fo l<o

1ohee A Rcal ntant

and denetet y.
kaplace tsantfkn of step ip
RCs) =A

Ramp ined: signal Ohich chngu oth time

a slandad inpd
. alko Called
1t

K)

Real Conlanl- 3lope line

ohue A

14 A
=1,
&
called

A
RCS)
2
2
Paabalir gect: en nohch intanlaneeu Value
andand inye sna of he tom an
time
Varis as
a Suase
a time t 0. It aso caled aceluaien
Cnitial Value of
20
inpe. Mathonatially

Aslope At ohae A -
Recl Constant.
ghe koplace daansftn panabolt 9p «
R(s) A
A:1. thm paabelie Sianat is caled snt

An fmpallee tnpat až
Vaue s
caied &functi
Mathmatalty

34 A=1,
noling bud magniade
Note Ihe ase a

RCS)

..A.:
Step

R)= A-l
.tko
o
At
Pvabetie Kt)
t<o

t0
Inpulse
 Cont.c 2alem.
0rde and
foop Cardol tylem
Corsidu a eloed ooj

+6s)

e(s) G(s)
R'S) function and
called charatuetic
equaten . Jhi
aleutd
IGs) Hs)
cauled
charaeterentie
g ver the
S) =o i eaation
it Go)H highut oduge
chaauutit
De and
ddes the Syten:
f Shith nurenato
oles' and [Link] the heguenis
Nete:
-denoniats [Link]
and Na(zeos)
.TR.= DA Cpts)
E;
-. ohen
S=-d

pele and
Kerot e keiporsibie

Remore the
to oop tianfer furetin
G(s) HCs)
"RCS)

poles dauidu the "TyR

%
the Systen
poles ad gin, then
n
the no
it i
sayitem
 (2r) be idntifitd utng tine Cornstant fam Nou

as.
: k (Ta s +1)(1hs *1)
G) 403)

Ohehe K
=
Cors lant
polea ad

ef n in olenomfnala
dlenomfnala poynonial detoler the ype
She Vaue

n1.
and SO on

Nete the pRDER Gs)

Gs)Hcs)
I+G) ttS)
s
TYpR the
and
ces)
(s+ los t39)

Gs) Hs) : 3 K
ehen
Cs°+l3 +39)
Congasing the above ksith

ype- Syten

cleed loo 1F G(s)

I+ Gs)HS) s+0s+39
3K
s²(s³41OS+34)

sS+39s' +3 K.
 chasact uti cquotion.
Now,

oide the &ytem á 5.

Constanli
Stcady State eho and
As oliscussed ealiet steady
hal [Link]
Vanished
ghee ane.
she time laken for the stem [Link] to Hate s
Setting time
called
Houw the ahlal op s
fan
-talled Steady slate cs.
deduslked.
dafoned as the dif blao autual ofp and

Deivation state eso

Corside a eldsed
Rcs)
E) ccs)
)
+
BI9)

Faom k (s)
= Res) -BS)

Bl aç) (s)
BLS)

and C(s) :.„k s) qUs)

RCS) - E(S)GUS) HeS)

=
E(S) RCs)
|+G(s) 4¢)

E) : RIS)
l+4(s)
Sasten
 Nou, fn kne conaln, Steady
ess din ett)

Nou, his can be aelated notth value thesem Ohich.

Slatu hal.
Lim spls)

Rcs)
l+ Gcs) H(S)

1 GCs) {Cs)

+Ve feed back,- lG(s) 4C5).

-Ve fee dback I+ Gs) Hcs)

D
esivatom štatic lest

A c
alesined p
WKT
t<O
Qutual p
.: ReS) A

Css
S0
|+ s) HCs)

ess A A
|+ im Gs)Hcs)
|+kp
AOhere
 ny and A actiol
Ctt)

Al Jhe Sleady slale

dusned

RIS)
Veloity
Kim
(ss 2
A
Kin
Ss) 4s)

A A
Kim SeCS) Hs) Kv
S-0
dim Se(s)HCs) oaled Veloetty
ISheae

3! Refsente pasabalte magniaude A

A
:C.C)... J9 aatilal

Ris)

The: steacy state

Accele ation eso
dim A

Gs) Hcs)
|+
A
lss
kin s's(s)Hs)

Ka

Ka Acteleratian eRr Coeffent

ie ka s im sG(s) Hs)
 o, I and S

1 Ceady state
state eo
tpen yIF G) Hc) K(I4Ta's)Cit Tus)
-
SC41,) (I*7,3)
Steady state
sta ess :
sRis)
im SRS) H(S)
+G(s)

kp: kin Gcs) 4Cs)

A
ss(p) A
nite Value
+k
e29A Can be aeduced.

da ampip ( veloty funcbion)

ess (v) =
A ky: Lim sGs) H«S) =0 .

sydem das not

flloAamp ip any
magtude
and Atch may damage pasanta,
and Cals e Salination in paametis.
Tyre o Sydem

3. Fo parablie Up ( Aceles abion ftp)

ess (a) : A
Ka

egsa) A-oo
S te ady &t ate K e 1 System: ( hdding J! pek at egn)

Type-s. syetem, oen Cop thanfu functorn u,

F G
(s) ICS) - k(I+ta) (1+Tbs).
s(I+ Tis) (14gs+
SRCS)
[Link]
steody I+Gcs)H (S)

Gs) Hs)
ess (p) A in

|ess (p

Ky Lin SG (s) H(S)

Ky
Cim SK fn)
C

8(4n): Sulable
Pinite

Ka
Ka - 0.
Nol Sautable

l ate
-2 Sutem, open Lop TF
+
G (s) (S)
= K (I+ Ta s) ( Tys)
 (la,
ess A kramp

dim G s) H5)

A
Ky : kimsG (s)4)(3) Lin sk (fn)
ess
A =0

3
patalolit essA Ka Ka: kim s´Gs) H().
2.
Ces
A K
Finte
ka =k

..k Ka
SpRampfasatalic...
A
A
K
K
Concluion
Type1 and aboveyteme elao
any magnibde, auteenfudy oth

above

3 ypes and abve panabolie

 Bystem open
Delanine he ype and ode the fltluotng fa sohith
gien
k
S(i+s) ()4 jas) (1430s)
¡) Q(s)H(s) l0o (s )
s(s +5)(s+6)
-
Tbs)+
k (1+Tas) ( 14 - -
CT, S H)4
ScT, S +)

+I0S + Qoos)
84s) (I +a0s

lase Cii) l00(s)

in s.s. 6[*]$J
slandbrd. Bm

30 s(I+0-S S)(It0-1675)
3:
33 (s -)
(4OQ5) (14o-l67 5)
n:
loo (s-) (oo(s )
:lt
g +58) (s )
 TRansiend

A
auk Supten has G cs)
:Ao(S +d) Can
aUedb S(S41) (st)

Detanine
and ii)
(i) 4pe of the s tem

Ksh magnttu de . coffttnli

9 Asange the guen qLs) HS) &n &tandaad fRm

(s) Hs) K(I+ TS) C+s)t

CItTh s)+.
S(I4Tas)
Given G(s) Hs) 4osta)
s (34)xHIt)
do ((40-5s) torgasing thii notthO
& (S-+1)CI40SS)

Kp em ecsHrs) : lin fRo (1H0-53)

sohloetlents ()
Kp lo
Cim
QI0-5S)
ti) Ky: im SG(s) H)=

Qo(It0.53)

Ka -0

Grun magnitude
A
zf
ess =AKy

final 3teady &tate eB

fess 0e
Selved
Moe pAoblems Steady state
Slate eRlo ahe
Rom page Cnuards.
 ,
(15
Trancient Responúe uatys
Thanm ierd kespense paut tke tolat outpud okch
Canns be Sepakaled oud and hene to anatyee E, it neessy to i
caleulade outpct
4olal opd
tolal oct) o the appd tnpecl. Jhei Conitals

Steady tate
slate Value atmg oth transert Aesponue fron the
hugone c (t) Can be analyed

kuponse of ade ylen

Consid the st óder inea cnty fodback Gontasl
Seln
En
i

AOhese Shouon
block diaam
RCS) g(s)

ghe TE 4
qiven"'
cS) |+TS
Res ItGs)HS)

Re)
)
Ccs)=. S(ItTS)
|4TS (4TS)
uing patiol factians.
c Cs) : A +
B
I4T(S)
A(+ TS) +8 cs)
1 A
S=0
T
B
S

|+TS
T auirg invese lapaee
(i)
olp Raporse
 given as,
alip, Ret):1
|- (-e tti)

) skeady sta ec;

Lim e t) e
ls e

,
kauafton (0 siates that. oniially the op Aezporu e cl)

20 and become unty finaty 34 i as han fn the

c) =T
S6-57

63 t CaT)= o865
t=3T C(3T)=645 .13.:.
5
t
T T 3T
cCU
tT
1

a) Unit
J
cts) R)
CCS)
|4TS

Taing (nvae laplaee

T
By Subti buting c vales t. Caltd
ctt)
the' aph shau' hat ekKA es heaohes
deeaebuc od i(p Enaease steady &ati
 SeCond
(9)
Tanstent Rugene 8du Seystemk
ceytem Ohee lock
Conidu du eCncar wty fedbatk
hde
dliogran
RS) K
cos)

cS) SC |+TS)
+K
RAS) Sl+Ts)
SI-+TS)
K
CCS)
R&S) T ( )
CCS)
RCS)

ytem has a tendenuy

Ary: påatal
m

beharia Sytem
m
Cale d damn li ..
the
elcttaat
a atto caled damping Cda) ao eptai,
b
the
to the
heu ruok dominant he omesltior fom
Sytem os ctllals bed slooby.
he
osucelate and
high, the das no
be epon enttal.
also sll
latior
ard
us Called nalual Rg- :

loop ansfe feunetion standasd

Jhe cloed

CCs)
RCS)

Nalial fr deuisles no poles

Jhe kool tauation
 Aa
the app td sinal
ohen
C(S)
RcS) |+ST
A. + B + C
=
CCS) |+ST
sCl+sT)
+Cs
CI+sT) + B S(1+ST)
A
s'((+ ST)
2
A (I+ST) Bg ((+ST) +Cs
Const anl, thu stls,
Rauat'ng
= A
1
Euatng coeffüentt

A(1) + B

t.+B B=T
Eauatng
of
BT+ C Bt B=T

C cS)
= -T(s)
|+ST
ui the tme egpone
ct) =
t- T+Te ytem

ct)
 Congatg denominatas
and , K

and n=

Now, eau ation an

Can be Represented a ,ghon
cAs)
ReS

Austorse dupends
Tine
nd danped syaten
Case
ndarrpod

>1 darped (0

9hen 0,
endampe d Sytemn. appled f
Ccs) as
RIS)

+ Bs +C
ccs)
s(s) A
(s+,
+
(Bs+c)s
)
A W
A=|

A( +K) + B+C

B
+C

B -c =
-1
 B+C=-|

B +C-1

Taking taplaee

2
Ces)
RS)
Bs +C
A+

A
=|

S: 1
B+C

B = + en
A=) -C

B=

A-S
s2 CA+B)o A
- B
 2 oen oninala
Acdd and Sutthat middle tn
ton of

8 2

CS)

9heae Nd: OnNi-es catled darped nalihal fy

Reassang'
Ston
(s+
g
........

(s+E1,)
S
Cos wt -ad K
ard eSirt
(S ta} (stab
•Taring tnvee dapaee

Ces
blt

c(t) 11t
.c() =
1-;n
stnast|
and stno: -g
cCt): 1- e
 a
the ime Aparnie deu unde
danyed Sytem
J0here

|brenuse tane Sine i- ) e: tan

Coe
Altange fam
and e tan I

-yont
ctt) |-e t tan

=
t) - ct) bud n) 1 fa enit
KKT. et). -qont
ect) =.|-|| e tan

3) leada state esa

ess

as shuon:

t
 (23)
arienl Regponse
ovwhot/etont
Spetc afiy
Prax
Tolesane
band ta.
3n sleod slates outpat Renatns
19th in
tt
- 34 ad the time
DDeay ting (Td)
heaiiecd fo the. Reporse to reach sof
; final vaue in foat alfempt.

Rise time (T):-- gt š the time

to Ruie tom
Reauied fo the kesporse Value
the final
ovldampd. sy and oto toe fa
tema

un du danped,
Th: -
wd
to Reaeh
3. Peak tine (Tp);
-
7t the. tíme heauiked fa the Aesporke
the
a......N.
hetine at ektch the aeponse nag
pok
oveshood KOAich as alua peak ovshot.
ft See

oty
and dutig
Peas ovehoot(: oveKKheols 8Us
of
taansierl poiod also the anount ; by shich

ett) Tp
-
Mp

(Tg); :-7 u the time keauined fa the aesponse to deceate

and släy oith in speuified per centage
o
firal Vadue ( Tolaance band)
fo tay toeanee band

fR t 5
tolerae 6and.
Doisatin time donan Sqatatin;
Vesla

Time Respornse
ff am dda cundedamped System t.
Sin Cal +0)

at t Tp. e) be coms manimum, hene

nte slepe he
kuiparse anol acotdi manina hebem

=
d
ct) 0
=0

fnwa +0) -e

Sinct+0) tanlwate)

tane :
bd
tan (wab) tan ,
Ac&oling to
.
tigomenaie fonuta
-
tan (n +o) ohee n: I ,3
 + Co7 Sine
an (on 40) =
sin(on +) *
8in
Cos
CT)-o,

S, 0
0

- Sinñ Sino

tan (n +0)
= -
Sino : tano
Conp
bul n= 1 Ovshool )
n71
Tp
f
Sec

keeetlan
ti'me ( Ta)
Desivation Rie 1oo o e finot
tne Keauñed to [Link] to Reach
Jt the the fast attemp.
siasting
Vaue =
cCt)
T 1
-qunt sh(welt o)
root

at t
Sn(wd t+ 0)

Sín (u dt+o) o

Sin ee
because Te s finite.

this equaton =o
Sin lwah)
bu qcce tgmomiy.
sh (n e) t šinoto
+ 6)
be taue
and (6) has
14 6.
 +
sin(n )
Sin (wd Ta )
Th + 9) O
Sin (wd

intatedôn frut atier t n=l.

=
Ta 7-9

Deaivatorm ef oveashort CM aimum Oveshost)

3. of peak ovasho
ctt)
Mp c(Tp)-l

Mp= - sin (aaTp +e)

Bud wKT

)
[" sn (n +o) 3in(

Sine hypot enewse

hypotnse
sint
2
 time
ofp to Seltle dousn onhin ta
14 sthe time aLauihed by the
thleiance band
epnse a gien
f& eunit Sip lp, and sdu tianstent

Stn(dl +o)

-Guht
ErponenBiatly demying ten
Vanihes Copletely
Taansint 8n (udt +o)
stedy state asiival.
hy orstdeng ondy ezpanentiol ton
uš obtained
TE

all olhea teums

ard. ngtirg t at t-Te
fo tolelaneeband

Value

Ts = Ln (o-0&) - 391Q

Tg - 3.412

See
peatiee, Ts

Ioheae time Constar saytem

tsyo tolerance band (45% Bp)

Bec
 Numeicala
A
L0ny fecdbaok Selim
qs) to42346
Delum tne the falacinA nOhen the Syslem as Sebjeted oo a uni
kuncamped

Damph Ratio
nalial a
pean
df peaK tine
Setrg tine
Seln:
the
Sinte thansient
chasactelestic
porue.

tquation cs, , clssed koop funehion.

Congasing.
=
l6

peat -ovnkhoet.p

) Pe ak tine Tp sec
08|||55

s) setlirg time

Unilg feedb aek Contae septem chaaadaigd y an OT

G) Hcs) K
s(SO) the seytem
1oiee have
a

K, Sothat
Detanine the Buptem qain find
K
2atio o'5 this value
(ü)
M

(i) Tp: Liii) (iv)

Suptern ad
Asseume that the
 FOR RErERe NCE OF sTUp tNTS
Kond of Naicals [Link] be
asred:
) Givn open loop TP
G)=
G s) H(s)=l0, f
Tp (iv) % Mp,
Conaol suyntem, delamine () Ts ui) Tas (iii)

Given -he Contkol syem

(Q
CS)

elosed loopteeqnby
Corvetl open loop. to
) =0
|+GjHS)SLandadequahan
- charatuute
hoth
t On" 0, oblain
g'+ ESn Mp
Ts, TA
Suitable fooulas,
jond Tp, =
c)
gam aá given.
o btair Rs)s+aansta;
dia
) df. Blok
Repeatl Ror
sep a
TRanfunehon-.GLH9To) K
[Link]+f.+.k..
Gtven
given Mp, Ta
, calulae Values y
and given
genal. paranetes are as ked)
(th charatekestie equation C(+G(s) Hcs) =0)
Procatue ) oblain tun -0
Son; Corpare botth
o parameli,s+6hs
Obt ain E and on eapkin intum

3) Giren Mpo
Caleulate
Given Td
Obtained n to
5) Substile on euator
3) Geven open loo TP G Cs) HCs) = lo block
s+s+l
dingam, delamine
Pocedus : ) obtain ROS) 2.
2) check i4 ces) ts tn std fom -
RCS)
 14 TF standard fam.
) Tf uŠ
S+53t4
puope
hoctins and obtain ftam f ces)
C
CS) :

Take (nvese
to qet ct.
5) 4 1 4Ž nol in standad fm, ea- cs)
R) 455+4
hen eovad to std fam. s)
RCS)

Repc od om 3tp 3

.
to 23) the auestian be. Corninued as
dednine
Sen; paocecue; ) Folloo a | to 3

2) flom CCs)
ean Corpare denoninali.
th Standad
s o Mp
9) wse approptote famules to find Tds

5. Ree rob 4 in poge On

valuc
6
.
deturnne ae dom an Spufcatna
proredusi ) Take
) lompare aenonirali
torpute Td,Ts p -

Given Mousk spaing diagtam, dedunine

m
Stln:

SS10)
chasactus tie can.
Compoing

K= : 100

Ohae nH in ths ppo blem

bud o- tan ylE" deg.
T
n7-e
tan Vx *
ad

1Oio5

Pean bime HI |·H5cec

loito s

oves hool Mp: xoc)

Peak e
V2 e 0. l6303

doler ance koancl

ime Ts to a!

05X (O
 subiecded to
3.. he seyoe ya Syten
60t
Lot

loop TE Ao dedetntne inde

Closecd
nato syden
.
domped naliuad foy and danytrg

60 -iol
OKT cti)
"Taking daplace

R) S+60
+1o) -Q s(S+bo)
: St60)(s +io) + o2 s(s
s (S +60) (s1o)
.". Ccs)
Ros)
s (s+fos +o0)
RcS)
S tstos b00)

CCS) - 6o0

chasacteaestic eqation s +os +(00-0

sec
 s eCond ohcles seytem RepResented by Tf.
QS)
Ts)
6 to iytem Gnd tut
the
oNn
helelt. ae = 6
oveulhoet
a) Mauum
peak ovshoed : JSec
b) Tine ad

Slate Value
Jhe steady
deunne
QS)

ConpasiA

,,.ob
Given

Ln (o-06) : An

-813
2
(-2&13):
n+4s)
=0.469
+7:915
WKT Tp Ld
Given Tp: Isec
3) ip (oNm t)
Nou given
Js) o
J(S) I+ts tk
s(Tsuts+t)

im SRS)
S0 tGcs)H(S).
statl

Giver
state elp 0-5

wn
2 2

f: to.o3

5. A Sylem has the felaing tranafo funetGion

ccs) =Q0
RCS)
th
Dedamine
to9o inial Condltiers
1) Fo nit
We have
RC3)
-lot

) + B
o(5)
S(S+I0) .
B3
A (s +to)
|OA
 3)
S:-10 B: -2
-lOt7
S
lett) = -e
RCS)
3)
ecs) A B
+C
2
+Bs(S+o)C
&
A CS
+o)
|0A

C(-1o)

cs)"
S

epen lovp funetion e¢ a -Ve feedaek Contasl

6. Jhe taraf oveshcel peat time,
S(s+5)
obtain () Maimuin
bime.
tine
Seln. Gven Gs) Ihe charactexertic aquntian aš ven ay.
S(S45)
but H (s) : 1
I+ 4(s) 4 8) =0
= 0
|+
5 ) +53 +5
S(S45) ongauing 0
)n 5 &ad sec
e
Qwn 5 5 5

o5
 Mantmum ovecu Mp
hot X100

V-o5 o.l603

a) peak tine: 0.7a55Sec

3)
settling bine 6Sec

Rise tine : 9hehe O: tan i-ad.

=0.483 Sec
5 i-(o-5

6. baak. chakastuiga ay on pen Zoep

niyfeed
upten gain ky So that the
Deumine the
SCS 410)
Sagharn -g have olagrg Ratio 0-5 o
th Value of Ko
find
Jhe chaxacteectie eauation ef

K ) S+ 103 + K
0
|+
S(S+0)

60n (0

K: wn2

100
 6)
sec
peak hne p lo V
I-(0-5
0•36

) Sttling irne

ovekshrol
-nxo/-o s)

3 peak
Mp 0.J63

An ny fecdb aak ytem has bpen

lo TF Gu)
.k
s(ST4I)
so that
fout,amyta
Should be miplid
Oa to. 0-8
damging
Costant T Shold be muti plid
the
tie to o. 3.

,
) Buy
ohat acto
nedueed fom o6
So thad the damping Ratidi:
ghe charactertic equatian
Bud Hcs)'=1
1+ Gs) Hs) =0
|+
StST+1)

oth
)

et K= Kj, &
 34)
on Seuating:

k
Sholol be

det T- and
k Conslanl

03.

T
O-3 T Shoutd be mutttplted by dt
Jo reduce fom o.6to

pau
the Suyiun Shour in f Ddumine he
1 Danging Aato and undanped nalisal Aeqy. in the absnee
deutvative fedbaek lazo)
Cort ant ohich oiU enuease danpng to 0.t.
a Cases
3. 0veashoe in above

cs)

Seln hen
ReS) cus)

SSta)
 (3P)

13)= 1
S(S a)
chan adeaes tic

|+8
s (S+3) comgasong

0.353

Case Ci) 19hen a' i paesent

ccs)

s(s+a)
From "fedbaek,
-as SCSta)
|+ 8as
SCS+)
cts)
S2348as
+

chasatuertic equation as

Comp assng oith

Cose úi) oVu shoot.

Ax0-35
Shen k O
35 Mp e Vi-tosr)

shen k: o.1 V-(o.4f

Jhe blot diagam o a sinyle sauD mekanim aun in fio
Dtamie he Vauek K and ? to an Ova hoet
und tine
and b6 tolerance band
RIS)
o(s)
Molo

+TS

Se: Hc)
a
.'. chaiatestic eauation

((4 TS)

VRT

Now e
o15

o5169

Fo peak tne 3 sec, 3sec

K: a : |-495
0.845}
K

PT-o
 (34)

po talaane band
tine

6.32-1 Sec

0.5|69X(da3
5%. olenance band
T :3 fo
Sec
tt55
5169 Xld3

9here 4Outpt and : iput. Detumine al tine donain

Gtven
+.******* ,

Taking daplacr tanitm

atf-y+e8xs)..
8

chanacteutic ieauation s s + 8 =0

oth

0.406
Qxa -83

) Pcax time c. ·5See

-X0.40L

&etling time
0. 4064X9•83
 (HO)
)
) .'. c): Stn (wd t4o)

ehae @e tan i tan- (0.to61) :K2ac.

0.f064
cLt) -07061X Qgt
Vr-otocif Sn(21+4)
:, ca): - -H|e Sin(a tA)

) Jhe block an electhonic

heant bealz pateake f Corndiotng the rate
K-Hdo ,
fs Shoen Assuuning
nty feedhack ard
i) Calulate output ec)

lü) Deeamine K,
ee to a
Should .be 0-0a*

RS)4 cCS)
K
Deuired Stao
heat Paeenake Heost V Aclual heart ale
..ate. ******.

GS) =
k
, HS): 1
s (Sta0)
() cs) sSt0) k 400 [kz koo]
RIS)
|+K
s(S 4a0)

n too KOn
Qo Aad sec
)

QEan &o ) o-5

(os)
sinlat4e)
Sin(1432t4lo)
wto sin ( 14 3a f (-op 1)
 do 4ind tendy 3tat eLo
WKT Ky: kim 8 q(s)HCS) Ain xdst20)
k
Q0

Given Kz hoo

teody glate elo

(i) Shen slate

Ky

0blan upomhe to nit step fnehin

RCS)t
ccs)

TF Ccs)
RCS).

c Cannol
t)
AS
umerato
the
has tun 's', slandord cphanin
eugh the
suystem s Second hole
be uset. th by Subsitauting
we LUse
paxtiod facbons.
.. S+| + B
c(s)
S(s'+2s +) )

+ cst s +1)
A Bs
(S+)+Constanti,
Lauating
A=l

A
-B: d- -(-)
B d-
B=2

Cs) Tosing inveuse (aplare

13
(H
8ame,
obtatn
Calulate RiSa tine, peak oashoot, peak and
se tling tine
.
=
Selr Given H(S) 1,

Cts)
Res) S(S40-6)
|+ 0-Hst|
S(St06)
,
As in umeali the standand enpresion
fu cct) cannot be sed Henee se pautial fations
Fol unit Res) 1.
A, + Bs+C
s(ss)

EQaltng Corstants,: ^ =1
A+B0 >]B-1|

c(s): 1
mnulating
44 to mate. it
cco) (3 +0-6)
(Sto s)+6.e64)'

(s to5)
lCstos)t (o-64) O-&66 (stos) +to-tig
Taking invease laglaee,
-0-5t o.g
Son 66t

net n
hough cs) ihe slandaad fsm, the denominat stil
Reg)
AepResnt
 (t3)

0: tan tan J-o-5)

0 5

.
) Rise time, Ta= -9
066
peax ovashool y Mpe X (00

AXO.5
e.

3) peak tine Tp 3.6Q Sec.

CA) 2 toleranee) H . 8sec

Sctling tine lfe

xLS) and cöt).

F(S)
Ke 35 Nm, B: 15N -fm, M:
20t) and M, K B
the 3 elemens

,
k Soh: AU
ement net)
M
LUnde Same Ciplat
Diffaential equatian

ft): kx Ce)
both Sides,
Tauing [Link]
+ 8S Ks) + k x(s)
Msxs)
XS)
MS+ Bs +k M
 33 B= l5, 1=3
Fo ke

0.33
FS)
3+ 33 s+5s +ll
denominal otth
en 3.3 166 Raalsec
5 5: 5 O.T53

e x00 Vi-o4s

=
Od

ca) : 1..6 Se.c

05X-14
Fe.a feecb agk Contaet

Detenine (() the' Aesporse

at t-p3ee
út) Matmuin Vaeue f the Aegpornse and the time ad
Ohtch tt
ci) time

Sen: Jhe clsed loep TF 1otth tcs) =1,

64
S(s+9-6)
(t6tf
S(S+94)
9ith

9de hon/i-E:
6-H
Aa see
 dt) Agporae unit styp

3in (wd t to)

4.Q5e Sin (6tl +o.9).

i) C
Calculate stn tn aaclian ocle
c Ct)

V -t•8kol
1 -
15 e Sin (6-H to .aa).

3 0408 See
ti) Tp

Manium
H8 X0908
Sin (6tpX0t408 +0.92ta)

3•0948

tine

mas an epaiment Was

damp Sytem han fn F.
to the mas She nepnse
Condueted a foee f a Neotors
sesut
aft) was Kecsded an 24 ploto and the erpuimental
M, YkK, B
as heuan in tg Fthd
9
steadey
K
&tate Valtee
|M1Jact)
Tp2Sec
Mp 18 (xss) = 2
FAom ta. p dsec,
[steady stati Vale.
 Corsumed in movnq
du plocenent 2) k and tet'on B.
dt eauation

Taking kaplaee
11s' + Bs
+ K
M $Xs) + Bs xcs) +KKCS) (s)
3lardaud
F() Ms´+ Bs +k f+B3+k
M

Conpasing

(i) Nou ven

1OKT
An (o18) : ln(e

O.H91

KT
Gven p 2gee
tri)

iven
Given Xg
Xs)

paon fnal Vale

=
Lim Sx() im
 O. 312
-
M (C+34

B 2 B pkM
aVKM KM

B: og66
B: 0535
B= o.5353 K=1
M=031à2,
on
Mehe problems Seady
a Syten veth open
Find Kp, Kv, Ka and steady ctate
function as.
et f
loep
tanfer lo (s ta) (s+3)
-Gcs) # (s):
S(S+1)(S+5) (S ++) RI4) 3 +t+4

kzpaus G3) HS) tn standand fam,

tí) Lim ses)HCS)=

ciii) ka = 3(I+ S/) (I+s/3)

9148) (i+s)CiHS)
Now
Jhe a Standasd inputs.
t<o
tko

l<o pruabslic
a) fo stp 3, the ea t,
A

b)

lssa Ag
Ky 3
panabslic 9 iyet
ess

= k to
Gcc) H(S) Cind lhe-Value
Sytem
s(s+)(S +3)
limit ste acty
Grven ilp
p:
Tt s he Combination step. kanp ard pauabsic
As ponabelic K

(i)

S GS) Hcs)
= dim
don

Ky Ka
|4kp
+ + HO:
1 K,
K

Buut

K
 Coftienli fa unity fedbaek Centhol
De
temine he Static
9hose
open Loop anmfa funebsions aie:
k ii) G): kCIt2s) (r445)
i) Gs)
Ss +Soo) sCst25tio)
444 0 nd the
and unit Ramp
ins
Delanioe
K
() slstatt)(S-d-lj)
K

S(S+ a) ( s-6) T,S) C(Ts) +

KCi+
Congaig (it15S)+
sC+Tas)
,
(to clsed loop aytem
Gs)=kK...
ow to find. oaes,
s(s4 H34200)
K =0

Bder 3
K
kim S(s*eS+D0)

cit) Ky

kin sacs) Cim

ci) ka:

slep iip ess

A_

doo
K
) Gis): k(I+as) (4Hs)
sthao(lt)(t)
Canpaaing KC I+ Tas) (+1, 5)4 -

Now to get ol u, +8 s)
I+ G(s) |+ K(4 S+as
g(stas410)
s+ as
3 + 6KS +
K=0.

(I42s) (C(445)
din Go) +(S)= k
m ketas) (rt4s)
scs+asHo)

3.

: J, 0
 qo)s) = K
nty fecdsack Syalem hs S(s ta) (s+25 t5)
Aamy p, it s sin ed ss FO Pind k

Delemine
: K
2
Seln; Given Gs)
S(s4a) (o tas+5) K

lim SGs) Hs)

(i)

A =l

essc aawp)
tKT, K

Given ess Ko )
K >Kys0
qiven Condition, 50 K< o.
f

[Link]).. 30|S(S+)s+2s +5
K
Ka = (sAÐ)(G445

. ess A
Ka

K
K
CCs)

3hoen in () dentisy k(s)

Syptem
5 he kp, kv,ka
Valecs stale alLe
the
(íi) Cid
) oull ) c)
L(S) I0
Res)
[Link]
 62)
Soln: Sol ving the block oliagam.

E(S)

t+s+ 0)
Commes
n

13}
38

130 c(S)
RLS)

$the block. 3
t+HOs 1
)S)
|

= 10
G cs) los tIo)

G Gs) H CS)
limn
) im =
S0 10 1

10
a) Kaz
S0

Aao fo total es)

RCs) RS)

im S C (s)
stale p ss
100
im