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Unstable system:
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Poles
The poles is important when analysis the stability of a system. The figure below gives an overview of
the poles impact on the stability of a system:
Each of the poles of the transfer function lies strictly in the left half
plane (has strictly negative real part).
One or more poles lies on the imaginary axis (have real part equal to
zero), and all these poles are distinct. Besides, no poles lie in the right
half plane.
Unstable system:
At least one pole lies in the right half plane (has real part greater than
zero).
Or: There are multiple and coincident poles on the imaginary axis.
Feedback Systems
Below we see a typical feedback system:
Where
Here are some important transfer functions to determine the stability of a feedback system:
( ) ( ) ( ) ( )
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( ) ( )
( ) ( )
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( ) ( )
Characteristic Polynomial
We have that:
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And:
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( ) ( ) ( ) ( ) ( )
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Where ( ) and ( ) numerator and the denominator of the Loop transfer function ( ).
The characteristic polynomial for the control system (tracking function) is defined as:
( ) ( ) ( )
The stability of the control system is determined by the placement of the roots of the characteristic
polynomial in the complex plane.
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Task 1.1
Pen and paper: What are the poles for the different transfer functions above? Plot the poles in the
imaginary plane. What are the stability properties of these systems (asymptotically stable system,
marginally stable system or unstable system)?
Task 1.2
Do the same using MathScript.
Task 1.3
Plot the impulse responses of these systems using MathScript. Are they as expected?
Tip! Use the built-in function impulse, which is similar to the step function we have used before.
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1 - Poles:
The pole of the transfer function lies strictly in the left half plane (has strictly negative real part).
2 - MathScript Code:
clear
clc
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);
3 - Impulse Response:
We see that:
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1 - Poles:
The pole lies on the imaginary axis (have real part equal to zero). Besides, no poles lie in the right half
plane.
2 - MathScript Code:
clear
clc
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);
3 - Impulse Response:
We see that:
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1 - Poles:
At least one pole lies in the right half plane (has real part greater than zero). Or: There are multiple
poles on the imaginary axis.
2 - MathScript Code:
clear
clc
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);
3 - Impulse Response:
We see that:
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1 - Poles:
At least one pole lies in the right half plane (has real part greater than zero).
2 - MathScript Code:
clear
clc
% Poles
poles(H)
figure(2)
pzgraph(H)
% Impulse Response
figure(1)
impulse(H);
3 - Impulse Response:
We see that:
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Task 2.1
Find ( ), ( ) and ( ) for the system (both pen and paper and in MathScript).
Tip! In MathScript we can use the series and feedback functions in order to find ( ) and ( ).
Task 2.2
Plot the step response for the feedback system ( ( )).
Task 2.3
Find the poles and plot the poles in the imaginary plane for the feedback system ( ( )).
Is the system asymptotically stable, marginally stable system or unstable (for the 3 different values of
)?
( ) ( ) ( ) ( )
Where
( ) ( )
( ) ( )
( ) ( )
The Tracking Property (Norwegian: flgeegenskaper) is good if the tracking function T has value
equal to or close to 1:
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The Compensation Property is good if the sensitivity function S has a small value close to zero:
| | | |
Note!
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MathScript code:
clear
clc
% Controller Transferfunction
Kp = 1;
Hr = Kp;
% Step Response
figure(1)
step(T)
% Poles
poles(T)
figure(2)
pzgraph(T)
Discussion:
We see that the stability properties of the system changes with different values for (the
controller). This means we use the controller to define the stability of the system.
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Task 3.1
Find the loop transfer function ( ), the tracking transfer function ( ) and the sensitivity transfer
function ( ) for the system.
Solutions:
( ) ( ) ( ) ( )
Then we get:
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( ) ( )
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( ) ( )
Then we get:
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( ) ( )
( )
( )
( ) ( )
Then we get:
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( ) ( )
Task 4.1
Define the stability properties of this process (is the process stable or not?).
Solution:
Task 4.2
The transfer function for the controller is:
Solution:
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Where ( ) and ( ) numerator and the denominator of the Loop transfer function ( ).
( ) ( )
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( ) ( )
Then we get:
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3. The characteristic polynomial for the control system (tracking function) is defined as:
( ) ( ) ( )
This gives:
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Note! We see that the stability of the control system is determined by the placement of the roots of
the characteristic polynomial - or the placement of the poles of the tracking function in the complex
plane.
Task 4.3
For which values of is the system
Asymptotically Stable
Unstable
Marginally stable?
Solution:
Task 4.4
Define the system in MathScript and find the step response for the system for different values of .
Solution:
MathScript code:
clear
clc
Kp=1;
% Tracking Function:
num = 2*Kp;
den = [1, 2*Kp];
T = tf(num, den)
% Step Response
step(T)
: Asymptotically stable
: Unstable
: Marginally stable
Additional Resources
http://home.hit.no/~hansha/?lab=mathscript