BMEE308L

Control Systems
CAT-2

Module-4
Course Road Map : Our Journey of control system

Mechatronics
system Design Design
Optimization
• Design Process
• Challenges • Optimization
• V-model techniques
• Model based system • Case studies
Engineering • Constraints
 General Model For A Dynamic System
nth Order ordinary linear differential equation with constant coefficient
d n y (t ) d n 1 y (t ) dy (t ) d m x(t ) d m 1 x(t ) dx(t )
an n
 an 1 n 1
   a1  a0 y (t )  bm m
 bm 1 m 1
   b1  b0 x(t )
dt dt dt dt dt dt

F(t) = forcing function

Where m≤n
y(t) = output from the system
x(t) = input to the system
t = time
a’s and b’s = system physical parameters, assumed constant
y(0)
The solution y (t )  yocf  yopi

x(t) y(t) Where yocf = complementary-function part of

Measurement solution
system
yopi = particular-integral part of solution
 Time domain dynamic response
The time response of a control system is usually divided into two
parts: the transient response and the steady-state response.

𝒚𝒕 (t): transient response is defined as the part of the time response that
goes to zero as time becomes very large.

𝒚𝒔𝒔 (t):The steady-state response is simply the part of the total response
that remains after the transient has died out. (final accuracy of the system)

All real, stable control systems exhibit

transient phenomena to some extent before
the steady state is reached
Different Type of Standard Test Signals

• The various inputs or disturbances affecting the performance of a

system are mathematically represented as a standard test signal.

• Step signal ( sudden input )

• Ramp Signal (velocity type of input )
• Parabolic Signal ( type of acceleration input )
• Impulse signal (sudden shock )
Laplace Transforms
• It is an integral transform that converts a time-limited signal with
finite energy from time domain to frequency-domain
• Can be thought of as a substitution
 Sinusoid : Cyclic / Oscillatory Behavior
Exponential : Decay / Growth (Damping)

Complex- Exponential- Sinusoid

complex frequency domain description of the system.
Transfer function
System response for Common Functions

Name f(t) F(s)

1 t0
Impulse f (t )   1
0 t0
1
Step f (t )  1
s
1
Ramp f (t )  t
s2


Sine f (t )  sin(t )   s2
2
First order system step response
Parameters of a 1-order system

Input u(t) K output y(t)

G ( s) 
 s 1

t, the time constant, will determine how quickly the

system moves toward steady state.

K, the DC gain of the system, will determine the size

of steady state response when the input settles out to
a constant value.
First order system step response

x(t )  b0t  0
b0
b0
X ( s) 
s

X s  b0
Y s   
a1s  a0  sa1s  a0 
The complex function F(s) must be decomposed into partial fractions
in order to use the tables of correspondences.
 b0 1 b0 a1
Y s   
a0 s a0 a1s  a0 

b0 1 b0 1
Y s   
a0 s a0  a0 
 s  
 a1 

    
    
b0  1 1  1  b0 1 1 
Y s      y t      
a0  s  a   a0 s  a 
 s  0      s  0  
  a1      a1  
 b0   a0t 
y t   1  exp  
a0   a1 

a1
  : time constant
a0
yt 
= 𝐾: DC GAIN K

  t 
y t   K 1  exp  
   
Example 1 Consider a first-order system with the following
parameters.
Time constant   0.1s ; DC gain K  20
The problem is to determine the unit step response of a
system that has these parameters.

Solution.
Using the general form of the unit-step response of first –order systems

y (t )  K (1  e  t / )

With the parameters above, the impulse response is:

y (t )  20(1  e  t /0.1 )  20(1  e 10t )

Example 3 Time constant   0.1s ; DC gain K  20
Solution. Unit-step time response: y (t )  20(1  e 10 t )
Transfer function of the K 20
first-order system: G ( s)  
 s  1 0.1s  1
Using MATLAB to get its
step response
>> num=20;
>> den=[0.1 1];
>> step(num,den)

  0.1s
If we keep
but change K,
what will happen?
Time constant   0.1s ;
DC gain K  20  16  10  4
 DC gain K  20
Time constant   0.1s  0.2 s  0.3s  0.5s

Note: the time constant reflects the system inertia. The smaller is the
system inertia, the shorter is  and the quicker is the response, vice versa.
Two important properties of the unit-step response of a
first-order system:
a) The time constant  can be used to calculate the
system output
experiment methods
t   , y ( )  0.632 y ()  63.3% final value; -- estimate the
time constant
t  2 , y (2 )  0.865 y ()  86.5% final value;
--judge whether a
t  3 , y (3 )  0.950 y ()  95.0% final value; system is first-
order or not
t  4 , y (4 )  0.982 y ( )  98.2% final value;

b) The initial slope of the response curve is 1/T and

the slope decreases with time
dy (t ) 1 dy (t ) 1 dy (t )
 ,  0.368 ,  0.
dt t 0  dt t   dt t 
It is also a common method to obtain the time constant though the initial
slope in control engineering.
time constant
• The time constant is a measure of the speed of response of the
instrument or system

• After three time constants the response has reached 95% of the step
change and after five time constants 99% of the step change.

• Hence the first order system can be said to respond to the full step
change after approximately five time constants.
 Unit-step response of a first-order system

y (t )
y ( )
y(t )  K (1  et / )
0.632 y ()
1
slope 

0 t

Impulse Response of 1-Order System
 Impulse Response of 1-Order System
• The impulse response is the response to a unit impulse
input .  (t )
a very intense force
u (t ) for a very short time
 (t )

 
L[ (t )]  1
0 00
t
• The unit impulse has a Laplace transform of unity (1).
• That gives the unit impulse a unique stature.
For a first-order systems satisfy this generic
differential equation
dy (t )  - time constant
  y (t )  Ku (t )
dt K - DC gain
For a unit impulse input  (t ) and assuming zero initial
conditions, could you calculate its output?
K t 
y (t )  e

The impulse response is the inverse transform of the
transfer function of the above system:
K
G ( s) 
 s 1
Now, we need to examine what the impulse response
looks like…
Example 1
Consider a first-order system with the following parameters.

Time constant   0.1s ; DC gain K  20

The problem is to determine the unit impulse response of a
system that has these parameters.

Solution. Using the general form of the impulse response of

first –order systems
K
y (t )  et 

With the parameters above, the impulse response is:
K 20  t /0.1
y (t )  et   e  200e10t
 0.1
What value does the impulse response start from?
Example 1
Consider a first-order system with the following parameters.
Time constant   0.1s ; DC gain K  20
The problem is to determine the unit impulse response of a
system that has these parameters.
K 20  t /0.1
Solution. y (t )  et   e  200e10t
 0.1

Using MATLAB to get its

impulse response
K 20
G ( s)  
 s  1 0.1s  1
>> num=20;
>> den=[0.1 1];
>> impulse(num,den)
Example 2 Below is the impulse response of a system -
i.e. the response to a unit impulse.

The system starts with

an initial condition of
zero just before the
impulse comes along at t
= 0, so y(0-) = 0.

Could you compute the parameters of the system?

 Solution. Transfer function:
The general time response K 44
G(s)  
of a first-order system is
 s  1 2.2s  1
K
y (t )  et  (1) A

From the right figure, we have

at t  0, y (0)  20
So we can get
K
 20 (2) With (2) and (3), we have
 y (2)  20e 2/  8
How to get K ?
Pick up a point on the response curve: e 2/  0.4
Solving the equation yields:

A: at t  2sec; y (2)  8 2 /   ln(0.4)  0.9163

K   2.2sec K  20  44
y (2)  e 2   8 (3)

A few conclusions from examples
• Calculating the impulse response is straight-forward.
• Given the system parameters it is not difficult to
calculate - predict - the response of the system.
• The inverse problem is somewhat more difficult.
• Given a response, you will have to be more inventive to
determine what the system was that produced the
given response - the system identification problem.
• The underlying theory is the same.
• You use the same general principles to solve both
problems, but the way you have to use the information
makes the identification problem more difficult.
Encountering 1-order Systems
Unit-impulse
response:

K
y (t )  et 

K
G ( s) 
 s 1

Unit-step
response:

y (t )  K (1  e  t / )
Second-Order System
The dynamic behavior of the second-order system can then be described in
terms of two parameters: the damping ratio and the natural frequency.
 Second-Order System1
• Parameters of First-order system determine the speed of the system.
• Parameters of Second-order system determine the form (shape) of the system.
System poles
𝑎 𝑎 − 4𝑏
Consider the general system, = − ∓ 𝑠 General case of second order system
,
2 2
• For un-damped(without damping) system, 𝑎 = 0, and the poles are on 𝑗𝜔 − 𝑎𝑥𝑖𝑠 at ∓𝑗 𝑏,
Natural Frequency
Hence 𝑏 = 𝝎𝒏 un-damped system
• For an under-damped system, poles have real part 𝜎 = − ⁄ (exponential decay ),
Exponential decay frequency
D𝐚𝐦𝐩𝐢𝐧𝐠 𝐑𝐚𝐭𝐢𝐨 exponential decay
𝛏=
𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
Natural frequency

𝝎𝒏 : (Natural Frequency ) the frequency of oscillation of the system without damping.

𝛏 ∶ (D𝐚𝐦𝐩𝐢𝐧𝐠 𝐑𝐚𝐭𝐢𝐨 ) dimensionless measure describing how oscillations in a system decay.
σ ∶ (𝑨𝒕𝒕𝒆𝒏𝒖𝒂𝒕𝒊𝒐𝒏) exponential decay , real part of the pole

Poles
𝑏 = 𝝎𝒏
𝑎 =2ξ𝜔
Canonical form
62
(two finite poles and no zeros)
Definitions of transient-response specifications

• Delay time, Td
• Rise time, Tr
• Peak time, Tp
• Percent overshoot (%OS) or Maximum overshoot (Mp)
• Settling time, Ts
 Definitions of transient-response specifications
1. Delay time (t ) d

The delay time is the time required for the response to reach half the final value the very first time.

2. Rise time (t )
r

The rise time is the time required for the response to rise from 10% to 90%, 5% to 95%, or 0% to 100% of its final value.
For underdamped second-order systems, the 0% to 100% rise time is normally used.
For overdamped systems, the 10% to 90% rise time is commonly used.

3. Peak time (t ) p

The peak time is the time required for the response to reach the first peak of the overshoot.

4. Maximum (percent) overshoot (M ) p

The maximum overshoot is the maximum peak value of the response curve measured from unity.
If the final steady-state value of the response differs from unity, then it is common to use the maximum percent overshoot.
It is defined by

5. Settling time (t ) s

The settling time is the time required for the response curve to reach and stay within a range about the
final value of size specified by absolute percentage of the final value (usually 2% or 5%).
•Overdamped systems - Transients in this
type of system exponentially decay to steady
state without any oscillations.

•Critically damped systems - Transients in

this type of system decay to steady state
without any oscillations in the shortest
possible time.

•Underdamped systems - Transients in this

type of system oscillates with the amplitude
of the oscillation gradually decreasing to
zero.

•Undamped systems - The system keeps

oscillating at its natural frequency without any
decay in amplitude.
 Over-damped responses Second-Order System
Two real poles
Twoat −𝜎 , −𝜎

𝛏>1

Under-damped responses
Two complex poles
Two at −𝜎 ∓ 𝑗𝑤 0<𝛏<1

Un-damped responses
Two imaginary
Twopoles at ∓𝑗𝑤 𝛏=0

Critically damped responses 𝛏=1

Two real poles at −𝜎
Two

Step responses for second-order system damping cases

73
Case1: Overdamped system:
( ) Two real poles
 Second-Order System2
The sign of the discriminant of the denominator polynomial depends on the damping ratio 𝛏, three cases.
𝑎 𝑎 − 4𝑏 𝑎 =2ξ𝜔
System poles
𝑠 , =− ∓
2 2 𝑏 = 𝝎𝒏
Case1: Overdamped system: (𝛏 > 𝟏) Two real poles
𝑎 = 9 𝑎𝑛𝑑 𝑏 = 9 the general case
(two finite poles and no zeros)

1 0.171 1.171
𝐶 𝑠 = + −
𝑠 𝑠 + 7.854 𝑠 + 1.146

𝑐 𝑡 = 1 + 0.171𝑒 . − 01.171𝑒 .

Overdamped system

𝑇𝑤𝑜 𝑟𝑒𝑎𝑙 𝑝𝑜𝑙𝑒𝑠

CEN455: Dr. Nassim Ammour 75
Case 2: Under-damped Response
( ) : (Two complex poles
that come from the system).
 Second-Order System
Case 2: Under-damped Response (0 < 𝛏 < 𝟏) : (Two complex poles that come from the system).

Poles from the system:

exponential decay frequency of the
sinusoidal oscillation.
𝑎 = 2 𝑎𝑛𝑑 𝑏 = 9

𝑇𝑤𝑜 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑝𝑜𝑙𝑒𝑠

From, 𝐾 cos 𝛼 + 𝛽 = 𝐾 𝑐𝑜𝑠𝛼 𝑐𝑜𝑠𝛽 − 𝐾 𝑠𝑖𝑛𝛼 𝑠𝑖𝑛𝛽

= 𝐾 cos 8𝑡 + 𝐾 sis 8𝑡

Second-order
step response
components
Where, generated by
complex poles

CEN455: Dr. Nassim Ammour 77

 Case 3: Un-damped Response (
: pole at the origin that comes
from the input and two imaginary
poles that come from the system.

Case 4: Critically Damped Response

( : pole at the origin that comes
from the input and two multiple real
poles that come from the system.-
 Second-Order System
Case 3: Un-damped Response (𝛏 = 0) : pole at the Case 4: Critically Damped Response (𝛏 = 1) : pole at the origin that
origin that comes from the input and two imaginary comes from the input and two multiple real poles that come from the
poles that come from the system. system.-
two poles (double) on
the real axis at —3

𝑎 = 6 𝑎𝑛𝑑 𝑏 = 9
𝑎 = 0 𝑎𝑛𝑑 𝑏 = 9 two system poles on
the imaginary axis 𝑠𝑦𝑠𝑡𝑒𝑚 𝑝𝑜𝑙𝑒𝑠
𝑖𝑛𝑝𝑢𝑡 𝑝𝑜𝑙𝑒

There is no exponential term, so no decay.

There is no sinusoidal term, so no oscillation.

CEN455: Dr. Nassim Ammour 79

Evaluating Steady-State Errors2
The Final Value Theorem is used to find the “final value” of a system as time goes to
infinity. It is derived from the Laplace transform of the derivative, taken as time goes to
infinity (or s goes to zero), as shown in the equation below [2].

Note that we can only use the Final Value Theorem if a system is stable, or at least has
all its poles at the origin (and the left half plane).
The error transfer function will describe how the system
error responds to that input, and we can use the Final
Value Theorem to see how the error will respond in the
long-term. This is shown in Equation 2 below.
 Evaluating Steady-State Errors2

E ( s )  R ( s)  C ( s), and C ( s)  E ( s)G ( s ) Ramp input: tu(t)

s (1 / s 2 ) 1 1
e()  eramp ()  lim  lim 
R( s) s 0 1  G ( s ) s  0 s  sG ( s ) lim sG ( s )
 E ( s)  s 0
1  G(s)

sR ( s) For zero steady-state error, lim sG ( s )  

e()  lim [Final-value theorem] s 0
s 0 1  G ( s )

Parabolic input: (1/2)t2u(t)

Step input: u(t)
s(1 / s 3 ) 1 1
e()  e parabolic ()  lim  lim 2 2 
s (1 / s ) 1 s 0 1  G ( s ) s 0 s  s G ( s ) lim s 2G ( s )
e()  estep ()  lim  s 0
s 0 1  G ( s ) 1  lim G ( s )
s 0
For zero steady-state error, lim s 2G ( s )  
s 0
For zero steady-state error, lim G ( s )  
s 0

CEN455: Dr. Nassim Ammour 86

 System Type

Type 0: if n = 0; (no integration)

Type 1: if n = 1; (one integration)
Type 2: if n = 2; (two integrations)

Problem: Find the value of K so that there is 10% error

in the steady state.

Solution: Type 1. Input should be ramp, because only ramp

yields a finite error in Type 1 system.

89
CEN455: Dr. Nassim Ammour
 Evaluating Steady-State Errors example1

u(t): unity step

Problem: Find steady-state errors for inputs 5u(t), 5tu(t), and 5t2u(t) to the above system.
Solution: Let, the system is stable.
5 5 5
5u (t ) : e()   
1  lim G ( s ) 1  20 21
s 0

5 5
5tu (t ) : e()   
lim sG ( s ) 0
s 0

10 10
5t 2u (t ) : e(  )  2
 
lim s G ( s) 0
s 0

CEN455: Dr. Nassim Ammour 90

Evaluating Steady-State Errors-example2

One integration, s1

5 5 No integration will make it constant,

5u (t ) : e()   0
1  lim G ( s)  one integration makes it zero.
s 0

5 5 1
5tu (t ) : e()    No integration will make it infinity.
lim sG ( s ) 100 20 one integration makes it constant.
s 0

10 10 Two integrations will make it constant

5t 2u (t ) : e(  )   
lim s 2G ( s) 0 and 3 or more will make it zero.
s 0

CEN455: Dr. Nassim Ammour 91

 Static Error Constants
The steady-state error performance specifications are called static error constants.
steady-state error. PROBLEM:
evaluate the static error constants and find the expected error
for the standard step, ramp, and parabolic inputs.
step input, u(t)

ramp input, t u(t)

K p  lim G ( s )  
s 0

500  2  5  6
K v  lim sG ( s )   31.25
s 0 8 10 12
Position constant, Kp:
K a  lim s 2G ( s )  0
s 0
K p  lim G ( s)
s 0
1
For step input, e()  0
1 K p
Velocity constant, Kv:
1 1
For ramp input, e()    0.032
K v  lim sG ( s ) K v 31.25
s 0
1
Acceleration constant, Ka: For parabolic input, e()  
Ka
K a  lim s 2G ( s )
s 0
CEN455: Dr. Nassim Ammour 92
 System Type

Relationships between input, system type, static error constants, and steady-state errors

CEN455: Dr. Ghulam Muhammad 93

 Module-5
PID Control System
https://ctms.engin.umich.edu/CTMS/index.ph
p?example=MotorSpeed&section=ControlPID

PID based Speed Control System

DC motor using ATMEGA16 microcontroller
and L298N motor driver IC.
Pulse-Width Modulation (PWM)
approach
PID Control with Large Ki and Large Kd
• Kp = 100;
• Ki = 200;
• Kd = 10;
• C = pid(Kp,Ki,Kd);
• sys_cl = feedback(C*P_motor,1);
• step(sys_cl, 0:0.01:4)
• grid
• title('PID Control with Large Ki and Large Kd')