2)

𝐺𝐺̀ (𝑠𝑠) 𝐺𝐺 (𝑠𝑠)
=
1+𝐺𝐺̀ (𝑠𝑠) 1+𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠)

𝐺𝐺̀ (𝑠𝑠)[1 + 𝐺𝐺 (𝑠𝑠)𝐻𝐻 (𝑠𝑠)] = 𝐺𝐺 (𝑠𝑠) + 𝐺𝐺 (𝑠𝑠)𝐺𝐺̀ (𝑠𝑠)

𝐺𝐺̀ (𝑠𝑠)[1 + 𝐺𝐺 (𝑠𝑠)𝐻𝐻 (𝑠𝑠) − 𝐺𝐺 (𝑠𝑠)] = 𝐺𝐺 (𝑠𝑠)

𝐺𝐺 (𝑠𝑠)
𝐺𝐺̀ (𝑠𝑠) = [
1+𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠)−𝐺𝐺 (𝑠𝑠)]

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the same result can be obtained using block diagram reduction tools.

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100 1
Example: Given 𝐺𝐺 (𝑠𝑠) = and 𝐻𝐻 (𝑠𝑠) = find the equivalent unity FB system and
𝑠𝑠(𝑠𝑠+10) 𝑠𝑠+5

determine the steady-state error for a step input.

Answer:
100
𝐺𝐺 (𝑠𝑠) 100(𝑠𝑠+5)
𝐺𝐺̀ (𝑠𝑠) = = 100
𝑠𝑠(𝑠𝑠+10)
1 100 =
1+𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠)−𝐺𝐺 (𝑠𝑠) 1+ × − 𝑠𝑠(𝑠𝑠+10)(𝑠𝑠+5)+100−100(𝑠𝑠+5)
𝑠𝑠(𝑠𝑠+10) 𝑠𝑠+5 𝑠𝑠(𝑠𝑠+10)

100(𝑠𝑠+5)
=
𝑠𝑠 3 +15𝑠𝑠 2 −50𝑠𝑠−400

For unit step,

100×5
𝐾𝐾𝑝𝑝 = lim 𝐺𝐺̀ (𝑠𝑠) = = −1.25 → 𝑒𝑒𝑠𝑠𝑠𝑠−𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 =
𝑠𝑠→0 −400

1 1
= = −4
1+𝐾𝐾𝑝𝑝 1−1.25

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OBSERVATIONS ON 𝑒𝑒𝑠𝑠𝑠𝑠

• For linear systems, the 𝑒𝑒𝑠𝑠𝑠𝑠 for the simultaneous application of two or more inputs will be the
superposition of the steady state errors due to each input applied separately.
𝑡𝑡 2 1 2 3
e.g., applying, 𝑟𝑟(𝑡𝑡) = 1 + 2𝑡𝑡 + 3 → 𝑒𝑒𝑠𝑠𝑠𝑠 = + +
2 1+𝐾𝐾𝑝𝑝 𝐾𝐾𝑣𝑣 𝐾𝐾𝑎𝑎

• As the type of the system is increased, 𝑒𝑒𝑠𝑠𝑠𝑠 decreases. Therefore, one may attempt to improve
the steady state response by including an integrator in the controller.
o This, however, may cause stability problems which become critical for type 3 or higher
systems.

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