Sos, Fopz, Sopz

SOS General Form
General second order system

2
()
()
2
+ 1
+ () = ()
2
Standard form
()
()
2
+ 2
+ () = ()
2
2
1
, 2 = , =
2 2 + 2 + = ()
= 2 2
()
+ 2 + 1
SRSaunders - WSU - ChE 441
141
SOS Parameters
Three key parameters
Gain K
Natural period
Damping coefficient
(Zeta)
Existence and nature of oscillation are

characterized by and
Poles?
1,2
2 4 2 2 4 2 2 1
=
=
2
2
142
Lets look at 3 test cases and their

response to a unit step
K
2
2
10
40
25
10
42.25
13
10
13
3
15
Which is :
Underdamped?
Overdamped?
Critically Damped?
y(t)
10
K=10,t2=40, 2tz=25
K=10,t2=42.25, 2tz=13
K=10,t2=40, 2tz=3
0
0
10
20
30
40
50
time
60
70
80
90
100
143
SOS Dynamics
Damping Coefficient
Damping coefficient characterizes qualitative
process response
15
K=10,t2=40, 2tz=3
Case 1: 0 < < 1
Poles are real or imaginary?

Displays oscillation
Has OVERSHOOT
progression past the final value,
followed by a return to the
steady state
Underdamped
10
y(t)
0
0
20
40
60
80
100
time
144
SOS Dynamics
Damping Coefficient
Case 2: = 1
y(t)
10
Poles are real or

imaginary?
Fastest approach to
final value w/o
overshoot
Critically damped
Case 3: > 1
Poles are real or

imaginary?
Slower response than
case 2
Overdamped system
2
Overdamped
Critically Damped
0
0
20
40
60
80
100
time
145
SOS Dynamics
Damping Coefficient
Case 4: = 0
30
25
20
y(t)
Pole are real or imaginary?

Oscillatory response
with no damping
Frequency of oscillation :
1/ => period =
Oscillatory No Damping
Unstable
15
10
Case 5: < 0
UNSTABLE
0
0
10
20
30
40
50
time
60
70
80
90
100
146
FOS vs. SOS

Step response comparison
System
Final Value
FOS
AK
SOS
AK
Initial Value
Initial
SLOPE
0
Finite, nonzero
0
0
SOS (w/ no zeros) always more

sluggish than FOS
SOS has an S shape response
TOS is even more sluggish
147
Underdamped SOS
Rise time
Time to the first crossing of the final steady state

value
= 1 2
1
= tan
tr=12
A=1, K=10, 2=40, 2=3
148
Underdamped SOS
Period
Time between successive oscillation peaks
2
=

A=1, K=10, 2=40, 2=3
149
Underdamped SOS
Decay Ratio
A measure of the rate of oscillation decay
2
2
=
=
1
a1=4.64
a2=1.0
Overshoot
2
1
A=1, K=10, 2=40, 2=3
150
Underdamped SOS
Settling Time time at which the output
enters (and remains within) a percentage of
the final value
Often 90%, 95% or 99% settling time
A=1, K=10, 2=40, 2=3

t95%=69
t99%=123
t90%=49
151
FOS - Lead-lag Systems

System with a proper transfer function
( + 1)
=
+ 1
Gain K
Zero -1/
Pole -1/
Lead-to-lag ratio =
Lead arises from the zero, lag from the pole.
152
FOS Lead-Lag Systems

Partial Fraction Expansion
( + 1)
=+
+ 1
+ 1
+ 1 = + 1 +
1 : =
=
0:
1=+
=1 =1
General Form
( + 1)
1
=
= +
+ 1
+ 1
153
Lead-Lag Step Response

+ 1
1
=
=
+
+ 1
( + 1)
Observations
For very small t (t->0, i.e., use initial value

theorem) y(0)=KA
Discontinuous jump in the output signal
Effect of the zero
For very large t (t->, i.e., use final value
theorem) y()=KA
Effect of lag term
Behavior of y(t) is a big function of
154
Lead-Lag Systems Effect of

Case 1: 0 < < (0 < < 1)
y(t)
Discontinuous Jump @ moment of

step
-> 0, becomes more of a pure
FOS and lag dominates
A=1, K=5, =0.5, =1

0
155

Case 2: = ( = 1)
y(t)
Pole-zero cancellation
Pure gain system G(s)=K
Discontinuous jump @
moment of step
A=1, K=5, =0.5, =0.5
156

Case 3: > ( > 1)
A=1, K=5, =1, =0.5
y(t)
Overshoot
Lead dominates
Discontinuous jump @
moment of step
157

Case 4: < 0 < ( < 0)
Inverse response
Initial move away from the SS Value
y(t)
A=1, K=5, =-1, =0.5
0
t
0
158
FOS In Parallel
G1
G2
1
1 + 1
2 =
2
2 + 1
= 1 + 2
U(s)
1 =
Y(s)
= 1 + 2
= 1 + 2
= ()
1
2
= 1 + 2 =
+
1 + 1 2 + 1
=
1 2 + 1 + 2 1 + 2
(1 + 1)(2 + 1)
1 (2 + 1) + 2 (1 + 1)
=
(1 + 1)(2 + 1)
(1 2 + 2 1 ) +(1 +2 )
(1 + 1)(2 + 1)
(1 2 + 2 1 )
+1
1 + 2
(1 + 1)(2 + 1)
(1 + 2 )
SOS with
Zeroes!
159
SOS with Zeroes
+ 1
2-pole, 1 zero system: =
1 + 1 2 + 1
Output step response:
+ 1
=
= +
+
1 + 1 2 + 1
1 + 1
2 + 1
=1
1 1
=
1 2
2 2
=
1 2
1
1
= 1
1+
2
1 2
1 2
160
SOS with Zeroes Step Response

A=1, K=10, 1 =5, 2 =10
>
161
SOS Case Evaluations

Let 1 < 2, a > 0
Unless otherwise noted
Case 1: a > 2
Overshoot
>
Case 2: a = 1 or a = 2
Pole-zero cancellation
Yields a FOS
+ 1
=
=
1 + 1 2 + 1
+ 1
162
SOS Case Evaluations

Case 3: 0 < a < 2
Resembles a FOS until a << 1
Case 4: a < 0
Always displays inverse response
163
Case Summary FOS a

Values
Key Observations
0 < a <
a >
Jump at t=0 toward

y()
Pure gain system
(pole-zero
cancellation)
Overshoot
a < 0 <
Inverse response
a =
Discontinuous jump @ t=0 for all cases

164
Case Summary SOS a

Let 1 < 2, a > 0
Unless otherwise noted
Values
Key Observations
0 < a < 2
Similar to FOS
a = 1 or 2
a > 2
FOS
(pole-zero cancellation)
Overshoot
a < 0
Inverse response
No discontinuous jump @ t=0

165
Case Summary SOS

Values
Key Observations
<0
Unstable
=0
Underdamped
oscillates forever
Overshoot and
underdamped
0<<1
=1
Critically damped
>1
Overdamped
sluggish
166
Inverse Respone
When a process output initially moves in a
direction opposite to its steady state value
followed by a return to steady state
Effect of (at least) two opposing processes are

different timescales
Occurs when a < 0 in single-zero systems
y(t) crosses the zero axis (in deviation variables)
in response to a step input
Where does this show up?
167
A Two Timescale Exercise

Given the following block diagram and
transfer functions, calculate G(s)
= 1 + 2
G1
+
U(s)
G2
1 =
5
10 + 1
Y(s)
2 =
5
1
=
10 + 1 + 1
5 + 1 (10 + 1)
=
(10 + 1)( + 1)
1
1 + 1
5
4 +1
4
=
10 2 + 11 + 1
168
FOS in Parallel
Two FOS in Parallel
() =
(1 2 + 2 1 )
+1
1 + 2
(1 + 1)(2 + 1)
(1 + 2 )
Let:
|K1|> |K2|
K1 and K2 be opposite signs
1 > 2 (G2 is faster than G1)
Consequences
Fast process => Initial response

Slow Process => final response (due to higher
gain)
169
Real Inverse Response

Drum Boiler
Used for steam generation

Steam
Cold Water
Heat
Source
170

Sos, Fopz, Sopz

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SOS General Form

General second order system

Existence and nature of oscillation are

SRSaunders - WSU - ChE 441

Lets look at 3 test cases and their

SRSaunders - WSU - ChE 441

Case 1: 0 < < 1

Poles are real or imaginary?

SRSaunders - WSU - ChE 441

Poles are real or

Poles are real or

SRSaunders - WSU - ChE 441

Pole are real or imaginary?

SRSaunders - WSU - ChE 441

FOS vs. SOS

SOS (w/ no zeros) always more

SRSaunders - WSU - ChE 441

Time to the first crossing of the final steady state

SRSaunders - WSU - ChE 441

Time between successive oscillation peaks

SRSaunders - WSU - ChE 441

A measure of the rate of oscillation decay

A=1, K=10, 2=40, 2=3

SRSaunders - WSU - ChE 441

Often 90%, 95% or 99% settling time

A=1, K=10, 2=40, 2=3

SRSaunders - WSU - ChE 441

FOS - Lead-lag Systems

Lead arises from the zero, lag from the pole.

SRSaunders - WSU - ChE 441

FOS Lead-Lag Systems

Lead-Lag Step Response

For very small t (t->0, i.e., use initial value

SRSaunders - WSU - ChE 441

Lead-Lag Systems Effect of

Discontinuous Jump @ moment of

A=1, K=5, =0.5, =1

SRSaunders - WSU - ChE 441

Lead-Lag Systems Effect of

A=1, K=5, =0.5, =0.5

SRSaunders - WSU - ChE 441

Lead-Lag Systems Effect of

A=1, K=5, =1, =0.5

SRSaunders - WSU - ChE 441

Lead-Lag Systems Effect of

A=1, K=5, =-1, =0.5

SRSaunders - WSU - ChE 441

SRSaunders - WSU - ChE 441

SOS with Zeroes

SOS with Zeroes Step Response

SRSaunders - WSU - ChE 441

SOS Case Evaluations

Unless otherwise noted

SOS Case Evaluations

Resembles a FOS until a << 1

Always displays inverse response

SRSaunders - WSU - ChE 441

Case Summary FOS a

Jump at t=0 toward

Discontinuous jump @ t=0 for all cases

Case Summary SOS a

Unless otherwise noted

No discontinuous jump @ t=0