Today's Plan: 2.004 Spring '13

Today’s plan
• 1st order system response: review

– the role of zeros
• 2nd order system response:

– example: DC motor with inductance
– response classifications:
• overdamped
• underdamped
• undamped
• Linearization
– from pendulum equation to the harmonic oscillator
1
2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21
Review: step response of 1st order systems
steady state
(final value)
Nise Figure 4.3 © John Wiley & Sons. All rights reserved. This content is excluded from our Creative
Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.
2
Steady-state
• Note that as t➞∞, the exponential decays away, and the step response
tends to 1, i.e. the value of the driving force.
• More generally, if we consider a flywheel-like viscously damped system with
equation of motion expressed as 1st order linear time-invariant ODE
J!˙ (t) + b!(t) = f (t) and step excitation f (t) = F0 step(t)
[where f(t) and F0 have units of torque,]

✓ ◆
F0 ⇣ t/⌧
⌘ J
the step response is !(t) = 1 e , t>0 ⌧=
b b
F0
the angular velocity as t➞∞ tends to !1 =
b
• This long-term value is known as the system’s steady state
• In systems where the output physically represents a velocity, the steady
state is also known as terminal velocity.
3
Steady state in the Laplace domain: the final value thm.
• It turns out that we can predict the steady state of a system directly
in the Laplace domain by using the following property known, for
obvious reasons, as the final value theorem:
limt!1 g(t) = lims!0 sG(s).
which holds generally if g(t) and G(s) form a Laplace transform pair.
⌦(s) 1
• In the case of the flywheel, the transfer function is =
F (s) Js + b
F0 F0
For the step response we have F (s) = ) ⌦(s) =
s s (Js + b)
F0
It is easy to verify that lims!0 s⌦(s) =
b
in agreement with the result for the steady state of this system
in the previous page
4
A word on zeros
Transfer function
with a zero
s+z 1 1
H(s) = =s· +z·
D(s) D(s) D(s)
Derivative Amplification
operator (“gain”)
Example: compare the step response of the two systems below:
1 s+z
H0 (s) = H(s) =
s+p s+p
2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 5

Step response without zero vs with zero
1 ✓ ◆ Please verify
U (s) = F0 (s) 1 1 1 1 1 yourselves this
F0 (s) = =
s 1 s s+p p s s+p partial-fraction
H0 (s) = expansion!
s+p 1 pt
) f0 (t) = 1 e , t > 0.
p
1
U (s) = F (s) F (s) = sF0 (s) + zF0 (s)
s s+z
H(s) = d z
s+p ) f (t) = f0 (t) + zf0 (t) = e pt
+ 1 e pt
, t > 0.
dt p
Example: 2
1.8 without
3
with
1.6 zero 2.5 zero
p = 0.5; 1.4
jω jω
2
z = 1.0 1.2
f0 [a.u.]
f [a.u.]
1 1.5
0.8 σ σ
1
0.6
0.4
-0.5 -1 -0.5
0.5
0.2
0
0 −2 0 2 4 6 8 10
−2 0 2 4 6 8 10 t [sec]
t [sec]

Zero on the right-hand side?
jω jω
1 1
0.9 σ 0.8 σ
0.8
-0.5 0.25 0.6
-0.5 1.0
0.7 0.4
0.6 0.2
f [a.u.]
f [a.u.]
0.5 0
0.4 −0.2
0.3 −0.4
0.2 −0.6
0.1 −0.8
0 −1
−2 0 2 4 6 8 10 −2 0 2 4 6 8 10
t [sec] t [sec]
Example: 2
1.8 without
3
with
1.6 zero 2.5 zero
p = 0.5; 1.4
(lhs) (lhs)
jω jω
2
1.2
f0 [a.u.]
f [a.u.]
1 1.5
0.8 σ σ
1
0.6
0.4
-0.5 -1 -0.5
0.5
0.2
0
0 −2 0 2 4 6 8 10
−2 0 2 4 6 8 10 t [sec]
t [sec]

The general 2nd order system
© John Wiley & Sons. All rights reserved. This content is excluded from our Creative
8
Nise Figure 4.10 Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.

9
Nise Figure 4.11


The underdamped 2nd order system
11

forced response,
sets steady state
Nise Figure 4.10


Transients in the underdamped 2nd order system
Nise Figure 4.14


Transient qualities from pole location in the s-plane
Nise Figure 4.19


Linearization
• This technique can be used to approximate a non-linear system
16
Linearizing systems: the pendulum

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2.04A Systems and Controls

Spring 2013
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Today's Plan: 2.004 Spring '13

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Today’s plan

• 1st order system response: review

• 2nd order system response:

[where f(t) and F0 have units of torque,]

Example: compare the step response of the two systems below:

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 5

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 6

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 7

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21

Nise Figure 4.11

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 10

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 12

Nise Figure 4.10

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 13

Nise Figure 4.14

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 14

Nise Figure 4.19

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 15

2.004 Spring ’13 Lecture 07 – Thursday, Feb. 21 17

2.04A Systems and Controls

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