CONTROL SYSTEMS THEORY

Transient response

Chapter 4
Objectives
 To find time response from transfer
function
 To describe quantitatively the
transient response of a 1st and 2nd
order system
 To determine response of a control
system using poles and zeros
Introduction
 In Chapter 1, we learned that the total
response of a system, c(t) is given by

c t   cforced t   cnatural t 
 In order to qualitatively examine and
describe this output response, the poles and
zeros method is used.
Poles & zeros
 The poles of a TF are the values of
the Laplace variable that cause the TF
to become infinite (denominator)
 The zeros of a TF are the values of
the Laplace variable that cause the TF
to become zero (numerator)
Poles & zeros
 Example : Given the TF of G(s), find
the poles and zeros

 Solution :
 G(s) = zero/pole
 Pole at s=-5
 Zero at s=-2
Poles & zeros
 Zero (o), Pole (x)
 Transfer function = Numerator
Denominator
= Zeros
Poles
Poles & zeros
 Example : Given G(s), obtain the
pole-zero plot of the system

Zero (o)
Pole (x)
Poles & zeros
 Exercise : Obtain and plot the poles
and zeros for the system given
First order system
 First order system with no zeros
First order system
 Performance specifications:
 Time constant, t
 1/a, time taken for response to rise to 63%
of its final value
 Rise time, Tr
 time taken for response to go from 10% to
90% of its final value
 Settling time, Ts
 time for response to reach and stay within
5% of final value
First order system
 System response
Second order system
Second order system
Second order system
 Exercise : Is this system
under/over/critically damped?
Second order system
 Performance specifications
 damping ratio

 % Overshoot = cmax – cfinal x 100

cfinal
Second order system
 Settling time, Ts
4
Ts 
 n a = 2ωn

 Peak time, Tp


Tp 
n 1   2
Second order system
 2nd order underdamped response
Second order system
 Second-order response as a function
of damping ratio
Second order system
Second order system
 Step responses of second-order
under-damped systems as poles
move:

a. with constant real part

b. with constant imaginary part
c. with constant damping ratio
(constant on the diagonal)
Second order system
Exercise
 Describe the damping of each system
given the information below
Solution
 Find value of zeta
2nd order general form
Exercise
 Given these 2nd order systems, find the
value of  and . Describe the damping
Solution
Example
 Given

 Find settling time, peak time, %OS

 Hint :
Solution
Block diagram: Analysis
Finding transient response
For the system shown below, find the
peak time, percent overshoot and
settling time.
Block diagram: Analysis
Answers:
n=10
=0.25
Tp=0.324
%OS=44.43
Ts=1.6
Block diagram: Analysis and
design
Gain design for transient response
Design the value of gain, K, for the feedback
control system of figure below so that the
system will respond with a 10% overshoot
Block diagram: Analysis and
design
Solution:
Closed-loop transfer function is

K
T (s)  2
s  5s  K
2 n  5
and
n  K
Thus,
5
 
2 K
Block diagram: Analysis and
design
 Can be calculated using the %OS

 ln %OS / 100
 
 2  ln 2 %OS / 100

 = 0.591
We substitute the value and calculate K, we get
K=17.9
Higher order systems
 Systems with >2 poles and zeros can
be approximated to 2nd order system
with 2 dominant poles
Higher order systems
 Placement of third pole. Which most closely
resembles a 2nd order system?
Higher order systems
 Case I : Non-dominant pole is near
dominant second-order pair (=)
 Case II : Non-dominant pole is far from the
pair (>>)
 Case III : Non-dominant pole is at infinity
(=)

 How far away is infinity?

5 times farther away to the LEFT from dominant
poles
Exercises
 Find , ωn, Ts, Tp and %OS

a) T(s) = 16
s2 + 3s + 16

b) T(s) = 0.04
s2 + 0.02s + 0.04
c)
T(s) = 1.05 x 107
s2 + (1.6 x 103)s + (1.5 x 107)
Solution part (a)
 ωn = 4
 ζ = 0.375
 Ts =4s
 Tp = 0.8472 s
 %OS = 28.06 %
Solution part (b)
 ωn = 0.2
 ζ = 0.05
 Ts =400s
 Tp = 15.73s
 %OS = 85.45 %
Solution part (c)
 ωn = 3240
 ζ = 0.247
 Ts =0.005 s
 Tp = 0.001 s
 %OS = 44.92 %