COURSE CODE: EE 387
COURSE TITLE: CLASSICAL CONTROL
SYSTEMS
UNIT 3: TIME RESPONSE
BY: DR. DANIEL OPOKU
[Link]@[Link]
0501582891
OBJECTIVES
◆ After completing this UNIT 3 (PART 1), the student will be able to:
◆ Use poles and zeros of transfer functions to determine the time response of a control
system
◆ Describe quantitatively the transient response of first-order systems
◆ Write the general response of second-order systems given the pole location
◆ Find the damping ratio and natural frequency of a second-order system
◆ Find the settling time, peak time, percent overshoot, and rise time for an underdamped
second-order system
◆ Approximate higher-order systems and systems with zeros as first- or second-order
systems
◆ Describe the effects of nonlinearities on the system time response
TIME RESPONSE (intro)
◆ Evaluate the output response by solving a differential equation or taking
the inverse Laplace transform is laborious and time-consuming.
◆ Qualitative methods aid rapid techniques for deriving the system
response by inspection.
◆ The use of poles and zeros and their relationship to the time response of
a system is such a technique.
◆ Students are encouraged to master the concept of poles and zeros and
their application throughout this course.
TIME RESPONSE
(Poles and Zeros of a Transfer Function)
◆ The poles of a transfer function are
◆ The values of the Laplace transform variable, s,
that cause the transfer function to become
infinite or
◆ Any roots of the denominator of the transfer
function that are common to roots of the
numerator.
◆ Strictly speaking, the first definition always holds.
However, -3 is a pole for H(s)
◆ The roots of the characteristic polynomial in the
denominator are values of s that make the transfer
function infinite, so they are thus poles.
TIME RESPONSE
(Poles and Zeros of a Transfer Function)
◆ The zeros of a transfer function are
◆ The values of the Laplace
transform variable, s, that cause
the transfer function to become
zero, or
◆ Any roots of the numerator of the
However, -3 is a zero for H(s) even
transfer function that are common
though it doesn’t make H(s) zero
to roots of the denominator.
◆ Strictly speaking, the first definition
always holds.
TIME RESPONSE
(Poles and Zeros of a Transfer Function: An Example)
TIME RESPONSE
(Poles and Zeros of a Transfer Function: An Example)
◆ Compare the pole plot to the step response.
Force Response Natural Response
TIME RESPONSE
(Poles and Zeros of a Transfer Function: An Example)
◆ A pole of the input function generates the form of the forced response (that is, the pole at
the origin generated a step function at the output).
◆ A pole of the transfer function generates the form of the natural response (that is, the pole
at - 5 generated e-5t).
◆ A pole on the real axis generates an exponential response of the form e-at, where -a is the
pole location on the real axis. Thus, the farther to the left a pole is on the negative real
axis, the faster the exponential transient response will decay to zero (again, the pole at -5
generated e-5t).
◆ The zeros and poles generate the amplitudes for both the forced and natural responses
(this can be seen from the calculation of A and B as seen in the Partial Fraction
Expansion.
TIME RESPONSE
(Poles and Zeros of a Transfer Function: An Example)
◆ A pole on the real axis generates an exponential response of the form e-at, where -a is the
pole location on the real axis.
◆ Thus, the farther to the left a pole is on the negative real axis, the faster the exponential
transient response will decay to zero (again, the pole at -5 generated e-5t).
TIME RESPONSE
(Poles and Zeros of a Transfer Function: An Example)
◆ Given the system shown below, write the output, c(t), in general terms.
Solutio
n
Hence
TIME RESPONSE
(Poles and Zeros of a Transfer Function: An Example)
◆ Given the system G(s), write by inspection, the general term if the input is a
step function
Answer
TIME RESPONSE
(First-Order Systems)
◆ A first-order system without zeros can be described the transfer function G(s) and the
corresponding s-plane plot is shown.
The step response of the system is given by
And thus
TIME RESPONSE
(First-Order Systems)
◆ A first-order system without zeros can be described the transfer function G(s) and the
corresponding s-plane plot is shown.
Or
Three transient response performance
specifications can be defined namely:
1. Time Constant
2. Rise Time, Tr
3. Settling Time, Ts
It can be shown that
◆ Settling time is defined as
the time for the response
to reach, and stay within,
2% of its final value.
◆ The time for the response to
reach, and stay within, 2% of
its final value.
NOTE: Once the time constant is defined, all other transient specifications for a system
can be inferred. And if any of the transient specifications of a first order system is given,
the other can be inferred.
TIME RESPONSE: First-Order Systems
(First-Order Transfer Functions via Testing)
◆ When it is impossible or impractical to obtain a system’s transfer function
analytically, it can be deduced from input to output characteristics of the
step response.
◆ Input a step function, measure the final value and the time constant.
◆ Deduce the transfer function from the two.
TIME RESPONSE: Second-Order Systems
(Introduction)
◆ Assuming that the plot below is the step response of a certain first order
system, find the transfer function.
Solution
TIME RESPONSE: Second-Order Systems
(Introduction)
◆Extend the concept of poles and zeros to second order systems.
◆ a second-order system exhibits a wide range of responses
◆ changes in the parameters of a second-order system can change the form of
the response.
◆ a first-order system, or,
◆ depending on component values,
◆ display damped or pure oscillations for its transient response.
TIME RESPONSE: Second-Order Systems
(Numerical examples)
◆ Numerical examples of second order systems
TIME RESPONSE: Second-Order Systems
(Overdamped Response)
◆ A pole at the origin comes from the unit step input generating the constant
forced response
◆ Two REAL poles come from the system generate exponential natural response.
◆ NB: The poles tell us the form of the response without the tedious calculations
TIME RESPONSE: Second-Order Systems
(Underdamped Response)
◆ A pole at the origin comes from the unit step input generating the constant forced
response.
◆ Two COMPLEX poles come from the system generate exponential natural response.
The transient response consists of
an exponentially decaying amplitude
generated by the real part of the
system pole times a sinusoidal
waveform generated by the
imaginary part of the system pole.
TIME RESPONSE: Second-Order Systems
(Underdamped Response)
◆ A pole at the origin comes from the unit step input generating the constant forced
response.
◆ Two COMPLEX poles come from the system generate exponential natural response.
TIME RESPONSE: Second-Order Systems
(Underdamped Response)
◆ By inspection, write the form of the step response of the system
Solution
◆ Exponential frequency for the damping is -5.
◆ The imaginary part, 13.23, is the radian
frequency for the sinusoidal oscillations.
TIME RESPONSE: Second-Order Systems
(Undamped Response)
◆ This function has a pole at the origin that comes from the unit step input and two
imaginary poles that come from the system.
◆ The input pole at the origin generates the constant forced response,
◆ The input pole at the origin generates the constant forced response, and the two system
poles on the imaginary axis at -j3 generate a sinusoidal natural response whose
frequency is equal to the location of the imaginary poles.
Example
TIME RESPONSE: Second-Order Systems
(Critically Damped Response)
◆ The input pole at the origin generates the constant forced response, and the two
poles on the real axis at -3 generate a natural response consisting of an exponential
and an exponential multiplied by time, where the exponential frequency is equal to
the location of the real poles.
Critically damped responses are the fastest
possible without the overshoot that is
characteristic of the underdamped response.
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
◆ We generalize the discussion and establish quantitative specifications
defined in such a way that the response of a second-order system can
be described to a designer without the need for sketching the
response.
◆ The two quantities are called natural frequency and damping ratio.
◆ With these quantities, we will be able to define the key performance
specifications for second order systems.
◆ Rise time
◆ Settling time
◆ Peak time
◆ Overshoot
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
So
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
◆ How does the natural frequency and
damping ratio relate to the pole
location?
◆ The poles for the system are
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
TIME RESPONSE: Second-Order Systems
(The General Second-Order System)
Solution
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆ Focus on the step response of underdamped second order systems.
◆ The underdamped second- order system, a common model for physical problems, displays
unique behavior that must be itemized.
◆ A detailed description of the underdamped response is necessary for both analysis and
design.
Thus
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆ Evaluation of Tp:
◆ The Laplace of the the
differential of the function
equated to zero.
◆ Setting the derivative equal to
zero yields
From Laplace
tables
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
Thus
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆Evaluation of Ts:
◆When the signal settles, the
amplitude of the decay is 0.02.
It is convenient to approximate it as
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
The exponential function cannot turn 0 so
the sin function must be zero for it to hold.
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆ Lines of constant peak time, Tp, settling time, Ts, and percent overshoot, %OS.
◆ Note: Ts2 <Ts1;Tp2<Tp1; %OS1 < %OS2.
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
Transient Response through component design: Given the system shown in the figure
below, find J and D to yield 20% overshoot and a settling time of 2 seconds for a step input
of torque T(t).
Solution
Hence
But K = 0.5 N-
m/rad
TIME RESPONSE: Second-Order Systems
(System Response with Additional Poles)
◆ The formulas describing percent overshoot, settling time, and peak time were derived only for a
system with two complex poles and no zeros.
◆ If a system has more than two poles or has zeros, we cannot directly apply the formulas to
calculate the performance specifications that we derived.
◆ However, under certain conditions, a system with more than two poles or with zeros can be
approximated as a second-order system that has just two complex dominant poles so that we can
apply the formulae.
◆ Consider a three-pole system with complex poles and a third pole on the real
axis.
TIME RESPONSE: Second-Order Systems
(System Response with Additional Poles)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆ An interesting phenomenon occurs if a is negative,
placing the zero in the right half-plane.
◆ we see that the derivative term, which is typically
positive initially, will be of opposite sign from the scaled
response term.
◆ Thus, if the derivative term, sC(s), is larger than the
scaled response, aC(s), the response will initially follow
the derivative in the opposite direction from the scaled
response.
◆ The results is as shown.
◆ A system that exhibits this phenomenon is known as a
nonminimum-phase system.
◆ If a motorcycle or airplane was a nonminimum-phase
system, it would initially veer left when commanded to
steer right.
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆ An Example of an electrical
Nonminimum phase system is shown.
Step function
TIME RESPONSE: Second-Order Systems
(Underdamped Second-Order System)
◆Pole-Zero Cancellation
◆If the pole term, and the zero term, cancel out, then
◆Later, we will explore how this can be utilized in the
design of compensators.
END OF UNIT 3: TIME RESPONSE
Lecturer
Dr. Daniel Opoku
(0553 604143)