Tme Archonse Contmueus Data Syetem

Standard Test Signas : ul

0) Steb Signals.
Y(e) = Au()

kaplace tsansform Ae Jo S

(a Romi Siqal sv- vdy

T(- At Ju dv -
)t<o

Para boli c. Sigmal.

r() = A
3
Tnpuke Signa
S()-1 to
Slt dt -1

Time Resþonse ay finst Order Sslem

(s) R() Cs)

Res þne to Unit Step.

RS)=

S st

e()- r(t)- < e-t

e
E(s) - Rs) - c)

Sbje a de resþonse ct)

T’ time cmsla
t lto to

\ale
 lorge time constant make s/s slyggish.
Small tme (onstemt make fast raBose.
resp omse a sls is gien bg
e(t)> l)- <() >et/r
steady stakr
im el -0
t-0
Sls toac ks the umit sep imbut with o sleody sak caar.
Reseto Unit- Ramp npu
R(S) =

Tst|

steay
is

el)-)-c(t) -T-et)

Time Rene Second Order Syetem. 2leupoz4

R) +
s) C(s) Gls)
R(s) I+ G(s)Hs)

CG)
R(S)
 1
2
S 242ynst ton2

B
B
S

B= - (St2ew)

ton
-Gwt gun -qutt sinyt
e

cle) = - e sim gt

Put
ton = l

c(t) = 1- e

-Ewnt
sim (ugtt )
 zal0u|zozy
lnnatungl Reqy Oscill oHon undam bed nalral Pqy
dom<pe d ry oel atiom
Gwn dombimg far ker dom pimg or daming rollen
attual dormhimg
0. Uncdetclam becl

Take the charactesics fou ot on

Po le s on ths

Undom ped gskem

S =

Poles lies on jo axis. s-plave

S
S> twn,-wn
c)
(stu
 T- 6

Poles ies m the ueal arik

ar ic a splame

Orerdemþed sptem
9>1.

One Poles is ste ble

other bok is
umsto be.

for Under clam locd

tr

tov
tpu

G
a alay tina (t¡) : tin
value
* Rise tinet) to g0/
time Yequ'rd fer rcsþnse to ise Prn lo
the
ce fur ovevdamed s/s o tel . inal vale.
(
fer mderda mzd s
Peak me (tp): time requicd resbonse to vech the beak of
or res þonse
veqed fer
time csbmse pegk oershoot
resþnse
Peuk OreTshoot (Mp) noTmalized diff. blw time
lpea k d steady o| p is defired as

Peqk . oKrshoot =

some as T/P
Ceo) = L /P fer steb I}P is
steady
5. Settlinng time ( t) : time eqived fe uesbomse to each e stay
ui thim a sþeaficcd bokvamce bund (2 crsz) a ts fmål vale
Steady Sta le Enr (ess): Er b) w the ac tual cp d desived 6/p
t tends to
es lim Cr9- cl]

Time Resþomse -Gwnt

() = 1 - e

Put I-e
9
-Gcint
(oS wjt Simø t cos Sim wd t

-eont
 -qwntr
VI-e2

Sim VrG' t ! tom

Simce Sim m6

Peak time ltp)

-Gnt - Gonte
d( sin oy t t -e
dt VI-çz

Sinn-G² t +ø Jcos g - Cos g t +Jsin g= 6

sim (um FG t)
tp

3) Peak Oershoot (,):

np Ctp) -I c()may
entp clb)desied
sin v-q2 tp t ton
VI-G2
Sin [7+] e
.. þeak 7, Cvenshet
-K
VI-Ge

4) Settling time (te): e hanent ial decoayimq envelobe er 22 akoncc

bmd.
gts O02.
entso02 >ts 4
 steady Slate ntr (es):

t
Actual lP - desined o) >seady sta le
9. ohem o ordon CS(S is
Sub ject ko umit ste1|e

Delenmime ty, tp, t dMp 44,91

Stqte roo
)P d /p the
Diffecnce b/o he Stede.
s/s dumg steady
E(S) |+G5)H(S)
RS) R(S)
sE)
SY
Css t’
RS)
=
S. (+ G6)Hs)
ess S0
H()= L
RG)
S
ess

Static
Stytic Positin
onlont (or (oyicon) kp
Jt s Rc) t
S>0 S(146)HG)
S0 | al)H)
(0) Shatic
Shatic Velocity
Velociby rer (onstont
ess- s R$) L
|4 G)H(s)
S0 St SGs)Hs)

ky
S6 s(as) H(s))

Acceleration Emor Cons tamt

() Stgtic
ess - t S. R(s)
|+ GG)H/s)
sG)RG
S S>

sG) RG)

State Erer foa Diffeent Tofs sytem

Zero wth umit ste inpt
R(S) = 1
S

Gls) HC5) = k(+sT) (Its T)... k

(l+ sTa)(HsT)
|+k |+K

ye O System. with unit Ramb inþu

ky = t s hl) HG)

S. k(4sT) (+ s)-- .
(l+sT)(It- sTb) --
Css ky
3.
Te o ss with
witth unit taabalic île
ka s² Gls) H()

ka = dt ttt k(ItsTD(tsT)
(I+sTa) (l+sTb) .
Ka = O
ess

stem ith
uith umit ste
G) HS) k (+sT) (wsT).
S(1+sTa)(thsT)-
Kp = tt aHS)
t k tsT) (i+s-.
S20 s(4sTa) (i+sTb
ess ’s=o|
with mit gomþ inþt
Ky = t S als) HG)
S. k (HsT)(ItsT)
s (1HsTlI+sTb)

Css =
K
ky

with mit barabalic inþt

S G(s) H()
So
k (*sTD (Hst)...
s (14sTa)(1+s T)

ess ka
 Poubesd Unit
K
Rem Urit
+k. UnitSteb
O
o Ss
2.
Ka
ess
(+sT (4sta) S²
(+sT2) (tsT) k sz
as)H() "ye 2
inþt baic para wrth sstem
ky
(I+sT) (1+sTa) s
830
(I+sT)--. T)(its k S.
H(s) G(s) s
þm ith
System
inp
ut 2
snit
kp|+
(1+sT). (+st) k
Hs) G(s) t -
Kp
T)--. (4sTa)
ts (1 S²
(*s (sr,)
T) k sypatemHS) 45)
inp steb unit thwi 2
 Salbpose dthe apen loþ T F
.

4(s) = lo
(st2)(st)
l+ Gs)H(S) =
S 7st 20 -o
Sr)(S1s)
n 4-72 rod/s

hls) = 12 )) H(s)ks
S+4stl6

I ten derming Overshcot k

-
RO. l6
Sto-8
C(s)

De t e r e k Sucht t =0S , abten, ty tp , Mp

im umit step

Detemig, Css o Umit rmb P k= 4CD. Also

than dutermie k
R(S)

s (G2 (s2s+20)
æS St i) 3t
Dekemin Sheady 2
 coiderns s2
Sst
2/R
s²+sst20
k3
`HSs 60
6064315s-0-00
S
dynamic
).
(olfiöiat: E
RIS)
a +
|+G(S) kikakz s
2s ts
sEs)
eslit s(sts) (s+S)
s O.0 5s
Bor
Dynamic L
=
Hs)
S’0
Qa
Gls)
=
() Sutpose ts
E()R(S) E(S)R() Rakiny
e. Here, 5s
Qoot
 chnge
3S fpruavel baele
o.0 . ad
22aS
T in
wth in
+ ‘ 1
O"2t
TE with uith
im
Huty 1
el chang
ang
JT dk aH)2
(|+ Senivity
’
40;
K Seni
iltl
at
= Ratowamter
((+G9 (1+GH)
o·0as vity’
EG)R(S
E(S)
K ti oy
Sensi
dTad
in