AUTOMATIC

CONTROL
VO LAM CHUONG& TRAN THUY UYEN PHUONG
MECHATRONICS DEPARTMENT
HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
 CHAPTER 3:
SYSTEM DYNAMICS

2
CONTENT

 The main objectives of this chapter are to introduce:

 The concept of system dynamics
- Time response
- Frequency response
 Dynamics of typical components
 Dynamics of control systems

3
THE CONCEPT OF SYSTEM DYNAMICS

 System dynamics is the study to understanding the behaviour of complex systems

over time.

Systems described by similar mathematical model will expose similar dynamic

responses.

To study the dynamic responses, input signals are usually chosen to the basic signals
such as Dirac impulse signal, step signal, or sinusoidal signal.
 Time response
- Impulse response
- Step response
 Frequency response

4
THE CONCEPT OF SYSTEM DYNAMICS
r(t) y(t)
System
 The time response of a control system is usually divided into two parts: the
transient response and the steady-state response.
 Let y(t) denote the time response of a continuous system; then, in general, it
can be written as
y (t )  ytr (t )  yss (t ) (3.1)
ytr (t ) : the transient response
yss (t ) : the steady-state response
 In control systems, transient response is defined as the part of the time
response that goes to zero as time becomes very large. By steady-state
response, we mean the manner in which the system output behaves as t
approaches infinity 5
3.1 TIME DOMAIN ANALYSIS

 In many cases, the actual inputs of a control system may vary in random
fashion with respect to time.
 To facilitate the time-domain analysis, the following deterministic test
signals are used:

Step function Dirac function


r(t)
(t) h •
K
t 0 t t
0
0 t 0 0 t  0 (3.4)
r (t )   (3.3)  (t )  
K t  0  t  0 6
3.1 TIME DOMAIN ANALYSIS
Ramp function Parabolic function

r(t) r(t)

t t
 0 t0
 0 t0  (3.6)
r (t )   (3.5) r (t )   K 2
 Kt t  0  2 t t  0

 These signals all have the common feature that they are simple to describe
mathematically. From the step function to the parabolic function, the signals
become progressively faster with respect to time.

7
 3.1 TIME DOMAIN ANALYSIS
 Step response h(t)
1(t)
1 h(t)  y(t)
t x(t) 1(t)
t
input output

 Step response: the behavior of a system to a step input

G(s) h(t)  L1[H(s)]
H(s) 
s
t
h(t)   g(t)dt
0

 Step response is referred as the transient function, it is also the integral of

the impulse response.
8
 3.1 TIME DOMAIN ANALYSIS

 Impulse response (t) g(t)

t t g(t)  y(t) x(t) (t)

0 0
input output

 Impulse response: behavior of a system to a Dirac impulse

g(t)  L1[G(s)]

 Impulse response is referred as weighting function, it is also the inverse

Laplace transform of the transfer function.

d[h(t)]
g(t) 
dt 9
TIME RESPONSE OF SOME TYPICAL SYSTEMS

 First order system

r(t) K y(t) K: gain of the system
G(s) 
Ts  1 T: time constant
1
 The system has a real pole: p1  
T
 The time response of a unit step input:
G(s) K
Y(s)  
s s(Ts  1)
 y(t)  L1[Y(s)]  K(1  e  t /T ) (3.13)

 The time response (transient response) does not have an overshoot

10
TIME RESPONSE OF SOME TYPICAL SYSTEMS

 The time constant T: is the time required for the step response of the
system to reach 63% its steady state (final) value.

 The further the pole (p = -1/T) of

the system is from the imaginary
1
T=1

axis, the smaller the time constant 0.8

T=2
T=5

and the faster the time response of

the system. 0.6

0.4
 The settling time of the system is
1 0.2

t s  T ln (3.14)
 0
0 5 10 15 20 25 30 35 40

where,   0.02 (2% criterion ) or   0.05 (5% criterion )

11
TIME RESPONSE OF SOME TYPICAL SYSTEMS

 Second order system

K: gain of the system
r(t) K y(t)
G(s)  2 2 T: time constant
T s  2Ts  1
: damping factor ( > 0)
 The transfer function:
K K2n
G(s)  2 2  2
T s  2Ts  1 s  2n s  2n
 The characteristic equation: T s 2  2T s  1  0
   T 2 (  2  1)
  >1: There are 2 real poles p1  (1/ T1 ) ; p 2  (1/ T2 ) (3.15)
K K
G(s)  2 2 
T s  2Ts  1 (T1s  1)(T2s  1) 12
TIME RESPONSE OF SOME TYPICAL SYSTEMS

The step response of the system: G(s) K / T1T2

Y(s)  
s s(s  1/ T1 )(s  1/ T2 )
 T1 T2 
 y(t)  K 1  . e  t/T1  . e  t/T2  (3.16)
 T1  T2 T1  T2 
  =1: p1  p 2  (1/ T)
 t  t/T  t/T 
 y(t)  K  1  .e e 
 T 
 0<  <1: there are 2 complex conjugate poles p1,2  n  jn 1  
2

 en t 
y(t)  K 1  sin  t     (3.17)
 1  2


where,   n 1  2 ;   cos  13
TIME RESPONSE OF SOME TYPICAL SYSTEMS
From Eq. (3.17), the parameter ω controls the rate of rise or decay
(damping) of the unit step response. Therefore, it is called the damping
factor. And  is known as damping ratio.
y(t)

>1  y(t): overdamped

 =1  y(t): critically damped 𝜔 is the radial distance from
0<<1  y(t): underdamped the roots to the origin of the s-
n=1/T: natural (undamped) frequency plane. 14
TIME RESPONSE OF SOME TYPICAL SYSTEMS
Matlab

When 0<<1, the larger the value  (the closer the poles are to the real axis),
the faster the response decays.
15
3.2 FREQUENCY DOMAIN ANALYSIS
 Frequency response definition

x(t) y(t)
LTI

If the input is sinusoidal signal then the output signal at steady state is also a
sinusoidal signal with the same frequency but different amplitude and phase
Definition: Frequency response of a system is the ratio between the steady-
state output and the sinusoidal input.
y( j)
G( j)  Frequency response (4.10)
x( j)
It is proven that: G( j)  G(s) s  j (4.11)16
3.2 FREQUENCY DOMAIN ANALYSIS
In general, G(j𝜔) is a complex function, therefore, it can be represented in the
following form:
G( j)  Re G( j)  [Link] G( j)  A()  j.B()
G( j)  M().e j( ) (4.12)
where,
M()  G( j)  A 2 ()  B2 () Magnitude response (4.13)

 L()  20lgM() (dB) (4.14)

Im() B()
()  G( j)  arctg  arctg Phase response (4.15)
Re() A()
 The magnitude response provides the information about the gain of the system
with respect to frequency
 The phase response provides the information about the phase shift between the
output and the input of the system with respect to frequency 17
3.2 FREQUENCY DOMAIN ANALYSIS

 Bode diagram: the graph of the frequency response of a linear system with
respect to frequency. It is normally plotted with log-scale-frequency axis and
included two plots:
 Bode magnitude plot expresses the magnitude response gain (L(𝜔)) with
respect to frequency
L()  20lgM() (dB) (4.16)

 Bode phase plot expresses the phase response (φ(𝜔)) with respect to
frequency
()  G( j) (4.17)

 Nyquist plot: the graph in polar coordinates in which the gain and phase of a
frequency response, G(j𝜔), are plotted when 𝜔 changing from 0 to +∞
18
3.2 FREQUENCY DOMAIN ANALYSIS

Bode diagram Nyquist plot

19
3.2 FREQUENCY DOMAIN ANALYSIS
 Gain crossover frequency (c ) : is the frequency where the amplitude of the
frequency response is 1 (or 0 dB)
M  c   1  L  c   0 (4.18)

 Phase crossover frequency ( ): is the frequency where the phase shift of
the frequency response equals to 1800 (or  radian)
( )  1800  ( )   (rad) (4.19)

 Gain margin (GM)

1
GM   GM   L( ) (4.20)
M( )
 Phase margin (PM)
PM  1800  (c ) (4.21)
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3.2 FREQUENCY DOMAIN ANALYSIS
 First order (lag) system
Frequency response
r(t) K y(t) K K  KT
G(s)  G( j)  G(s) s j    j
Ts  1 Tj  1 T 2 2  1 T 2 2  1

Magnitude and phase

K
M()  Re 2 ()  Im 2 ()   0 … 1/T … 
T  1
2 2
Re K … K/2 … 0
 L()  20lgM()  20lgK  20lg T 22  1 Im 0 … -K/2 … 0
Im() M K … … 0
()  arctg  arctg(T) (4.22) 𝜑 0 … -45 … -90
Re()
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3.2 FREQUENCY DOMAIN ANALYSIS
The Bode magnitude can be approximated by asymptotes: Bode
 When  << 1/T, L() 20lgK
 the horizontal asymptote
 When  >> 1/T, L() 20lgK–20lg(T)
 the asymptote with the slope: -20dB/dec.
The frequency  = 1/T at the intersection of
the two asymptotes is called corner
frequency.

Based on the table in the previous slide, we

can plot the Nyquist diagram as the next
figure.
22
3.2 FREQUENCY DOMAIN ANALYSIS
 Integral term (I term)
r(t) K 1 y(t) K: integral coefficient
G(s)   T =1/K integral time constant.
s Ts
 Unit step response h(t)
K K
Y(s)  2  y(t)  K.t.1(t)
s 0 1 t
 Frequency response
K K
G( j)   j  Re() =0 ; Im() = –K/
j 
K Im()
M()  G( j)  ; ()  arctg  arctg()  90 (4.23)
 Re()
The output signal of I term is always delayed in a phase of -90 compared to
23
the phase of the input signal.
3.2 FREQUENCY DOMAIN ANALYSIS

L()  20lg(K / )  20lg K  20lg 

Bode Nyquist
L()

20lgK -20 dB/dec


0
1 K K>1
K=
1

0
-90 ()=-90

24
3.2 FREQUENCY DOMAIN ANALYSIS
 Derivative term (D term)
r(t) y(t) K: derivative coefficient
G(s)  Ks  Ts
T: derivative time constant.
Bode
 Unit step response 20lg(K
L()
Y(s)  K  y(t)  K.(t) )
20lg
 Frequency response 20lgK
Nyquist 
G( j)  Kj 0
 Re()=0; 1
M()=Im()= K
()  arctg(K / 0)  90 ()=90
90
L()  20lg(K) 
0
25
3.2 FREQUENCY DOMAIN ANALYSIS
 First order lead term
Unit step response
r(t) y(t)  h(t)
G (s )  K (T s  1) G(s) K
H(s)   KT 
s s
 h(t)  KT.(t)  K.1(t) K t
0
 Frequency response
G( j)  K(Tj  1)  Re() =K; Im() = KT

M()  K 2  K 2T 2 2  K T 22  1
L()  20lg A()  20lg K  20lg T 22  1
- << 1/T, then L() = 20lgK  the horizontal asymptote
- >> 1/T, then L() = 20lgK+20lg(T)  the asymptote with the slope +2026dB/dec
3.2 FREQUENCY DOMAIN ANALYSIS
KT
()  arctg  arctg(T)
K
Bode
 = 0, then 𝜑() = 0 ;
  , then 𝜑() = 90.

Nyquist

27
3.2 FREQUENCY DOMAIN ANALYSIS
 Second order system

r(t) K y(t)
G(s) 
T 2s 2  2Ts  1

Frequency response
K
G( j)  G(s) s j 
T 2 2  2Tj  1
K(1  T 2 2 ) 2KT
G( j)   j
(1  T 2 2 ) 2  4(T) 2 (1  T 2 2 ) 2  4(T) 2
Magnitude and phase
K
M()  Re 2 ()  Im 2 () 
(1  T 2 2 ) 2  4(T) 2 28
3.2 FREQUENCY DOMAIN ANALYSIS

 L()  20lgM() 
 20lg K  20lg (1  T 22 ) 2  4(T) 2

Im() 2T
()  arctg  arctg
Re() 1  T 2 2
(4.24)

0 << 0,707  Lmax > 20lgK

smaller , larger Lmax

29
3.2 FREQUENCY DOMAIN ANALYSIS

0,38    0,707, Bode magnitude plot of a second order system is approximated

by two asymptotes:
  << 1/T, L() 20lgK  horizontal asymptote
  >>1/T, L()  20lgK  20lg ( 2T 2 )2  20lgK  40lg( T)
 the asymptote with the slope –40 dB/dec L()
The intersection of the two asymptotes is at 20lgK
-40 dB/dec
the natural frequency (n = 1/T) of the
system. So, the natural frequency is also 0 
called the corner one. 1/T

30
3.2 FREQUENCY DOMAIN ANALYSIS
 Time delay term
r(t) y(t) 𝜏: time delay.
s
G(s)  e Bode

 Frequency response
G( j)  e j  cos   [Link] 

M()  cos 2   sin 2   1

 L()  20lgM()  0
 sin  Nyquist
()  arctg  
cos 
31