Control Tutorials For MATLAB and Simulink - Introduction - System Analysis

26/7/2016
ControlTutorialsforMATLABandSimulinkIntroduction:SystemAnalysis
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INTRODUCTION CRUISECONTROL MOTORSPEED
http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=SystemAnalysis
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SYSTEM
MODELING
ANALYSIS
CONTROL
Introduction:System
Analysis
Onceappropriatemathematicalmodelsofasystem
havebeenobtained,eitherinstatespaceortransfer
PID
functionform,wemaythenanalyzethesemodelsto
ROOTLOCUS
predicthowthesystemwillrespondinboththetime
and frequency domains. To put this in context,
FREQUENCY
STATESPACE
DIGITAL
control systems are often designed to improve

stability, speed of response, steadystate error, or
prevent oscillations. In this section, we will show
howtodeterminethesedynamicpropertiesfromthe
systemmodels.
SIMULINK
KeyMATLABcommandsusedinthistutorialare:tf
MODELING
,ssdata,pole,eig,step,pzmap,bode,ltiview
CONTROL
Related
Tutorial
Links
Time
Response
Activity
Frequency
Response
Activity
Related
External
Links
Time
Response
Intro
Video
Freq
Response
Intro
Video
Contents
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TimeResponseOverview
FrequencyResponseOverview
Stability
SystemOrder
FirstOrderSystems
SecondOrderSystems
TimeResponseOverview
Thetimeresponserepresentshowthestateofadynamicsystemchanges
in time when subjected to a particular input. Since the models we have
derived consist of differential equations, some integration must be
performedinordertodeterminethetimeresponseofthesystem.Forsome
simple systems, a closedform analytical solution may be available.
However,formostsystems,especiallynonlinearsystemsorthosesubject
to complicated input forces, this integration must be carried out
numerically. Fortunately, MATLAB provides many useful resources for
calculatingtimeresponsesformanytypesofinputs,asweshallseeinthe
followingsections.
Thetimeresponseofalineardynamicsystemconsistsofthesumofthe
transient response which depends on the initial conditions and the
steadystate response which depends on the system input. These
correspond to the free (homogeneous or zero input) and the forced
(inhomogeneousornonzeroinput)solutionsofthegoverningdifferential
equationsrespectively.
FrequencyResponseOverview
Alltheexamplespresentedinthistutorialaremodeledbylinearconstant
coefficientdifferentialequationsandarethuslineartimeinvariant(LTI).LTI
systems have the extremely important property that if the input to the
systemissinusoidal,thenthesteadystateoutputwillalsobesinusoidalat
the same frequency but in general with different magnitude and phase.
These magnitude and phase differences as a function of frequency
comprisethefrequencyresponseofthesystem.
The frequency response of a system can be found from the transfer
function in the following way: create a vector of frequencies (varying
between zero or "DC" to infinity) and compute the value of the plant
transfer function at those frequencies. If
is the openloop transfer
function of a system and is the frequency vector, we then plot

versus
. Since
is a complex number, we can plot both its
magnitudeandphase(theBodePlot)oritspositioninthecomplexplane
(the Nyquist Diagram). Both methods display the same information in
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(the Nyquist Diagram). Both methods display the same information in

differentways.
Stability
Forourpurposes,wewillusetheBoundedInputBoundedOutput(BIBO)
definition of stability which states that a system is stable if the output
remainsboundedforallbounded(finite)inputs.Practically,thismeansthat
thesystemwillnotblowupwhileinoperation.
The transfer function representation is especially useful when analyzing
systemstability.Ifallpolesofthetransferfunction(valuesofsatwhichthe
denominator equals zero) have negative real parts, then the system is
stable.Ifanypolehasapositiverealpart,thenthesystemisunstable.Ifwe
viewthepolesonthecomplexsplane,thenallpolesmustbeintheleft
halfplane(LHP)toensurestability.Ifanypairofpolesisontheimaginary
axis,thenthesystemismarginallystableandthesystemwilloscillate.The
polesofaLTIsystemmodelcaneasilybefoundinMATLABusingthepole
command,anexampleifwhichisshownbelow:
s=tf('s');
G=1/(s^2+2*s+5)
pole(G)
G=
s^2+2s+5
Continuoustimetransferfunction.
ans=
1.0000+2.0000i
1.00002.0000i
Thus this system is stable since the real parts of the poles are both
negative.Thestabilityofasystemmayalsobefoundfromthestatespace
representation. In fact, the poles of the transfer function are the
eigenvalues of the system matrix A. We can use the eig command to
calculate the eigenvalues using either the LTI system model directly,
eig(G)orthesystemmatrixasshownbelow.
[A,B,C,D]=ssdata(G);
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eig(A)
ans=
1.0000+2.0000i
1.00002.0000i
SystemOrder
Theorderofadynamicsystemistheorderofthehighestderivativeofits
governingdifferentialequation.Equivalently,itisthehighestpowerofsin
the denominator of its transfer function. The important properties of first,
second,andhigherordersystemswillbereviewedinthissection.
FirstOrderSystems
First order systems are the simplest dynamic systems to analyze. Some
commonexamplesincludecruisecontrolsystemsandRCcircuits.
Thegeneralformofthefirstorderdifferentialequationisasfollows
(1)
Thefirstordertransferfunctionis
(2)
DCGain
The DC gain,
, is the ratio of the magnitude of the steadystate step
response to the magnitude of the step input. From the Final Value
Theorem, for stable transfer functions the DC gain is the value of the
transferfunctionwhens=0.Forfirstordersystemsequalto
TimeConstant
The time constant
is the time it takes for the system to
reach63%ofthesteadystatevalueforastepresponseortodecreaseto
37% of the inital value for an impulse response. More generally, it
represents the time scale for which the dynamics of the system are
significant.
Poles/Zeros
Thereisasinglerealpoleat
.Therefore,thesystemisstableif is
positiveandunstableif isnegative.Therearenozeros.
StepResponse
Wecancalculatethesystemtimeresponsetoastepinputofmagnitudeu
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Wecancalculatethesystemtimeresponsetoastepinputofmagnitudeu
usingtheMATLABfollowingcommands:
k_dc=5;
Tc=10;
u=2;
s=tf('s');
G=k_dc/(Tc*s+1)
step(u*G)
G=
10s+1
Continuoustimetransferfunction.
Note:MATLABalsoprovidesapowerfulGUI(LTIViewer)foranalyzingLTI
systemswhichcanbeaccessedusing,ltiview('step',G).
IfyourightclickonthestepresponsegraphandselectCharacteristics,
youcanchoosetohaveseveralsystemmetricsoverlaidontheresponse:
peakresponse,settlingtime,risetime,andsteadystate.
SettlingTime
Thesettlingtime, ,isthetimerequiredforthesystemouputtofallwithin
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acertainpercentage(i.e.2%)ofthesteadystatevalueforastepinputor
equivalentlytodecreasetoacertainpercentageoftheinitialvalueforan
impulseinput.Thesettlingtimesforfirstordersystemforthemostcommon
tolerances are provided in the table below. Note that the tighter the
tolerance, the longer the system response takes to settle to within this
tolerance,asexpected.
10%
5%
2%
1%
Ts=2.3/a=2.3Tc
Ts=3/a=3Tc
Ts=3.9/a=3.9Tc
Ts=4.6/a=4.6Tc
RiseTime
The rise time,
, is the time required for the system output to rise from
some lower level x% to some higher level y% of the final steadystate

value.Forfirstordersystems,thetypicalrangeis10%90%.
BodePlots
The Bode Plots show the magnitude and phase of the system frequency
response,
.WecangeneratetheBodeplotsinMATLABusingthe
bode(G)command.
bode(G)
Again the same results could be obtained using the LTI viewer GUI,
ltiview('bode',G)
TheBodeplotsusealogarithmicfrequencyscale,sothatalargerrangeof
frequencies are visible. Also, the magnitude is represented using the
logarithmicdecibelunit(dB)definedas:
(3)
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Likefrequency,thedecibelscaleallowsustoviewamuchlargerrangeof
magnitudesonasingleplot.Also,asweshallseeinsubsequenttutorials,
when systems are combined or controllers are added, transfer functions
areoftenmultipliedtogether.UsingthedBscale,wemaysimplyaddthe
magnitudes of the transfer functions. Note, we may also add the phase
anglesthoughthesearenotshownonalogscale.
The low frequency magnitude of the first order bode plot is
The magnitude plot has a bend at the frequency equal to the absolute
valueofthepole(ie.
),andthendecreasesat20dBforeveryfactor
oftenincreaseinfrequency(20dB/decade).Thephaseplotisasymptotic
to 0 degrees at low frequency, and asymptotic to 90 degrees at high
frequency. Between frequency 0.1a and 10a, the phase changes by
approximately 45 degrees for every factor of ten increase in frequency
(45degrees/decade).
WewillseeintheFrequencyMethodsforControllerDesignSectionhowto
use Bode Plots to calculate closed loop stability and performance of
feedbacksystems.
SecondOrderSystems
Secondordersystemsarecommonlyencounteredinpractice,andarethe
simplest type of dynamic system to exhibit oscillations. In fact many real
higher order systems are modeled as second order to facilitate analysis.
ExamplesincludemassspringdampersystemsandRLCcircuits.
Thegeneralformofthefirstorderdifferentialequationisasfollows
(4)
Thefirstordertransferfunctionis
(5)
DCGain
The DC gain,
, again is the ratio of the magnitude of the steadystate
stepresponsetothemagnitudeofthestepinput,andforstablesystemsit
isthevalueofthetransferfunctionwhen
.Forsecondordersystems,
(6)
DampingRatio
The damping ratio is a dimensionless quantity charaterizing the energy
losses in the system due to such effects as viscous friction or electrical
resistance.Fromtheabovedefinitions,
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resistance.Fromtheabovedefinitions,
(7)
NaturalFrequency
The natural frequency is the frequency (in rad/s) that the system will
oscillateatwhenthereisnodamping,
.
(8)
Poles/Zeros
Thesecondordertransferfunctionhastwopolesat:
(9)
UnderDampedSystem
If
,thenthesystemisunderdamped.Bothpolesarecomplexvalued
withnegativerealpartsthereforethesystemisstablebutoscillateswhile
approachingthesteadystatevalue.
k_dc=1;
w_n=10;
zeta=0.2;
s=tf('s');
G1=k_dc*w_n^2/(s^2+2*zeta*w_n*s+w_n^2);
pzmap(G1)
axis([311515])
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step(G1)
axis([0302])
SettlingTime
Thesettlingtime, ,isthetimerequiredforthesystemouputtofallwithin
a certain percentage of the steady state value for a step input or
equivalentlytodecreasetoacertainpercentageoftheinitialvalueforan
impulseinput.Forasecondorder,underdampedsystem,thesettlingtime
canbeapproximatedbythefollowingequation:
(10)
The settling times for the most common tolerances are presented in the
followingtable:
10%
5%
2%
1%
Ts=2.3/(zeta*wn)
Ts=3/(zeta*w_n)
Ts=3.9/(zeta*w_n)
Ts=4.6/(zeta*w_n)
PercentOvershoot
Thepercentovershootisthepercentbywhichasystemexceedsitsfinal
steadystatevalue.Forasecondorderunderdampedsystem,thepercent
overshootisdiretlyrelatedtothedampingratiobythefollowingequation:
(11)
For second order under damped systems, the 2% settling time,

time,
, rise
, and percent overshoot, %OS, are related to the damping and
naturalfrequencyasshownbelow.
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(12)
(13)
(14)
OverDampedSystems
If
, then the system is over damped. Both poles are real and
negative therefore the system is stable and does not oscillate. The step
responseandapolezeromapofanoverdampedsystemarecalculated
below:
zeta=1.2;
pzmap(G2)
axis([20111])
step(G2)
axis([01.501.5])
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CriticallyDampedSystems
If
, then the system is critically damped. Both poles are real and
have the same magnitude,
. Critically damped systems
approachsteadystatequickestwithoutoscillating.Nowchangethevalue
ofthedampingto1,andreplotthestepresponseandpolezeromap.
zeta=1;
pzmap(G3)
axis([11111])
step(G3)
axis([01.501.5])
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UndampedSystems
If
,thenthesystemisundamped.Inthiscase,thepolesarepurely
imaginary therefore the system is marginally stable and oscillates

indefinitely.
zeta=0;
pzmap(G4)
axis([111515])
step(G4)
axis([050.52.5])
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BodePlot
WeshowtheBodeMagnitudeandPhasePlotsforalldampingconditions
ofasecondordersystembelow:
bode(G1,G2,G3,G4)
legend('underdamped:zeta<1','overdamped:zeta>1','criticallydamped:ze
The magnitude of the bode plot of a second order system drops off at
40dB per decade, while the relative phase changes from 0 to 180
degrees at 90 degrees per decade. For the under damped systems, we
alsoseearesonancepeaknearthenaturalfrequency,
=10rad/s.The
sharpness of the peak depends on the damping in the system, and is

charaterizedbythequalityfactor,orQFactor,definedbelow.TheQfactor
isanimportantpropertyinsignalprocessing.
(15)
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PublishedwithMATLAB7.14
AllcontentslicensedunderaCreativeCommonsAttributionShareAlike4.0
InternationalLicense.
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Control Tutorials For MATLAB and Simulink - Introduction - System Analysis

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26/7/2016

INTRODUCTION CRUISECONTROL MOTORSPEED

control systems are often designed to improve

is the openloop transfer

function of a system and is the frequency vector, we then plot

is a complex number, we can plot both its

(the Nyquist Diagram). Both methods display the same information in

, is the ratio of the magnitude of the steadystate step

is the time it takes for the system to

, is the time required for the system output to rise from

some lower level x% to some higher level y% of the final steadystate

, again is the ratio of the magnitude of the steadystate

For second order under damped systems, the 2% settling time,

, and percent overshoot, %OS, are related to the damping and

have the same magnitude,

. Critically damped systems

imaginary therefore the system is marginally stable and oscillates

sharpness of the peak depends on the damping in the system, and is

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