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AME-503: Automotive Control Systems(3+0)

Week 14
Time Domain Analysis of Control Systems

Dr. Naseer Ahmad

Department of Mechanical Engineering

University of Engineering and Technology (UET), Lahore

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Text Books:

Automatic Control Systems by Farid Golnaraghi and B.C Kuo, 9th

edition, John Wiley & Sons.

Reference Books:
Modern Control Systems by Richard C. Dorf and Robert H. Bishop,
12th edition, Prentice Hall.

System Dynamics by Katsuhiko Ogata, 4th edition, Pearson Prentice

Hall

Mechanical measurement by Thomas G. Bechwith, Roy D.

Marangone and J.H.Linhard, 6th edition, Pearson.
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 B.C.KUO

Determine the time response of following system

x(t) 𝟏
𝑽 𝒔 = . 𝑭(𝒔)
𝑴𝒔 + 𝑩

Impulse input 𝑽 𝒔 =
𝟏
f(t),N M = 10 kg (𝑴𝒔 + 𝑩)
f(t),N
𝟏/𝟏𝟎
𝑽 𝒔 =
B = 1 N/m/s (𝒔 + 𝟏/𝟏𝟎)
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t(s) Force Velocity

F(s), N 𝟏 V(s), m/s
𝑴𝒔 + 𝑩

If the impulse response of a control system is approaching to zero, then the

system is known as stable system. 4
Plot the Poles of Characteristic Equation.
jω (imaginary axis)
Velocity
f(t),N V(s), m/s
𝟏
𝑴𝒔 + 𝑩 -5+10j x x +10j x +5+10j

𝟏/𝟏𝟎
𝑽 𝒔 =
(𝒔 + 𝟏/𝟏𝟎)

𝒔+
𝟏
=𝟎
x x x x x
𝟏𝟎 -10 -5 +5 +10 σ (real axis)

𝟏
𝒔=
𝟏𝟎
𝒔=σ±j ω
-5-10j x x -10j x +5-10j
s is complex variable
having real and imaginary parts

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 X(s) 𝟏 Y(s)
(𝒔 + 𝟏)(𝒔 + 𝟐)(𝒔 − 𝟓)

Chs. Equation
(𝒔 + 𝟏) 𝒔 + 𝟐 𝒔 − 𝟓 = 𝟎

Poles are at -1, -2 and +5

System is stable or unstable ???

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Routh-Hurwitz criteria.
This criterion is an algebraic method that provides information of the
absolute stability of a linear time invariant system that has characteristic
equation with constant coefficients.

(𝒔 + 𝟏) 𝒔 + 𝟐 𝒔 − 𝟓 = 𝟎
𝒔𝟑 - 𝟐𝒔𝟐 - 𝟏𝟑𝐬-𝟏𝟎 = 0

𝒔𝟑 1 -13 0

𝒔𝟐 2 -10 0

2 −13 −(1)(−10)
𝒔𝟏 = −18 0 0
2

−18 −10 −(2)(0) Number of sign change in first column

𝟎
𝒔 = −10 0 0 reveals the number of poles lying in right
−18
half of s plane.
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Methods to determine the stability of Control Systems

1. Determine the time response.

2. Plot poles of Characteristic Equation.
3. Apply Ruth Hurwitz Criteria.

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14 th Week

1st Lecture

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14 th Week

2nd Lecture

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Related Exercises and
Practice Problems

Problems
2.40 (All parts)
2.45
2.46
2.47
2.49

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End of Lecture

Jaza k Allah
Question and Answer
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