Automatic Control

Mechanical Engineering Department

Important
R(s)

Y(s)
KG(s)

H(s)
11-Initial Value Theorem

Y(s)=(R(s)- Y(s))KG(s) H(s)

Y(s)[1 + KG(s) H(s)] = R(s) KG(s) H(s)
Y ( s)
KG ( s ) H ( s )
KGH

R ( s ) 1 KG ( s ) H ( s ) 1 KGH

limt

f (t ) lim s

sF ( s )

12-Final Value Theorem

lim t

f (t ) lim s

sF ( s

1+KGH: Characteristics Equation and KGH is the open loop transfer function
System stability depends on Roots of the Characteristic Equation
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Transient and Steady-State

Response Analysis
Lecture 8
Chapter 5
Transient Response Specifications
Of a unit step function

Controlled variable

1- Maximum Overshoot Mp = ymax yss where ymax >> yss

% Max overshoot = max overshoot / yss * 100
2- Delay time td= time required for y(s) to reach yss
3- Rise time tr =time required to rise from 10 to 90% of yss
4- Settling time: ts= time required for step response to decrease and stay within 5% of yss
tp
SS error

Overshoot

Transient state
tr

Steady state

Settling time ts

time
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Transient and Steady-State

Response Analysis
First- order systems

Lecture 8
Chapter 5

-The first step in analyzing a control system

is to derive a mathematical model of the
system.
- Test signals: step, ramp, acceleration,
impulse, sinusoidal
- Transient response and steady-state
response

- A unit response of First- order system

C ( s)

1
1
Ts 1 s

-Unit ramp response of First- order system

- First order systems

C(s)

R(s)

1/ (Ts+1)
C ( s)
C (s)
1

R( s)
Ts 1
Dr. Talal Mandourah

1
1
Ts 1 s 2

Automatic Control

Dr. Talal Mandourah

Mechanical Engineering Department

Automatic Control

Mechanical Engineering Department

Second Order Systems

r

T
k

1
s ( js B )

Closed-loop TF

- Servo system (inertia and viscous friction)

- T is the torque
- c is the output position
jc Bc T

C ( s)
K
2
R ( s) Js Bs K
K/J
2
s ( B / J )s ( K / J )

js 2C ( s ) BsC ( s ) T ( s )
TF

C (s)
1

T ( s ) s ( js B )

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second Order Systems

C (s)
n2
2
R ( s ) s 2 n s n2
=damping ratio
n=natural frequency
The denominator is called
Characteristic Equation
Roots:
s1 , s2 n j n 1 2
j
where.. n ......damping factor

n 1 2 ...damping frequency

n2

K
J

B
2n 2
J

dampingratio

B
B

Bc 2 JK

Bc 2 JK criticaldamping
-We consider three different cases:
1- under-damped (0<<1)
2- critically damped (=1)
3- over-damped (>1)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Second Order Systems

y(t)

j
>1

Over-damped

x x

y(t)

=1

Critically-damped

xx

y(t)

under-damped

0<<1
x

Dr. Talal Mandourah

Automatic Control

=0

Mechanical Engineering Department

Second Order
Systems
y(t)

y(t)

j
0>>1

y(t)

j
<-1
xx

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Quiz2
Simplify the block diagram shown
and obtain the closed-loop transfer
function C(s)/R(s)

Dr. Talal Mandourah