Review of Laplace Transform

Time domain analysis

Assignment

Control systems
Lecture-3 : Time domain analysis

V. Sankaranarayanan

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Outline

Review of Laplace Transform

Time domain analysis

First order system
Second order system
Steady state errors

Assignment

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Review of Complex Function

Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Review of Complex Function

Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
Magnitude of a complex variable is

V. Sankaranarayanan

2 + 2

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Review of Complex Function

Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
Magnitude of a complex variable is
Angle with respect to real axis is

2 + 2

tan1 (/)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Review of Complex Function

Complex Variable
A complex variable has both real and imaginary part variable. It is generally
represented as
s = + j
Complex Function
A complex function G(s) is a function of complex variable s which can be
represented as
G(s) = Gx + jGy
where Gx and Gy is the real and imaginary component respectively.
Magnitude of a complex variable is
Angle with respect to real axis is

2 + 2

tan1 (/)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Laplace Transform-Defination

Defination
The Laplace transform can be defined as

L[f (t)] = F (s) =

f (t)est dt

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Laplace Transform-Defination

Defination
The Laplace transform can be defined as

L[f (t)] = F (s) =

f (t)est dt

f (t) is a function in time such that f (t) = 0 for t < 0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Laplace Transform-Defination

Defination
The Laplace transform can be defined as

L[f (t)] = F (s) =

f (t)est dt

f (t) is a function in time such that f (t) = 0 for t < 0

If the integral exist then F (s) is called as Laplace transform of f(t)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Laplace Transform-Defination

Defination
The Laplace transform can be defined as

L[f (t)] = F (s) =

f (t)est dt

f (t) is a function in time such that f (t) = 0 for t < 0

If the integral exist then F (s) is called as Laplace transform of f(t)
The lower limit 0 allows us to integrate the function prior to origin even if
there is a discontinuity at the origin.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Laplace Transform-Defination

Defination
The Laplace transform can be defined as

L[f (t)] = F (s) =

f (t)est dt

f (t) is a function in time such that f (t) = 0 for t < 0

If the integral exist then F (s) is called as Laplace transform of f(t)
The lower limit 0 allows us to integrate the function prior to origin even if
there is a discontinuity at the origin.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Impulse Function
Impulse function is a special limiting class of pulse function. It can be defined as

g(t) = lim

a0

A
a

=0

for 0 < t < a

for t < 0 and t > a

The height of function is A/a and duration is a. Area under the function is A.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Impulse Function
Impulse function is a special limiting class of pulse function. It can be defined as

g(t) = lim

a0

A
a

for 0 < t < a

=0

for t < 0 and t > a

The height of function is A/a and duration is a. Area under the function is A.
Laplace Transform of impulse function is

L[g(t)] = lim [
a0

= lim

a0

A
(1 eas )]
as
d
A(1 eas )
da
d
(as)
da

As
s
=A
=

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Common Laplace Transform Pairs

SL. No.

f (t)

F (s)

Unit impulse (t)

Unit step u(t)

1
s

1
s2

tn (n = 1, 2, 3..

n!
sn+1

eat

sin t

cos t

V. Sankaranarayanan

1
s+a

s2 + 2
s
s2 + 2

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Laplace Transform Theorems

SL. No.

Theorem

Remark

L[k1 f1 (t) + k2 f2 (t)] = k1 F1 (s) + k2 F2 (s)

Linearity

L[eat f (t)] = F (s + a)

Frequency Shift theorem

L[f (t T )] = esT F (s)

Time Shift theorem

L[

d
f (t)] = sF (s) f (0)
dt
Rt

F (s)
s

L[

L[tf (t)] =

L[f ( at )] = aF (sa)

f (t)dt] =

Differentiation theorem
Integration theorem

dF (s)
ds

V. Sankaranarayanan

Scaling theorem

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Final Value Theorem

Defination
If f (t) and df (t)/dt are Laplace transformable and if limt f (t) exist then

lim f (t) = lim sF (s)

V. Sankaranarayanan

s0

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Initial Value Theorem

Defination
If f (t) and df (t)/dt are Laplace transformable and if lims sF (s) exist then

f (0+) = lim sF (s)

s

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Transfer function

Representation
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Transfer function

Representation
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

m = n - Proper transfer function

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Transfer function

Representation
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

m = n - Proper transfer function

m < n - Strictly proper transfer function

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Transfer function

Representation
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

m = n - Proper transfer function

m < n - Strictly proper transfer function
m > n - Improper transfer function

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Transfer function

Representation
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

m = n - Proper transfer function

m < n - Strictly proper transfer function
m > n - Improper transfer function

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Convolution integral

Convolution
G(s) =

Y (s)
U (s)

g(t )u( )d

y(t) =
0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Convolution integral

Convolution
G(s) =

Y (s)
U (s)

g(t )u( )d

y(t) =
0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Convolution integral

Convolution
G(s) =

Y (s)
U (s)

g(t )u( )d

y(t) =
0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System definitions

Convolution integral
Z

g(t )u( )d

y(t) =
0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System definitions

Convolution integral
t

g(t )u( )d

y(t) =
0

Definition
System is said to be time invariant if
t

Z
y(t)

g(t )u( )d

=
0
t

g( )u(t )d

=
0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System definitions

Convolution integral
t

g(t )u( )d

y(t) =
0

Definition
System is said to be time invariant if
t

Z
y(t)

g(t )u( )d

=
0
t

g( )u(t )d

=
0

Definition
System is said to be CAUSAL if t

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Poles and Zeros

Standard form
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Poles and Zeros

Standard form
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

Poles
Solution to the denominator polynomial called poles
a0 sn + a1 sn1 + . . . + an1 s + an = 0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Poles and Zeros

Standard form
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

Poles
Solution to the denominator polynomial called poles
a0 sn + a1 sn1 + . . . + an1 s + an = 0
Zeros
Solution to the numerator polynomial called zeros
b0 sm + b1 sm1 + . . . + bm1 s + bm = 0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Poles and Zeros

Standard form
G(s) =

b0 sm + b1 sm1 + . . . + bm1 s + bm
a0 sn + a1 sn1 + . . . + an1 s + an

Poles
Solution to the denominator polynomial called poles
a0 sn + a1 sn1 + . . . + an1 s + an = 0
Zeros
Solution to the numerator polynomial called zeros
b0 sm + b1 sm1 + . . . + bm1 s + bm = 0
Pole-Zero format
G(s)

(s + z1 )(s + z2 ) + . . . + (s + zm )
(s + p1 )(s + p2 ) + . . . + (s + pn )

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type and order of the system

Definition
The highest power of the denominator polynomial is defined as order of the system

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type and order of the system

Definition
The highest power of the denominator polynomial is defined as order of the system
Example
First order system
G(s) =
Second order system
G(s) =

V. Sankaranarayanan

1
s+1

s
s2 + 2s + 4

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type and order of the system

Definition
The highest power of the denominator polynomial is defined as order of the system
Example
First order system
G(s) =
Second order system
G(s) =

1
s+1

s
s2 + 2s + 4

Definition
The number of poles located in the origin is defined as type of the system.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type and order of the system

Definition
The highest power of the denominator polynomial is defined as order of the system
Example
First order system
G(s) =
Second order system
G(s) =

1
s+1

s
s2 + 2s + 4

Definition
The number of poles located in the origin is defined as type of the system.
Example
Type 1 system
G(s) =
V. Sankaranarayanan

1
s(s + 2)
Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Impulse

u(t) = lim

t0 0 t0

=0

for 0 < t < t0

for t < 0 and t > t0

u(t)dt = 1
0

U (s) = 1

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Step

u(t) = 1

U (s) =

V. Sankaranarayanan

1
s

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Ramp

u(t) = t

U (s) =

V. Sankaranarayanan

1
s2

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Parabolic

u(t) = t2

U (s) =

V. Sankaranarayanan

1
s3

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - step input

First order system

G(s) =

V. Sankaranarayanan

1
Ts + 1

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - step input

First order system

G(s) =

1
Ts + 1

The output response for a step input

Y (s) = U (s) G(s)
Y (s) =

1
1

s Ts + 1

Y (s) =

1
T

s
Ts + 1

Taking inverse Laplace transform

y(t) = 1 et/T

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - step input

First order system

G(s) =

1
Ts + 1

The output response for a step input

at t = T
Y (s) = U (s) G(s)
Y (s) =

1
1

s Ts + 1

y(T ) = 1 e1 = 0.632
at t = 2T

1
T
Y (s) =
s
Ts + 1
Taking inverse Laplace transform
y(t) = 1 et/T

V. Sankaranarayanan

y(2T ) = 0.865
1
1
dy
|t=0 = et/T =
dt
T
T

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system response - step input

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - ramp input

First order system

G(s) =

V. Sankaranarayanan

1
Ts + 1

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - ramp input

First order system

G(s) =

1
Ts + 1

The output response for a ramp input

Y (s) = U (s) G(s)
Y (s) =
Y (s) =

1
1

s2 T s + 1

T2
1
T
+

2
s
s
Ts + 1

Taking inverse Laplace transform

y(t) = t T + T et/T

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - ramp input

First order system

G(s) =

1
Ts + 1

The output response for a ramp input

Y (s) = U (s) G(s)
Y (s) =
Y (s) =

1
1

s2 T s + 1

T2
1
T
+

2
s
s
Ts + 1

Taking inverse Laplace transform

y(t) = t T + T et/T

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - impulse input

First order system

G(s) =

1
Ts + 1

The output response for a impulse input

Y (s) = U (s) G(s)
Y (s) =

1
Ts + 1

Taking inverse Laplace transform

y(t) =

1 t/T
e
T

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

First order system - impulse input

First order system

G(s) =

1
Ts + 1

The output response for a impulse input

Y (s) = U (s) G(s)
Y (s) =

1
Ts + 1

Taking inverse Laplace transform

y(t) =

1 t/T
e
T

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Second order system

Standard representation
G(s) =

s2

2
n
2
+ 2n + n

n - Natural frequency
- Damping factor
Pole-zero form
2
n
(s + n + jd )(s + n jd )

d = n

p
1 2 - Damped natural frequency

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Second order system - step response

0<<1
Step response
Y (s) =

2
n
(s + n + jd )(s + n jd )s

Partial fraction
s + n
n
1

s
(s + n )2 + d2
(s + n )2 + d2
Taking inverse Laplace transform



y(t) = 1 en t cos d t + p
sin d t
2
1
further


en t
y(t) = 1 p
sin d t + tan1
1 2

V. Sankaranarayanan

Control system

p
1 2 

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Second order system - step response

=1
Step response
Y (s) =

2
n
(s + n )2 s

Taking inverse Laplace transform

y(t) = 1 en t (1 + n t)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Response

Step Response
1.8
1.6

Change in Response
with

1.4

Amplitude

1.2
1
0.8
0.6
0.4
0.2
0

10
Time (seconds)

V. Sankaranarayanan

Control system

15

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Resopnse With Pole Position

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

basic definitions

Delay time td - The delay time is the time required for the response to reach
half of the final value the very first time
Rise time ts - The rise time is the time required for the response to rise from
0 100% of its final value
Peak time tp - The peak time is the time required for the responce to reach
the first peak of the overshot
Maximum overshoot Mp
y(tp ) c()
100%
c()
Settling time ts - Settling time is the time required for the response curve to
reach and stay with in the range about the final value

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Second order step responce

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Time domain specifications

Rise time
tr =

 
1
d
tan1
d
n

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Time domain specifications

Rise time
tr =

 
1
d
tan1
d
n

Peak time
tp =

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Time domain specifications

Rise time
tr =

 
1
d
tan1
d
n

Peak time
tp =

Maximum overshoot


Mp = e

V. Sankaranarayanan

1 2

100%

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Time domain specifications

Rise time
tr =

 
1
d
tan1
d
n

Peak time
tp =

Maximum overshoot


Mp = e

1 2

100%

Settling time
ts =

V. Sankaranarayanan

4
n

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System With Multiple Poles and Zeros

Consider a generalized transfer function

Pi=m
(s zi )
G(s) = k Pi=1
i=n
(s
pi )
i=1
c2
cn
c1
+
+ .... +
if all poles are distinct
=
s p1
s p2
s pn

where c1 , c2 ...cn are the residue of G(s) at pi . So the inclusion of zeros only
afftecting the values of ci .
For poles with multiplicity, partial fraction can be done in similar way with some
change in computation of c.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with Zeros

Consider the step response of the following systems
No Zero
1
s+2
1
y(t) = (1 e2t )
2

G(s) =

U (s) =

1
s

Step Response
0.7

0.6

Amplitude

0.5

0.4

0.3

0.2

0.1

0.5

V. Sankaranarayanan

1.5
Time (seconds)

Control system

2.5

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

With Zero
s+1
s+2
s+1
Y (s) =
s(s + 2)
0.5
0.5
+
=
s
s+2
G(s) =

U (s) =

1
s

y(t) = 0.5 + 0.5e2t

Step Response
1
0.9
0.8

Amplitude

0.7
0.6
0.5
0.4
0.3
0.2
0.1
0

0.5

V. Sankaranarayanan

1.5
Time (seconds)

Control system

2.5

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with Zeros

Response with Zero

Let Y (s) be the response of a system G(s), with unity in the numerator. The
response of (s + a)G(s) is

(s + a)Y (s) = sY (s) + aY (s)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with Zeros

Response with Zero

Let Y (s) be the response of a system G(s), with unity in the numerator. The
response of (s + a)G(s) is

(s + a)Y (s) = sY (s) + aY (s)

First part is the derivative of the original response.
Second part is a scaled version of the original response.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with Zeros

Response with Zero

Let Y (s) be the response of a system G(s), with unity in the numerator. The
response of (s + a)G(s) is

(s + a)Y (s) = sY (s) + aY (s)

First part is the derivative of the original response.
Second part is a scaled version of the original response.
For large value of a a scaled version of original response.
Smaller value of a derivative term will contribue to response.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with Zeros

Response with Zero

Let Y (s) be the response of a system G(s), with unity in the numerator. The
response of (s + a)G(s) is

(s + a)Y (s) = sY (s) + aY (s)

First part is the derivative of the original response.
Second part is a scaled version of the original response.
For large value of a a scaled version of original response.
Smaller value of a derivative term will contribue to response.
For a second order system initial derivative of Y (s) is positive. So a increase
in overshoot is expected.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with Zeros

Response with Zero

Let Y (s) be the response of a system G(s), with unity in the numerator. The
response of (s + a)G(s) is

(s + a)Y (s) = sY (s) + aY (s)

First part is the derivative of the original response.
Second part is a scaled version of the original response.
For large value of a a scaled version of original response.
Smaller value of a derivative term will contribue to response.
For a second order system initial derivative of Y (s) is positive. So a increase
in overshoot is expected.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

System Response with zeros

Example
Consider the following systems
T1 (s) =

4
s2 + 1.2s + 4

4(s + 1)
s2 + 1.2s + 4

T2 (s) =

T3 (s) =

4(s + 15)
15(s2 + 1.2s + 4)

The response of systems are

Step Response
2.5

T1(s)

T2(s)
Amplitude

1.5

T3(s)

0.5

5
Time (seconds)

0.6t

y1 (t) = 1 0.95393e

10

sin (1.9078t + 72.54 )

y2 (t) = 1 e0.6t (cos 1.9078t 1.7820 sin 1.9078t)

y2 (t) = 1 e0.6t (cos 1.9078t + 0.1747 sin 1.9078t)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Concept of Dominant Poles

Consider a system

G(s) =

1
(s + a)(s2 + bs + c)

Impulse response of the system is

y(t) = Aeat +

2nd order response

If a is very far from imaginary axis the exponential responce will die very fast.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Concept of Dominant Poles

Consider a system

G(s) =

1
(s + a)(s2 + bs + c)

Impulse response of the system is

y(t) = Aeat +

2nd order response

If a is very far from imaginary axis the exponential responce will die very fast.
So here the 2nd order poles are dominant and a is a insignificant pole

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Concept of Dominant Poles

Consider a system

G(s) =

1
(s + a)(s2 + bs + c)

Impulse response of the system is

y(t) = Aeat +

2nd order response

If a is very far from imaginary axis the exponential responce will die very fast.
So here the 2nd order poles are dominant and a is a insignificant pole
If the magnitude of a real part of a pole is more than 5 to 10 times the real
part of dominant pole that the pole is considered as insignificant

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Concept of Dominant Poles

Consider a system

G(s) =

1
(s + a)(s2 + bs + c)

Impulse response of the system is

y(t) = Aeat +

2nd order response

If a is very far from imaginary axis the exponential responce will die very fast.
So here the 2nd order poles are dominant and a is a insignificant pole
If the magnitude of a real part of a pole is more than 5 to 10 times the real
part of dominant pole that the pole is considered as insignificant

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Example
Consider the following systems
T1 (s) =

4
s2 + 1.2s + 4

Poles = 0.6 1.9078i

T2 (s) =

4
(s + 1)(s2 + 1.2s + 4)

Poles = 1, 0.6 1.9078i

T3 (s) =

28
(s + 7)(s2 + 1.2s + 4)

Poles = 7, 0.6 1.9078

Step Response
1.4

1.2

Amplitude

0.8
T1(s)
T2(s)

0.6

T3(s)
0.4

0.2

4 Time (seconds)

y1 (t) = 1 0.95393e0.6t sin (1.9078t + 72.54o )

y2 (t) = 1 1.0526et e0.6t (0.5351 sin 1.9078t 0.0526 cos 1.9078)
y3 (t) = 1 0.085e7t e0.6t (0.9103 cos 1.9078t + 0.6153 sin 1.9078t)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Example
Consider the following systems
T1 (s) =

4
s2 + 1.2s + 4

T2 (s) =

Poles = 0.6 1.9078i

4
(s2 + 1.6s + 1)(s2 + 1.2s + 4)

T3 (s) =

Poles = 0.8 0.6, 0.6 1.9078i

400
(s2 + 16s + 100)(s2 + 1.2s + 4)

Poles = 8 6, 0.6 1.9078

Step Response
1.4

1.2

Amplitude

0.8

0.6

T1(s)
T2(s)

0.4

T3(s)

0.2

5
Time (seconds)

y1 (t) = 1 0.95393e0.6t sin (1.9078t + 72.54o )

y2 (t) = 1 e0.8t (1.51 sin 0.6t + 1.314 cos 0.6t) + e0.6t (0.023 sin 1.9078t + 0.314 cos 1.9078t)
y3 (t) = 1 + e8t (0.028 sin 6t 0.067 cos 6t) e0.6t (0.9328 cos 1.9078t + 0.6633 sin 1.9078t)

V. Sankaranarayanan

Control system

10

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Open-loop

G(s) =

V. Sankaranarayanan

Y (s)
U (s)

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Closed-loop system

G(s) =

V. Sankaranarayanan

Y (s)
U (s)

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Closed-loop system

G(s) =

Y (s)
U (s)

C(s)
G(s)
=
R(s)
1 + G(s)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Closed-loop system

G(s) =

Y (s)
U (s)

C(s)
G(s)
=
R(s)
1 + G(s)
E(s) =

V. Sankaranarayanan

R(s)
1 + G(s)

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Closed-loop with controllers

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =

V. Sankaranarayanan

R(s)
1 + G(s)

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =

R(s)
1 + G(s)

Taking inverse Laplace transform

e(t) =?

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =

R(s)
1 + G(s)

Taking inverse Laplace transform

e(t) =?

when we apply Final value theorem

ess = lim e(t) = lim sE(s)
t

V. Sankaranarayanan

s0

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Error
The main of any closed loop control system is to make the error between the
desired output and the actual output is zero
E(s) =

R(s)
1 + G(s)

Taking inverse Laplace transform

e(t) =?

when we apply Final value theorem

ess = lim e(t) = lim sE(s)
t

s0

Steady state error

ess = lim

s0

V. Sankaranarayanan

sR(s)
1 + G(s)

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 0 system

Type 0 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 0 system

Type 0 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

Step input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim
= lim
=
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+K

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 0 system

Type 0 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

Step input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim
= lim
=
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+K

Ramp input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
= lim 2
= lim
=
s0 s (1 + G(s))
s0 s(1 + G(s))
1 + G(s)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 1 system
Type 1 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

s(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 1 system
Type 1 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

s(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

Step input

ess = lim sE(s) = lim

s0

s0

1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 1 system
Type 1 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

s(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

Step input

ess = lim sE(s) = lim

s0

s0

1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+

Ramp input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim 2
= lim
=
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)
K

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 1 system
Type 1 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

s(Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

Step input

ess = lim sE(s) = lim

s0

s0

1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+

Ramp input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim 2
= lim
=
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)
K

Parabolic input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim 3
= lim 2
= =
s0 s (1 + G(s))
s0 s + s2 G(s)
1 + G(s)
0

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 2 system
Type 2 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

s2 (Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 2 system
Type 2 system
G(s) =

K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)

s2 (Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

Step input

ess = lim sE(s) = lim

s0

s0

1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 2 system
Type 2 system
K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)
s2 (Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

G(s) =

Step input

ess = lim sE(s) = lim

s0

s0

1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+

Ramp input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim 2
= lim
=
=0
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Type 2 system
Type 2 system
K(Tz1 s + 1)(Tz2 s + 1) + . . . (Tzm s + 1)
s2 (Tp1 s + 1)(Tp2 s + 1) + . . . + (Tpn s + 1)

G(s) =

Step input

ess = lim sE(s) = lim

s0

s0

1
sR(s)
s
1
= lim
= lim
=
=0
s0 s(1 + G(s))
s0 1 + G(s)
1 + G(s)
1+

Ramp input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim 2
= lim
=
=0
s0 s (1 + G(s))
s0 s + sG(s)
1 + G(s)

Parabolic input

ess = lim sE(s) = lim

s0

s0

sR(s)
s
1
1
= lim 3
= lim 2
=
s0 s (1 + G(s))
s0 s + s2 G(s)
1 + G(s)
K

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

First order system

Second order system
Steady state errors

Steady state error constants

Type
Type 0 system
Type 1 system
Type 2 system

Step Input
1
1+K

Ramp input

0
0

V. Sankaranarayanan

1
K

Parabolic input

Control system

1
K

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

1. Show that L[tf (t)] =

dF (s)
, where F (s)= L[f (t)]
d(s)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

2. Apply final value theorem to the system transfer function

G(s) =

160s3 + 188s2 + 29s + 1

260s3 + 268s2 + 46s + 2

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

3. Find the steady state error of the unity feedback system shown below to a step
and parabolic inputs.
G(s) =

10
s2 (s + 1)

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

4. Consider the system shown in the figure. If K0 = 0, determine the damping

factor and natural frequency of the system. What is the steady-state error
resulting from unit ramp input?

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

5. Consider the system shown in the figure. Determine the feedback constant K0 ,
which will increase damping factor of the system to 0.6. What is the steady-state
error resulting from unit ramp input with this setting of the feedback constant.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

6. A certain system is described by the differential equation

y + by + 4 = r
Determine the value of b such that Mp to be as small as possible but not greater
than 15%.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

7. Consider the system shown in the figure. Determine the system type.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

8. Consider the system shown in the figure .To yeild 0.1% error in the steady state
to step input find the value of K.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment

9. A unity feedback system is characterized by the open loop transfer function.

G(s) =

1
s(0.5s + 1)(0.2s + 1)

Determine the steady state state errors for the unit step, unit ramp and unit
acceleration inputs. Also determine the damping ratio and natural frequency of
the dominant roots.

V. Sankaranarayanan

Control system

Review of Laplace Transform

Time domain analysis
Assignment

Assignment
10. A speed control system of an armature-controlled dc motor as shown in the
figure . uses the back emf voltage of the motor as a feedback signal. (i) Calculate
the steady-state error of this system to a step input command setting the speed to
a new level. Assume that Ra =La =J=b=1, the motor constant is Km =1, and
Kb =1. (ii) Select a feedback gain for the back emf signal to yield a step response
with an overshoot of 15%.

V. Sankaranarayanan

Control system