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The document discusses the concepts of transient and steady-state responses in control systems, defining transient response as the output variation until a final value is achieved, while steady-state response indicates the system's accuracy after transient effects have dissipated. It also covers various input types such as step, ramp, and impulse inputs, along with their mathematical representations and implications for system behavior. Additionally, it addresses the analysis of second-order systems, including damping characteristics and response calculations in both time and frequency domains.
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Save Control systems Module 3 notes For Later “The RespenAe qiven by the System wobicl ain
cduncton gq, athe Hme, ao the applied Excitaton uid
Called Hme herpome gq, a Control sydrem.
BW ie have two dyper gq Time Reaponne.
a) Transient Response
b> Steady State Response.
Transient. Rerpomac.’-
The output variation during athe ctime | ait taker to
achieve Sta fival Value iy Catled a trantient response
THe Hime mequived to achieve the ginal value dn
Catled ctnanstent Petod.
The Transient nerponse may toe erponerttal @
OScitlatery tq nature, Symbolicatly tk ts day denoted os
cu)
Steady State Rex
ate Gh ot sport % Bee rHme rurponge Which, nemar
ayer Complete aranmient erponse Vanishes yrom ~the
Suyctons curpuk
aA is aby Con Joo defined ob nerpense gy Mee System
2% Aime approaches Amginthy from athe time oot
Whidh ctransient nesponne Completely dion out,
“The Steady Stale Kerponne fudiicater dhe accewracy ¢
Hae System , The Sembol dev Steocdy Bheuke exact br Cys Resxpense Cit) We Cou Write or
Gs 46,4)
The Steady Stee Error.
c pyjerenaa Belioeen tre ceatved cudbpat
and actual culput ¢ the Siyttern in Called Steady
Steche Greer. welch un densted By Ess.
The Stgralrs cohtela ame moss Commonly ured ob
ejerene inet > fa omoliytin ane dazed on Standard
tert Siquads.
The Evaluation gq. the Syste Com doe done on tre Basis
G, tre Derponse given by tthe Syetem to Bae Stendond
det tapate
“rene. Standard ket Stgralr cme:
Step Tuput (Rsitfon quockfon):-
x ff Step qusck’on Tepnestnth an inttautancour
Chomge ain dhe Tefewence Speck.
Mathematically Jub Con toe Aenevibed af,
ay - JA ter tz Ht)
Oo ger tse
ay As1 then “ein Cabted, unit
Step fundten aud denoted by
Utd).
Laplaw. Aranayeren 4 Saudi Aupat in Als 5) Ramp dinpot [velodty function)
x The Ramp Laput @ unckon dn a junction that
Changer Constantty With Hme.
¥ The Mathematical desortpten % % ramp quniion
as as flaw. aw)
a
YR) *4 5 prise (_- Slope «A
ay Aad La in cotted Unit Lomp ae
nctton Ak dumoded by HU): ° 2 2
: Save a
dts Laploa. tromgerm dn V6 |
ce) Rerabolic nekion [Acceleration gunctton] !- |
ee es een Stgaak Haken :
ene, evade jorter Ton the ramp chinckion ,
¥ Mathematically dd Gn damibed ar gollownr.
TG) = Rey, +70 cA maguitude ate
° tdo Parrabal re anckion.
2 Ke
X Rerabelic function dn Gapreded gute Eun)
an Art? Se dat io Japlow
Aifqercent SAeand.ared
Ay et ig HU) = 47> Sub is, Cobled Unit porabolte
cinput. Lan laplace deangyerme Js Ah, Impulae Input:
x at is the unput applied din Stantan eourhy a vod liigh
Jamplitute as Shown. ar is he pulse whose magnitude
as doginite while as tid tends to gp 32 +7
Applied momentarily,
a Area a the input ae impale is Nortaing Buk A.
magnitude af dds aren, us unity du dn Cothedk unit
jinn pul dopar dauroted os 5).
x Medhematteally dia con be Gnpressed a5.
yey ees att)
So pe + #0. t
a
Wa.
bee
Tmpabe.
Onder qo Syeter « -
Depinition- he unput and ovipak relationship a
Coutrol Syren Com Joe Gupresredt boy a. dsyferentil
von. The order 9, the Syutem ah Hven by Hoe
order a, the di{terential Equashton governing Hoe m
Th, the System din governed. by ath order aijjerer val
Equation, hen the Syttem to Called. nt” order Sytem]
_ ae PCs)
Frrangyn funcken at) = aay
k= Constant
Ris) > Avmersator Palyrromial
G18) > Devrominabry Polynomial. Time Korpone analyels % diva orden
Feb we Conatdey cloned loop Syrtem
ae ay)
CIP @ Rerponaa
TE. 66) . Gt?
5AM tg
WG) TH eo ven
t_.4
then aaa Network, 43 Shown Below. |
ee
yi) 1 18)
Apply Kv.b to the loop.
Nits) = RIC) +L Te).
Vets) = gets,
Tey Te)
me Mis), Ae = ees
vies) S¢RIU)+ 1)
“se
1 2a
TTS whee “Time Stenpone analysing, ditsk order Sytem der unit
eee
baker
TF. ce) __ 1
Res) 473
cesy= RCS) x_4
1+T-s
-@
Now We ane faking unit Step guncion a» a foput
{e
BRM = L tro
ae)
The laplae trans jer makron + RU) an
RUS) = Is
Sub the Value 9, Ris) in ®
SS. oe
S(itTs) S" G4ts)
1 = Al4T3s) + BS
“BOPET.8) —sters)
1s Ali+Ts)+ BS
Put S=0.
Purse -'t et
I+TS
ets) = Lot The Response in ee
: 147s
To Colulate the act),
Take ‘The bep Thveme laplace tranngovn qc
c(s) = ls
cu) =
CoH) =
tear Ct)
Cut) =
Unit Step 1[P-
Response a ditst order
Srytem ao voit Step dapat
nd) E
s “Time Hesponse anotipin 4 Second orden Sytem i
Te Cloned loop transger function q, Second ovelere
Segcren os,
ccs) . =
Rus) S*4 IES + WF
W,_— Undermped nakural frequenny nad (Acc.
qo damping masto.
Damping atte Be
Damping nate Us defined an the nate 4
Bre actual camping to the Catkcal comping
Foun Caren:-
Cased i+
Undamped Sytem Eo.
Cased i- underdamped Sytem O Y= ety
Rarrtial gration Enupauston.
B a
Won? Soe aa
cts) = ——— 2
(ere, 2 (St Wn) (8+'%p)
out
S(S4 Wa) $C Sten) >
= s.ccs) |
= gi. Wn? |
Fs10,)* lene.
ie shiee = 1
TS
B = (St) ets) ee
= (StS _b9n*
S(S¥*9n)*
2 SE. 4g)
~ hoa =
= 4 [Gt.>* ces)
cg ae De
das |
S2-W9y
= J ereeay* x_WOnt
=a 4 SCSrony |
g2- Wy Reponge in +-demoin ott) =?
“1
tect) ee
[es 5 = hat
cu = 1-[itmt]e
The unit Step nesponse +? critically amaped Sytem wy
as Shown, ue 4
Rerponne. q_Sesond orders Sytem Jor over damped. Core
and When topu in unibStep.
oe ccsy vO, gu REM E Hy hGH
Res) SP AQEWSTN DY = ae cease
2s
Ke teote coq Et 29.N 51 “8 = ~ Ek, + Oly |
“Sie - [-& 19, - 19, TRE]
Sse 82 Een WEE
Ce goa EWA thnN Get
Unit Step Tupub Stgrat
no)= 41 R)= Vo,
CCS) = RUS)x_1On®
S242 EWS thy
= Ye x boat
Is (S83) (S484)
cts) = Wnt
ee ee
& C8483) (S+Ey) S — G¥8s) (S84)
A= S.cts) Le
A ed, W9n" |
ee
A(st83) (Su) Se
As Lon & vat
So
ee) (§ Wn -na Te) [agp wile] (a-b) (atb) = a=
ar E19, b= Wal BL
a gla ae ie oe -
et nC) ba CECE)
last]
B= (stss) c( ( _
$2-53,
ay tsrsi)
S &¥Sz) (S+S4)
: <
: ee
©) * Tg (apd nt On SEF
Ty (-satSu) “88 | a
Eras 7
~ Te yfeanenl) Sa .
Wr» oe
aie ©)
B= =o __
Dealer!
—_ = (8484) cee) }
82-84,
c= (seed) 180 !
BC S48) (S385 g2-Sh
-_ ren (ats) * vale cara)
ce et
sue WIFI)
Rexponge 9, S-domain cs)=2
cj
ce) s A 4 Boy
. S483 StSy
ee te een bn
'_ 7 Ea) + Qype Si, (S58).
ccs)» 1. bo fs i
S ~ Qian Lestss) “Sul S+5)
+ (545,- Wn te
a Tuvense Joaplau trangjerm on Both Side.
= Wr ost
c(t) = 1
weet Sy | Indtady State ouput
== Nemoina withing 27.
Enter Boud,
‘Delay Time Tai- Tt is the me Required Jor the nespome
fo each Sot % the inal Value sin the dint attempt.
at geen, By
Ta = LHe
On
Rie Time Te i> Th sis Hee Hime mequived dertne meaponse to
oune frm (01> fo 401+ q dhe dial Value dor overdaniged
ogetem ancl oto 100 1 + Yhe foal vali for underdomped
Sytem The Hise He dn neaprocal q te Slope ge
Sponge at dtu Saataut, He nesporae uh Equal +o sol
the feat volus, Ga as gren by
ely = se fee When O wh sradhiin,
AOL. —
— Reak Time Tpi- I+ us the time nequived dor the nesponne
yo reach Hn peak Value At ts alto Aatned ab re Hare
cok Widh, Negponse Guder goer he ane overalrnot Which
Jy allwvary’s Peak overstoos.
Feat Oversioot Mp! It vis the lorgeet Error Between
Tejerrente input and output during the transient Period.
Mp = Jew | H1 tanger onit Step Mapa
+2 Te —_
UMes er ME 00
“Tne Te te Trig ts detned an the Hme nequived
with in
H Settling
feo the espense fo Aecreare aud Stay
Speciped Porturtage % in {inal value.
Time Conntant 4 & le
Sem GW
Te = 4X Te Constont
Te = 4 for atolerana Band. g + 27:
Ein ag Steady State Steady Stale Exrors. and Exrer Constants.
— State Emror:
Tt vis the difference Between the actual ootput and
the desivecl output.
Moathemattally ait ix dagined. in Vaplac dornain as.
Leb] = Ets) = RCS)- CCS). HES). Jornon. unity feed Bate
em
A [ett] = Els) = RUS) - CS) dor unity feed Gade Sastem ,
Tenvation a Steady State Error'-
Constder a Simple cloned. loop Sytem uring negative
deed bau as Shown ain the +4
RE) + EO
GU)
BL)
ECS) = Error Stgual B¢s) = Feedback Stquak.
ECs) = R(S)—- Bis)
But Bis) = CS) HG)
ECs) = RS) — cts) HIS)
cls) = E68)G0)
Els)= RUS) — ECS Gls) HOS)
Ris) = ECs) FEC) Ge) HOS) Ris) = E¢s) [1 +a c8)H¢S)]
Ecs) = _ R(s) for noxmal feed Bau
1+G (3) HS)
Ecs) = _ RS) for onity feed Back.
14 G08)
This ECS) dy the frre tn laplaa domain and in Exprewion
sin’S' We Wont to Calutoke Hu Grrey Valu Ta Hime domain
Cormverponciing Exror Will be elt) Now Steady Stake a tae
Siyctera as Stoke Whids Hemaing at +99
Steady State Env, Sos = (im ete)
Now we can relate His «in laplate domain by using,
gual value theovem tehich States tha
Mina re FC
pow FW = SFOS)
There dere
Egg = Mew) = Vim ¢ E¢s)
+ Sov
Fox a we Jeedbouk oe une postive Sign Jo diem denominaler|
while ure Negative Stiga Sigu dn danominotor Sy Sytem UsLr positive
peek Bact, Feom the above Gupresston At Can be Concluded Hat bteady
State foro depends on,
® RUS) ie Heporence input, HH type oud Mogritude.
@ EUS HU) Le open loop ranger funcion.
2) Dominant nonlinearitien prenent AL an
» Pr + f
Error Constant +
» Reference Input ds Sep qonagaitude AY
A
s
Eq, = lim _ 8: RS)
$30 14G Us) HIS)
= lim ge Aly
a 1+ Gu) His)
RIS) =
lin —@
Sao Vt GLH)
A
14 Ur ees) Hes)
So
Css =
For a Sytem Selected Ii Ecc) H¢S) te Conatont and
s30
Cotled Positional mrov Co-epjicient Gp the Syutems denateal
on Ep
Kp = = Ges) HCs) = pasiton brrer Coeyficieat)
Pind. Corcrerpondiing Err in
oe
ttKp 7
Ces = So Whenever Step duput Gn Selectecdh ot a nejerents Input
Posiional rror Coeyficterk Kp Lill Control tu Grroy ulin the
Syke, along woth tte Hagnitud % he Su puk applied.
Rejerence Suput is Tromp a Magnitude fl :-
= cu) a
Ris) = Ase
Coq = Vy —S RUS?
$90 V4 GIS) HG)
= Lim $x Ast
S70 14405) H6s)
= lim A
SO sfitqusr Hes]
S ih A
SAO Sts qn)
A
a. -—t
SSE Li Bets) HU)
S20
Fov a Selectesl ystems Be Sete He5) 18 Constemt ond
+0
Cotted Velocity Grer Coasticieuk os Ky.
kv = WM secsonesy
S30 Tuput, veloct
[OS ——
So Whenever amp fnpuk Gs Selected of a
PEN,
error Co.
cient Ky will Control Hu Crrev
th the System along With dla Maguituds. of. Saput copplicd
Rejerence Snput is Parabolic 4, 4 ituds “A
wed
cu) oe ace
S\r-
Ru) = Ay, 4? a
Ses
Risd= As.
cue lim _ SR)
S30 14 Gis) AW)
= lim 8x Als
S30 1+q% (9) Hs)
= lim A
Sro sz Tignes]
[lin oe
S20 SFES*QUS HG)
™
Sse S7G (946s)
Se gor a Setectend Syston VM S* EUs) HES) tr Content
aud Caled Receleredion pl Corptetenk ox Eo
Ka = Um sreqeo tits)
Seo
Css = Wea
Co Tndnoducton +o P-1-D Conbollers --
A Controller us a device which when inbeduced. te
feed back @ dor wsared, path % Bagster Contels the Bteadyy
State curct aronatent nepome a Por the neguiverent.
Such Device Cometh iaput to the Cowtholler to Some other
form 4 Err fuan propor ttoval to Srrev duu ato Whtch Steady
State and transiout nesponse ye mpoovedt
Tn Hort q the pnacktial Seyshem, Coutellee olp i» Lange
to orev Cyeueraced. Such Sepdems que Cable Propo
Errare HLeclsoninens (Ptyp)
EW)
RO ea
SCst2&
Consider Sud Serond order Sytem Lohere Conbrolledr Input
wis Ory Braet omc Joopertferal Constant oo K= 4 04 8600
tof.
19,7
QIHts) = a
(S42 & Ud)
Ont
cs) 2 — Sor
. 8) Sr a4sWot Ir
: te tn E awl nabural
For “Hels System damping maxte to Eo epg
On
Hud ger Steady Stecre Enver. lim
= gy AHS) =O
Ky lim g.quy tes) = bon,
$0 2
be have dierent Hyper 4 Controtlews :
PD > Thoportoral + Derivative Aictten.
PI —> Proportional + Tutegral Achon.
PID -» Proporhonal + Derivative + Integral Acton.
PD Type 4 Conrolles)-
A Contoller in +ee forward. Path, Which Chan Pou Con holley
Output Cosrrerpon ding 4o proportional plus devivarhve 4, nov
Steal us Coled PD Conboller.
ol 4 Coutelley = K ett) + Ta dew)
Taking Lapla = K EC) +3 Ta ECs) = ecs) [kK +8 Ta}
Ris) cee) PI Type 4, Controller.
A Coutoller in the jorwarrel path, Which Changer the
Contoller outpuk Cowerporcling. to the prope ttfonal res
Tit egral othe Emer Stgual ats Called PI Conde’
olp 4, Couboler = Kett) +k; fet.dt
Taking baplots = 1cECS) + KL £66) © ew [er]
G)
36)
Plawt
PID Type 4, Combrelley-
As PD Tuaproven cransiext and PI Smpaoves Steady
State nesporae Combinochion q. awe Maw be used Jo
