AME 455 Control Systems Design Lecture 6 Time domain response of second order systems Ramp Response Harmonic

Response Connection between location of poles and time response Instructional objectives: At the end of this lecture students should be able to calculate the time response of s. o. system sketch the phase and amplitude plots of a s. o. sys. apply the formulas for the %Overshoot, rise time, settling time; peak time and steady state error..

AME 455 Control Systems Design

d = n 1 2

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design The Output/Input amplitude is given by the modulus: C ( j ) 1 M ( ) = = 2 R ( j ) 2 2 2 1 2 + 4 2 n n At what frequency of the input signal is the modulus maximal?
d d M 2 ( ) = 0 is easier!!! M ( ) = 0, but d d
2 2 d 2 1 so 4 + 2 2 d n n 2 2

=
2 3

2 2 2 2 2 =0 1 2 1 2 8 4 = (2) + + 2 2 2 2 2 n n n n n

AME 455 Control Systems Design

2 2 1 2 2 + 2 2 2 = 1 2 + 2 2 2 = 0 n n n n n or

peak = n (1 2 2 )

2 2 1 + 2 =0 2 n 2 2 = n 1 2 2

M peak ( peak ) = M peak = 1

(2 )
4

2 2

+ 4 2 1 2 2 1 2 1 2

4 4
2

peak = tan 1

1 2 2

AME 455 Control Systems Design

Mp

M ( )

( )
peak = tan
1

peak

1 2 2

-90 -180

AME 455 Control Systems Design

M ( )

1 0.708
peak

M dB = 20 log M = = 20 log(0.708) = 3dB

( )

BandWidth = BW ( Hz )

-90 -180
n

AME 455 Control Systems Design

AME 455 Control Systems Design Transient response as a function of the location of the poles.
Recall that the step response of a second order system is given by:

c(t ) = 1 where tan =

e nt 1 1 2
2

sin ( d t + ),

From the exponential term one sees that the time decay of the oscillation amplitude is given by n while the oscillation frequency by d . These parameters can be found by inspection of the location of the closed-loop poles on the complex plane as shown below.

AME 455 Control Systems Design

AME 455 Control Systems Design

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