((Lec. No.

07))
Chapter 4
Automatic Control Engineering
By
Assist. Prof. Dr. Karim H. Ali
2019-2020
14 May 2020
 ((Lec. No. 07))
Chapter 4
STEADY-STATE OPERATION

Steady-State Equation (Graphically)

 Steady-State Operation
General block diagram representation of a closed loop control system with two
inputs and one output.
 General mathematical differential equation of operation is derived as:
𝐺1 𝐷 𝐺2 𝐷 𝑟 𝑡 + 𝐺2 𝐷 𝑑 𝑡
𝐶 𝑡 =
1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷 𝒖
It can be rearranged:
𝐴𝐺1 𝐷 𝐺2 𝐷 𝐵𝐺2 𝐷 𝑩
𝐶 𝑡 = 𝑣+ 𝑢
1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷 1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷
+ 𝒅
𝐶 = 𝐶 𝑉, 𝑈 𝒗 𝒓 + 𝒎 + 𝒄
𝑨 𝐺1 𝐷 𝐺2 𝐷
Linearization yields: −
𝜕𝐶 𝜕𝐶
𝑐= 𝑣+ 𝑢
𝜕𝑉 𝑈 𝜕𝑈 𝑉
H 𝐷
The partial derivatives could be obtained as:
𝜕𝐶 𝐴𝐺1 𝐷 𝐺2 𝐷 𝜕𝐶 𝐵𝐺2 𝐷
= =
𝜕𝑉 𝑈
1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷 𝜕𝑈 𝑉
1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷
A. Algebraically:
Steady-State Operation
𝒖
General block diagram representation describing the
𝑩
steady-state operation is obtained by letting 𝐷 = 0.
Steady-State Constants + 𝒅
𝒗 𝒓+ 𝒎 + 𝒄
𝑨 𝐾𝐺1 𝐾𝐺2
𝐾𝐺1 = 𝐺1 𝐷 𝐷=0 −
𝐾𝐺2 = 𝐺2 𝐷 𝐷=0
𝐾𝐻 = 𝐻 𝐷 𝐷=0 𝐾𝐻
𝐴𝐺1 𝐷
𝐺2 𝐷 𝐵𝐺2 𝐷
𝐶 𝑡 = 𝑣+ 𝑢
1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷 1 + 𝐺1 𝐷 𝐺2 𝐷 𝐻 𝐷
Mathematical differential equation of operation for steady-state
operation is: 𝐴𝐾𝐺1 𝐾𝐺2 𝐵𝐾𝐺2
𝐶 𝑡 = 𝑣+ 𝑢
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻
𝜕𝐶 𝐴𝐾𝐺1 𝐾𝐺2 𝜕𝐶 𝐵𝐾𝐺2
= =
𝜕𝑉 𝑈
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝜕𝑈 𝑉
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻
B. Graphically: Steady-State Operation
Partial derivatives could be obtained graphically considering 𝒖 System to be
the block diagram representation divided into two portions Controlled
𝑩
1. Equation of operation Controller
𝒗 + 𝒅
for the controller is: 𝑨 𝒓+ 𝒎 + 𝒄
𝐾𝐺1 𝐾𝐺2
𝐴𝑣 − 𝐾𝐻 𝑐 𝐾𝐺1 = 𝑚 −
𝟏 𝑨
𝒄=− 𝒎+ 𝒗
𝑲𝑮𝟏 𝑲𝑯 𝑲𝑯 𝐾𝐻
a) For constant command signal 𝑉 or 𝑣 = 0:
𝑚 ∆𝑀 𝜕𝑀 Slope of controller
−𝐾𝐺1 𝐾𝐻 = = = curves
𝑐 𝑣=0 ∆𝐶 ∆𝑉=0 𝜕𝐶 𝑉
b) For constant output signal 𝐶 or 𝑐 = 0:
𝑚 ∆𝑀 𝜕𝑀
𝐴𝐾𝐺1 = = = Vertical spacing
𝑣 𝑐=0 ∆𝑉 ∆𝐶=0 𝜕𝑉 𝐶
c) For constant manipulating signal 𝑀 or 𝑚 = 0:
𝐾𝐻 𝑣 ∆𝑉 𝜕𝑉
= = = Horizontal spacing
𝐴 𝑐 𝑚=0 ∆𝐶 ∆𝑀=0 𝜕𝐶 𝑀
 Steady-State Operation
B. Graphically:
2. Equation of operation for the 𝒖 System to be
Controlled
system to be controlled is: Controller 𝑩
𝒗 + 𝒅
𝑚 + 𝐵𝑢 𝐾𝐺2 = 𝑐
𝑨 𝒓+ 𝐾𝐺1
𝒎 +
𝐾𝐺2
𝒄
𝒄 = 𝑲𝑮𝟐 𝒎 + 𝑩𝑲𝑮𝟐 𝒖 −

a) For constant load signal 𝑈 or 𝑢 = 0: 𝐾𝐻

1 𝑚 ∆𝑀 𝜕𝑀 1
= = = Slope of system to be controlled curves
𝐾𝐺2 𝑐 𝑢=0 ∆𝐶 ∆𝑈=0 𝜕𝐶 𝑈 𝐾𝐺2
b) For constant output signal 𝐶 or 𝑐 = 0:
𝑚 ∆𝑀 𝜕𝑀
= −𝐵 Vertical spacing
−𝐵 = = 𝜕𝑈 𝐶
𝑢 𝑐=0 ∆𝑈 ∆𝐶=0
c) For constant manipulating signal 𝑀 or 𝑚 = 0:
𝑐 ∆𝐶 𝜕𝐶
𝐵𝐾𝐺2 = = = 𝐵𝐾𝐺2 Horizontal spacing
𝑢 𝑚=0 ∆𝑈 ∆𝑀=0 𝜕𝑈 𝑀
• Example 2: Steady-State Operation
 The block diagram for a feedback control system is shown in Figure. The reference
operating point is 𝑉𝑖 = 𝐶𝑖 = 100, 𝑀𝑖 = 50, and 𝑈𝑖 = 10. Determine the steady-state
constants for this system and then sketch the steady-state operating curves.
 Solution:
A. Algebraically:

1
𝐾𝐺1 = =1
1 + 𝜏1 𝐷 𝐷=0

2 The overall equation for steady state operation is:

𝐾𝐺2 = =2
1 + 𝜏2 𝐷 𝐷=0
𝐴𝐾𝐺1 𝐾𝐺2 𝐵𝐾𝐺2
𝑐= 𝑣+ 𝑢
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻
1
𝐴= + 𝐾𝐻 (1)(1)(2) (−5)(2)
𝐾𝐺1 𝐾𝐺2
𝑐= 𝑣+ 𝑢
1 1 + 1 (2)(0.5) 1 + 1 (2)(0.5)
= + 0.5 = 1
1 2 𝑐 = 𝑣 − 5𝑢
 Steady-State Operation for Controller
B. Graphically:  Slope of operating curves:
 Reference operating point is : 𝜕𝑀 ∆𝑀
𝑉𝑖 = 𝐶𝑖 = 100, 𝑀𝑖 = 50, and 𝑈𝑖 = 10 = = −𝐾𝐺1 𝐾𝐻 = − 1 0.5
𝜕𝐶 𝑉
∆𝐶 𝑉
𝟏𝟏𝟎
𝑴𝒂𝒏𝒊𝒑𝒖𝒍𝒂𝒕𝒆𝒅 𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆

= −0.5
𝑴  Horizontal spacing:
𝟔𝟎 𝟗𝟎
∆𝐶 = 20 𝜕𝑉 ∆𝑉 𝐾𝐻 0.5
𝑴𝒊 =50 = = = = 0.5
𝑨 ∆𝑀 = 10 𝜕𝐶 𝑀
∆𝐶 𝑀 𝐴 1
𝟒𝟎 Select ∆𝐶 = 20 ,
∆𝑉 = 0.5 20 = 10
𝟖𝟎 𝟏𝟎𝟎 𝟏𝟐𝟎  Vertical spacing :
𝑪
𝑪𝒊
𝜕𝑀 ∆𝑀
𝑪𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒆𝒅 𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆 = = 𝐴𝐾𝐺1 = 1 1 = 1
𝜕𝑉 𝐶
∆𝑉 𝐶

∆𝑉 = 10, ∆𝑀 = 1 ∆𝑉 = 10
 Steady-State Operation for System to be Controlled
 Slope of operating curves:
 Reference operating point is :
𝑉𝑖 = 𝐶𝑖 = 100, 𝑀𝑖 = 50, and 𝑈𝑖 = 10 𝜕𝑀 ∆𝑀 1 1
= = = = 0.5
𝟏𝟐
𝑴𝒂𝒏𝒊𝒑𝒖𝒍𝒂𝒕𝒆𝒅 𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆

𝜕𝐶 𝑈
∆𝐶 𝑈 𝐾𝐺2 2
𝑴
 Horizontal spacing:
𝟔𝟎
𝟖
𝑨 ∆𝐶 = 20 𝜕𝐶 ∆𝐶
𝑴𝒊 =50 = = 𝐵𝐾𝐺2 = −5 2
𝜕𝑈 ∆𝑈 𝑀
∆𝑀 = −10 𝑀
𝟒𝟎 = −10
Since ∆𝐶 = 20 ,
20
𝟖𝟎 𝟏𝟎𝟎 𝟏𝟐𝟎 𝑪 ∆𝑈 = = −2
−10
𝑪𝒊  Vertical spacing :
𝑪𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒆𝒅 𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆 𝜕𝑀 ∆𝑀
= = −𝐵 = − −5 = 5
𝜕𝑈 𝐶 ∆𝑈 𝐶
Since ∆𝑈 = −2, ∆𝑀 = 5 −2 = −10
Steady-State Characteristics for the System
𝟏𝟏𝟎 𝟏𝟐

𝑴𝒂𝒏𝒊𝒑𝒖𝒍𝒂𝒕𝒆𝒅 𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆
𝑴
𝟔𝟎 𝟖
𝟗𝟎 𝑬
𝑴𝒊 =50 𝑩
𝑨
𝑪 𝑫
𝟒𝟎

𝟖𝟎 𝟏𝟎𝟎 𝟏𝟐𝟎 𝑪
𝜕𝐶 𝜕𝐶 𝑪𝒊
 𝑐 = 𝜕𝑉 𝑣 + 𝜕𝑈 𝑢 𝑪𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒆𝒅 𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆
𝑈 𝑉
𝜕𝐶 ∆𝐶 𝐶𝐵 −𝐶𝐶 110−90
 The partial derivative  = ∆𝑉 = = =1
𝜕𝑉 𝑈 𝑈=10 𝑉𝐵−𝑉𝐶 110−90

𝜕𝐶 ∆𝐶 𝐶 −𝐶 110−90
 The partial derivative = = 𝐷 𝐸 = = −5
𝜕𝑈 𝑉 ∆𝑈 𝑉=100 𝑈𝐷−𝑈𝐸 8−12

 𝒄 = 𝒗 − 𝟓𝒖
• Example 3:
Steady-State Operation
• A typical family of steady-state operating curves for a unity feedback (K H = 1) speed control
system is shown in Figure 1. At the reference operating condition (point A), Nin = No = 4000, Q i
= 1000, and Ti = 200.
1. Determine the steady-state constants and the equation for steady-state operation.
2. With Nin held fixed at its reference value, what is the change in speed No when the load T changes
from the reference value Ti = 200 to 𝑇 = 300 ?
3. by what factor should the slope of the controller lines be changed so as to reduce this change by a
factor of 50 ?
• Example 3:
Steady-State Operation
1. Determine the steady-state constants and the equation for steady-state operation.
Solution:
 Slope of the controller lines:
𝜕𝑀
= −𝐾𝐺1 𝐾𝐻
𝜕𝐶 𝑉
𝜕𝑀 𝜕𝑄 ∆𝑄 𝑄𝐷 − 𝑄𝐸
= = =
𝜕𝐶 𝑉 𝜕𝑁𝑜 𝑁 ∆𝑁𝑜 𝑁 𝑁𝑜𝐷 − 𝑁𝑜𝐸
𝑖𝑛 𝑖𝑛=4000
750 − 1250 1 1
= =− For 𝐾𝐻 = 1, 𝐾𝐺1 = 4
5000 − 3000 4
 Vertical spacing of the controller is:
𝜕𝑀
= 𝐴𝐾𝐺1
𝜕𝑉 𝐶
𝜕𝑀 𝜕𝑄 ∆𝑄 𝑄𝐹 − 𝑄𝐺 1500 − 500 1
= = = = =
𝜕𝑉 𝐶 𝜕𝑁𝑖𝑛 𝑁 ∆𝑁𝑖𝑛 𝑁 𝑁𝑖𝑛𝐹 − 𝑁𝑖𝑛𝐺 5000 − 3000 2
𝑜 𝑜=4000
1
Since 𝐾𝐺1 = 4
, then 𝐴 = 2
• Example 3: Steady-State Operation
1. Determine the steady-state constants and the equation for steady-state operation.
 Slope of the system to be controlled lines:
𝜕𝑀 1
=
𝜕𝐶 𝑈 𝐾𝐺2
𝜕𝑀 𝜕𝑄 ∆𝑄 𝑄𝐵 − 𝑄𝐶
= = =
𝜕𝐶 𝑈
𝜕𝑁𝑜 𝑇
∆𝑁𝑜 𝑇=200
𝑁𝑜𝐵 − 𝑁𝑜𝐶
1250 − 750 1
=
5000 − 3000 4
= Then, 𝐾𝐺2 = 4
 Vertical spacing of system to be controlled:
𝜕𝑀 𝜕𝑀 𝜕𝑄 ∆𝑄 𝑄𝐹 − 𝑄𝐺 1500 − 500
= −𝐵 = = = = − =5 𝐵 = −5
𝜕𝑈 𝐶 𝜕𝑈 𝐶 𝜕𝑇 𝑁 ∆𝑇 𝑁𝑜=4000 𝑇𝐹 − 𝑇𝐺 300 − 100
𝑜

𝐴𝐾𝐺1 𝐾𝐺2 𝐵𝐾𝐺2

 Since: 𝑛𝑜 = 𝑛𝑖𝑛 + 𝑡
1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 𝐿
Then, 𝒏𝒐 = 𝒏𝒊𝒏 − 𝟏𝟎𝒕𝑳
• Example 3:
Steady-State Operation
1. Determine the steady-state constants and the equation for steady-state operation.
 This equation also could be obtained
using the linearization equation:
𝜕𝐶 𝜕𝐶
𝑐= 𝑣+ 𝑢
𝜕𝑉 𝑈 𝜕𝑈 𝑉
𝜕𝑁𝑜 𝜕𝑁𝑜
𝑛𝑜 = 𝑛 + 𝑡
𝜕𝑁𝑖𝑛 𝑇 𝑖𝑛 𝜕𝑇 𝑁 𝐿
𝑖𝑛

𝜕𝑁𝑜 ∆𝑁𝑜 𝑁𝑜𝐵 − 𝑁𝑜𝐶 5000 − 3000

= = = =1
𝜕𝑁𝑖𝑛 𝑇 ∆𝑁𝑖𝑛 𝑇=200 𝑁𝑖𝑛𝐵 − 𝑁𝑖𝑛𝐶 𝑇 5000 − 3000
𝜕𝑁𝑜 ∆𝑁𝑜 𝑁𝑜𝐷 − 𝑁𝑜𝐸 5000 − 3000
= = = = −10
𝜕𝑇 𝑁 ∆𝑇 𝑁𝑖𝑛=4000 𝑇𝐷 − 𝑇𝐸 𝑁 100 − 300
𝑖𝑛 𝑖𝑛 𝒏𝒐 = 𝒏𝒊𝒏 − 𝟏𝒐𝒕𝑳
Where, 𝑛𝑜 = ∆𝑁𝑜 = 𝑁𝑜 − 𝑁𝑜𝑖 𝑛𝑖𝑛 = ∆𝑁𝑖𝑛 = 𝑁𝑖𝑛 − 𝑁𝑖𝑛𝑖
𝑡𝐿 = ∆𝑇 = 𝑇 − 𝑇𝑖
• Example 3: Steady-State Operation
2. With Nin held fixed at its reference value, what is the change in speed No when the load T changes
from the reference value Ti = 200 to 𝑇 = 300 ?
3. by what factor should the slope of the controller lines be changed so as to reduce this change by a
factor of 50 ?
Solution:
2. Since 𝑁𝑖𝑛 is held fixed then,
𝑛𝑖𝑛 = ∆𝑁𝑖𝑛 = 𝑁𝑖𝑛 − 𝑁𝑖𝑛𝑖 = 0
𝑡𝐿 = ∆𝑇 = 𝑇 − 𝑇𝑖 = 300 − 200 = 100
Change in speed 𝑁𝑜 is;
𝑛𝑜 = 𝑛𝑖𝑛 − 1𝑜𝑡 = 0 − 10 100 = −1000
3. reduce the change in speed by a factor of 50:
𝜕𝑁𝑜 ∆𝑁𝑜 𝑛𝑜 1 1
= = = −10 × =−
𝜕𝑇 𝑁𝑖𝑛
∆𝑇 𝑁𝑖𝑛 𝑡 𝑛𝑖𝑛=0 50 5 Solving for 𝐾𝐺1 𝐾𝐻
𝜕𝑁𝑜 𝐵𝐾𝐺2 1 99 1
= =− 𝐾𝐺1 𝐾𝐻 = = 99 ×
𝜕𝑇 1 + 𝐾𝐺1 𝐾𝐺2 𝐾𝐻 5 4 4
𝑁𝑖𝑛
(−5)(4) 1 slope of the controller lines must be
=− increased by a factor of 99
1 + 4𝐾𝐺1 𝐾𝐻 5