CONTROL SYSTEMS
Dr.T.DEVARAJU
PROFESSOR OF EEE GATE CLASSES
Dr. T.Devaraju
Professor of EEE
Sree Vidyanikethan Engineering College
LESSON PLAN
• Introduction to Control systems
• Modeling of Physical systems
• Transfer function - Block diagram reduction Techniques
• Transfer function through Signal flow graph
• Time response of second order systems
• Steady state and Transient analysis
• Time-domain specifications and Static error coefficients.
• Routh-Hurwitz stability, Finding the range of K for stability
• Concepts of state, state variables and state model.
• Derivation of state model from transfer function
• State transition matrix, Properties, determination of STM
• Conversion from SS to TF
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College
DAY-4
• Steady state error and Static error coefficients.
• Routh-Hurwitz stability
• Finding the range of K for stability
Steady state error
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Static Error Constants
The static error constants are figures of merit of control systems.
The higher the constants, the smaller the steady-state error.
In a mechanical system, the output may be the position, velocity,
acceleration.
We shall call the output in a mechanical translational system as
“position,”( or displacement) the rate of change of the output
“velocity,” and so on.
This means that in a system “position” represents the output ,
“velocity” represents the rate of change of the output and so on.
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 6
Static Position Error Constant (Kp)
The steady-state error of the system for a unit-step input is
The static position error constant Kp is defined by
Thus, the steady-state error in terms of the static position error
constant Kp is given by
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 7
Static Position Error Constant (Kp)
For a Type 0 system
For Type 1 or higher order systems
For a unit step input the steady state error ess is
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 8
Static Velocity Error Constant (Kv)
The steady-state error of the system for a unit-ramp input is
The static velocity error constant Kv is defined by
Thus, the steady-state error in terms of the static velocity error
constant Kv is given by
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 9
Static Velocity Error Constant (Kv)
For a Type 0 system
For Type 1 systems
For type 2 or higher order systems
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 10
Static Velocity Error Constant (Kv)
For a ramp input the steady state error ess is
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 11
Static Acceleration Error Constant (Ka)
The steady-state error of the system for parabolic input is
The static acceleration error constant Ka is defined by
Thus, the steady-state error in terms of the static acceleration error
constant Ka is given by
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 12
Static Acceleration Error Constant (Ka)
For a Type 0 system
For Type 1 systems
For type 2 systems
For type 3 or higher order systems
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 13
Static Acceleration Error Constant (Ka)
For a parabolic input the steady state error ess is
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 14
Summary of steady state error
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 15
Example
For the system shown in figure below evaluate the static error
constants and find the expected steady state errors for the standard
step, ramp and parabolic inputs.
100 ( s 2 )( s 5 )
R(S) -
C(S)
s ( s 8 )( s 12 )
2
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 16
Example
100 ( s 2 )( s 5 )
G(s)
s 2 ( s 8 )( s 12 )
K p lim G ( s )
s0 K v lim sG ( s )
s0
100 ( s 2 )( s 5 )
K lim 100 s ( s 2 )( s 5 )
p
s 0 s ( s 8 )( s 12 )
2 Kv lim
2
s0 s ( s 8 )( s 12 )
K p
K v
K lim s 2 G ( s ) 100 s 2 ( s 2 )( s 5 )
a
Ka lim
s0
s0
s ( s 8 )( s 12 )
2
100 ( 0 2 )( 0 5 )
K a 10 . 4
( 0 8 )( 0 12 )
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 17
Example
Kv K 10 .4
a
0
0
0 .09
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 18
The open loop transfer function of unity feedback
system is given by
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Determine the step, ramp and parabolic error coefficients.
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Determine the type of the system and compute the error
constant Kv
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 21
Diagram shown for a pacemaker to control the heart rate.
Determine steady state error for unit ramp input assuming K=400
Determine the value of K if error for ramp input is 0.02
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Comparing with the standard characteristic equation
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 23
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 24
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Generalized error coefficients
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 26
The generalised error coefficients are calculated as follows
Correlation between static and dynamic error constants
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 27
Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 28
Methods to improve Time response
It is necessary for a control system to meet certain specifications
for better performance.
This depends upon the task of a control system is expected to do.
Generally system performance can be improved by any of the
following control methods
1. Proportional control (P)
2. Proportional and derivative control (PD)
3. Proportional plus Integral control (PI)
4. Proportional plus Integral plus Derivative control(PID)
A controller is a device which is introduced in feed back or
forward path of a system to control the steady state and transient
response as per the requirement
