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(Autonomous Institution – UGC, Govt. of India)

Recognized under 2(f) and 12 (B) of UGC ACT 1956
(Affiliated to JNTUH, Hyderabad, Approved by AICTE ­ Accredited by NBA & NAAC – ‘A’ Grade ­ ISO 9001:2015 Certified)
Maisammaguda, Dhulapally (Post Via. Kompally), Secunderabad – 500100, Telangana State, India
MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY

II Year [Link]. EEE­II Sem L T/P/D C
3 1/ ­ /­ 3
(R18AO209) CONTROL SYSTEMS
COURSE OBJECTIVES: The main objectives of the course are:
Introduce the principles and applications of linear control systems and Laplace
transform.
The basic concepts of block diagram reduction, transfer function representation, time
response and time domain analysis, solutions to linear time invariant systems.
Study and analyze the different methods of stability analysis.

UNIT ­ I:
Introduction: Concept of control system, Classification of control systems ­ Open loop and
closed loop control systems, Differences, Examples of control systems­ Effects of feedback,
Feedback Characteristics.
Transfer Function Representation: Block diagram algebra, Determining the Transfer function
from Block Diagrams, Signal flow graphs(SFG) ­ Reduction using Mason’s gain formula­
Transfer function of SFG’s.
UNIT ­ II:
Time Response Analysis: Standard test signals, Time response of first order systems,
Characteristic Equation of Feedback control systems, Transient response of second order
systems ­ Time domain specifications, Steady state response, Steady state errors and error
[Link] controllers: Effects of proportional derivative, proportional integral systems on
steady state error.
UNIT ­ III:
Stability Analysis in S­Domain: The concept of stability – Routh­Hurwitz’s stability criterion –
qualitative stability and conditional stability – Limitations of Routh­Hurwitz’s stability.
Root Locus Technique: Concept of root locus ­ Construction of root locus, Effects of adding
poles and zeros to G(s) H(s) on the root loci.
UNIT ­ IV:
Frequency Response Analysis: Introduction, Frequency domain specifications, Bode plot
diagrams­Determination of Phase margin and Gain margin, Stability analysis from Bode
plots, Polar plots.
UNIT ­ V:
State Space Analysis of Continuous Systems: Concepts of state, state variables and state
model, Derivation of state models from block diagrams, Diagonalization, Solving the time
invariant state equations, State Transition Matrix and it’s properties, Concepts of
Controllability and Observability.
TEXT BOOKS:
1. Control Systems Engineering ­ I. J. Nagrath and M. Gopal, New Age International (P)
Limited, Publishers.
2. Control Systems ­ A. Ananad Kumar, PHI.
3. Control Systems Engineering by A. Nagoor Kani, RBA Publications.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

REFERENCE BOOKS:
1. Control Systems Theory and Applications ­ S. K. Bhattacharya, Pearson.
2. Control Systems Engineering ­ S. Palani, TMH.
3. Control Systems ­ N. K. Sinha, New Age International (P) Limited Publishers.
4. Control Systems by [Link] Saeed, KATSON BOOKS.
5. Solutions and Problems of Control Systems by A.K. Jairath, CBS Publishers.

COURSE OUTCOMES: After going through this course the student gets
A thorough knowledge on open loop and closed loop control systems, concept of
feedback in control systems.
Understanding of transfer function representation through block diagram algebra and
signal flow graphs.
Time response analysis of different order systems through their characteristic
equation.
Time domain specifications, stability analysis of control systems in s­domain through­
H criteria.
Root locus techniques, frequency response analysis through Bode diagrams and Polar
plots.

CONTROL SYSTEMS
Examples − Traffic lights control system, washing machine

Traffic lights control system is an example of control system. Here, a sequence of input
signal is applied to this control system and the output is one of the three lights that will be
on for some duration of time. During this time, the other two lights will be off. Based on the
traffic study at a particular junction, the on and off times of the lights can be determined.
Accordingly, the input signal controls the output. So, the traffic lights control system
operates on time basis.

Classification of Control Systems

Based on some parameters, we can classify the control systems into the following ways.

Continuous time and Discrete-time Control Systems

Control Systems can be classified as continuous time control systems and discrete
time control systems based on the type of the signal used.

In continuous time control systems, all the signals are continuous in time. But,
in discrete time control systems, there exists one or more discrete time signals.

SISO and MIMO Control Systems

Control Systems can be classified as SISO control systems and MIMO control systems
based on the number of inputs and outputs present.

SISO (Single Input and Single Output) control systems have one input and one output.
Whereas, MIMO (Multiple Inputs and Multiple Outputs) control systems have more
than one input and more than one output.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Open Loop and Closed Loop Control Systems

Control Systems can be classified as open loop control systems and closed loop control
systems based on the feedback path.

In open loop control systems, output is not fed­back to the input. So, the control action is
independent of the desired output.

The following figure shows the block diagram of the open loop control system.

Here, an input is applied to a controller and it produces an actuating signal or controlling

signal. This signal is given as an input to a plant or process which is to be controlled. So, the
plant produces an output, which is controlled. The traffic lights control system which we
discussed earlier is an example of an open loop control system.

In closed loop control systems, output is fed back to the input. So, the control action is
dependent on the desired output.

The following figure shows the block diagram of negative feedback closed loop control
system.

The error detector produces an error signal, which is the difference between the input and
the feedback signal. This feedback signal is obtained from the block (feedback elements) by
considering the output of the overall system as an input to this block. Instead of the direct
input, the error signal is applied as an input to a controller.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

So, the controller produces an actuating signal which controls the plant. In this combination,
the output of the control system is adjusted automatically till we get the desired response.
Hence, the closed loop control systems are also called the automatic control systems. Traffic
lights control system having sensor at the input is an example of a closed loop control system.

The differences between the open loop and the closed loop control systems are mentioned
in the following table.

If either the output or some part of the output is returned to the input side and utilized as
part of the system input, then it is known as feedback. Feedback plays an important role in
order to improve the performance of the control systems. In this chapter, let us discuss the
types of feedback & effects of feedback.

Types of Feedback
There are two types of feedback −

Positive feedback
Negative feedback
Positive Feedback
The positive feedback adds the reference input, R(s)R(s) and feedback output. The following
figure shows the block diagram of positive feedback control system

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

he concept of transfer function will be discussed in later chapters. For the time being,
consider the transfer function of positive feedback control system is,

Where,

T is the transfer function or overall gain of positive feedback control system.

G is the open loop gain, which is function of frequency.
H is the gain of feedback path, which is function of frequency.

Negative Feedback
Negative feedback reduces the error between the reference input, R(s)R(s) and system
output. The following figure shows the block diagram of the negative feedback control
system.

Transfer function of negative feedback control system is,

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Where,

T is the transfer function or overall gain of negative feedback control system.

G is the open loop gain, which is function of frequency.
H is the gain of feedback path, which is function of frequency.
The derivation of the above transfer function is present in later chapters.
Effects of Feedback
Let us now understand the effects of feedback.

Effect of Feedback on Overall Gain

From Equation 2, we can say that the overall gain of negative feedback closed loop
control system is the ratio of 'G' and (1+GH). So, the overall gain may increase or
decrease depending on the value of (1+GH).

If the value of (1+GH) is less than 1, then the overall gain increases. In this case, 'GH'
value is negative because the gain of the feedback path is negative.

If the value of (1+GH) is greater than 1, then the overall gain decreases. In this case,
'GH' value is positive because the gain of the feedback path is positive.

In general, 'G' and 'H' are functions of frequency. So, the feedback will increase the overall
gain of the system in one frequency range and decrease in the other frequency range.

Effect of Feedback on Sensitivity

Sensitivity of the overall gain of negative feedback closed loop control system (T) to the
variation in open loop gain (G) is defined as

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

So, we got the sensitivity of the overall gain of closed loop control system as the reciprocal
of (1+GH). So, Sensitivity may increase or decrease depending on the value of (1+GH).

If the value of (1+GH) is less than 1, then sensitivity increases. In this case, 'GH' value
is negative because the gain of feedback path is negative.

If the value of (1+GH) is greater than 1, then sensitivity decreases. In this case, 'GH'
value is positive because the gain of feedback path is positive.

In general, 'G' and 'H' are functions of frequency. So, feedback will increase the sensitivity of
the system gain in one frequency range and decrease in the other frequency range.
Therefore, we have to choose the values of 'GH' in such a way that the system is insensitive
or less sensitive to parameter variations.

Effect of Feedback on Stability

A system is said to be stable, if its output is under control. Otherwise, it is said to be
unstable.
In Equation 2, if the denominator value is zero (i.e., GH = ­1), then the output of the
control system will be infinite. So, the control system becomes unstable.
Therefore, we have to properly choose the feedback in order to make the control system
stable.
Effect of Feedback on Noise
To know the effect of feedback on noise, let us compare the transfer function relations with
and without feedback due to noise signal alone.

Consider an open loop control system with noise signal as shown below.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

The control systems can be represented with a set of mathematical equations known
as mathematical model. These models are useful for analysis and design of control systems.
Analysis of control system means finding the output when we know the input and

CONTROL SYSTEMS
MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

mathematical model. Design of control system means finding the mathematical model when
we know the input and the output.

The following mathematical models are mostly used.

Differential equation model

Transfer function model
State space model

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

TRANSFER FUNCTION REPRESENTATION

Block Diagrams

Block diagrams consist of a single block or a combination of blocks. These are used to
represent the control systems in pictorial form.

Basic Elements of Block Diagram

The basic elements of a block diagram are a block, the summing point and the take­off point.
Let us consider the block diagram of a closed loop control system as shown in the following
figure to identify these elements.

The above block diagram consists of two blocks having transfer functions G(s) and H(s). It is
also having one summing point and one take­off point. Arrows indicate the direction of the
flow of signals. Let us now discuss these elements one by one.

Block
The transfer function of a component is represented by a block. Block has single input and
single output.

The following figure shows a block having input X(s), output Y(s) and the transfer function
G(s).

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Summing Point
The summing point is represented with a circle having cross (X) inside it. It has two or more
inputs and single output. It produces the algebraic sum of the inputs. It also performs the
summation or subtraction or combination of summation and subtraction of the inputs based
on the polarity of the inputs. Let us see these three operations one by one.

The following figure shows the summing point with two inputs (A, B) and one output (Y).
Here, the inputs A and B have a positive sign. So, the summing point produces the output, Y
as sum of A and B i.e. = A + B.

The following figure shows the summing point with two inputs (A, B) and one output (Y).
Here, the inputs A and B are having opposite signs, i.e., A is having positive sign and B is
having negative sign. So, the summing point produces the output Y as the difference of A
and B i.e

Y = A + (­B) = A ­ B.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

The following figure shows the summing point with three inputs (A, B, C) and one output (Y).
Here, the inputs A and B are having positive signs and C is having a negative sign. So, the
summing point produces the output Y as

Y = A + B + (−C) = A + B − C.

Take­off Point
The take­off point is a point from which the same input signal can be passed through more
than one branch. That means with the help of take­off point, we can apply the same input
to one or more blocks, summing [Link] the following figure, the take­off point is used to
connect the same input, R(s) to two more blocks.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

In the following figure, the take­off point is used to connect the output C(s), as one of the
inputs to the summing point.

Block diagram algebra is nothing but the algebra involved with the basic elements of the
block diagram. This algebra deals with the pictorial representation of algebraic equations.

Basic Connections for Blocks

There are three basic types of connections between two blocks.

Series Connection
Series connection is also called cascade connection. In the following figure, two blocks
having transfer functions G1(s)G1(s) and G2(s)G2(s) are connected in series.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

That means we can represent the series connection of two blocks with a single block. The
transfer function of this single block is the product of the transfer functions of those two
blocks. The equivalent block diagram is shown below.

Similarly, you can represent series connection of ‘n’ blocks with a single block. The transfer
function of this single block is the product of the transfer functions of all those ‘n’ blocks.

Parallel Connection
The blocks which are connected in parallel will have the same input. In the following figure,
two blocks having transfer functions G1(s)G1(s) and G2(s)G2(s) are connected in parallel.
The outputs of these two blocks are connected to the summing point.

That means we can represent the parallel connection of two blocks with a single block. The
transfer function of this single block is the sum of the transfer functions of those two blocks.
The equivalent block diagram is shown below.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Similarly, you can represent parallel connection of ‘n’ blocks with a single block. The transfer
function of this single block is the algebraic sum of the transfer functions of all those ‘n’
blocks.

Feedback Connection
As we discussed in previous chapters, there are two types of feedback — positive feedback
and negative feedback. The following figure shows negative feedback control system. Here,
two blocks having transfer functions G(s)G(s) and H(s)H(s) form a closed loop.

Therefore, the negative feedback closed loop transfer function is :

This means we can represent the negative feedback connection of two blocks with a single
block. The transfer function of this single block is the closed loop transfer function of the
negative feedback. The equivalent block diagram is shown below.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Similarly, you can represent the positive feedback connection of two blocks with a single
block. The transfer function of this single block is the closed loop transfer function of the
positive feedback, i.e.,

Block Diagram Algebra for Summing Points

There are two possibilities of shifting summing points with respect to blocks −

Shifting summing point after the block

Shifting summing point before the block
Let us now see what kind of arrangements need to be done in the above two cases one by
one.

Shifting the Summing Point before a Block to after a Block

Consider the block diagram shown in the following figure. Here, the summing point is present
before the block.

The output of Summing point is

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Compare Equation 1 and Equation 2.

The first term ‘G(s)R(s)′‘G(s)R(s)′ is same in both the equations. But, there is difference in the
second term. In order to get the second term also same, we require one more block G(s)G(s).
It is having the input X(s)X(s) and the output of this block is given as input to summing point
instead of X(s)X(s). This block diagram is shown in the following figure.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Compare Equation 3 and Equation 4,

The first term ‘G(s)R(s)′ is same in both equations. But, there is difference in the second term.
In order to get the second term also same, we require one more block 1/G(s). It is having the
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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

input X(s) and the output of this block is given as input to summing point instead of X(s). This
block diagram is shown in the following figure.

Block Diagram Algebra for Take­off Points

There are two possibilities of shifting the take­off points with respect to blocks −

Shifting take­off point after the block

Shifting take­off point before the block
Let us now see what kind of arrangements is to be done in the above two cases, one by one.

Shifting a Take­off Point form a Position before a Block to a position after the Block
Consider the block diagram shown in the following figure. In this case, the take­off point is
present before the block.

When you shift the take­off point after the block, the output Y(s) will be same. But, there is
difference in X(s) value. So, in order to get the same X(s) value, we require one more

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

block 1/G(s). It is having the input Y(s) and the output is X(s) this block diagram is shown in
the following figure.

Shifting Take­off Point from a Position after a Block to a position before the Block
Consider the block diagram shown in the following figure. Here, the take­off point is present
after the block.

When you shift the take­off point before the block, the output Y(s) will be same. But, there
is difference in X(s) value. So, in order to get same X(s) value, we require one more block G(s)
It is having the input R(s) and the output is X(s). This block diagram is shown in the following
figure.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

The concepts discussed in the previous chapter are helpful for reducing (simplifying) the
block diagrams.

Block Diagram Reduction Rules

Follow these rules for simplifying (reducing) the block diagram, which is having many blocks,
summing points and take­off points.

Rule 1 − Check for the blocks connected in series and simplify.

Rule 2 − Check for the blocks connected in parallel and simplify.
Rule 3 − Check for the blocks connected in feedback loop and simplify.
Rule 4 − If there is difficulty with take­off point while simplifying, shift it towards right.
Rule 5 − If there is difficulty with summing point while simplifying, shift it towards left.
Rule 6 − Repeat the above steps till you get the simplified form, i.e., single block.
Note − The transfer function present in this single block is the transfer function of the overall
block diagram.

Note − Follow these steps in order to calculate the transfer function of the block diagram
having multiple inputs.

Step 1 − Find the transfer function of block diagram by considering one input at a
time and make the remaining inputs as zero.
Step 2 − Repeat step 1 for remaining inputs.
Step 3 − Get the overall transfer function by adding all those transfer functions.

The block diagram reduction process takes more time for complicated systems because; we
have to draw the (partially simplified) block diagram after each step. So, to overcome this
drawback, use signal flow graphs (representation).

Block Diagram Reduction­ Summary

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

1.
.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

[Link] the transfer function Y(s)/R(s).

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

3. Determine the transfer function Y2(s)/R1(s).

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Signal Flow Graph

Signal flow graph is a graphical representation of algebraic equations. In this chapter, let us
discuss the basic concepts related signal flow graph and also learn how to draw signal flow
graphs.

Basic Elements of SignalFlow Graph

Nodes and branches are the basic elements of signal flow graph.

Node
Node is a point which represents either a variable or a signal. There are three types of nodes
— input node, output node and mixed node.

Input Node − It is a node, which has only outgoing branches.

Output Node − It is a node, which has only incoming branches.
Mixed Node − It is a node, which has both incoming and outgoing branches.
Example
Let us consider the following signal flow graph to identify these nodes.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Branch
Branch is a line segment which joins two nodes. It has both gain and direction. For example,
there are four branches in the above signal flow graph. These branches have gains of a, b,
c and ­d.

Construction of Signal Flow Graph

Let us construct a signal flow graph by considering the following algebraic equations −

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Conversion of Block Diagrams into Signal Flow Graphs

Follow these steps for converting a block diagram into its equivalent signal flow graph.

Represent all the signals, variables, summing points and take­off points of block
diagram as nodes in signal flow graph.

Represent the blocks of block diagram as branches in signal flow graph.

Represent the transfer functions inside the blocks of block diagram as gains of the
branches in signal flow graph.

Connect the nodes as per the block diagram. If there is connection between two
nodes (but there is no block in between), then represent the gain of the branch as
one. For example, between summing points, between summing point and takeoff
point, between input and summing point, between take­off point and output.

Example
Let us convert the following block diagram into its equivalent signal flow graph.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Represent the input signal R(s) and output signal C(s) of block diagram as input
node R(s) and output node C(s) of signal flow graph.
Just for reference, the remaining nodes (y1 to y9) are labeled in the block diagram. There are
nine nodes other than input and output nodes. That is four nodes for four summing points,
four nodes for four take­off points and one node for the variable between blocks G1and G2.

The following figure shows the equivalent signal flow graph.

Let us now discuss the Mason’s Gain Formula. Suppose there are ‘N’ forward paths in a signal
flow graph. The gain between the input and the output nodes of a signal flow graph is

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

nothing but the transfer function of the system. It can be calculated by using Mason’s gain
formula.

Mason’s gain formula is

Where,

C(s) is the output node

R(s) is the input node

T is the transfer function or gain between and

Pi is the ith forward path gain

Δ=1−(sum of all individual loop gains) +(sum of gain products of all possible two
nontouching loops)−(sum of gain products of all possible three nontouching loops)
+….
Δi is obtained from Δ by removing the loops which are touching the ith forward path.

Consider the following signal flow graph in order to understand the basic terminology
involved here.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Loop
The path that starts from one node and ends at the same node is known as a loop. Hence, it
is a closed path.

Calculation of Transfer Function using Mason’s Gain Formula

Let us consider the same signal flow graph for finding transfer function.

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Number of forward paths, N = 2.

First forward path is -y1→y2→y3→y4→y5→y6.

First forward path gain, p1
Second forward path is - y1→y2→y3→y5→y6
Second forward path gain, p2
Number of individual loops, L = 5.

Number of two non-touching loops = 2.

First non-touching loops pair is - y2→y3→y2, y4→y5→y4.

Gain product of first non-touching loops pair 1 4
Second non-touching loops pair is - y2→y3→y2, y5→y5.
Gain product of second non-touching loops pair is 15
Higher number of (more than two) non­touching loops are not present in this signal flow
[Link] know,

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Example­1: Determine the transfer function C(s)/R(s).

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Example­2: Determine the transfer function C(s)/R(s).

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

Example­3: Determine the transfer function C(s)/R(s).

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

UNIT­II

TIME RESPONSE ANALYSIS

We can analyze the response of the control systems in both the time domain and the
frequency domain. We will discuss frequency response analysis of control systems in later
chapters. Let us now discuss about the time response analysis of control systems.

What is Time Response?

If the output of control system for an input varies with respect to time, then it is called
the time response of the control system. The time response consists of two parts.

Transient response
Steady state response
The response of control system in time domain is shown in the following figure.

Where,

ctr(t) is the transient response

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MALLA REDDY COLLEGE OF ENGINEERING AND TECHNOLOGY DEPT. OF EEE

css(t) is the steady state response

Transient Response
After applying input to the control system, output takes certain time to reach steady state.
So, the output will be in transient state till it goes to a steady state. Therefore, the response
of the control system during the transient state is known as transient response.

The transient response will be zero for large values of ‘t’. Ideally, this value of ‘t’ is infinity
and practically, it is five times constant.

Mathematically, we can write it as

Steady state Response

The part of the time response that remains even after the transient response has zero value
for large values of ‘t’ is known as steady state response. This means, the transient response
will be zero even during the steady state.

Example

Let us find the transient and steady state terms of the time response of the control system

Here, the second term will be zero as t denotes infinity. So, this is the transient term.
And the first term 10 remains even as t approaches infinity. So, this is the steady state term.
Standard Test Signals
The standard test signals are impulse, step, ramp and parabolic. These signals are used to
know the performance of the control systems using time response of the output.

Unit Impulse Signal

A unit impulse signal, δ(t) is defined as

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So, the unit impulse signal exists only at‘t’ is equal to zero. The area of this signal under small
interval of time around‘t’ is equal to zero is one. The value of unit impulse signal is zero for
all other values of‘t’.

Unit Step Signal

A unit step signal, u(t) is defined as

Following figure shows unit step signal.

So, the unit step signal exists for all positive values of‘t’ including zero. And its value is one
during this interval. The value of the unit step signal is zero for all negative values of‘t’.
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Unit Ramp Signal

A unit ramp signal, r (t) is defined as

So, the unit ramp signal exists for all positive values of‘t’ including zero. And its value
increases linearly with respect to‘t’ during this interval. The value of unit ramp signal is zero
for all negative values of‘t’.

Unit Parabolic Signal

A unit parabolic signal, p(t) is defined as,

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So, the unit parabolic signal exists for all the positive values of‘t’ including zero. And its value
increases non­linearly with respect to‘t’ during this interval. The value of the unit parabolic
signal is zero for all the negative values of‘t’.

In this chapter, let us discuss the time response of the first order system. Consider the
following block diagram of the closed loop control system. Here, an open loop transfer
function, 1/sT is connected with a unity negative feedback.

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Impulse Response of First Order System

Consider the unit impulse signal as an input to the first order system.

So, r(t)=δ(t)
Apply Laplace transform on both the sides.

R(s) =1

Rearrange the above equation in one of the standard forms of Laplace

transforms.

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Applying Inverse Laplace Transform on both the sides,

The unit impulse response is shown in the following figure.

The unit impulse response, c(t) is an exponential decaying signal for positive values of ‘t’ and
it is zero for negative values of ‘t’.

Step Response of First Order System

Consider the unit step signal as an input to first order system.

So, r(t)=u(t)

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On both the sides, the denominator term is the same. So, they will get cancelled by each
other. Hence, equate the numerator terms.

1=A(sT+1)+Bs

By equating the constant terms on both the sides, you will get A = 1.

Substitute, A = 1 and equate the coefficient of the s terms on both the sides.
0=T+B

⇒B=−T

Substitute, A = 1 and B = −T in partial fraction expansion of C(s)

Apply inverse Laplace transform on both the sides.

The unit step response, c(t) has both the transient and the steady state terms.

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The transient term in the unit step response is ­

The steady state term in the unit step response is –

The following figure shows the unit step response

The value of the unit step response, c(t) is zero at t = 0 and for all negative values of t. It is
gradually increasing from zero value and finally reaches to one in steady state. So, the steady
state value depends on the magnitude of the input.

Ramp Responseof First Order System

Consider the unit ramp signal as an input to the first order system.

So, r(t)=t u(t)

Apply Laplace transform on both the sides.

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On both the sides, the denominator term is the same. So, they will get cancelled by each
other. Hence, equate the numerator terms.

By equating the constant terms on both the sides, you will get A = 1.

Substitute, A = 1 and equate the coefficient of the s terms on both the sides.
0=T+B⇒B=−T

Similarly, substitute B = −T and equate the coefficient of s2 terms on both the sides. You will
get C=T2
Substitute A = 1, B = −T and C=T2 in the partial fraction expansion of C(s).

Apply inverse Laplace transform on both the sides.

The unit ramp response, c(t) has both the transient and the steady state terms.

The transient term in the unit ramp response is

The steady state term in the unit ramp response is –

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The figure below is the unit ramp response:

The unit ramp response, c(t) follows the unit ramp input signal for all positive values of t.
But, there is a deviation of T units from the input signal.

Parabolic Response of First Order System

Consider the unit parabolic signal as an input to the first order system.

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Apply inverse Laplace transform on both the sides.

The unit parabolic response, c(t) has both the transient and the steady state terms.

The transient term in the unit parabolic response is

The steady state term in the unit parabolic response is

From these responses, we can conclude that the first order control systems are not stable
with the ramp and parabolic inputs because these responses go on increasing even at infinite
amount of time. The first order control systems are stable with impulse and step inputs
because these responses have bounded output. But, the impulse response doesn’t have
steady state term. So, the step signal is widely used in the time domain for analyzing the
control systems from their responses.

In this chapter, let us discuss the time response of second order system. Consider the
following block diagram of closed loop control system. Here, an open loop transfer
function, ωn2 / s(s+2δωn) is connected with a unity negative feedback.

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The power of ‘s’ is two in the denominator term. Hence, the above transfer function is of the
second order and the system is said to be the second order system.

The characteristic equation is ­

The two roots are imaginary when δ = 0.

The two roots are real and equal when δ = 1.
The two roots are real but not equal when δ > 1.

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The two roots are complex conjugate when 0 < δ < 1.

We can write C(s) equation as,

Where,

C(s) is the Laplace transform of the output signal, c(t)

R(s) is the Laplace transform of the input signal, r(t)

ωn is the natural frequency

δ is the damping ratio.

Follow these steps to get the response (output) of the second order system in the time
domain.

Step Response of Second Order System

Consider the unit step signal as an input to the second order [Link] transform of
the unit step signal is,

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So, the unit step response of the second order system is having damped oscillations
(decreasing amplitude) when ‘δ’ lies between zero and one.

Case 4: δ > 1
We can modify the denominator term of the transfer function as follows −

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Since it is over damped, the unit step response of the second order system when δ > 1 will
never reach step input in the steady state.

Impulse Responseof SecondOrder System

The impulse response of the second order system can be obtained by using any one of these
two methods.

Follow the procedure involved while deriving step response by considering the value
of R(s) as 1 instead of 1/s.
Do the differentiation of the step response.

The following table shows the impulse response of the second order system for 4 cases of
the damping ratio.

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In this chapter, let us discuss the time domain specifications of the second order system. The
step response of the second order system for the underdamped case is shown in the
following figure.

All the time domain specifications are represented in this figure. The response up to the
settling time is known as transient response and the response after the settling time is known
as steady state response.

Delay Time

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It is the time required for the response to reach half of its final value from the zero instant.
It is denoted by tdtd.
Consider the step response of the second order system for t ≥ 0, when ‘δ’ lies between zero
and one.

Rise Time
It is the time required for the response to rise from 0% to 100% of its final value. This is
applicable for the under­damped systems. For the over­damped systems, consider the
duration from 10% to 90% of the final value. Rise time is denoted by tr.

At t = t1 = 0, c(t) = 0.

We know that the final value of the step response is one. Therefore, at t=t2, the value of step
response is one. Substitute, these values in the following equation.

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From above equation, we can conclude that the rise time tr and the damped
frequency ωd are inversely proportional to each other.
Peak Time
It is the time required for the response to reach the peak value for the first time. It is
denoted by tp. At t=tp the first derivate of the response is zero.
We know the step response of second order system for under­damped case is

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From the above equation, we can conclude that the peak time tp and the damped
frequency ωd are inversely proportional to each other.
Peak Overshoot
Peak overshoot Mp is defined as the deviation of the response at peak time from the final
value of response. It is also called the maximum overshoot.

Mathematically, we can write it as

Mp=c(tp) − c(∞)

Where,c(tp) is the peak value of the response, c(∞) is the final (steady state) value of the
response.

At t=tp, the response c(t) is ­

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From the above equation, we can conclude that the percentage of peak overshoot %Mp will
decrease if the damping ratio δ increases.
Settling time
It is the time required for the response to reach the steady state and stay within the specified
tolerance bands around the final value. In general, the tolerance bands are 2% and 5%. The
settling time is denoted by ts.
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The settling time for 5% tolerance band is –

The settling time for 2% tolerance band is –

Where, τ is the time constant and is equal to 1/δωn.

Both the settling time ts and the time constant τ are inversely proportional to the
damping ratio δ.
Both the settling time ts and the time constant τ are independent of the system gain.
That means even the system gain changes, the settling time ts and time
constant τ will never change.
Example
Let us now find the time domain specifications of a control system having the closed loop
transfer function when the unit step signal is applied as an input to this control system.
We know that the standard form of the transfer function of the second order closed loop
control system as

By equating these two transfer functions, we will get the un­damped natural frequency ωn as
2 rad/sec and the damping ratio δ as 0.5.
We know the formula for damped frequency ωd as

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Substitute the above necessary values in the formula of each time domain specification and
simplify in order to get the values of time domain specifications for given transfer function.

The following table shows the formulae of time domain specifications, substitution of
necessary values and the final values

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The deviation of the output of control system from desired response during steady state is
known as steady state error. It is represented as ess. We can find steady state error using
the final value theorem as follows.

Where,

E(s) is the Laplace transform of the error signal, e(t)

Let us discuss how to find steady state errors for unity feedback and non­unity feedback
control systems one by one.

Steady State Errors for Unity Feedback Systems

Consider the following block diagram of closed loop control system, which is having unity
negative feedback.

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The following table shows the steady state errors and the error constants for standard input
signals like unit step, unit ramp & unit parabolic signals.

Where, Kp, Kv and Ka are position error constant, velocity error constant and acceleration
error constant respectively.
Note − If any of the above input signals has the amplitude other than unity, then multiply
corresponding steady state error with that amplitude.

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Note − We can’t define the steady state error for the unit impulse signal because, it exists
only at origin. So, we can’t compare the impulse response with the unit impulse input
as t denotes infinity

We will get the overall steady state error, by adding the above three steady state errors.
ess = ess1+ess2+ess3

⇒ess=0+0+1=1⇒ess=0+0+1=1

Therefore, we got the steady state error ess as 1 for this example.
Steady State Errors for Non­Unity Feedback Systems
Consider the following block diagram of closed loop control system, which is having non unity
negative feedback.

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We can find the steady state errors only for the unity feedback systems. So, we have to
convert the non­unity feedback system into unity feedback system. For this, include one
unity positive feedback path and one unity negative feedback path in the above block
diagram. The new block diagram looks like as shown below.

Simplify the above block diagram by keeping the unity negative feedback as it is. The
following is the simplified block diagram

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This block diagram resembles the block diagram of the unity negative feedback closed loop
control system. Here, the single block is having the transfer function G(s) / [
1+G(s)H(s)−G(s)] instead of G(s).You can now calculate the steady state errors by using
steady state error formula given for the unity negative feedback systems.
Note − It is meaningless to find the steady state errors for unstable closed loop systems. So,
we have to calculate the steady state errors only for closed loop stable systems. This means
we need to check whether the control system is stable or not before finding the steady state
errors. In the next chapter, we will discuss the concepts­related stability.

The various types of controllers are used to improve the performance of control systems. In
this chapter, we will discuss the basic controllers such as the proportional, the derivative and
the integral controllers.

Proportional Controller
The proportional controller produces an output, which is proportional to error signal.

Therefore, the transfer function of the proportional controller is KPKP.

Where,

U(s) is the Laplace transform of the actuating signal u(t)

E(s) is the Laplace transform of the error signal e(t)

KP is the proportionality constant

The block diagram of the unity negative feedback closed loop control system along with the
proportional controller is shown in the following figure.

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Derivative Controller
The derivative controller produces an output, which is derivative of the error signal.

Therefore, the transfer function of the derivative controller is KDs.

Where, KD is the derivative constant.
The block diagram of the unity negative feedback closed loop control system along with the
derivative controller is shown in the following figure.

The derivative controller is used to make the unstable control system into a stable one.

Integral Controller
The integral controller produces an output, which is integral of the error signal.

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Where, KIKI is the integral constant.

The block diagram of the unity negative feedback closed loop control system along with the
integral controller is shown in the following figure.

The integral controller is used to decrease the steady state error.

Let us now discuss about the combination of basic controllers.

Proportional Derivative(PD) Controller

The proportional derivative controller produces an output, which is the combination of the
outputs of proportional and derivative controllers.

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Therefore, the transfer function of the proportional derivative controller is KP+KDs.

The block diagram of the unity negative feedback closed loop control system along with the
proportional derivative controller is shown in the following figure.

The proportional derivative controller is used to improve the stability of control system
without affecting the steady state error.

Proportional Integral (PI) Controller

The proportional integral controller produces an output, which is the combination of outputs
of the proportional and integral controllers.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral controller is shown in the following figure.

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The proportional integral controller is used to decrease the steady state error without
affecting the stability of the control system.

Proportional Integral Derivative(PID) Controller

The proportional integral derivative controller produces an output, which is the combination
of the outputs of proportional, integral and derivative controllers.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral derivative controller is shown in the following figure.

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