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Introduction
Time response of a control system is a study on how the output variable changes
when a typical test input signal is given to the system. The commonly test input
signals are those of step functions, impulse functions, ramp functions and sinusoidal
functions.
t
step signal impulse signal
t t
sinusoidal signal ramp signal
dny d n 1 y dy dmu du
n
+ a n 1 n 1
+ .... + a + a 0 y = b m m
+ .... + b + b 0u
dt dt dt dt dt
dy (0) d n 1 y (0)
with the initial conditions y (0), ..... and n > m.
dt dt n 1
EXAMPLE I
Derive the differential equation for the translational system shown below:
xi xo
k
c
Laplace Transform
Definition:
or
Linearly,
Hence,
EXAMPLE II
Produce the Laplace transform for f(t) = 1 which is also known as unit step.
EXAMPLE III
Produce the Laplace transform for f(t) = e-at .
EXAMPLE IV
Produce the Laplace transform for f(t) = at .
Let
However, it is not always necessary to derive the Laplace transform of f(t) each time.
Laplace transform tables can conveniently be used to find the transform of a given
function f(t). The table below shows Laplace transforms of time functions that
frequently appear in linear control analysis.
LAPLACE TRANSFORM PAIRS
f(t),t>0 F(s)
unit step
u(t)
unit ramp
t
polynomial
, n=1, 2, 3,.
exponent
e-t
sine wave
cosine wave
first differentiation
second differentiation
nth differentiation
EXAMPLE V
Find the time response; xo(t), for a unit-step input with initial state xo(0) = 0.
K=1
C=1
xi xo
Time Response Laplace Transform Application
The use of Laplace transform in solving differential equations is easy and is done with
the aid of Laplace transform table. The differential equation is first transformed into
Laplace form with all variable initial conditions taken into consideration. The Laplace
form equation is an ordinary algebraic equation which can easily been solved. The
time response is obtained by mean of inversing the Laplace transformation of the
output variable. Partial-fraction expansion technique is normally used beforehand to
assist in simplifying the solution. The advantage of the partial-fraction expansion
approach is that the individual terms are very simple functions which can easily been
solved using the inverse Laplace table.
EXAMPLE I
Find the time response, xo(t), for unit-step input, xi(t) = 1, with initial conditions xo(0)
k c
= 0 dan x& o (0) = 0 . Take ratio of = 2 and = 3.
m m
xi xo
k
c
Remainder Theorem
Partial fraction can be solved using Remainder Theorem. (The Remainder Theorem
can also be used for solving complex roots).
N(s) Ai
Y(s) = =
D(s) (s s i )
N(s)
i.e. Ai = (s s i )
D(s) s = si
EXAMPLE II
Solve:
d2y dy
2
+5 + 6y = 12e t ; dengan y(0) = 2 dan y& (0) = 1
dt dt
EXAMPLE III
Solve:
3s + 2
X o (s) =
s(s + 1)(s + 2)
EXAMPLE IV
Solve:
5
X o (s) =
s(s + 2s + 5)
2
Time Response First Order System
u + y
_ k G(s)
The open-loop transfer function is define as kG(s), and in general can be written as:
k ( s + a1 )( s + a 2 ).....( s 2 + bs + c ).....
kG ( s ) = l
s ( s + d 1 )( s + d 2 )....( s 2 + es + f )....
or numerator
k ( Am s m + Am 1 s m 1 + .... + A2 s 2 + A1 s + A0 )
kG ( s ) =
s l ( B n l s n l + B n l 1 s n l 1 + .... + B 2 s 2 + B1 s + B0 )
m
K Ak s k denominator
= k =0
n l
s l Bk s k
k =0
where n > m.
s+2
a. G(s) =
s + 3s 3 + 3s 2 + s
4
1
b. G(s) =
s (s + 2)(s + 1)
3
s2 + s + 1
c. G(s) =
(s + 2)(s 2 + s + 4)
First-Order System
Xi(s) Xo(s)
K
1 + Ts
Examples of First-Order
K qi
T qo
C Ct Rt
xi xo
When system gain K = 1, the time response for first-order system with unit-step input
can be obtained as follow:
EXAMPLE I
The transfer function which relates input voltage, v, and output torque, , of a DC
motor is represented by a first order transfer function. A time response test with a 6
volt input voltage resulting in a steady-state output torque of 20 N-cm and it took 0.4
seconds to reach 12.6 N-cm. Find the transfer function of the motor.
Time Response Second-Order System
Second-Order System
Generally, a second-order system is represented by the transfer function shown below:
u K n2 y
s 2 + 2 n s + n2
where K is the system gain, n is undamped natural frequency and is damping ratio.
The values of these parameters determine the response of second-order systems and
are also the design parameters.
K
m
C
xi xo
When gain K = 1, time response of second-order system for a unit-step input can be
obtained as follows:
1
y(t) = 1 e n t sin( d t + )
1 2
where,
and
phase shift,
1 2
1
= tan
Effect of Damping Ratio on the Time Response of Second-Order System
y(t)
b. Undamped, = 0
y(t)
y(t)
1
t
Among common behavioural indicators to be looked for are:
i. how fast the system response towards an input
ii. how does the system oscillates
iii. how long does it takes to reach the final value
y(t)
Mp
1 2%
t
tr t1 t2 ts
a. rise time, tr
- the time the output response takes to rise from 0% to 100%
1 2
tan 1
tr =
( n 1 2 )
1 2
tan 1
=
d
b. peak time
- the time of individual peak of the time response.
3 5
t1 =
, t2 = , t3 =
n 1 2 n 1 2 n 1 2
c. overshoot
- showing the overshoot value, the difference between the first peak and the
steady state value in percentage.
/ 1 2
Percentage of overshoot, M p = e
100%
d. settling time, ts
- time needed for the output to reach and stay within an acceptable output
limit (the acceptable output limit is normally between 2% to 5% of the final
value).
e n t s
acceptable limit =
1 2
d = n 1 2
EXAMPLE I
The transfer function of a second-order system is
y 18
= 2
u s + 3s + 9
determine the gain, undamped natural frequency and damping ratio of this system.
EXAMPLE II
A second-order system has an undamped natural frequency of n = 12 rad/s and
damping ratio of = 0.2. Find the damped natural frequency, the first and second
peak, and percentage of overshoot.
EXAMPLE III
A second-order system is shown in the Figure below. For a proportional control value
of Kp = 20, determine the natural frequency, percentage of overshoot and settling time
for the system if the input is a unit-step.
u + 1.2 y
Kp
_ (s + 1)(0.2s + 1)
1
6
EXAMPLE IV
A unity feedback system is shown in the Figure below. Determine the gain K and the
appropriate value of parameter p as such the following specification can be met:
Fastest response with percentage of overshoot less than 5% and settling time less
than 4 seconds.
u + K y
_ s(s + p)
The Effectiveness of a Feedback System
When designing a feedback system, the effectiveness of the design in achieving its
desired objective has to be measured. The effectiveness of the system is measured by
looking at its response at steady state.
The effectiveness of a feedback system can be determined by referring to the steady
state error. For example, consider the feedback system shown below:
H(s)
The relationship between the error and the input can be written as follow:
1
or e(s) = u(s)
1 + GH
Since we only interested in the response at steady-state, the complete solution of the
system is not necessary. The solution at steady-state can be acquired easily using the
Final Value Theorem.
or
s
e ss = lim .u(s)
s 0 1 + GH(s)
It can be clearly been seen that the steady-state error of a control system depends on
the type of input, u(s) and open-loop transfer function, GH(s).
For unit-step, unit-ramp and unit-parabolic input, the steady state error can be written
as the followings:
Ramp input 1
kv 0
Parabolic input 1
ka
EXAMPLE I
Calculate the displacement error constant and steady-state error for a system with the
following open-loop transfer function:
10
GH ( s ) =
s + 20
EXAMPLE II
Find out the error constants for the system shown below.
R(s) + 4 1 C(s)
_ K+
3 s + 10 s 2 + 16 s
3
Control Action
controller process
u(s) + e(s) m(s) y(s)
Gc(s) G(s)
_
m(s) K
G c (s) = = (K p + K d s + i )
e(s) s
a. Proportional Action, P
For proportional control, P, only the proportional gain, Kp is used to improve the
system performance. Here, the error signal itself is used as the basis of control. For a
class 0, the steady-state error cannot be eliminated. Proportional control function is
given by:
m(t) = Kp.e(t)
m(s)
G c (s) = = Kp
e(s)
b. Integral control Action, I
The output of integral control is proportional to the integration of the controller input
(i.e. integration of error):
t
m(t) = K i 0 e(t) dt
m(s) K i
G c (s) = =
e(s) s
where Ki is known as the integral gain. The integral action will remove the steady-
state error of class 0 system.
de
m(t) = K d
dt
or its transfer function,
m(s)
G c (s) = = K ds
e(s)
The integral and derivative controllers are normally not used alone. It is usually
combined together with the proportional controller to produce a better control action.
m(s) 1
G c (s) = = K p (1 + )
e(s) Ti s
where,
Ti = Kp/Ki
m(s)
G c (s) = = K p (1 + Td s )
e(s)
where,
Td = Kd/Kp
m(s) K
G c (s) = = (K p + K d s + i )
e(s) s
m(s) 1
or G c (s) = = K p (1 + Td s + )
e(s) Ti s
In designing the controller, the control engineer has to choose the appropriate values
of Kp, Ki and Kd to fulfil the effective specification and the feedback system
behaviour. Tuning of these parameters can be done using Ziegler-Nichols method;
however, this is beyond the scope of this course.
EXAMPLE I
A first order control system with unity feedback is as shown in the Figure below.
Sketch the time response of this system for unit-step input when T = 1 for the
following control actions:
proses
pengawal
u(s) + e(s) m(s) 1 y(s)
Gc(s)
_ 1 + Ts