Control system and Components (313329) AO3K CH 2

Chapter 2 Time response analysis and Stability

2.1 Standard test inputs (Step, Ramp, Parabolic and Impulse)-: Laplace transform and
graphical representation
2.2 Time domain analysis: Transient and steady state response
2.3 Order of a control system: First order, Standard Transfer Function, Output
response analysis for unit step input, Time constant
2.4 Second order control system: Standard Transfer Function, Output response
analysis for unit step input, effect of damping (No derivation), Time response
specifications- rise time, delay time, peak time, settling time, maximum peak
overshoot (no derivation)
2.5 Steady state analysis: Type 0, type 1, type 2 systems, Steady state error and error constants
2.6 Stability: Concept of stability, root location in S-plane, analysis- stable, unstable, critically
stable, conditionally stable
2.7 Routh’s stability criterion: characteristic equation, method, stable and unstable systems,
Range of K for the system to be stable, numerical

1. Standard test input signals.

The Standard test signals are:

1) Step Input 3) Parabolic Input
2) Ramp Input 4) Impulse Input

1) Step Input (Position function):

 It is the sudden application of the input at a specified time.
 Mathematically it can be described as,
𝑟(𝑡) = 𝐴𝑢(𝑡) 𝑤ℎ𝑒𝑟𝑒 𝑢(𝑡) = 1 For 𝑡 ≥ 0 and
=0 For 𝑡 ≤ 0
 If A=1, then it is called unit step function and denoted by 𝑟(𝑡) = 𝑢(𝑡) = 1
 Laplace transform of step input is 𝑹(𝑺) = 𝑨 𝑼(𝑺) = 𝑨𝑺

 Laplace transform of unit step input is 𝑹(𝑺) = 𝑨 𝑼(𝑺) = 𝟏𝑺

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2) Ramp Input (constant Velocity Function):

 It is the constant rate of change in input.
 Magnitude of ramp input is its slope.
 It is the integral of step input.
 Mathematically it is defined as,

𝑟(𝑡) = 𝐴𝑡 for 𝑡 ≥ 0
=0 for 𝑡 ≤ 0
 If 𝐴 = 1, it is called unit ramp input. It is denoted by 𝑟(𝑡) = 𝑡
𝑨
 Laplace transform of ramp input is 𝑹(𝑺) = 𝑺𝟐
𝟏
 Laplace transform of unit ramp input is 𝑹(𝑺) =
𝑺𝟐

3) Parabolic Input (constant Acceleration function):

 This is the input which is one degree faster than a ramp type of input.
 It is the integral of ramp input.
 Mathematically this function is described as,
𝐴𝑡 2
𝑟(𝑡) = For 𝑡 ≥ 0
2

=0 for 𝑡 ≤ 0

𝑡2
 If 𝐴 = 1, it is called unit parabolic input. It is denoted by 𝑟(𝑡) = 2
𝑨
 Laplace transform of parabolic input is 𝑹(𝑺) = 𝑺𝟑
𝟏
 Laplace transform of unit parabolic input is 𝑹(𝑺) = 𝑺𝟑

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4) Impulse Input:

 It is the input applied instantaneously (for short duration of time) of very high amplitude.
 It is the pulse whose magnitude is infinite while its width tends to zero i.e. t0.
 Unit Impulse Input is denoted as (t).
 Mathematically it can be expressed as, 𝛿(𝑡) = 1 𝑓𝑜𝑟 𝑡 = 0

𝛿(𝑡) = 0 𝑓𝑜𝑟 𝑡 ≠ 0

 It is the derivative of unit step input.

𝑑 𝑢(𝑡)
𝜹(𝑡) =
𝑑𝑡

 Laplace transform of Impulse input is 1

𝛿(𝑆) = 𝑆 × = 1
𝑆
2. Comparison of standard test signals:

Test Signal Graphical Mathematical Laplace Unit signal

(Reference input) representation representation representation
𝑟(𝑡) = 𝐴𝑢(𝑡)
A 1
Step Input
𝑤ℎ𝑒𝑟𝑒 𝑢(𝑡) = 1 S S

𝑟(𝑡) = 𝐴𝑡 𝑨 𝟏
Ramp Input
𝑺𝟐 𝑺𝟐

𝐴𝑡 2 𝑨 𝟏
Parabolic Input 𝑟(𝑡) =
2 𝑺𝟑 𝑺𝟑

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𝑑 𝑢(𝑡)
𝜹(𝑡) =
Impulse 𝑑𝑡 1 1

3. Significance of Standard test input signals.

 To analyze the dynamic response of the system, mathematical model of the system should be
subjected to different inputs which are functions of time. But real time inputs are random and
instantaneous and cannot be expressed analytically. Therefore, the nature of those inputs cannot
be predicted beforehand. This makes the mathematical analysis of the system difficult.
 Therefore, it is necessary to assume certain basic types of input signals which can be easily
defined mathematically so that the performance of the system can be analyzed with these signals.
 The characteristics of actual signals which affect the control systems are:
 A sudden change
 A momentary shock
 A constant velocity
 A constant acceleration

 Since the standard signals should have the same characteristics as these signals, they form
standard test signals.
 Step input-signifies a sudden change
 Impulse input-signifies momentary shock
 Ramp input-signifies a constant velocity
 Parabolic input-signifies constant acceleration.

4. Time domain analysis:

 The analysis of a system that involves defining input, output and other variables of the
system as a function of time is known as time-domain analysis. It explains how the state
of dynamic system changes with respect to time when specific input is given.
 Control systems are considered a dynamic system and time is considered as an
independent variable in most of the systems. Thus analyzing the response of the system
as a function of time is quite necessary.
 It is also known as the time response of the control system. The response is defined as
the output provided by the system when certain input is given to it. Thus time response
of the control system provides the idea about the variation in the output of the system
with respect to time. Time response of the system is defined as the response of the
system achieved on providing certain excitation, where the excitation and response must
be a function of time.
 A physical system is composed of energy-storing components like an inductor,
capacitor, etc. The presence of such elements in the system causes some delay whenever
there is any requirement for changing the energy state of the system.

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 Due to this reason when certain excitation is provided to the system then it takes some
time to achieve the desired output. However, before achieving the desired value, the
output of the system fluctuates to the nearby value. This leads to a classification of the
time response of the control system.
 So, the time response of a control system is classified as: Transient and steady state
response.

5. Transient and steady state response:

Transient response:
It is the response of the system till it reaches the final steady state. It shows how the system
settles down to the final value. It is the variation in output of the system before achieving the
final value when excited with the input signal
OR
The part of time response that goes to zero as time becomes very large. It will be exponential
or oscillatory in nature. It is due to the energy storage elements present in the system.
When an input is applied to the system, it takes some time in order to attain the final value
due to the energy storage elements present in the system. But before attaining the final value,
the output of the system varies nearly around a finite range. This change in the output of the
system, to a finite range on applying input, is known as a Transient response.

Steady state response:

Response of the system after the transients dies out.

6. The step response of first order system

Consider the RC network which is first order system.

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Input eqn :
1
𝑉𝑖 (𝑡) = 𝑅𝑖(𝑡) + ∫ 𝑖(𝑡)𝑑𝑡
𝐶

Output eqn:
1
𝑉0 (𝑡) = ∫ 𝑖(𝑡)𝑑𝑡
𝐶

Taking Laplace of i/p and o/p eqns:

𝐼(𝑆)
𝑉𝑖 (𝑆) = 𝑅 𝐼(𝑆) +
𝐶𝑆
𝐼(𝑆)
𝑉𝑂 (𝑆) =
𝐶𝑆

𝑉0 (𝑆) 𝐶(𝑆) 1
𝑇𝐹 = = =
𝑉𝑖 (𝑆) 𝑅(𝑆) 𝑅𝐶𝑆 + 1

𝑅(𝑆)
Or, 𝐶(𝑆) = 𝑅𝐶𝑆+1

𝐴𝑝𝑝𝑙𝑦𝑖𝑛𝑔 𝑠𝑡𝑒𝑝 𝑖𝑛𝑝𝑢𝑡, 𝑅(𝑆) = 1/𝑆 (𝑂𝑅 𝐴/𝑆)

1
𝑆 1
𝐶(𝑆) = =
𝑅𝐶𝑆 + 1 𝑆(𝑅𝐶𝑆 + 1)

𝑐(𝑡) is the response which is the Laplace inverse of

1
𝐶(𝑆) = =
𝑆(𝑅𝐶𝑆 + 1)

To get the Laplace inverse, rearrange the equation by applying partial fraction,

1 𝐴 𝐵 𝐴(𝑅𝐶𝑆 + 1) + 𝐵𝑆
𝐶(𝑆) = = + =
𝑆(𝑅𝐶𝑆 + 1) 𝑆 (𝑅𝐶𝑆 + 1) 𝑆(𝑅𝐶𝑆 + 1)

1 𝐴(𝑅𝐶𝑆+1)+𝐵𝑆
Or, =
𝑆(𝑅𝐶𝑆+1) 𝑆(𝑅𝐶𝑆+1)

Denominator is the same. Considering the numerator,

1 ≡ 𝐴𝑅𝐶𝑆 + 𝐴 + 𝐵𝑆

Equating the powers of 𝑆 on both sides,

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For 𝑆 0 ,

1 = 𝐴 𝑂𝑟 𝐴 = 1

For 𝑆 1 ,

0 = 𝐴𝑅𝐶𝑆 + 𝐵𝑆 𝑂𝑟 0 = 𝐴𝑅𝐶 + 𝐵

𝑂𝑟 𝐵 = −𝑅𝐶

Substitute for A & B in

1 𝐴 𝐵 1 −𝑅𝐶 1 𝑅𝐶
𝐶(𝑆) = = + = + = −
𝑆(𝑅𝐶𝑆 + 1) 𝑆 (𝑅𝐶𝑆 + 1) 𝑆 (𝑅𝐶𝑆 + 1) 𝑆 (𝑅𝐶𝑆 + 1)

1 𝑅𝐶 1 1
𝐶(𝑆) = − = −
𝑆 𝑅𝐶 (𝑆 + 1 ) 𝑆 (𝑆 + 1 )
𝑅𝐶 𝑅𝐶
Taking Laplace inverse, the output equation for first order system response for unit step input:
𝑡
𝐶(𝑡) = 1 − 𝑒 − 𝑅𝐶 (𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 𝑖𝑠 𝑒𝑥𝑝𝑜𝑛𝑒𝑛𝑡𝑖𝑎𝑙)

𝐹𝑜𝑟 𝑡 = 0,
0
𝐶(0) = 1 − 𝑒 − 𝑅𝐶 = 1 − 𝑒− 0
=1−1=0

𝐹𝑜𝑟 𝑡 = ∞,

∞, 1 1
𝐶(∞, ) = 1 − 𝑒 − 𝑅𝐶 = 1 − 𝑒− ∞
= 1− ∞
=1− = 1−0 =1
𝑒 ∞

For time 𝒕 = 𝟎, 𝑪(𝒕) = 𝟎, for time 𝒕 = ∞, 𝑪(𝒕) = 𝟏

The time response of 1st order system for unit step input:

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7. Time constant 𝝉:
𝑡
Consider the first order RC system response 𝐶(𝑡) = 1 − 𝑒 − 𝑅𝐶 .

where 𝑅𝐶 = 𝜏 = 𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑓𝑜𝑟 𝑅 − 𝐶 𝑠𝑦𝑠𝑡𝑒𝑚,

𝐿
(𝑓𝑜𝑟 𝑅 − 𝐿 𝑆𝑦𝑠𝑡𝑒𝑚, 𝜏 = 𝑅 = 𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)
𝑡 𝑡
Therefore, 𝐶(𝑡) = 1 − 𝑒 − 𝑅𝐶 = 1 − 𝑒− 𝝉

By substituting 𝑡 = 𝜏,

𝑡 𝑡 1
𝐶(𝑡) = 1 − 𝑒 − 𝜏 = 1 − 𝑒− 𝑡 = 1 − 𝑒− 1
= 1− = 1 − 0.37 = 0.63 = 63%
𝑒
Time constant is the time taken by the system to reach 63.2% of the final value. More the
time constant, slower the system response.

 Significance of time constant: As the time constant decreases, the speed of response
of the system increases and the system becomes faster.
 Consider the following diagram with time constants 𝜏1 , 𝜏2 , 𝜏3 where 𝜏1 > 𝜏2 > 𝜏3 .
It can be seen that the system with smallest time constant 𝜏3 has more speed of
response and vice versa.

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8. Examples for First order system:

1) Mercury-in-glass thermometer
2) Search coil
3) Liquid, gas & thermal processes
4) Filters at output of a phase sensitive detector
5) Amplifiers in feedback systems

9. Second order system analysis –

Standard equation for second order system:

𝑪(𝒔) 𝝎𝒏 𝟐
Second order system equation: 𝑇𝐹 = =
𝑹(𝒔) 𝑺𝟐 +𝟐𝜻 𝝎𝒏 𝑺+ 𝝎𝒏 𝟐

𝜔𝑛 𝑖𝑠 𝑡ℎ𝑒 𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦

𝜁 (𝑧𝑒𝑡𝑎)𝑖𝑠 𝑡ℎ𝑒 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑟𝑎𝑡𝑖𝑜

10. Damping and damping factor ζ (zeta)

 Damping is the opposition to the oscillation. It is denoted by a constant called damping
factor or damping constant ζ (zeta).
 Based on the value of damping constant ζ, there are four types of damping systems
which are Undamped, Underdamped, Critically Damped and Overdamped

11. Poles of second order system:

 Consider the denominator of TF for finding out the poles;

𝑆 2 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2 = 𝑎𝑥 2 + 𝑏𝑥 + 𝑐 = 𝑞𝑢𝑎𝑑𝑟𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛

−𝑏 ± √𝑏 2 − 4𝑎𝑐
𝑞𝑢𝑎𝑑𝑟𝑎𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑟𝑜𝑜𝑡𝑠 (𝑝𝑜𝑙𝑒𝑠) =
2𝑎

𝑎 = 1, 𝑏 = 2𝜁 𝜔𝑛 , 𝑐 = 𝜔𝑛 2 ,

Therefore, the poles are;

2
−2𝜁 𝜔𝑛 ± √4𝜁 2 𝜔𝑛 − 4𝜔𝑛 2 −2𝜁 𝜔𝑛 ± √4𝜔𝑛 2 (𝜁 2 − 1)
= =
2 2

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−2𝜁 𝜔𝑛 ±2𝜔𝑛 √𝜁 2 −1
= −𝜁 𝜔𝑛 ± 𝜔𝑛 √𝜁2 − 1
2

Poles are −𝜻 𝝎𝒏 + 𝝎𝒏 √𝜻𝟐 − 𝟏 , −𝜻 𝝎𝒏 − 𝝎𝒏 √𝜻𝟐 − 𝟏

12. Values of damping factor and system response

 There are four cases of damping based on the value of 𝜁 and four cases of system
response.
 These are
i. 𝜁 = 0, system is called undamped system
ii. 𝜁 < 1, system is called underdamped system
iii. 𝜁 = 1, system is called critically damped system
iv. 𝜁 > 1, system is called overdamped system

13. Values of poles of 2nd order system and system response based on damping factor
(Effect of 𝜻 on second order system performance)

i. Case 1. When 𝜁 = 0, system has undamped response.

The poles from the equation −𝜁 𝜔𝑛 ± 𝜔𝑛 √𝜁 2 − 1 when 𝜁 = 0 are:
𝑝𝑜𝑙𝑒𝑠 = ±𝜔𝑛 √−1 = ± 𝑗𝜔𝑛
Characteristics of the poles: purely imaginary, unequal, no real part, on the Y-axis
𝑪(𝒔) 𝝎𝒏 𝟐 𝝎 𝟐
TF will become = = 𝑺𝟐 +𝒏𝝎 𝟐
𝑹(𝒔) (𝑺+𝒋 𝝎𝒏 )(𝑺−𝒋𝝎𝒏 ) 𝒏
1 𝝎 𝟐 𝑨 𝑩
After applying unit step input to the system, 𝑪(𝑺) = 𝑆 × 𝑺𝟐 +𝒏𝝎 𝟐
=𝑺+
𝒏 𝑺𝟐 + 𝝎𝒏 𝟐

Taking the inverse Laplace transform for obtaining the response,

𝑐(𝑡) = 𝐴 + 𝐵 𝑠𝑖𝑛𝜔𝑛 𝑡
It can be seen that the response will be sinusoidal with constant amplitude and natural
frequency 𝜔𝑛 . It is called undamped response.

ii. Case 2. When 𝜁 < 1,

The poles from the equation −𝜁 𝜔𝑛 ± 𝜔𝑛 √𝜁 2 − 1 are:
𝑝𝑜𝑙𝑒𝑠 = −𝜁 𝜔𝑛 ± 𝑗𝜔𝑛 √1 − 𝜁 2

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Characteristics of the poles: complex conjugate, unequal, negative real part, on left side
of S-plane (LHS), in second and third quadrant.
𝑪(𝒔) 𝝎𝒏 𝟐
TF will become =
𝑹(𝒔) (𝑺−( −𝜁 𝜔𝑛 +𝑗𝜔𝑛 √1−𝜁 2 ))(𝑺−( −𝜁 𝜔𝑛 −𝑗𝜔𝑛 √1−𝜁 2 ))

After applying unit step input to the system,

1 𝝎 𝟐 𝑨 𝑩𝑺+𝑪
𝑪(𝑺) = 𝑆 × ( 𝑆2 +2𝜁 𝜔𝒏 2)
=𝑺+
𝑛 𝑆+𝜔𝑛 𝑆 2 +2𝜁 𝜔𝑛 𝑆+𝜔𝑛 2
Taking the inverse Laplace transform for obtaining the response,
𝑐(𝑡) = 𝐴 + 𝐵𝑒 −𝜁𝝎𝒏 𝑡 sin 𝜔𝑑
𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2 , it is called damped frequency of oscillation.
It can be seen that the response is oscillatory with oscillating frequency 𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2
but decreasing amplitude due to the negative exponential term 𝑒 −𝜁𝝎𝒏𝑡 . Such oscillations
are called damped oscillations. As the damping is not sufficient, system is called
underdamped system. The response is called under damped response.

iii. Case 3. When 𝜁 = 1,

The poles from the equation −𝜁 𝜔𝑛 ± 𝜔𝑛 √𝜁 2 − 1 are:
𝑝𝑜𝑙𝑒𝑠 = −𝝎𝒏 , −𝝎𝒏

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Characteristics of the poles: real, equal, negative, no imaginary part, on the x-axis, left
side of S-plane (LHS)
𝑪(𝒔) 𝝎𝒏 𝟐
TF will become =
𝑹(𝒔) (𝑺+ 𝝎𝒏 )(𝑺+𝝎𝒏 )
After applying unit step input to the system,
1 𝝎𝒏 𝟐 𝑨 𝑩
𝑪(𝑺) = 𝑆 × (𝑺+ 𝝎 = 𝑺 + (𝑺+𝝎 𝟐
𝒏 )(𝑺+𝝎𝒏 ) 𝒏)
Taking the inverse Laplace transform for obtaining the response,
𝑐(𝑡) = 𝐴 + 𝐵𝑡𝑒 −𝝎𝒏 𝑡
It can be seen that the response is exponential. It is called critically damped response.

iv. Case 4. When 𝜁 > 1,

The poles from the equation −𝜁 𝜔𝑛 ± 𝜔𝑛 √𝜁 2 − 1 are:
𝑝𝑜𝑙𝑒𝑠 = −𝜁 𝜔𝑛 + 𝜔𝑛 √𝜁 2 − 1 , − 𝜁 𝜔𝑛 − 𝜔𝑛 √𝜁 2 − 1
Characteristics of the poles: real, unequal, negative, no imaginary part, on the x-axis, left
side of S-plane (LHS)
𝑪(𝒔) 𝝎𝒏 𝟐 𝝎 𝟐
𝒏
TF will become = = (𝑺+𝒂)(𝑺+𝒃))
𝑹(𝒔) (𝑺−(−𝜁 𝜔𝑛 +𝜔𝑛 √𝜁 2 −1))(𝑺−(−𝜁 𝜔𝑛 −𝜔𝑛 √𝜁 2 −1))
(Consider the poles as −𝑎, −𝑏)
After applying unit step input to the system,
1 𝒏 𝝎 𝟐 𝑨 𝑩 𝑪
𝑪(𝑺) = 𝑆 × (𝑺+ 𝒂)(𝑺+𝒃) = 𝑺 + 𝑺+𝒂 + 𝑺+𝒃
Taking the inverse Laplace transform for obtaining the response,
𝑐(𝑡) = 𝐴 + 𝐵𝑒 −𝒂𝑡 + 𝐶𝑒 −𝒃𝑡
It can be seen that the response is exponential but slow. It is called overdamped response.

MANJU K 12
Control system and Components (313329) AO3K CH 2

14. The effect of ζ (zeta) (or damping) in response of second order control system

Sr. Range Type of closed loop System

Nature of response
No. of ζ poles classification

1 ζ=0 Purely imaginary, Oscillations with Undamped

unequal constant amplitude
with frequency 𝜔𝑛

2 0< ζ < Unequal, Complex Damped oscillations Underdamped

1 conjugates with with damped
Negative real part frequency

𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2

3 ζ=1 Real, Equal and Critical and purely Critically

Negative exponential damped

4 1< ζ < Real, Unequal and Purely exponential, Overdamped

∞ Negative slow and sluggish

15. Step response of a second-order system with respect to the damping ratio

MANJU K 13
Control system and Components (313329) AO3K CH 2

16. Find the damping nature and the response of the following systems:

𝑪(𝒔) 𝟗
1. =
𝑹(𝒔) 𝒔𝟐 +𝟗

Standard representation of a TF of a second order system is,

𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
Comparing the two expression
𝝎𝒏 2 = 9 , 𝝎𝒏 = 3
2𝜀𝝎𝒏 = 0,
𝜺=𝟎

System is undamped.

𝑪(𝒔) 𝟗
2. = 𝒔𝟐 +𝟔𝑺+𝟗
𝑹(𝒔)

Standard representation of a TF of a second order system is,

𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2

Comparing the two equations,

𝜔𝑛 2 = 9, 𝝎𝒏 = 𝟑

2𝜁 𝜔𝑛 = 6, 𝜻=𝟏

Therefore, system is critically damped

𝑪(𝒔) 𝟗
3. = 𝒔𝟐 +𝟗𝑺+𝟗
𝑹(𝒔)

Standard representation of a TF of a second order system is,

𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
Comparing the two equations,
𝜔𝑛 2 = 9, 𝝎𝒏 = 𝟑

2𝜁 𝜔𝑛 = 9, 𝜁 = 1.5 (𝜁 𝑖𝑠 𝑔𝑟𝑒𝑎𝑡𝑒𝑟 𝑡ℎ𝑎𝑛 1. )

Therefore, system is over damped

𝟗
4. 𝑶𝒑𝒆𝒏 𝒍𝒐𝒐𝒑 𝑻𝑭 = 𝑮(𝑺)𝑯(𝑺) = 𝑺(𝑺+𝟑) 𝒇𝒐𝒓 𝒂 𝒖𝒏𝒊𝒕𝒚 𝒇𝒆𝒆𝒅𝒃𝒂𝒄𝒌 𝒔𝒚𝒔𝒕𝒆𝒎

MANJU K 14
Control system and Components (313329) AO3K CH 2

𝐶(𝑠) 𝐺(𝑠)
Standard form of closed loop T.F. 𝑅(𝑠) = 1+𝐺(𝑠)𝐻(𝑠)

𝟗
𝑪(𝒔) 𝑺(𝑺 + 𝟑) 𝟗 𝜔𝑛 2
= = 𝟐 = 2
𝑹(𝒔) 𝟏 + 𝟗 (𝑺 + 𝟑𝑺 + 𝟗) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
𝑺(𝑺 + 𝟑)

Comparing the two equations,

𝜔𝑛 2 = 9, 𝝎𝒏 = 𝟑

2𝜁 𝜔𝑛 = 3, 𝜻 = 𝟎. 𝟓 (𝜁 𝑖𝑠 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 1. )

Therefore, system is underdamped.

17. Examples for Second order system:

1. Electromechanical recorders
2. Spring balance
3. Moving coil indicators ( P M M C )
4. Mass spring and damping system
5. Bourdon tube pressure gauge

18. List of time domain/ time response specifications

1. Delay time 𝒕𝒅 = Time taken by the system to reach 50% of the final value in
the first attempt.

2. Rise time 𝒕𝒓 = Time taken by the system to reach 100% of the final value in
the first attempt

𝝅−𝜽
𝒕𝒓 =
𝝎𝒅

𝝎𝒅 = 𝝎𝒏 √𝟏 − 𝜁 𝟐
√𝟏 − 𝜻𝟐
𝜽 = 𝐭𝐚𝐧−𝟏
𝜻

3. Peak time 𝒕𝒑 = Time taken by the system to reach peak or maximum value of
the output of the response
𝝅
𝒕𝒑 =
𝝎𝒅
4. Peak overshoot 𝑴𝒑 = It is the difference between the maximum value and
set point

MANJU K 15
Control system and Components (313329) AO3K CH 2

−𝝅𝜻
%𝑴𝒑 = 𝒆 √𝟏−𝜻𝟐 × 𝟏𝟎𝟎%

5. Settling time 𝒕𝒔 = It is the time required for a response to reach the steady
state.
It is also defined as the time required by the response to reach and steady
within specified range of 2 % to 5 % of its final value.

𝟒
𝒕𝒔 =
𝜻𝝎𝒏

6. Steady state error 𝒆𝒔𝒔 = It is the difference between actual output and
desired output in steady state.

19. Time response of 2nd order system

20. Find out the time response specification for unity feedback system with Transfer Function
𝑪(𝒔) 𝟐𝟓
= 𝟐
𝑹(𝒔) 𝒔 + 𝟔𝒔 + 𝟐𝟓

Standard representation of a TF of a second order system is,

MANJU K 16
Control system and Components (313329) AO3K CH 2

𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
Comparing the two equations,

𝜔𝑛 2 = 25, 𝝎𝒏 = 𝟓

2𝜁 𝜔𝑛 = 6, 𝜁 = 0.6
Therefore, system is under damped.

𝝎𝒅 = 𝝎𝒏 √1 − 𝜁 2 , 𝝎𝒅 = 5 × √1 − 0.62 , 𝝎𝒅 = 4 𝑟𝑎𝑑/𝑠𝑒𝑐

√1−𝜁 2 √1−0.62 0.8

𝜃 = tan−1 ( ), 𝜃 = tan−1 ( ) , 𝜃 = tan−1(0.6) ,
𝜁 0.6
𝜃 = tan−1(1.33)
𝜋 0
𝜃 = 53.06 , 𝜃 = 53 × 180 = 0.925 𝑟𝑎𝑑

𝜋−𝜃 𝜋−0.925
𝑡𝑟 = , 𝑡𝑟 = , 𝑡𝑟 = 0.55𝑠𝑒𝑐
𝝎𝒅 4
𝜋 𝜋
𝑡𝑝 = , 𝑡𝑝 = , 𝑡𝑝 = 0.78𝑠𝑒𝑐
𝝎𝒅 4

4 4
𝑡𝑠 = 𝜁𝜔𝑛, 𝑡𝑠 = 0.6∗5, 𝑡𝑠 = 1.33𝑠𝑒𝑐

−𝜋𝜁
−𝜋∗0.6
√1−𝜁2
𝑀𝑝 = 𝑒 × 100%, 𝑀𝑝 = 𝑒 √1−0.62 × 100%,

𝑀𝑝 = 𝑒 −2.35 × 100%, , 𝑀𝑝 = 9.53%

21.Find out the time response specification for unity feedback system with Transfer Function
𝑪(𝒔) 𝟐𝟓
= 𝟐
𝑹(𝒔) 𝒔 + 𝟏𝟎𝒔 + 𝟐𝟓
Standard representation of a TF of a second order system is,
𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
Comparing the two equations,
𝜔𝑛 2 = 25, 𝝎𝒏 = 𝟓

2𝜁 𝜔𝑛 = 10, 𝜁=1

Therefore, system is critically damped

4 4
𝑡𝑠 = , 𝑡𝑠 = , 𝑡𝑠 = 0.8𝑠𝑒𝑐
𝜁𝝎𝒏 5

MANJU K 17
Control system and Components (313329) AO3K CH 2

𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2 = 5 × √1 − 1 = 0
−𝜋𝜁
−𝜋∗1
√1−𝜁2 −𝜋
𝑀𝑝 = 𝑒 × 100%, 𝑀𝑝 = 𝑒 √1−1 × 100% = 𝑒 0 × 100% =

1 1
𝑀𝑝 = 𝑒 −∞ × 100% = 𝑒 ∞ = ∞ = 0

𝒅𝟐 𝒚(𝒕) 𝒅𝒚(𝒕)
22. Find out the time response specification from the differential equation +𝟔 +
𝒅𝒕𝟐 𝒅𝒕
𝟗 𝒚(𝒕) = 𝟗 𝒙(𝒕)
𝑆 2 𝑌(𝑆) + 6𝑆𝑌(𝑆) + 9𝑌(𝑆) = 9𝑋(𝑆)
𝑌(𝑆)[𝑆 2 + 6𝑆 + 9] = 9𝑋(𝑆)
𝑌(𝑆) 9
𝑇𝐹 = = 2
𝑋(𝑆) 𝑆 + 6𝑆 + 9
𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
Comparing the two equations,
𝜔𝑛 2 = 9, 𝝎𝒏 = 𝟑

2𝜁 𝜔𝑛 = 6, 𝜁=1

Therefore, system is critically damped

4 4
𝑡𝑠 = , 𝑡𝑠 = 5, 𝑡𝑠 = 0.8𝑠𝑒𝑐
𝜁𝝎𝒏

23. Find out the time response specification for unity feedback system with Open loop
𝟏
Transfer Function 𝑮(𝒔) = 𝒔(𝒔+𝟏)

𝐶(𝑠) 𝐺(𝑠)
Standard form of closed loop T.F. = 1+𝐺(𝑠)𝐻(𝑠)
𝑅(𝑠)

1
𝐶(𝑠) 𝑠(𝑠 + 1)
=
𝑅(𝑠) 1 + 1
𝑠(𝑠 + 1)
𝐶(𝑠) 1 1
= =
𝑅(𝑠) 𝑠(𝑠+1)+1 𝑠 2 +𝑠+1

Standard representation of a TF of a second order system is,

𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅(𝑠) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
Comparing the two expression
𝝎𝒏 2 = 1 , 𝝎𝒏 = 1

MANJU K 18
Control system and Components (313329) AO3K CH 2

1
2𝜁𝝎𝒏 = 1, 𝜁 = = 𝟎. 𝟓
2

𝝎𝒅 = 𝝎𝒏 √1 − 𝜁 2 , 𝝎𝒅 = 1 × √1 − 0.52 , 𝝎𝒅 = 0.866 𝑟𝑎𝑑/𝑠𝑒𝑐

√1−𝜁 2 √1−0.52 0.866

𝜃 = tan−1 ( ), 𝜃 = tan−1 ( ) , 𝜃 = tan−1( ) , 𝜃 = tan−1(1.73)
𝜁 0.5 0.5

𝜃 = 59.9700 , 𝜃 = 1.0466 𝑟𝑎𝑑

𝜋−𝜃 𝜋−1.0466
𝑡𝑟 = , 𝑡𝑟 = , 𝑡𝑟 = 2.42𝑠𝑒𝑐
𝝎𝒅 0.866

𝜋 𝜋
𝑡𝑝 = , 𝑡𝑝 = = 3.65𝑠𝑒𝑐
𝝎𝒅 0.866

4 4
𝑡𝑠 = , 𝑡𝑠 = , 𝑡𝑠 = 8𝑠𝑒𝑐
𝜁𝜔𝑛 0.5∗1

−𝜋𝜁
−𝜋∗0.5
√1−𝜁2
𝑀𝑝 = 𝑒 , 𝑀𝑝 = 𝑒 √1−0.52 , 𝑀𝑝 = 𝑒 −1.81, 𝑀𝑝 = 0.163 = 16.3%

24. Find out the time response specification for unity feedback system with Open loop
Transfer Function
𝟏𝟔
𝑮(𝒔) =
𝒔(𝒔 + 𝟒)

Standard form of closed loop T.F.

𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠)

𝟏𝟔
𝑪(𝒔) 𝑺(𝑺 + 𝟒) 𝟏𝟔 𝜔𝑛 2
= = 𝟐 = 2
𝑹(𝒔) 𝟏 + 𝟏𝟔 (𝑺 + 𝟒𝑺 + 𝟏𝟔) 𝑆 + 2𝜁 𝜔𝑛 𝑆 + 𝜔𝑛 2
𝑺(𝑺 + 𝟒)

𝝎𝒏 2 = 16 , 𝝎𝒏 = 4
4
2𝜁𝝎𝒏 = 4, 𝜁 = 8 = 𝟎. 𝟓

𝝎𝒅 = 𝝎𝒏 √1 − 𝜁 2 , 𝝎𝒅 = 4 × √1 − 0.52 , 𝝎𝒅 = 3.46 𝑟𝑎𝑑/𝑠𝑒𝑐

4 4
𝑡𝑠 = , 𝑡𝑠 = , 𝑡𝑠 = 2𝑠𝑒𝑐
𝜁𝜔𝑛 0.5∗4

MANJU K 19
Control system and Components (313329) AO3K CH 2

𝜋 𝜋
𝑡𝑝 = , 𝑡𝑝 = , 𝑡𝑝 = 0.9𝑠𝑒𝑐
𝝎𝒅 3.46

√1−𝜁 2 √1−0.52 0.866

𝜃 = tan−1 ( ), 𝜃 = tan−1 ( ) , 𝜃 = tan−1( ) , 𝜃 = tan−1(1.73)
𝜁 0.5 0.5

𝜃 = 59.9700 , 𝜃 = 1.0466 𝑟𝑎𝑑

𝜋−𝜃 𝜋−1.0466
𝑡𝑟 = , 𝑡𝑟 = , 𝑡𝑟 = 0.6𝑠𝑒𝑐
𝝎𝒅 3.46

−𝜋𝜁
−𝜋∗0.5
√1−𝜁2
𝑀𝑝 = 𝑒 , 𝑀𝑝 = 𝑒 √1−0.52 , 𝑀𝑝 = 𝑒 −1.81, 𝑀𝑝 = 0.163 = 16%

25. Steady state error & Steady state response:

Steady state error is the difference between the set point and the final steady state value. It is the
error in the steady state of the system after the transient dies out as time t→∞
Steady state response: Response of the system after the transients die out is called steady state
response.

Derivation of Steady state error:

𝑅(𝑆) = Laplace of reference i/p 𝑟(𝑡)

𝐶(𝑆) = Laplace of controlled o/p 𝑐(𝑡)
𝐸(𝑆) = Laplace of error signal 𝑒(𝑡).
𝐵(𝑆) = Laplace of feedback signal 𝑏(𝑡)
𝐺(𝑆) = Equivalent forward path transfer function
𝐻(𝑆) = Equivalent feedback path transfer function.

Referring to this Fig.

𝐸(𝑆) = 𝑅(𝑆) ∓ 𝐵(𝑆) ………… (1)

MANJU K 20
Control system and Components (313329) AO3K CH 2

𝐵(𝑆) = 𝐶(𝑆)𝐻(𝑆) …………….(2)

𝐶(𝑆) = 𝐸(𝑆)𝐺(𝑆) …………… (3)

𝐶(𝑆)
𝐸(𝑆) = ……………… (4)
𝐺(𝑆)

Substituting (2) & (4) in equation (1)

𝐶(𝑆)
= 𝑅(𝑆) ∓ 𝐶(𝑆)𝐻(𝑆)
𝐺(𝑆)

𝐶(𝑆) = 𝐺(𝑆)𝑅(𝑆) ∓ 𝐶(𝑆)𝐺(𝑆)𝐻(𝑆)

𝐶(𝑆) ± 𝐶(𝑆)𝐺(𝑆)𝐻(𝑆) = 𝐺(𝑆)𝑅(𝑆)

𝐶(𝑆)[1 ± 𝐺(𝑆)𝐻(𝑆)] = 𝐺(𝑆)𝑅(𝑆)

𝐶(𝑆) 𝐺(𝑆)
=
𝑅(𝑆) [1 ± 𝐺(𝑆)𝐻(𝑆)]

Therefore,

𝐶(𝑆) 𝑅(𝑆)
= 𝐸(𝑆) =
𝐺(𝑆) [1 ± 𝐺(𝑆)𝐻(𝑆)]

Steady state error 𝒆𝒔𝒔 = 𝐥𝐢𝐦𝒕→∞ 𝒆(𝒕) = 𝐥𝐢𝐦𝒔→𝟎 𝑺 𝑬(𝑺) (By applying final value
theorem of Laplace Transform)
𝑹(𝑺)
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝑺 ∗ 𝑬(𝑺) = 𝐥𝐢𝐦 𝑺
𝒔→𝟎 𝒔→𝟎 [𝟏 ± 𝑮(𝑺)𝑯(𝑺)]
For negative feedback control system,
𝑹(𝑺)
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝑺 ∗ 𝑬(𝑺) = 𝐥𝐢𝐦 𝑺
𝒔→𝟎 𝒔→𝟎 [𝟏 + 𝑮(𝑺)𝑯(𝑺)]

For positive feedback control system,

𝑹(𝑺)
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝑺 ∗ 𝑬(𝑺) = 𝐥𝐢𝐦 𝑺
𝒔→𝟎 𝒔→𝟎 [𝟏 − 𝑮(𝑺)𝑯(𝑺)]

26. Type of the system

It is the number of open loop poles at the origin of S-plane.

𝐾(1+𝑇 𝑆)…..
Consider the open loop TF in time constant form, 𝐺(𝑆)𝐻(𝑆) = 𝑠𝑛 (1+𝑇𝑧
𝑃 𝑆)…..

MANJU K 21
Control system and Components (313329) AO3K CH 2

“n” indicates the type of system

3(1+6 𝑆)…..
𝐺(𝑆)𝐻(𝑆) = 𝑠2 (1+8 𝑆)….. this is Type 2

3(5+ 𝑆)
𝐺(𝑆)𝐻(𝑆) = 𝑆(1+ 𝑆) (this representation is called pole-zero representation) Here, open loop
poles are -1, 0; one pole at origin of S-plane, other on LHS. Therefore, it is Type 1 system

27. Error coefficients/constants

There are three Error coefficients which are Position error constant 𝐾𝑃 , Velocity error constant
𝐾𝑉 , Acceleration error constant 𝐾𝐴

a. Derivation of Position error constant 𝑲𝑷 :

1
Consider the unit step input 𝑅(𝑆) = 𝑆
1
𝑅(𝑆) 𝑆 1
𝑒𝑠𝑠 = lim𝑠→0 𝑆 ∗ 𝐸(𝑆) = lim 𝑆 = lim 𝑆 = lim
𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)] 𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)] 𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)]

1
=
[1 + lim 𝐺(𝑆)𝐻(𝑆)]
𝑠→0
Where lim 𝐺(𝑆)𝐻(𝑆) 𝑖𝑠 𝑡ℎ𝑒 Position error constant 𝐾𝑃
𝑠→0
𝑲𝑷 = 𝐥𝐢𝐦 𝑮(𝑺)𝑯(𝑺)
𝒔→𝟎
1
𝑒𝑠𝑠 =
[1 + 𝐾𝑃 ]

b. Derivation of Velocity error constant 𝑲𝑽 :

1
Consider the unit ramp input 𝑅(𝑆) = 𝑆2
1
𝑅(𝑆) 𝑆2 1
𝑒𝑠𝑠 = lim𝑠→0 𝑆 ∗ 𝐸(𝑆) = lim 𝑆 = lim 𝑆 = lim
𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)] 𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)] 𝑠→0 𝑆 [1+𝐺(𝑆)𝐻(𝑆)]

1
=
lim 𝑆 𝐺(𝑆)𝐻(𝑆)
𝑠→0
Where lim 𝑆 𝐺(𝑆)𝐻(𝑆) 𝑖𝑠 𝑡ℎ𝑒 Velocity error constant 𝑲𝑽
𝑠→0
𝑲𝑽 = 𝐥𝐢𝐦 𝑺 𝑮(𝑺)𝑯(𝑺)
𝒔→𝟎
𝟏
𝒆𝒔𝒔 =
𝑲𝑽

c. Derivation of Acceleration error constant 𝑲𝑨 :

1
Consider the unit acceleration input 𝑅(𝑆) = 𝑆 3

MANJU K 22
Control system and Components (313329) AO3K CH 2

1
𝑅(𝑆) 𝑆3 1
𝑒𝑠𝑠 = lim𝑠→0 𝑆 ∗ 𝐸(𝑆) = lim 𝑆 = lim 𝑆 = lim 2
𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)] 𝑠→0 [1+𝐺(𝑆)𝐻(𝑆)] 𝑠→0 𝑆 [1+𝐺(𝑆)𝐻(𝑆)]

1
=
lim 𝑆 2 𝐺(𝑆)𝐻(𝑆)
𝑠→0
Where lim 𝑆2 𝐺(𝑆)𝐻(𝑆) 𝑖𝑠 𝑡ℎ𝑒 Acceleration error constant 𝑲𝑨
𝑠→0
𝑲𝑨 = 𝐥𝐢𝐦 𝑺𝟐 𝑮(𝑺)𝑯(𝑺)
𝒔→𝟎

𝟏
𝒆𝒔𝒔 =
𝑲𝑨

28. Summary of Error constants and steady state error:

Input Error constants Steady state error

1
Step 𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) 𝑒𝑠𝑠 = 1+𝐾
𝑠→0 𝑃
Ramp 𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) 1
𝑠→0 𝑒𝑠𝑠 =
𝐾𝑉
Parabolic 𝐾𝐴 = 𝑙𝑖𝑚 𝑆 2 𝐺(𝑆)𝐻(𝑆) 1
𝑠→0 𝑒𝑠𝑠 =
𝐾𝐴

29. Equation for steady state error and error constants for type’ 0’ system:
𝑆 𝑅(𝑆)
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆)
𝐾
For type ‘0’ system, 𝐺(𝑆)𝐻(𝑆) = (1+𝑇
𝑃 𝑆)

1
For unit step input, 𝑅(𝑆) =
𝑆
𝐾
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = lim =𝐾
𝑠→0 𝑠→0 (1 + 𝑇𝑃 𝑆)
1
𝑆× 1
𝑆
𝑒𝑠𝑠 = lim𝑠→0 = 1+𝐾 = 𝐾
1+𝐺(𝑆)𝐻(𝑆) 𝑃

1
For unit ramp input, 𝑅(𝑆) = ,
𝑆2

𝑆∗𝐾
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim =0
𝑠→0 𝑠→0 (1 + 𝑇𝑃 𝑆)

MANJU K 23
Control system and Components (313329) AO3K CH 2

1
𝑆× 2 𝟏
𝑆
𝒆𝒔𝒔 = lim 1+𝐺(𝑆)𝐻(𝑆) = =∞
𝑠→0 𝑲𝑽

1
For unit parabolic input, 𝑅(𝑆) =
𝑆3
𝐾
𝐾𝐴 = lim 𝑆2 𝐺(𝑆)𝐻(𝑆) = lim 𝑆2 =0
𝑠→0 𝑠→0 (1 + 𝑇𝑃 𝑆)
1
𝑆× 3 𝟏
𝑆
𝑒𝑠𝑠 = lim𝑠→0 = =∞
1+𝐺(𝑆)𝐻(𝑆) 𝑲𝑨

30. Equation for steady state error and error constants for type’ 1’ system:

𝑆 𝑅(𝑆)
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆)
𝐾
For type ‘1’ system, 𝐺(𝑆)𝐻(𝑆) = 𝑆(1+𝑇
𝑃 𝑆)

1
For unit step input, R(𝑆) = 𝑆 ,
𝐾
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = lim =∞
𝑠→0 𝑠→0 𝑆(1 + 𝑇𝑃 𝑆)
1
𝑆× 1
𝑆
𝑒𝑠𝑠 = lim𝑠→0 = 1+𝐾 = 0
1+𝐺(𝑆)𝐻(𝑆) 𝑃

1
For unit ramp input, 𝑅(𝑆) = 𝑆2 ,
𝑆∗𝐾
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim =𝐾
𝑠→0 𝑠→0 𝑆(1 + 𝑇𝑃 𝑆)
1
𝑆× 2 𝟏
𝑆
𝒆𝒔𝒔 = lim 1+𝐺(𝑆)𝐻(𝑆) = =𝐾
𝑠→0 𝑲𝑽

1
For unit parabolic input, 𝑅(𝑆) = 𝑆3 ,
𝐾
𝐾𝐴 = lim 𝑆2 𝐺(𝑆)𝐻(𝑆) = lim 𝑆2 =0
𝑠→0 𝑠→0 𝑆(1 + 𝑇𝑃 𝑆)
1
𝑆× 3 𝟏
𝑆
𝑒𝑠𝑠 = lim𝑠→0 = =∞
1+𝐺(𝑆)𝐻(𝑆) 𝑲𝑨

31. Equation for steady state error and error constants for type’ 2’ system:
𝑆 𝑅(𝑆)
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆)
𝐾
For type ‘2’ system, 𝐺(𝑆)𝐻(𝑆) = 𝑆2 (1+𝑇
𝑃 𝑆)

1
For unit step input, R(𝑆) = 𝑆 ,

MANJU K 24
Control system and Components (313329) AO3K CH 2

𝐾
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = lim =∞
𝑠→0 𝑠→0 𝑆 2 (1 + 𝑇𝑃 𝑆)
1
𝑆× 1
𝑆
𝑒𝑠𝑠 = lim𝑠→0 = 1+𝐾 = 0
1+𝐺(𝑆)𝐻(𝑆) 𝑃

1
For unit ramp input, 𝑅(𝑆) = 𝑆2 ,

𝑆∗𝐾
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim =∞
𝑠→0 𝑠→0 𝑆 2 (1 + 𝑇𝑃 𝑆)

1
𝑆× 2 𝟏
𝑆
𝒆𝒔𝒔 = lim 1+𝐺(𝑆)𝐻(𝑆) = =0
𝑠→0 𝑲𝑽

1
For unit parabolic input, 𝑅(𝑆) = 𝑆3 ,
𝐾
𝐾𝐴 = lim 𝑆2 𝐺(𝑆)𝐻(𝑆) = lim 𝑆2 =𝐾
𝑠→0 𝑠→0 𝑆 2 (1 + 𝑇𝑃 𝑆)

1
𝑆× 3 𝟏
𝑆
𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆) = =𝐾
𝑲𝑨

32. Relationship between system type, static error constants and steady state errors:

Input Steady Type 0 Type 1 Type 2

state Static error 𝒆𝒔𝒔 Static error 𝒆𝒔𝒔 Static error 𝒆𝒔𝒔
error 𝒆𝒔𝒔 constant constant constant
Step 1 𝐾𝑃 1 𝐾𝑃 = ∞ 0 𝐾𝑃 = ∞ 0
1 + 𝐾𝑃 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 1 + 𝐾𝑃
Ramp 1 𝐾𝑉 = 0 ∞ 𝐾𝑉 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 1 𝐾𝑉 = ∞ 0
𝐾𝑉 𝐾𝑉
Parab 1 𝐾𝐴 = 0 ∞ 𝐾𝐴 = 0 ∞ 𝐾𝐴 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 1
olic 𝐾𝐴 𝐾𝐴

 For Type 0 system, steady state error for step input is constant; steady state error for ramp
and parabolic inputs are infinity.
 For Type 1 system, steady state error for step input is 0; steady state error for ramp input
is constant, steady state error for parabolic input is infinity.
 For Type 2 system, steady state error for step and ramp input is 0; steady state error for
parabolic input is constant.

MANJU K 25
Control system and Components (313329) AO3K CH 2

33. Find out the type of the system, static error constants and steady state errors for system
𝟔
with open loop transfer function 𝐆(𝐒)𝐇(𝐒) = (𝟐+𝐒)(𝟑+ 𝐒)

𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 0

6
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = 𝐾𝑃 = lim =1
𝑠→0 𝑠→0 (2 + S)(3 + S)

1 1
𝑒𝑠𝑠 = 1+𝐾 = 1+1 = 0.5
𝑃

6
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 =0
𝑠→0 𝑠→0 (2 + S)(3 + S)

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝑉 0

6
𝐾𝐴 = 𝑙𝑖𝑚 𝑆 2 𝐺(𝑆)𝐻(𝑆) = 𝑙𝑖𝑚 𝑆 2 =0
𝑠→0 𝑠→0 (2 + S)(3 + S)

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝐴 0

34. Find out the type of the system, static error constants and steady state errors for system
𝟔
with open loop transfer function 𝐆(𝐒)𝐇(𝐒) = 𝑺𝟐 +𝟓𝐒+𝟔

𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 0

6
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = 𝐾𝑃 = lim =1
𝑠→0 𝑠→0 𝑆 2 + 5S + 6
1 1
𝑒𝑠𝑠 = = = 0.5
1+𝐾𝑃 1+1

6
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 2
=0
𝑠→0 𝑠→0 𝑆 + 5S + 6
1 1
𝑒𝑠𝑠 = =0=∞
𝐾𝑉

6
𝐾𝐴 = 𝑙𝑖𝑚 𝑆 2 𝐺(𝑆)𝐻(𝑆) = 𝑙𝑖𝑚 𝑆 2 =0
𝑠→0 𝑠→0 𝑆 2 + 5S + 6

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝐴 0

MANJU K 26
Control system and Components (313329) AO3K CH 2

35. Find out the type of the system, static error constants and steady state errors for system
𝟐𝟎
with open loop transfer function 𝐆(𝐒)𝐇(𝐒) = 𝐒(𝟓+𝐒)(𝟐+ 𝐒)

𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 1

20
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = 𝐾𝑃 = lim =∞
𝑠→0 𝑠→0 S(5 + S)(2 + S)

1 1
𝑒𝑠𝑠 = = =0
1+𝐾𝑃 1+∞

20 20
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 = =2
𝑠→0 𝑠→0 S(5 + S)(2 + S) 10

1 1
𝑒𝑠𝑠 = = = 0.5
𝐾𝑉 2

20
𝐾𝐴 = 𝑙𝑖𝑚 𝑆 2 𝐺(𝑆)𝐻(𝑆) = 𝑙𝑖𝑚 𝑆 2 =0
𝑠→0 𝑠→0 S(5 + S)(2 + S)

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝐴 0

36. Find out the type of the system, static error constants and steady state errors for system
𝟏𝟓
with open loop transfer function 𝐆(𝐒)𝐇(𝐒) = 𝑆2 (𝟓+𝐒)(𝟏+ 𝐒)

𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 2

15
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = 𝐾𝑃 = lim =∞
𝑠→0 𝑠→0 𝑆 2 (5 + S)(1 + S)

1 1
𝑒𝑠𝑠 = = =0
1+𝐾𝑃 1+∞

15
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 =∞
𝑠→0 𝑠→0 𝑆2 (5 + S)(1 + S)

1 1
𝑒𝑠𝑠 = = =0
𝐾𝑉 ∞

15 15
𝐾𝐴 = 𝑙𝑖𝑚 𝑆 2 𝐺(𝑆)𝐻(𝑆) = 𝑙𝑖𝑚 𝑆 2 = =3
𝑠→0 𝑠→0 𝑆 2 (5 + S)(1 + S) 5

MANJU K 27
Control system and Components (313329) AO3K CH 2

1 1
𝑒𝑠𝑠 = = = 0.33
𝐾𝐴 3

37. Find out the type of the system and steady state errors for system with open loop transfer
𝟏𝟓
function 𝐆(𝐒)𝐇(𝐒) = (𝟓+𝐒)(𝟏+ 𝐒) for input 𝒓(𝒕) = 𝟑𝒖(𝒕)
𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 0

3
𝑟(𝑡) = 3 𝑢(𝑡), 𝑅(𝑆) =
𝑆
3
𝑆 𝑅(𝑆) 𝑆
𝑆
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 = lim𝑠→0 𝟏𝟓 =
1+𝐺(𝑆)𝐻(𝑆) 1+(𝟓+𝐒)(𝟏+
𝐒)
3((5+S)(1+ S)) 3×5
lim𝑠→0 (5+S)(1+ S)+15
= = 0.75
20

38. Find out the type of the system and steady state errors for system with open loop transfer
𝟖
function 𝐆(𝐒)𝐇(𝐒) = 𝐒(𝟒+𝐒)(𝟐+ 𝐒) for input 𝒓(𝒕) = 𝟒𝒕

𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 1

4
𝑟(𝑡) = 4𝑡, 𝑅(𝑆) =
𝑆2
4
𝑆 𝑅(𝑆) 𝑆
𝑆2
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 = lim𝑠→0 𝟖 =
1+𝐺(𝑆)𝐻(𝑆) 1+
𝐒(𝟒+𝐒)(𝟐+ 𝐒)

4
𝑆 4(4 + S)(2 + S) 4×4×2
lim = lim = =4
𝑠→0 S(4 + S)(2 + S) + 8 𝑠→0 S(4 + S)(2 + S) + 8 8
S(4 + S)(2 + S)

39. Find out the type of the system and steady state errors for system with open loop transfer
𝟏𝟐
function 𝐆(𝐒)𝐇(𝐒) = 𝑺𝟐 (𝟑+𝐒)(𝟐+ 𝐒) for input 𝒓(𝒕) = 𝒕𝟐

𝑇𝑦𝑝𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 = 2

2
𝑟(𝑡) = 𝑡 2 , 𝑅(𝑆) =
𝑆3

MANJU K 28
Control system and Components (313329) AO3K CH 2

2
𝑆 𝑅(𝑆) 𝑆× 3
𝑆
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 = lim𝑠→0 𝟏𝟐 =
1+𝐺(𝑆)𝐻(𝑆) 1+ 𝟐
𝑺 (𝟑+𝐒)(𝟐+ 𝐒)

2
𝑆2 2 × (3 + S)(2 + S) 2×3×2
lim 2 = lim 2 = =1
𝑠→0 𝑆 (3 + S)(2 + S) + 12 𝑠→0 𝑆 (3 + S)(2 + S) + 12 12
𝑆 2 (3 + S)(2 + S)

40. Find out the type, static error constants and steady state errors for a unity feedback
10
system with 𝐺(𝑆)𝐻(𝑆) = (1+2 𝑆)

Type of the system = 0

10
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = lim = 10
𝑠→0 𝑠→0 (1 + 2 𝑆)

1 1
𝑒𝑠𝑠 = = = 0.9
[1 + 𝐾𝑃 ] [1 + 10]

10
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 =0
𝑠→0 𝑠→0 (1 + 2 𝑆)

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝑉 0

10
𝐾𝐴 = lim 𝑆 2 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 2 =0
𝑠→0 𝑠→0 (1 + 2 𝑆)

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝐴 0

41. Find out the type, static error constants and steady state errors for a unity feedback
50
system with 𝐺(𝑆)𝐻(𝑆) = 𝑆(1+10 𝑆)

Type of the system = 1

50
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = lim =∞
𝑠→0 𝑠→0 𝑆(1 + 10 𝑆)

MANJU K 29
Control system and Components (313329) AO3K CH 2

1 1
𝑒𝑠𝑠 = = =0
[1 + 𝐾𝑃 ] [1 + ∞]

50
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 = 𝟓0
𝑠→0 𝑠→0 𝑆(1 + 10 𝑆)

1 1
𝑒𝑠𝑠 = = = 0.02
𝐾𝑉 50

50
𝐾𝐴 = lim 𝑆 2 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 2 =0
𝑠→0 𝑠→0 𝑆(1 + 10 𝑆)

1 1
𝑒𝑠𝑠 = = =∞
𝐾𝐴 0

42. Find out the type, static error constants and steady state errors for a unity feedback
80
system with 𝐺(𝑆)𝐻(𝑆) = 𝑆2 (1+20 𝑆)

Type of the system = 2

80
𝐾𝑃 = lim 𝐺(𝑆)𝐻(𝑆) = lim =∞
𝑠→0 𝑠→0 𝑆 2 (1 + 20 𝑆)

1 1
𝑒𝑠𝑠 = = =0
[1 + 𝐾𝑃 ] [1 + ∞]

80
𝐾𝑉 = lim 𝑆 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 =∞
𝑠→0 𝑠→0 𝑆 2 (1 + 20 𝑆)

1 1
𝑒𝑠𝑠 = = =0
𝐾𝑉 ∞

80
𝐾𝐴 = lim 𝑆 2 𝐺(𝑆)𝐻(𝑆) = lim 𝑆 2 = 80
𝑠→0 𝑠→0 𝑆 2 (1 + 20 𝑆)

1 1
𝑒𝑠𝑠 = = = 0.0125
𝐾𝐴 80

43. Find out the type of the system and steady state error for a unity feedback system with
10
𝐺(𝑆)𝐻(𝑆) = (1+2 𝑆) with i/p 𝑟(𝑡) = 5 𝑢(𝑡) 𝑤ℎ𝑒𝑟𝑒 𝑢(𝑡) = 1

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Control system and Components (313329) AO3K CH 2

Type of the system = 0

𝑆 𝑅(𝑆)
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆)
5
𝑅(𝑆) =
𝑆
5
𝑆 𝑅(𝑆) 𝑆∗𝑆 5
𝑒𝑠𝑠 = lim = lim =
𝑠→0 1 + 𝐺(𝑆)𝐻(𝑆) 𝑠→0 10 11
1+
(1 + 2 𝑆)

44. Find out the type of the system and steady state error for a unity feedback system with
20
𝐺(𝑆)𝐻(𝑆) = 𝑆(1+4 𝑆) with i/p 𝑟(𝑡) = 2𝑡

Type of the system = 1

𝑆 𝑅(𝑆)
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆)
2
𝑅(𝑆) =
𝑆2
2 2
𝑆 𝑅(𝑆) 𝑆∗ 2 2
𝑒𝑠𝑠 = lim = lim 𝑆 = lim 𝑆 = = 0.1
𝑠→0 1 + 𝐺(𝑆)𝐻(𝑆) 𝑠→0 20 𝑠→0 𝑆(1 + 4𝑆) + 20 20
1+
𝑆(1 + 4 𝑆) 𝑆(1 + 4 𝑆)

45. Find out the type of the system and steady state error for a unity feedback system with
30 𝑡2
𝐺(𝑆)𝐻(𝑆) = 𝑆2 (1+3 𝑆) with i/p 𝑟(𝑡) = 2

Type of the system = 2

𝑆 𝑅(𝑆)
Steady state error 𝑒𝑠𝑠 = lim𝑠→0 1+𝐺(𝑆)𝐻(𝑆)
1
𝑅(𝑆) =
𝑆3
1 1
𝑆 𝑅(𝑆) 𝑆∗ 3 1
𝑒𝑠𝑠 = lim = lim 𝑆 = lim 2 𝑆2 = = 0.03
𝑠→0 1 + 𝐺(𝑆)𝐻(𝑆) 𝑠→0 30 𝑠→0 𝑆 (1 + 3 𝑆) + 30 30
1+ 2
𝑆 (1 + 3 𝑆) 𝑆 2 (1 + 3 𝑆)
46. Stable system, Unstable system, Critically stable system, Conditional stability and Relative
Stability

i) Stable system: - If the poles are located on the left half of the s-plane, system is said to be stable.
Or
When the system is excited by a bounded input, the output is also bounded and controllable. In the
absence of the input, output must tend to zero irrespective of the initial condition.

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Control system and Components (313329) AO3K CH 2

ii) Unstable system: - If the poles are located on the right half of the s-plane, system is said to be
unstable.
Or
When the system is excited by a bounded input, the output is unbounded and system is said to be
unstable.

Location of poles of stable and unstable system in S-plane:

iii) Critical stability or marginal stability or limitedly stable system:-If the poles (non -repeated) are located
purely on imaginary axis of s-plane, system is said to be critically stable. Here the output amplitude
neither increase nor decrease but the system oscillates with constant amplitude.
Response:

iv) Conditional stability: If the Stability of system depends on condition of parameter of the system,
such a system is called conditionally stable system.

v) Relative Stability: The system is said to be relatively more stable on the basis of settling time. If the
settling time for a system is less than that of another system then the former system is said to be
relatively more stable than the second one. As the location of the poles move towards left half of S-
plane, the settling time becomes smaller and system becomes more relatively stable.

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Control system and Components (313329) AO3K CH 2

47. Analysis of stability based on location of poles:

48. Routh’s stability criteria:

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Control system and Components (313329) AO3K CH 2

 It is a simple criterion to analyze stability that enables to determine the number of closed loop
poles which lie in right half of s-plane without factorizing the characteristic equation.
 Here an array called Routh’s array is made from the coefficients of characteristic equation
(𝑐ℎ. 𝑒𝑞𝑛 = 1 + 𝐺(𝑆)𝐻(𝑆) = 0)
 The necessary and sufficient condition for system to be stable is “All the terms in the first
column of the Routh’s array must have same sign”.
 There should not be any sign change in the first column of Routh’s array.
 If there are any sign changes, it indicates that
1. System is unstable
2. The number of sign changes is equal to the number of the roots lying in the right half of
the S-plane.

Routh’s array:

Consider the characteristic equation

1 + 𝐺(𝑆)𝐻(𝑆) = 0 = 𝑎0 𝑆 𝑛 + 𝑎1 𝑆 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑆 1 + 𝑎𝑛 𝑆 0

𝑆𝑛 𝑎0 𝑎2 𝑎4

𝑆 𝑛−1 𝑎1 𝑎3 𝑎5
𝑆 𝑛−2 𝑏1 𝑏2

--- ---
--- ---
S ---
𝑆0 ---

Where
𝑎1 ∗ 𝑎2 − 𝑎0 ∗ 𝑎3
𝑏1 =
𝑎1

𝑎1 ∗ 𝑎4 − 𝑎0 ∗ 𝑎5
𝑏2 =
𝑎1

49. Advantages and disadvantages of Routh’s array

Advantages of Routh array:

i) Simple criterion that enables to determine the no of closed loops which lie in right
half of s-plane without factorizing the characteristic equation.

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Control system and Components (313329) AO3K CH 2

ii) Without actually solving characteristic equation, it tells us whether or not there are
positive poles in a polynomial equation
iii) By seeing the sign changes in the first column it can be judged whether system is
stable or not.
iv) It tells the number of poles present on imaginary axis i.e it tells about critical stability.

Disadvantages of Routh array:

i. Cannot find out the value of poles.
ii. It is not a sufficient condition for stability.
iii. Lengthy procedure.

50. By means of Routh’s criteria, determine stability of the system with characteristic
equation 𝐒 𝟒 + 𝟐𝐒 𝟑 + 𝟖𝐒 𝟐 + 𝟒𝐒 + 𝟑 = 𝟎

Routh’s array:

S4 1 8 3
S3 2 4 0
S2 6 3 0
S 3 0 0
S0 3 0 0
Conclusion:
All the elements in the first column are positive, and there is no sign change.
Therefore, all the poles are on the left side of S-plane. So the system is stable.

51. By means of Routh’s criteria, determine stability of the system with characteristic
equation 𝐒 𝟒 + 𝟏𝟎𝐒 𝟑 + 𝟑𝟓𝐒 𝟐 + 𝟓𝟎𝐒 + 𝟐𝟒 = 𝟎

Routh’s array:
S4 1 35 24
S3 10 50 0
S2 30 24 0
S 42 0 0
S0 24 0 0

Conclusion:
All the elements in the first column are positive, and there is no sign change.
Therefore, all the poles are on the left side of S-plane. So the system is stable.

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Control system and Components (313329) AO3K CH 2

52. By means of Routh’s criteria, determine stability of the system with

𝐂𝐡𝐚𝐫𝐚𝐜𝐭𝐞𝐫𝐢𝐬𝐭𝐢𝐜 𝐞𝐪𝐮𝐚𝐭𝐢𝐨𝐧 = 𝑺(𝟏 + 𝑺)(𝟐 + 𝑺) + 𝟒

3 2
Characteristic equation = 𝑆(1 + 𝑆)(2 + 𝑆) + 4 = 𝑆 + 3𝑆 + 2𝑆 + 4 = 0

Routh’s array:

S3 1 2
S2 3 4
S 2/3 0
S0 4 0

Conclusion:
There is no sign change in the first column. So, the system is stable.

53. By means of Routh’s criteria, determine stability of the system with

3 2
Characteristic equation = S + 4S + S + 16 = 0

Routh’s array:

S3 1 1
S2 4 16
S -3 0
S0 16 0
Conclusion:
There are two sign changes in the first column. So, there are two RHS poles and
therefore the system is unstable.

54. By means of Routh’s criteria, determine stability of the system with characteristic
equation 𝟑𝐒 𝟒 + 𝟏𝟎𝐒 𝟑 + 𝟓𝐒 𝟐 + 𝟓𝐒 + 𝟐 = 𝟎

Routh’s array:

S4 3 5 2
S3 10 5 0
S2 3.5 2 0
S -5/7 0 0
S0 2 0 0
Conclusion:
There are two sign changes in the first column. Therefore, two poles are on the right
side of S-plane. So the system is unstable.

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Control system and Components (313329) AO3K CH 2

𝟒
55. Find out the stability for unity feedback system with OLTF= 𝑮(𝑺) =
𝑺(𝑺+𝟐)(𝑺+𝟏)

For unity feedback system, 𝐻(𝑆) = 1

Characteristic equation: 1 + 𝐺(𝑆)𝐻(𝑆) = 0

4
=1+ =0
𝑆(𝑆+2)(𝑆+1)

𝑆(𝑆 + 2)(𝑆 + 1) + 4
=0
𝑆(𝑆 + 2)(𝑆 + 1)

3 2
Characteristic equation = 𝑆(1 + 𝑆)(2 + 𝑆) + 4 = 𝑆 + 3𝑆 + 2𝑆 + 4 = 0

Routh’s array:

S3 1 2
S2 3 4
S 2/3 0
S0 4 0

Conclusion:
There is no sign change in the first column. So, the system is stable.

56. Find out the range of K for the system to be stable for characteristic equation
𝐒 𝟒 + 𝟒𝐒 𝟑 + 𝟏𝟑𝐒 𝟐 + 𝟑𝟔𝐒 + 𝐊 = 𝟎
Routh’s array:

S4 1 13 K

S3 4 36 0
S2 4 K 0

S 144 − 4𝐾 0 0
4
S0 K 0 0

To satisfy the condition for stability,

𝐾 > 0,

144 − 4𝐾
>0
4

Or 144−4𝐾 > 0, 144 > 4𝐾, 36 > 𝐾

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Control system and Components (313329) AO3K CH 2

Therefore, the range of 𝐾 for the system to be stable is,

𝟎 < 𝑲 < 𝟑𝟔

57. Find out the range of K for the system to be stable and the frequency of sustained
𝑲
oscillations for unity feedback system with OLTF= 𝑮(𝑺) = 𝑺(𝟏+𝟎.𝟒𝑺)(𝟏+𝟎.𝟐𝟓𝑺)

Characteristic equation: 1 + 𝐺(𝑆)𝐻(𝑆) = 0

𝐾
1+ =0
𝑆(1+0.4𝑆)(1+0.25𝑆)

𝑆(1 + 0.4𝑆)(1 + 0.25𝑆) + 𝐾 = 0

𝑆 + 0.65𝑆 2 + 0.1𝑆 3 + 𝐾 = 0

0.1𝑆 3 + 0.65𝑆 2 + 𝑆 + 𝐾 = 0

Routh’s array:

S3 0.1 1

S2 0.65 K

S 0.65 − 0.1𝐾 0
0.65
S0 K 0

To satisfy the condition for stability,

𝐾 > 0,

0.65 − 0.1𝐾
>0
0.65

Or, 0.65 − 0.1𝐾 > 0, 6.5 > 𝐾

Therefore, the range of 𝐾 for the system to be stable is, 𝟎 < 𝑲 < 𝟔. 𝟓

The marginal value of 𝑲:

The marginal value of 𝐾 will be 𝑲𝒎𝒂𝒓 = 𝟔. 𝟓 because for this value, all the elements of third
row will become zero which indicates marginal stability.

The frequency of sustained oscillations:

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Control system and Components (313329) AO3K CH 2

Find out the roots of the auxiliary equation at marginal value of 𝐾 (by considering
𝐾 = 6.5),

0.65𝑆 2 + 6.5 = 0
𝑆 2 + 10 = 0

𝑆 2 = −10

𝑆 = ± 𝑗 3.162

Comparing with
𝑆 =±𝑗𝜔

𝜔 = 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑜𝑓 𝑜𝑠𝑐𝑖𝑙𝑙𝑎𝑡𝑖𝑜𝑛𝑠 = 3.162 𝑟𝑎𝑑/𝑠𝑒𝑐

58. Find out the range of K for the system to be stable for unity feedback system with OLTF=
𝑲
𝑮(𝑺) = 𝑺(𝑺+𝟐)(𝑺+𝟒)(𝑺+𝟓)

Characteristic equation: 1 + 𝐺(𝑆)𝐻(𝑆) = 0

𝐾
1+ =0
𝑆(𝑆+2)(𝑆+4)(𝑆+5)

𝑆(2 + 𝑆)(4 + 𝑆)(𝑆 + 5) + 𝐾 = 0

𝑆 4 + 11𝑆 3 + 38𝑆 2 + 40𝑆 + 𝐾 = 0

Routh’s array:

S4 1 38 K

S3 11 40 0

S2 34.3 K 0

S 1372 − 11𝐾 0 0
34.3
S0 K 0 0

To satisfy the condition for stability,

𝐾 > 0,

1372 − 11𝐾
>0
34.3

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Control system and Components (313329) AO3K CH 2

Or, 1372 − 11𝐾 > 0, 1372 > 11𝐾, 124.7 > 𝐾

Therefore, the range of 𝐾 for the system to be stable is,

𝟎 < 𝑲 < 𝟏𝟐𝟒. 𝟕

59. Find out the range of K for the system to be stable for unity feedback system with OLTF=
𝑲(𝑺+𝟏𝟑)
𝑮(𝑺) = 𝑺(𝑺+𝟑)(𝑺+𝟕)

Characteristic equation: 1 + 𝐺(𝑆)𝐻(𝑆) = 0

𝐾(𝑆+13)
1+ =0
𝑺(𝑺+𝟑)(𝑺+𝟕)

𝑆(𝑆 + 3)(𝑆 + 7) + 𝐾(𝑆 + 13) = 0

𝑆 3 + 10𝑆 2 + 21𝑆 + 𝐾𝑆 + 13𝐾 = 0

𝑆 3 + 10𝑆 2 + (21 + 𝐾)𝑆 + 13𝐾 = 0

Routh’s array:

S3 1 21 + 𝐾
S2 10 13𝐾

S 210 − 3𝐾 0
10
S0 13K 0

To satisfy the condition for stability,

13𝐾 > 0, 𝐾 > 0,

210 − 3𝐾
>0
10

Or, 210 − 3𝐾 > 0, 210 > 3𝐾, 70 > 𝐾

Therefore, the range of 𝐾 for the system to be stable is,

𝟎 < 𝑲 < 𝟕𝟎

MANJU K 40
Control system and Components (313329) AO3K CH 2

Important questions:
1. List standard test inputs. Draw graphical representation of them & give their Laplace
transform.
2. State the standard TF of 1st order system
3. Draw the unit step response of first order system.
4. Define time constant.
5. State the standard TF of 2nd order system
6. Define i) Rise time ii) Peak overshoot. State their equations
7. Define damping. Show the effect of damping on system response.
𝑪(𝑺) 𝟐𝟓
8. A second order system is given by 𝑹(𝑺) = 𝑺𝟐 +𝟔𝑺+𝟐𝟓 Find out peak time, settling time and
peak overshoot. Draw its output response.
9. Find out the settling time and peak overshoot for unity feedback system with Open loop
𝟗
Transfer Function 𝑮(𝑺) = 𝑺(𝑺+𝟔) Draw its output response.
𝑪(𝑺) 𝟏𝟔
10. Transfer function of system is given by 𝑹(𝑺)
= (𝑺𝟐+𝟒𝑺+𝟏𝟔) Calculate:
i) Damped frequency of oscillations
ii) Settling time
11. Define i) Steady state error ii) ‘Type’ of control system
12. State the equations of static error coefficients.
13. Find out the static error constants for a unity feedback system with
𝟏𝟖
𝑮(𝑺)𝑯(𝑺) = (𝑺+𝟗)
14. Find out the type, static error constants and steady state errors for a unity feedback system
𝟖𝟎
with 𝑮(𝑺)𝑯(𝑺) = 𝑺𝟐 (𝟏+𝟐𝟎𝑺)
15. Draw the Location of the Poles in the S-plane for stable and unstable systems
16. Define marginally stable system. Show the location of poles of such system in the S -plane.
17. Define stable and unstable system
18. Examine stability by Routh criterion for Characteristic equation 𝑺𝟒 + 𝟏𝟎𝑺𝟑 + 𝟑𝟓𝑺𝟐 +
𝟓𝟎𝑺 + 𝟐𝟒 = 𝟎
19. Using Routh’s criteria, determine the range of K values for system to be stable.
𝑲
𝑮(𝑺)𝑯(𝑺) = 𝑺(𝑺+𝟐)(𝑺+𝟒)(𝑺+𝟓)
20. Find out the range of K for the system to be stable for unity feedback system with OLTF=
𝑲(𝑺+𝟏𝟑)
𝑮(𝑺) = 𝑺(𝑺+𝟑)(𝑺+𝟕)
21. Examine stability by Routh criterion for Characteristic equation
𝟏 + 𝑮(𝑺)𝑯(𝑺) = 𝟑𝐒 𝟒 + 𝟏𝟎𝐒 𝟑 + 𝟓𝐒 𝟐 + 𝟓𝐒 + 𝟐 = 𝟎
22. Examine stability by Routh criterion for Characteristic eqn 𝐒 𝟑 + 𝟒𝐒 𝟐 + 𝐒 + 𝟔 = 𝟎

MANJU K 41