Time Response Analysis, Design

Specifications and Performance

Indices

1 18 February 2011
 Time Response of First Order
System

2 18 February 2011
 Whatt iis the
Wh th time
ti response off a control
t l
system?

Time response:
The time solution to
differential equation.
q

3 18 February 2011
 Whatt iis the
Wh th time
ti response off a control
t l
system?

Time response consists

Ti i t of:
f
1.Natural response
2.Forced response

4 18 February 2011
 Whatt iis the
Wh th time
ti response off a control
t l
system?

Natural
a u a response
espo se iss caused by the
e sys
system
e itself.
se .
Also called transient response or homogenous
solution

Forced response is caused by the input to the

control system.
system Also called steady-state response
or particular solution.

5 18 February 2011
 Whatt iis the
Wh th time
ti response off a control
t l
system?

Time response Plot

Steady-state
Natural
a u a response
espo se o
or Time
e so
solution
u o too
response
Transient response differential equation Caused by
Caused by the the input
system itself

6 18 February 2011
 How to obtain time response?
Schematic Time Response
Why
T
Transfer
f
Function?

M&x&
f (t )
Kx M Transfer Function
X ( s) 1
G(s) = =
F ( s ) Ms 2 + K

Differential Equation
q Laplace Transform
M&x& + Kx = f (t ) MXs 2 + KX = F ( s )
7 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

Given:

How to obtain the time response?

First, we need to understand the

First
concept of poles and zeros

8 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

What are p
poles ?
First rule:
The values of Laplace transform variable,
s, that
th t cause the
th transfer
t f function
f ti to
t
become infinite.
Second rule:
Any roots of the denominator of the
transfer function that are common to the
roots of numerator
9 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

Transfer Function
First rule:
( s + 3) When s = -5, or s = -2 or s = -3, then,
G ( s) = G(s)=infinity! Therefore, the poles
( s + 5)( s + 2)( s + 3) of the transfer function G(s) are -5,
-2 and -3.

( s + 3) Second rule:
G ( s) = Although the term (s+3) can be
( s + 5)( s + 2)( s + 3) cancelled out, the value -3 is still
the poles of the transfer function
G(s).

10 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

What are zeros ?

First rule:
The values of Laplace transform variable,
s, that
th t cause the
th transfer
t f function
f ti to
t
become zero.
Second rule:
Any roots of the numerator of the transfer
function that are common to roots of the
denominator
11 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

Transfer Function
First rule:
( s + 3) When s = -3, then, G(s)= 0.
G ( s) = Therefore, the zero of the transfer
( s + 5)( s + 2)( s + 3) function G(s) is -3.

( s + 3) Second rule:
G ( s) = Although the term (s+3) can be
( s + 5)( s + 2)( s + 3) cancelled out, the value -3 is still
the zero of the transfer function
G(s).

12 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

Transfer Function
( s + 7) Zero = -7
G(s) = Poles = -1, -1 and -3
( s + 1)( s + 1)( s + 3)

( s + 13)( s + 3) Zero = -13 and -3

G ( s) = Poles = -11, -2 and -9
( s + 11)( s + 2)( s + 9)

13 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function?

Given:

How to obtain the time response?

1. Find C(s)
2 Expand
2. E d the
th transfer
t f ffunction
ti using
i partial
ti l ffraction
ti
expansion technique
p
3. Perform inverse Laplace transform

14 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function? –Find C(s)

Given:

Output C ( s )
G ( s) = =
Input R( s)
What is R(s)?
C ( s) = G ( s) R( s)

15 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function? –Find C(s)

What is R(s)?
()
A
Step input: r (t ) = A Laplace Transform R (s) =
S
R
Ramp input:
i t r ( t ) = At
A L l
Laplace TTransform
f R (s) =
A
2
S
A
Sine input: r(t) = sin( ω t ) Laplace Transform R (s) =
S 2
+ ω 2

16 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function? –Find C(s)

Given:

R(s) unit step input implies A = 1

C ( s) = G ( s) R( s)
1 ( s + 2)
C (s) =
s ( s + 5)
17 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function? – Expand C(s)

Expand
p C(s)
( ) using
g Partial Fraction Expansion
p
Technique
1 ( s + 2)
C ( s) =
s ( s + 5)

A B ( s + 2)
C (s) = + =
s s + 5 s ( s + 5)

18 18 February 2011
 How tto obtain
H bt i time
ti response from
f
transfer function? – Expand C(s)

A
C (s) = +
B
=
( s + 2) How to find A
s s + 5 s ( s + 5) and B?
( s + 2) 2
A= =
( s + 5) s →0
5 2 3
C ( s) = 5 + 5
( s + 2) 3 s s+5
B= =
(s) s → −5
5

19 18 February 2011
 How to obtain time response from
f transfer
f
function? – Inverse Laplace Transform

2 3
C ( s) = 5 + 5
s s+5
2 Inverse Laplace 2
5 Transform 5
s
2 3 − 5t
3 3
5 Inverse Laplace e −5t
c(t ) = + e
s+5
Transform 5 5 5
Time response

20 18 February 2011
 Whatt is
Wh i the
th time
ti response off a
control system?

Transient response

Steady response

21 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system?
Input pole generates
p
force response

System pole generates

natural response

System pole generates

natural response in the
form of e-αt .

Both zero and pole

generates the
amplitude of time
response
22 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system? An Example
1 What are poles and
R( s) = C (s )
s ( s + 3) zeros?
Poles = -2, -4 and -5
( s + 2)( s + 4)( s + 5) Zero = -3

By inspection:

K1 K2 K3 K4
C (s) ≡ + + +
s ( s + 2) ( s + 4) ( s + 5) Influence of poles
on time response
Force
response Natural
response
23 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system? An Example
1
R( s) = C (s )
s ( s + 3)
( s + 2)( s + 4)( s + 5)

K1 K2 K3 K4
By inspection: C (s) ≡ + + +
s ( s + 2) ( s + 4) ( s + 5)
Inverse Laplace
Transform
c(t ) ≡ K1 + K 2 e −2t + K 3e −4t + K 4 e −5t

Time response – solution to differential equation

24 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system? An Example

C (s) ≡
K1
+
K2
+
K3
+
K4 How to
s ( s + 2) ( s + 4) ( s + 5) evaluate
l t K1,
K1
c(t ) ≡ K1 + K 2 e −2t + K 3e −4t + K 4 e −5t K2, K3 and K4?
( s + 3)
C (s) =
s ( s + 2)( s + 4)( s + 5)

s( s + 3) ( s + 3) 3
sC ( s) = K1 = = =
s ( s + 2)( s + 4)( s + 5) s →0
( s + 2)( s + 4)( s + 5) s →0
11

25 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system? An Example

s ( s + 3) ( s + 3) 0+3 3
sC ( s ) = K1 = = = =
s ( s + 2)( s + 4)( s + 5) s →0
( s + 2)( s + 4)( s + 5) s →0
(0 + 2)(0 + 4)(0 + 5) 40

( s + 2)( s + 3) ( s + 3) (−2 + 3) 1
( s + 2)C ( s ) = K 2 = = = =
s ( s + 2)( s + 4)( s + 5) s → −2
s( s + 4)( s + 5) s → −2
− 2(−2 + 4)(−2 + 5) − 12

( s + 4)( s + 3) ( s + 3) (−4 + 3) −1
( s + 4)C ( s ) = K1 = = = =
s ( s + 2)( s + 4)( s + 5) s → −4
s ( s + 2)( s + 5) s → −4
(−4)(−4 + 2)(−4 + 5) 8

( s + 5)( s + 3) ( s + 3) (−5 + 3) −2
( s + 5)C ( s ) = K1 = = = =
s( s + 2)( s + 4)( s + 5) s → −5
s ( s + 2)( s + 4) s → −5
− 5(−5 + 2)(−5 + 4) − 15

26 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system? An Example

c(t ) ≡ K1 + K 2 e −2t + K 3e −4t + K 4 e −5t

3 1 − 2 t 1 − 4 t 2 − 5t
c(t ) ≡ − e − e + e
40 12 83 15
1

27 18 February 2011
 Whatt is
Wh i time
ti response off a control
t l
system? An Example

28 18 February 2011
 What is the order of a control system?

The highest The number

order of of poles
differential
equations
i

29 18 February 2011
 First Order
S stem
System

30 18 February 2011
 What is the first order of a control system?

One Pole Time Response

− at
c(t ) = 1 − e
Solution Using Inspection
a
C (s) = sa a a
s( s + a) K1 = sC ( s ) = = = =1
s( s + a) s →0
( s + a) s →0
a
K1 K2
C ( s) = +
s ( s + a) ( s + a)a a a
K 2 = ( s + a)C ( s ) = = = = −1
c(t ) = K1 + K 2 e − at s(s + a) s →− a
s s →− a −a

31 18 February 2011
 What is the first order of a control system?

Transfer Function Time Response Plot

Pole Location

Time response
− at
c(t ) = 1 − e
32 18 February 2011
 What is the first order of a control system? –
Performance Parameters

Time constant
63% of
Final
value
1
Tc =
a

33 18 February 2011
 Whatt is
Wh i the
th first
fi t order
d off a control
t l system?
t ?–
Performance Parameters

Rise Time
Time to rise
from 0.1 to 0.9
of final value
Tr = T90% − T10%
2.31 0.11
Tr = −
a a
2 .2
Tr =
a

34 18 February 2011
 What is the first order of a control system? –
Performance Parameters

Settling Time

Time to reach
% of final
2%
value

4
Ts =
a
35 18 February 2011
 What is the first order of a control system? –
Performance Parameters

Time constant
63% off Final
Fi l 1
value Tc =
a
Rise Time
Time to rise from 2.2
0.1 to 0.9 of final Tr =
value a
Settling Time
Time to reach 4
2% of final value Ts =
a
36 18 February 2011
 What is the first order of a control system? –
An Example

Time constant
50 1
G (s) = R( s) = 1 1
s + 50 s Tc = = sec
a 50
First Order because one Rise Time
pole: pole = a = -50
2.2 2.2
Tr = = sec
By inspection the solution of a 50
unit step input is: Settling Time
c(t ) = 1 − e −50t 4 4
Ts = = sec
a 50
37 18 February 2011
 What is the first order of a control system? –
An Example

200 1 In general:
G (s) = R( s) =
s + 50 s K K
G( s) = c(t ) = (1 − e − at )
But the numerator (200) is s+a a
not equal to “a” (50).
50 Notice that time constant, rise
G (s) = 4 time and settling time are still the
s + 50 same. The performances only
By inspection the solution of depend on the pole.
pole
unit step input is:
1 4 2.2
−50t Tc = Ts = Tr =
c(t ) = 4(1 − e ) a a a

38 18 February 2011
 What is the first order of a control system? –
An Example

By experiment we get this

curve!!
Find transfer function?
Step 1: Find the pole
Time constant is the time
to reach 63% of final value
Final value = 0.72
63% Final value = 0.63X0.72=0.45
Time constant = 0.13 sec

39 18 February 2011
 What is the first order of a control system? –
An Example

Step 1: Find the pole

Ti
Time constant
t t=00.13
13 sec
1
Tc =
a
1 1
a= = = 7.7
General solution Tc 0.13
K
c(t ) = (1 − e − at )
a
K
= 0.72 → K = 0.72a = 0.72(7.7) = 5.54
a
K 5.54
G ( s) = =
s + a s + 7 .7
40 18 February 2011
 What is the first order of a control system? –
An Example

20
G (s) =
s+5
Whatt are th
Wh the titime constant,
t t rise
i titime, settling
ttli time
ti
and steady-state value?

41 18 February 2011
 General Response of Second
Order System

42 18 February 2011
 Time response of a second order
control system?

Second Order System

System with two poles

43 18 February 2011
 Time response of a second order
control system?

Over-damped Time Response

− b ± b 2 − 4ac
σ 1, 2 =
2a

− 9 ± 9 2 − 4(1)(9) − 9 ± 45 General solution

σ 1, 2 = =
2(1) 2
9 K K2 K3
σ 1 = −7.854 C (s) = = 1+ +
s ( s + σ 1 )( s + σ 2 ) s s + σ1 s + σ 2
σ 2 = −1.1466
c(t ) = K1 − K 2 e −σ 1t − K 3e −σ 2t
44 18 February 2011
 Time response of a second order
control system?

Under-damped Time Response

− b ± b 2 − 4ac
σ 1, 2 =
2a

− 2 ± 2 2 − 4(1)(9) − 2 ± j 32
σ 1, 2 = =
General solution
2(1) 2
−σ d t
σ 1 = −1 + j 8 σ 1, 2 = −1 ± j 8
c(t ) = 1 − Ae cos(ωd t − φ )
σ 2 = −1 − j 8 σ 1, 2 = −σ d ± jω n
45 18 February 2011
 Time response of a second order
control system?

Under-damped Time Response

c(t ) = 1 − Ae −σ d t cos(ωd t − φ )

46 18 February 2011
 Time response off a second
Ti d order
d
control system?

Un-damped Time Response

− b ± b 2 − 4ac
σ 1, 2 =
2a
General solution
− 0 ± 0 − 4(1)(9)
2
± j 36
σ 1, 2 =
2(1)
=
2 c(t ) = 1 − A cos((ωt − φ )
σ 1 = + j3
σ 2 = − j3
47 18 February 2011
 Time response off a second
Ti d order
d
control system?

Critically-damped Time Response

− b ± b 2 − 4ac
σ 1, 2 =
2a
General solution
− 6 ± 6 2 − 4(1)(9) −6
σ 1, 2 = = −σ 1t −σ 1t
2(1) 2 c(t ) = 1 − K1e + K 2te
σ 1, 2 = −3

48 18 February 2011
 Time response off second
Ti d order
d
control system? - Summary

Over-damped Un-damped
Poles are real Poles are
and distinct imaginary

Under-damped Critically-damped
Poles are Poles are real
real and and repeated
imaginary

49 18 February 2011
 Time response off second
Ti d order
d
control system? - Summary

50 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

General c(t ) = Ae −σ d t cos(ω d − φ )

solution of
under-damped c(t ) = Ae −5t cos(13.23 − φ )
− b ± b 2 − 4ac
σ 1, 2 =
2a

− 10 ± 10 2 − 4(1)(200)
σ 1, 2 =
2(1)
− 10 ± j 4(175)
σ 1, 2 =
2
σ 1 ,2 = −5 ± j13.23
The poles are real and imaginary.
Therefore UNDER-DAMPED.
51 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

What are poles and zeroes?

Plot on ss-plane?
plane?
Write the general expression of the step response?
State the nature of response?

2
G ( s) =
s+2
52 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

What are poles and zeroes?

Plot on ss-plane?
plane?
Write the general expression of the step response?
State the nature of response?

5
G ( s) =
( s + 3)( s + 6)
53 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

What are poles and zeroes?

Plot on ss-plane?
plane?
Write the general expression of the step response?
State the nature of response?

10( s + 7)
G ( s) =
( s + 10)( s + 20)
54 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

What are poles and zeroes?

Plot on ss-plane?
plane?
Write the general expression of the step response?
State the nature of response?

20
G ( s) =
s + 6 s + 144
2

55 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

What are poles and zeroes?

Plot on ss-plane?
plane?
Write the general expression of the step response?
State the nature of response?

s+2
G ( s) =
s +9
2

56 18 February 2011
 Time response off second
Ti d order
d
control system? - Example

What are poles and zeroes?

Plot on ss-plane?
plane?
Write the general expression of the step response?
State the nature of response?

s+5
G ( s) =
( s + 10) 2

57 18 February 2011
 Time Response of Second Order
System using Damping Ratio and
Natural Frequency

58 18 February 2011
 Time response off second
Ti d order
d
control system? - Summary

59 18 February 2011
 Time response off second
Ti d order
d
control system? - Summary

Over-damped Un-damped
Poles are real Poles are
and distinct imaginary

Under-damped Critically-damped

Poles are real

Poles are
and repeated
real and
imaginar
imaginary

60 18 February 2011
 Time response off second
Ti d order
d
control system?

So far, we based on the poles of the

second order system
− b ± b 2 − 4ac
σ 1, 2 =
2a

61 18 February 2011
 Time response off second
Ti d order
d
control system?

We are going to learn two

quantities that will help us analyze
second order system
Natural Damping
eque cy
Frequency a o
Ratio

ωn ξ
62 18 February 2011
 Time response off second
Ti d order
d
control system? Natural Frequency

Natural
Frequency
ωn
Natural
N t l frequency
f off a secondd
order system is the frequency of
oscillation
ill ti off th
the system
t without
ith t
damping

63 18 February 2011
 Time response off second
Ti d order
d
control system? Natural frequency

b Natural frequency of a b
G (s) = y
second order system is the G (s) =
s 2 + as + b frequency of oscillation of the s 2 + as + b
system without damping

b Therefore,
G (s) = Poles: s2 + b = 0
s2 + b
s = ± −b ωn = b
s=±j b b = ωn2
s = ± jω n

64 18 February 2011
 Time response off second
Ti d order
d
control system? Damping Ratio

Damping
Ratio ξ ξ=
Exponential Decay Frequency
Natural Frequency (rad/sec)

65 18 February 2011
 Time response off second
Ti d order
d
control system? Damping Ratio

b
G (s) =
s + as + b
2

a
Damping
p g
ξ=
Ratio
2ωn
66 18 February 2011
 Time response off second
Ti d order
d
control system?

General Form

G (s) =
b ωn2
G(s) = 2
s + as + b
2
s + 2ξξωn s + ωn
2

67 18 February 2011
 Time response off second
Ti d order
d
control system?

36 Find damping ratio

G ((ss ) = and the natural

s + 4.2 s + 36
2 frequency?

Natural Frequency Damping Ratio

ωn2 = 36 2ξωn = 4.2

ωn = 6 4.2
ξ= = 0.35
2( 6 )
68 18 February 2011