UNIT 4

Time-domain Analysis of Control System

Lec09: Objectives

At the end of the lecture, I should be able to:

Use poles and zeros of transfer function to determine the
time response of a control system
Natural and Forced Responses
Example 14: Consider a fluidic first-order system;
For such system we have:
p1 p2 = Rq ----- 1
where R = Hydraulic resistance
But
p1 p2 = gh ----- 2
where = water density

q = rate at which water leaves the tank

= dV/dt ; V = water volume
= Ah
Thus
q = d(Ah)/dt = A dh/dt ----- 3
Natural and Forced Responses
Example 14: Consider a fluidic first-order system;

p1 p2 = Rq ----- 1
p1 p2 = gh ----- 2
q = A dh/dt ----- 3

gh = RA dh/dt
or

dh
RA ( g )h 0
dt
Fluidic System

dh
RA ( g )h 0
dt
Water flowing out of a tank

This differential equation is

First order because highest order derivative is first
derivative
Linear because dependent variable h and its
derivatives are linear combinations
Time invariant because coefficients dont change with
time
Natural because it has no forcing input.
Fluidic System
Example 15:

dh gh
A q1
dt R
Forced because it is
driven by input q1
Transient and steady-state
responses
Mass-spring example
Mass-spring system

Transient Steady-state
Type of inputs

Table 1.1 (From Nise)

Poles and Zeros of a Transfer
Function
The poles of a transfer function are:

The values of the Laplace transform variable, s, that cause the

transfer function to become infinite
Any roots of the denominator of the transfer function that are
common to roots of the numerator

The zeros of a transfer function are:

The values of the Laplace transform variable, s, that causes the

transfer function to become zero
Any roots of the numerator of the transfer function that are
common to roots of the denominator
Poles and Zeros of a Transfer
Function
Example 16 j

s 2 =0
G( s) s-plane
s 5 =0

x pole
O zero

A pole exists at s =- 5
A zero exists at =- 2