Misr International University

Faculty of Engineering
Department of Electronics and Communication
Course: GEE338 Linear Control System
Instructors: Prof. Fawzy Ibrahim

Problem Set #2 Solution

Analysis of Control Systems in Time Domain
Question #2.1
For the control system shown in Fig. 2.1(a) do the following:
a) Derive and plot the step or the transient response.
b) Calculate the D.C gain, K, the time constant, , rise time, tr and settling time ts.

Fig. 2.1 First order system

Solution
C ( s )  R( s )T ( s )
a) To find the step response, the input r(t) = (t) and  R(s) = 1/s.
5 5 A B
C ( s)  R( s)     A  1 and B  1
s5 s s  5  s s  5
1 1
C ( s)    c(t )  L1{C ( s)}  [1  e 5t ]u (t )
s s5
The plot the step or the transient response is shown in Fig. 2.1(c).
b) The time constant () is calculated as follows:
The Standard form of a 1st order system
transfer function T(s) is given by:
C (s) K
T (s)  
R ( s ) s  1
5 1
Compare with T ( s)  
S  5 0.2S  1
Therefore, The D.C gain, K = 1 and time
constant,  =0. 2 sec.
The rise time is defined as the time taken for
the waveform to grow from 0.1 to 0.9 of the
final value and is calculated as follows:
c(t1) = 0.1 = 1 – e-t1/ which gives t1 = 0.11 
c(t2) = 0.9 = 1 – e-t2/ which gives t2 = 2.31 
Therefore, tr = t2 - t1 = 2.31  - 0.11  = 2.2  = 0.44 sec Fig. 2.1(c).
The settling time is defined as the time taken for the waveform to stay within ± 2% of
the final value and is calculated as follows:
c(Ts) = 0.98 = 1 – e-Ts/ gives Ts = 4  = 0.8 sec
MIU GEE338 Problem Set #3 Solution Page 1 of 11
Question #2.2 [HW]
Repeat Question #2.1 for the control system shown in Fig. 2.1(b).
Solution
C ( s )  R( s )T ( s )
a) To find the step response, the input r(t) = (t) and  R(s) = 1/s.
20 20 A B
C ( s)  R( s)     A  1 and B  1
s  20 ss  20 s s  20
1 1
C ( s)    c(t )  L1{C ( s)}  [1  e  20t ]u (t )
s s  20
The plot the step or the transient response is shown in Fig. 2.1(c).
b) The time constant () is calculated as follows:
The Standard form of a 1st order system transfer function T(s) is given by:
C (s) K
T (s)  
R ( s ) s  1
20 1
Compare with T ( s)  
S  20 0.05s  1
Therefore, the D.C gain, K = 1 and time constant,  =0. 05 sec.
Therefore, tr = 2.2  = 0.011 sec
The settling time is ts = 4  = 0.2 sec

Question #2.3
For each of the following system do the following:
a) Calculate the D.C gain, K, the natural frequency, n and the damping ratio, .
b) Determine the type of the system response.
c) Calculate and plot the unit step or transient response.
d) Calculate the time constant, , rise time, tr, peak time, tP, settling time, ts and the
Percentage Overshoot, PO.
900 225
i) T ( s)  ii) T ( s) 
s  100s  900
2
s  30s  225
2

400 625
iii) T ( s)  2 iv) T ( s)  2
s  12s  400 s  625
Solution
Part i)
900
a) Compare with the standard equation we have: G( s) 
s  100s  900
2

C ( s) n2
 2
R( s) s  2n s  n2
  900 2  n  100 K  n  900 gives   30   1.67 and K  1
2 2
n n

b) Since (ξ >1) the system is under damped.

c) With unit step input, its response is:

MIU GEE338 Problem Set #3 Solution Page 2 of 11

 900 900 k k2 k3
C ( s )  R ( s )T ( s )    1 
s ( s  100s  900) s ( s  90)( s  10) s s  90 s  10
2

900
k1  s 1
s( s  90)( s  10) s0
900
k2  ( s  90)  1/ 8
s( s  90)( s  10) s90
900
k3  ( s  10)  9 / 8
s( s  90)( s  10) s10
1 1/ 8  9/8
C ( s)  R( s)T ( s)   
s s  90 s  10
Take inverse Laplace transform the output response, c(t) is given by:
1 9
c(t )  L1{C ( s)}  [1  e 90t  e 10t ]u (t )
8 8
d) The time constant,  is given by:   1.75 /  n  1.75 / 50  0.35 m sec
The rise time, tr is given by: t r  2.2  77 msec
The settling time, ts is given by: t s5%  3  0.105 sec for  5%
t s2%  4  0.14 sec for  2%

The output response, c(t) is shown in the following figure.

Unit step response an over damped second order systems

Part ii)
225
a) Compare with the standard equation we have: G( s) 
s  30s  225
2

C ( s) n2

R( s) s 2  2n s  n2

MIU GEE338 Problem Set #3 Solution Page 3 of 11

   225 2  n  30 K  n  225 gives   30  1 and K  1
2 2
n n

b) Since (ξ = 1) the system is Critically damped.

c) With unit step input, its response is:
225 225 k k k3
C ( s )  R ( s )T ( s )    1 2 
s ( s  30s  225) s ( s  15)
2 2
s s  15 ( s  15) 2
225
k1  s 1
s( s  15) 2 s 0
d 225 225
k 2  [( s  15) 2 |
2 s  15
  2 |s 15  1
ds s ( s  15) s
225
k3  ( s  15) 2  15
s( s  15) 2 s 15

1 1 15
C ( s )  R( s )T ( s ) 
 
s s  15 ( s  15) 2
Take inverse Laplace transform the output response, c(t) is given by:
c(t )  L1{C ( s)}  [1  e15t  15te15t ]u (t )
d) The time constant,  is given by:   1 / 2 n  1 / 2 x30  0.0167 sec
The rise time, tr is given by: t r  2.2  0.0733 sec
The settling time, ts is given by: t s  3  0.5 sec for  5% t s  4  0.67 sec for  2%
The output response, c(t) is shown in the following figure.

Behavior of a critically damped second order system.

Part iii)
400
a) Compare with the standard equation we have: G( s) 
s  12s  400
2

C ( s) n2

R( s) s 2  2n s  n2

MIU GEE338 Problem Set #3 Solution Page 4 of 11

   400 2  n  12 K  n  400 gives   20   0.3 and K  1
2 2
n n

b) Since (0 < ξ <1) the system is under damped.

c) The unit step or transient response the input r(t) = (t) and  R(s) = 1/s, so:

2

C ( s )  R ( s )T ( s )  n
 k 1
 k 2
 k 3

s(s 2
  s   n)
2
s s  (  n  j  d ) s  (  n  j  d )
n

 1 
c(t )  L1{C ( s)}  1  e  n t sin(d t   )  u (t )
 1 2 
 
The two roots of the characteristic equation s1 and s2 are complex conjugates of on another
as shown.
s1, 2   n  jn 1   2
s1, 2   n  jd
Where d is called the damped
natural frequency of the system and
is equal to:
d  n 1   2
The phase angle  as shown in the
figure is given by:
  cos 1 
1 1
  1.048 d  n 1   2  20 1  0.32  19.08
1  2
1  0.3 2

n  6   cos1   cos1 0.3  72.540  1.27 rad

Substitute in the above equation, the unit step or transient response is given by:
 
e  n t sin(d t   )  u (t )  1  1.048e 6 t sin(19.08 t  1.27) u (t )
1
c(t )  1 
 1  2 
 
d) The rise time, tr, is given by:
     1.27
tr    0.095 sec
d 19.8
The time constant,  is given by:
tr 0.095
   0.023 sec
2.2 2.2
The peak time, tP is given by:
 
tp    0.159 sec
 d 19.8
The settling time, ts is given by:

MIU GEE338 Problem Set #3 Solution Page 5 of 11

 3 4
t s 5%  3   3x0.167  0.5 sec t s 2%  4   4 x0.167  0.668 sec
n n
The Percentage Overshoot, PO is given by:
 0..3
 
1 2
P.O  e x100%  e 1032
x100%  37.23%

A typical time response of a second-order under damped system is shown in the following
figure.

Part iv)
625
a) Compare with the standard equation we have: G( s) 
s  625
2

C ( s) n2

R( s) s 2  2n s  n2

  625 2  n  0 K  n  625 gives   25  0 and K  1

2 2
n n

b) Since (ξ = 0) the system is undamped.

c) With unit step input, its response is:
625 625 1 s
C ( s )  R( s )T ( s )     2
s ( s  625) s ( s  25 ) s s  252
2 2

Take inverse Laplace transform the output response, c(t) is given by:
c(t )  L1{C (s)}  1  sin(n t )u(t )
d) The time constant,  is given by:   1 /  n  1 / 0  0.0 sec
The rise time, tr is given by: tr  2.2  0.0 sec
The settling time, ts is given by: t s  3  0.0 sec for  5% t s  4  0.0 sec for  2%

MIU GEE338 Problem Set #3 Solution Page 6 of 11

The output response, c(t) is shown in the
following figure.

Behavior of an undamped second order system.

Question #2.4 [HW]
For each of the following system do the following:
a) Calculate the natural frequency (n) and the damping ratio ().
b) Determine the type of the system response.
c) Calculate and plot the unit step or transient response.
d) Calculate the time constant, , rise time, tr, peak time, tP, settling time, ts and the
Percentage Overshoot, PO.

361 100
i) T ( s)  ii) T ( s) 
s  16s  361
2
s  15s  100
2

Solution
As done in Question #2.3

Question #2.5
For the system shown in Fig. 2.4, find the steady state errors for the following inputs:
a) r(t) = 5 u(t) b) r(t) = 5t u(t) c) r(t) = 5t2 u(t)

Fig. 2.5 Feedback control system

Solution
R (s ) E (s ) C (s )
The system error is equal to: G (s )

H (s )
G ( s) H ( s) 1
E ( s)  R( s)  C ( s) H ( s)  R( s)  R( s)  R( s)
1  G ( s) H (s) 1  G ( s) H ( s)
By application of final value theorem the steady state error is:
sR ( s )
ess  lim e(t )  lim sE ( s )  lim
t  s 0 s 0 1  G ( s ) H ( s )

a) r(t) = 5 u(t)  R(s) = 5 / s

MIU GEE338 Problem Set #3 Solution Page 7 of 11

 sR ( s ) s 5 5 5
ess  lim  lim    0.238
s 0 1  G ( s ) H ( s ) s 0 120( s  2) s 120x 2 21
1 ) 1
( s  3)( s  4) 3x 4
b) r(t) = 5 tu(t)  R(s) = 5 / s 2

sR ( s) s 5 5 5
ess  lim  lim   
s 0 1  G ( s ) H ( s ) 120( s  2) s
s 0 2
120x 2 0  0
1 ) ss
( s  3)( s  4) 3x 4
c) r(t) = 5 t2 u(t)  R(s) = (5 x 2 !) / s3 = 10 / s3
sR ( s) s 10 10 10
ess  lim  lim   
s 0 1  G ( s ) H ( s ) s 0 120( s  2) s 3
120x 2 0
1 ) s2  s2
( s  3)( s  4) 3x 4
Another Solution
Static Position Error Constant Kp  [Step-error] r (t )  Au (t )
sR ( s ) s A A
ess  lim  lim 
s0 1  G ( s ) H ( s ) s0 1  G ( s ) H ( s ) s 1  lim G ( s ) H ( s )
s0
K p  lim G( s) H ( s) A
s 0 ess 
1 K p

Static Velocity Error Constant Kv  [Ramp-error] r (t )  Atu (t )

sR ( s ) s A A
ess  lim  lim  lim
s 0 1  G ( s ) H ( s ) s 0 1  G ( s ) H ( s ) s 2 s 0 sG ( s ) H ( s )

K v  lim sG ( s) H ( s) A
s 0 ess 
Kv

Static Acceleration Error Constant Ka  [Parabolic-error] r (t )  A t / 2 u (t )  2


sR ( s ) s A A
ess  lim  lim  lim
s0 1  G ( s ) H ( s ) s0 1  G ( s ) H ( s ) s 3 s0 s 2G ( s ) H ( s )

K a  lim s 2G( s) H ( s) ess 

A
s 0
Ka

Summary of steady-state errors

MIU GEE338 Problem Set #3 Solution Page 8 of 11

The system type 0
For step input:
1
ess 
1 K p K p  lim G( s) H ( s)
s 0

120( s  2) 120(2)
K p  lim G ( s ) H ( s )  lim   20
s 0 s 0 ( s  3)( s  4) (3)(4)
A 5
ess    0.238
1  K p 1  20
For ramp input:
ess  
For parabolic input:
ess  

Question #2.6 [HW]

For the system shown in Fig. 2.6, find the steady state errors for the following inputs:
a) r(t) = 5 u(t) b) r(t) = 5t u(t) c) r(t) = 5t2 u(t)

Fig. 2.6 Feedback control system

Solution
The system type 1
For step input:
ess  0
For ramp input:
A K v  lim sG ( s) H ( s)
ess  s 0
Kv
100( s  2)( s  6) 100(2)(6)
K v  lim sG ( s ) H ( s )  lim s   100
s 0 s 0 s ( s  3)( s  4) (3)(4)
A 5
ess    0.05
K v 100
For parabolic input:
ess  

MIU GEE338 Problem Set #3 Solution Page 9 of 11

Question #2.7
For each system of Fig. 2.7, evaluate the static error constants and find the expected error
for the standard step, ramp and parabolic inputs.

(a)

(b)

Fig. 2.7 Feedback control system

Solution
a) The system type 0
For step input:
1
ess 
1 K p K p  lim G( s) H ( s)
s 0

500( s  2)( s  5) 500(2)(5) 125

K p  lim G ( s ) H ( s )  lim    5.208
s 0 s 0 ( s  8)( s  10)( s  12) (8)(10)(12) 24
A 5
ess    0.161
1  K p 1  5.208
For ramp input:
ess  
For parabolic input:
ess  
b) The system type 1
For step input:
ess  0
For ramp input:
A K v  lim sG ( s) H ( s)
ess  s 0
Kv
500( s  2)( s  5)( s  6) 500(2)(5)(6)
K v  lim sG ( s ) H ( s )  lim s   31.25
s 0 s 0 s ( s  8)( s  10)( s  12) (8)(10)(12)
A 5
ess    0.16
K v 31.25
For parabolic input:
ess  

MIU GEE338 Problem Set #3 Solution Page 10 of 11

Question #2.8 [HW]
Repeat Question #2.7 for the control system shown in Fig. 2.8.

Fig. 2.8 Feedback control system

Solution
The system type 2
For step input:
ess  0
For ramp input:
ess  0
For parabolic input:
A
ess  K a  lim s 2G( s) H ( s)
Ka s 0

500( s  2)( s  4)( s  5)( s  6)( s  7) 500(2)(4)(5)(6)(7)

K a  lim s 2G ( s ) H ( s )  lim s 2   875
s 0 s 0 s 2 ( s  8)( s  10)( s  12) (8)(10)(12)
A 5
ess    5.71x103
K v 875

MIU GEE338 Problem Set #3 Solution Page 11 of 11