CONTROL SYSTEMS

UNIT - II
REVIEW of UNIT I

Types of Control System

Mathematical modeling of Mechnical, Electrical and
Electromechanical systems

Their Transfer function

Analogous systems
Block diagram representation and its Reduction
Signal Flow Graph representation
What is the use of Transfer function?

It relates system input and output through system

constants and laplace variable.

For some standard inputs, the output of the system

can be determined. Performance and behavior of the
system can be determined via.

Transient analysis ( Time domain analysis) to know the

dynamic behavior of the system, for a change in input

i. time for reaching steady state

ii. Overshoot
iii. time for rising from initial value to
steady state value (speed of response of the
system)
iv. System accuracy

Steady state analysis (Frequency domain analysis) to

know the magnitude and phase angle variation of the
system, for sinusoidal input signal.
 Time domain analysis

The dynamic behavior of a system is judged under application

of standard test signals
an impulse,
a step,
a constant velocity (Ramp), and
constant acceleration (Parabolic).

The output of the system for time domain signal (time

dependent signal) is called as time response.

The time response of any system has two components:

transient response and the steady-state response.
Standard test signals

a) Step signal: r (t ) = Au (t ).
b) Ramp signal: r (t ) = At ; t > 0.
c) Parabolic signal:
r (t ) = At 2 / 2; t > 0.
d) Impulse signal:
r (t ) = d (t ).
What is order and type number of the system?
Open loop transfer function of a system in pole-zero form

( S Z 1 )( S Z 2 ) . . .( S Z m )
G( S ) =
S N ( S P1 )( S P2 ) . . .( S Pn )

Order is the highest power of S term in the denominator

of transfer function.
Order of the system = No.of poles of the system

Type number is the power of integral factor in the

transfer function.
Type number of the system = No.of poles at the origin in
S-plane
 For feedback system with H(S)=1 (unity feedback system)

C(S) G( S )
C.L.T.F =
R( S ) 1 G ( S ) H ( S )

Order is the highest power of S term in the denominator of

transfer function.
i.e. The order of 1 G( S )H ( S ) = 0
Order of the system = No.of poles of the system

The denominator of C.L.T.F is called as CHARACTERISTIC

EQUATION, which determines the stability and performance of the
system.
1 G( S )H ( S ) = 0
 ( S Z 1 )( S Z 2 ) . . .( S Z m )
G( S )H ( S ) = N
S ( S P1 )( S P2 ) . . .( S Pn )

Type number is the power of integral factor in loop gain

or loop transfer function.
Type number of the system = No.of poles at the origin in
S-plane
Time response of First order system with unit step input
T =RC= time constant of the system
Every system has a tendency to oppose the oscillatory behavior
of the system which is called damping.