II.B.

Performance Specification
Objective of control desirable output
Question 1: What is desirable?
Question 2: For which inputs?
Answer: Define quantitative output specifications
for inputs used in targeted applications
Usual inputs in applications: step, ramp, sinusoidal,
Here, use step input for illustration (similar when dealing
other inputs)
Control
System
Desired performance

Actual output

II.B.1 Output Specifications for Step Input

To be discussed
in Section II.C.

new set point

old set point

Textbook Fig. 5.7

Rise time Tr1:- time to go from 10% to 90% of new set point
(For underdamped system, can also define rise time Tr from
0% to 100% of new value)
Settling time Ts:- time for output to settle within % of new
set point value
Percent overshoot P.O.:- maximum % by which the output
overshoots the new set point value
Peak time Tp:- time for output to reach maximum value

 Note: (Tr1 , Ts , P.O. , Tp) pretty much determine the output

(Tr1 , Ts , P.O. , Tp) measure how close the output resembles
the desirable step function:
(Tr1, Tp) measure swiftness of output as compared to a
step function
(P.O.,Ts) measures similarity of the output to the profile
of a step input
Swiftness and Similarity measures are by nature contradictory
to each other Compromise needed
Control design is to tradeoff between the two

II.B.2. Analytical Expressions for Second Order System

Derive expressions of (Tr1 , Ts , P.O. , Tp) assuming system is
2nd order for simplicity
Standard form for second order system:
R(s)

n 2
2
( s 2 2 n s n )

Y(s)

- Systems has a pair of complex pole: p and p*

p n j n 1 2

( (n, )-representation of p )

- Note: n2 in numerator is scaling factor

y() 1 for step input

 Step function as input: R(s)=1/s

- Laplace Transform of output:
n 2
Y (s)
2
s( s 2 2 n s n )

Inverse Laplace Transform (for < 1):

y(t ) 1

1 e

e nt sin( n t )

nt

cos( n t 1 )
2

sin( n t 1 )

with 1 2 , and cos 1

(Step responses y(t) vs n t for different values in

Fig. 5.5 of Textbook)

Figure 5.5 Step response of second order system for different value

dy (t )
Obtain Tp by
dt

t T p

sin( nT p 1 2 ) 0 nT p 1 2 0, ,2 ,3 ,4 ,5 ...

Tp

Take 1st max

P.O.

Obtain P.O. by

n 1

( M p 1)
1

Peak time

100%

with Mp y(T p ) 1 e nTp

P.O. e

1 2

100 %

Percent overshoot

 Comparing P.O. and Tp (Similarity vs Swiftness):

- Figure 5.8 from Textbook
- Cannot have value to yield small P.O. and also small nTp
Need to compromise between the two

 Estimate settling time Ts from envelop of y(t)

- y(t) written as
1 nt
y(t ) 1 e
sin[n t ]

- y(t) lies in-between 1

- y(t) within (1%) if

- Textbook adopt = 2%
4

e n t

or, rough approximation

Ts

e n t

< %

e nTs %

nTs ln 0.02 4
2% settling time

 Estimate Tr1 from response y(t) at different values of

- From step responses of Fig. 5.5:

0.9

0.1

nTr1 for 0.4

- n Tr1 varies from 1 3.5 as varies from 0 1

- Plotting n tr1 vs. (Figure 5.9)

Linear approximation

nTr1 2.16 0.6

- Linear approximation:

Tr1

2.16 0.6

rise time (Pretty good approximation

for 0.3 0.8 )

 Example: Usage of formula

- Given

R(s)

K
s( s 2)

Y(s)

- Transfer function:
R(s)

K
( s 2 2s K )

Y(s)

- Question: values of Tr1 , Ts , P.O. , Tp when K=9?

* Answer: compare with standard second order form
R(s)

n 2
2
( s 2 2 n s n )

n 2 K 9, n 1 n 3,

Y(s)
1
3

* Peak time

Tp

n 1

1 .11 sec

* Percent overshoot

P.O. e

1 2

100 % e

100 % 32.9%

* Settling Time
Ts

* Rise time

4 sec

2.16 0.6
2.16 0.6
3
Tr1

0.44 sec
n
3

* Tr1 , Ts , P.O., Tp values from step response generated

using MATLAB (do you know the MATLAB commands?)

- Exercise: values of Tr1 , Ts , P.O., Tp when K=17?

 Question: what if system NOT second order?

- Expressions derived for rise time, peak time, P.O., and
settling time will be more complicated
- Textbook included discussions on (read Section 5.4):
* Effects of additional zero
n 2 (s 1)
G( s ) 2
2
( s 2 n s n )

* Effects of additional pole

n 2
G( s ) 2
2
( s 2 n s n )(s 1)

- Most systems can be approximated as second order by

keeping only the most dominant complex pole pair
Above expressions mostly
applicable to all systems!

 Better use of the expressions of Tr1 , Ts , P.O., Tp

R(s)

n 2
2
( s 2 2 n s n )

Y(s)

- Instead of:
Given and n
values of Tr1 , Ts , P.O., Tp of y(t)

How about:
Given desired range of Tr1 , Ts , P.O., Tp of y(t)
and n ?

- Next topic: Allowable Region

II.B.3. Allowable Region on s-plane

Recall p jd

n jn

Peak time T p

1 2

( Cartesian representation )
1 2

( (n, )-representation )

- depend only on imaginary part of complex pole

- specification: T p x sec
- Allowable Region
for system complex
pole to satisfy
Tp x

Any complex pole pair

lying within this region
will satisfy T p x

x
j

 Example: system with complex pole pair having

same imaginary part has same Tp
p, p* 0.5 j 2
p, p* 1 j 2
p, p* 1.5 j 2

p, p* 2 j 2

 Percent overshoot P.O. e

1 2

100%

- depend only on damping coefficient (Larger , smaller P.O.)

- Specification: P.O. x %
Value of at

x obtained from Fig 5.8,

or by solving the equation: e

- Allowable Region obtained
by computing x cos 1 x
and confining x
Allowable Region for
system pole pair to
satisfy P.O. x %

which P.O.=x%

x
1 x2

x%
Im

x cos 1 x
Real

x cos 1 x

MATLAB to calculate PO given Angle A:

>> A =45;
>> z=cos(A/180*pi)
z =0.7071
>> PO=exp(-z*pi/sqrt(1-z^2))*100
PO =4.3214
>> A =60
>> z=cos(A/180*pi)
z =0.5000
>> PO=exp(-z*pi/sqrt(1-z^2))*100
PO =16.3034
MATLAB to calculate Angle A given PO:
>>PO=10;
>> lx=log(PO/100)
lx= -2.3026
>> z2=lx^2/(pi^2+lx^2)
z2 = 0.3495
>> z=sqrt(z2)
z = 0.5912
>> Ar=acos(z)
Ar = 0.9383
>> A=Ar/pi*180
A=53.7610

PO=exp(-z*pi/sqrt(1-z^2))*100

z=cos(A)

px
Angle A

x
P*

 Example: systems with complex pole pair having

same damping coefficient have same P.O.
0.3, n 1.5

0.3, n 2

0.3, n 1
0.3, n 0.5

P.O.

 Settling time Ts

- depend only on real part of complex pole

4
n
x

- specification: Ts < x sec

- Allowable Region for system pole to satisfy Ts < x sec

Im

Real

4
x

 Example: system with complex pole pair having

same real part has approximately the same Ts
p, p* 0.5 j 2
p, p* 0.5 j1.5
p, p* 0.5 j1

Design Concept #2:

Allowable region satisfying a set of specifications is the
intersection of all allowable regions satisfying individual
specifications
Control Design To place close loop system poles
inside Allowable region
(Root Locus method (Later)!)

 Example 5.1: Given system

R(s)

+
-

K
s( s p )

- Find K and p to satisfy specifications

(i) P.O. <5%
(ii) Ts<4 sec
- Transfer function R(s) to Y(s):

Y (s)
K
2
R( s ) ( s ps K )
- This is a standard second order form!

n 2 K , 2 n p

Y(s)

- Allowable region for specification (i)

P.O. 5% 0.7

Im

x 45.57

45.57

Real

x cos 1 x

- Allowable region for specification (ii)

x 45.57

Ts 4 sec n 1

Im

Real

- Overall Allowable Region: intersection of the two

* Pick p1, p1 * 1 j
inside overall Allowable
Region

Im

45.57

* Find K and p such that

system poles are p1, p1 *
* With p1, p1 * as given,
n 2 , 1

K 2, p 2

- Question: what if add one more specification?

(iii) T p 1.55 sec

Real