Y

=G1+G2
U

K1
2 2
1

s +2 1 1 s+ 1

K2
2 2
2

s +2 2 2 s+ 1

In order to achieve a system with stable dynamics,

1 , 2 >0
To find out the final steady state value, using a unit step input, we can apply the
final value theorem.

lim y ( t )=lim Y ( s )
t

K 1K 2

s0

Thus if K 2 > K 1

y (t= )< 0inverse repsonse would occur as the final steady state valueis negative
If K 1> K 20< 1 , 2<1 ( underdampled ) , usinginverse laplace transform ,

1
y (t )=K 1
1
y ' ( t )=

1
e
1 21

1 1
2
1

1 t
1

2
2

sin 1

2
1

( )]

t
1
K 2
1
2

1
e
1 22

sin 1 22

1 > 1
2
2

For inverse response occur ,

2t
2

( t )]
2

2
1

If K 1> K 2 1 , 2 >1 ( overdampled ) , usinginverse laplace transform ,

y ( t )=

1+ 11
where b11 =
1

1
( eb t eb t ) 1 ( eb t eb t )
b11 b 12
b21 b 22
12

1 211
b12=
1

11

22

21

2 + 211
b21=
2

Thus for inverse response occur ,

2 221
b22=
2

1
( eb t eb t ) > 1 ( eb teb t )
b 21b22
b 21b22
22

21

22

21

 approximate y ' ( 0 ) ,the forward difference approximation may be used

y ' ( 0 )=

y ( 1 ) y ( 0 )
1

y ( 0 )=0

1e cos 1 21 +
1

'

y ( 0 )=

2
1

t
1 21
( t / 1)
1 22

t
1 22
( t / 2)
2
( 2)+
sin }
1 22
cos

2 t
2

1e
1
( 1 )+
sin }
1 21
cos

1 t
1

1e
y ( t )=

y ( 1 )=1e cos 1 21 +

2
1

sin 1 21

2
1

sin 1 21