Control Systems

Time domain Analysis Time domain Analysis

of Control Systems of Control Systems
0 2 4 6 8 1 0 1 2
0
0 .2
0 .4
0 .6
0 .8
1
1 .2
1 .4
1 .6
1 .8
wn* t
y
(t)
ze ta = 0 .1 , 0.2 , 0.4 , 0 .7 , 1 .0, 2 .0
2
Control Systems
Outline Outline
- Types of Responses
- First Order Systems
- Second Order Systems
- Response Specifications
- Effect of Zeros
- Higher Order Systems
- Effects of Additional Poles
3
Types of Responses Types of Responses
Natural Response: Response due to the effects of the initial Conditions
Forced Response: Response due to the effects of the inputs
Transient Response: The initial part of the response prior to settling down
Steady State Response:The final part of the response after settling down
4
Types of Responses Types of Responses
Natural Response
Forced Response
Transient Response
Steady State Response
y(t)
t
T(s)
r(t) y(t)
r(0)
5
o
j
System Response & Pole Locations System Response & Pole Locations
6
First Order Systems First Order Systems
a
(s + a)
r(t) y(t)
vA first order system without zeros
can be described by the transform
function shown.
vIf the input is a step function , i.e.
R(s) =1/s
Then the Step Response is
Y(s) = T(s) R(s) =
Taking the inverse transform, the
step response yields
y(t) = 1 - e
-at
) ( a s s
a
+
a =1
0 0.5 1 1.5 2 2.5 3
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
1
t
y(t)
transient steady-state
x
-a
7
First Order Systems First Order Systems
vLet us examine the significance of a being
the only parameter needed to describe the
transient response. When t =1/a
37 . 0
1
/ 1
= =

=

e e
a t
at
63 . 0 37 . 0 1 1 ) (
/ 1
/ 1
= = =
=

=
a t
at
a t
e t y
v or
v We now use the above three equations to define three
transient response performance specifications
8
First Order Systems First Order Systems
Specifications Specifications
1. Time Constant
We call 1/a the time constant of the response, where the time
constant can be described as the time for e
-at
to decay to 37% of its
initial value. Alternately the time constant is the time it takes for the
step response to rise to 63%of its final or steady state value.
2. Rise Time
Rise time is defined as the time for the waveform to go from 0.1 to
0.9 of its final value. Thus, rise time is the difference in time at
y(t)=0.9 and y(t)=0.1. Hence , T
r
= 2.2/a
3. Settling Time
Settling time is defined as the time for the response to reach and
stay within 2% of its final value. Letting y(t)=0.98 and solving for
time t in the step response, we find the settling time to be T
s
= 4/a
9
Second Order Systems Second Order Systems
A general second-order system is given as follows
The two important quantities responsible for the shape of the
system response are the natural frequency and the damping ratio
defined as follows
Natural Frequency: It is the frequency of oscillation of the system
without damping.
Damping Factor: It is the rate at which the system response
decays to the steady state value

S
2
+ a s + b
b
s T
=
S
2
+ 2
n
s +
n
2

n
2
=
where b =
n
2
and a = 2
n
10
System Poles Locations Response y(t)
Second Order Systems Second Order Systems
Introductory Example
9 9
9
2
+ + s s
y(t)=1 + 0.171e
-7.854t
+ 0.171 e
-1.146t
S
1
= -7.854 , S
2
= -1.146
0 2 0 4 0 6 0 8 0 1 0 0 1 2 0
0
0 . 1
0 . 2
0 . 3
0 . 4
0 . 5
0 . 6
0 . 7
0 . 8
0 . 9
1
x x
S
1
= -1 + j2.82, S
2
= -1 - j2.82
y(t)=1 - 1.06e
-t
cos (8 t - 19.47)
9 2
9
2
+ + s s
0 2 0 4 0 6 0 8 0 1 0 0 1 2 0
0
0 . 2
0 . 4
0 . 6
0 . 8
1
1 . 2
1 . 4
x
x
Pole Location:
s
1,2
= -
n
+-
n

2
l
Y(s
)
T(s)
R(s) = 1/s
S
2
+ 2
n
s +
n
2

n
2
11
System Pole Locations Response
b a s s
b
+ +
2
T(s)
Y(s) R(s) = 1/s
Second Order Systems Second Order Systems
Introductory Example .. Continued
9
9
2
+ s
S
1
= j3 , S
2
= -j3 y(t )= 1 - cos 3t
0 2 0 4 0 6 0 8 0 1 0 0 1 2 0 1 4 0 1 6 0 1 8 0
0
0 . 2
0 . 4
0 . 6
0 . 8
1
1 . 2
1 . 4
1 . 6
1 . 8
2
x
x
y(t)=1 - 3 t e
-3t
- e
-3t
9 6
9
2
+ + s s
S
1
= -3 , S
2
= -3
0 2 0 4 0 6 0 8 0 1 0 0 1 2 0
0
0 .1
0 .2
0 .3
0 .4
0 .5
0 .6
0 .7
0 .8
0 .9
1
xx
Pole Location:
s
1,2
= -
n
+-
n

2
l
12
Second Order Systems Second Order Systems
0 2 0 4 0 6 0 8 0 1 0 0 1 2 0
0
0 .1
0 .2
0 .3
0 .4
0 .5
0 .6
0 .7
0 .8
0 .9
1
Overdamped
0 2 0 4 0 6 0 8 0 1 00 1 20
0
0 .2
0 .4
0 .6
0 .8
1
1 .2
1 .4
Underdamped
0 2 0 4 0 6 0 8 0 1 00 1 20 1 40 1 60 1 80
0
0 .2
0 .4
0 .6
0 .8
1
1 .2
1 .4
1 .6
1 .8
2
Undamped
0 2 0 4 0 6 0 8 0 1 00 1 20
0
0 .1
0 .2
0 .3
0 .4
0 .5
0 .6
0 .7
0 .8
0 .9
1
Critically damped
Poles:
real and
equal at
-
n
Poles:
Complex
Conjugate at
-
n
+ j
n
1-
2
and
-
n
+ j
n
1-
2
Poles:
Imaginary
at
j
n
and
- j
n
Poles:
real at
-
n
+
n

2
l
and
-
n
+
n

2
l
= 0
0 l
= l
> l
Response as a function of damping factor
13
% Compute step response for a second-order system
t=[0:0.1:12]; num=[1]; zeta1=0.1; den1=[1 2*zeta1 1]; zeta2=0.2; den2=[1 2*zeta2 1];zeta3=0.4; den3=[1
2*zeta3 1]; zeta4=0.7; den4=[1 2*zeta4 1];zeta5=1.0; den5=[1 2*zeta5 1];zeta6=2.0; den6=[1 2*zeta6 1];
[y1,x,t]=step(num,den1,t); [y2,x,t]=step(num,den2,t);[y3,x,t]=step(num,den3,t);
[y4,x,t]=step(num,den4,t);[y5,x,t]=step(num,den5,t);
[y6,x,t]=step(num,den6,t);%plot(t,y1,t,y2,t,y3,t,y4,t,y5,t,y6)
xlabel('wn*t'),
ylabel('y(t)')title('zeta = 0.1,0.2,0.4,0.7,1.0,2.0'), grid
Second Order Systems
0 1 2 3 4 5 6 7 8 9 1 0
- 0 .8
- 0 .6
- 0 .4
- 0 .2
0
0 .2
0 .4
0 .6
0 .8
1
w n* t
y
(
t
)
/
w
n
ze ta = 0 .1 , 0 .2 5 , 0 .5 ,1 .0

0.25
0.1
0.5
1.0
Impulse Response
The effect of
14
%Compute step response for a second-order system t=[0:0.1:12]; num=[1];
zeta1=0.1; den1=[1 2*zeta1 1]; zeta2=0.2; den2=[1 2*zeta2 1];zeta3=0.4; den3=[1
2*zeta3 1]; zeta4=0.7; den4=[1 2*zeta4 1];zeta5=1.0; den5=[1 2*zeta5 1];
zeta6=2.0; den6=[1 2*zeta6 1][y1,x,t]=step(num,den1,t);
[y2,x,t]=step(num,den2,t);[y3,x,t]=step(num,den3,t);
[y4,x,t]=step(num,den4,t);[y5,x,t]=step(num,den5,t);
[y6,x,t]=step(num,den6,t);plot(t,y1,t,y2,t,y3,t,y4,t,y5,t,y6)xlabel(' wn*t'),
ylabel('y(t)')title('zeta = 0.1, 0.2, 0.4, 0.7, 1.0, 2.0'), grid
Second Order Systems
The effect of
0 2 4 6 8 1 0 1 2
0
0 . 2
0 . 4
0 . 6
0 . 8
1
1 . 2
1 . 4
1 . 6
1 . 8
w n* t
y
(
t)
ze ta = 0 .1 , 0 . 2 , 0 . 4 , 0 .7 , 1 .0 , 2 . 0

0.2
0.1
0.4
0.7
Step Response
1.0
2.0
15
Response Specifications Response Specifications
Second Order Systems
1. Peak Time T
p
: It is the time required to reach the maximum peak value
of the response. That is
T
p
= t at y(t) = y
max
PO =
2. Percent Overshoot PO: The increase in response magnitude above the
steady state value as a percentage of the steady
state value. That is
(y
max
- y
ss
)
y
ss
16
Response Specifications Response Specifications
Second Order Systems
3. Rise Time T
r
: It is the time required for the response to go from 10% to
90% of its steady state value. That is
T
r
= t
90%
- t
10%
4. Delay Time T
d
: It is the time required for the response to reach 50% of its
steady state value. That is
T
d
= t
50%
5. Settling Time T
s
: It is the time required for the transient response to reach
and stay within +- 2% of its steady state value
T
s
= t
2%0f ss
17
0
y(t)
t
1
1+H
1+H
.9
. 1
T
p
Peak
Time
T
s
Settling
Time
Steady State Error
e
ss
T
r
Rise
Time
Overshoot
.5
M
p
Peak
Response
T
d
Delay
Time
1.2
Response Specifications Response Specifications
Second Order Systems
18
Response Specifications Response Specifications - - Underdamped Case Underdamped Case
Second Order Systems
T
p
= -----------
T

n
1 -
2
PO = e
-
(

T
/

1 -
2
x l00
T
s
= -----
4

n
x
x

n
U

n
j
n
1 -
2
- j
n
1 -
2
= cos U
19
Response Specifications Response Specifications - - Underdamped Case Underdamped Case
Second Order Systems
T
r
= -----------------------
1- 0.4167 + 2.917
2

n
T
d
= ----------------------
1.1- 0.125 + 0.469
2

n
x
x

n
U

n
j
n
1 -
2
- j
n
1 -
2
= cos U
0 < < 1
20
Response Specifications Response Specifications - - Underdamped Case Underdamped Case
Second Order Systems

n3

n2

n1

n1
<
n2
<
n3

l
= 0
2

4
U
2
U
3
U
4

l
<
2
<
1
<
4
21
100
90
80
70
60
50
40
30
20
10
0
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Percent
overshoot
3.40
3.20
3.00
Damping ratio,
P
e
r
c
e
n
t
m
a
x
i
m
u
m
o
v
e
r
s
h
o
o
t

n
T
p

n
T
p
5.00
4.80
4.60
4.40
4.20
4.00
3.80
3.60
% Overshoot and Peak Time vs Damping Ration % Overshoot and Peak Time vs Damping Ration
Second Order Systems
22
Percent overshoot
10
5.0
2.0
1.0
0.5
0.2
0.1
1 2 5 10 20 50 100 200 500 1000
a
n
Second Second- -order system with a zero order system with a zero
% Overshoot as a function of damping ratio and natural frequency
23
Example 1 .. Adding a pole to the 2nd order system
(a) Find the step response of the following system
24.542
s
2
+ 4s + 24.542
(b) Add a pole (s + 10) to the above system and determine the step response
( c ) Add a pole (s + 3) to the above system and determine the step response
(d) Compare the above three systems for the effect of the additional pole on the
2nd order system
T(s) =
Second Second- -order System order System
T(s)
y(t)
24.542
s
2
+ 4s + 24.542
y= 1 - 1.09e
-2t
cos(4.532t-23.8)
245.42
(s+10)(s
2
+ 4s + 24.542)
y= 1 - 0.29e
-2t
- 1.89 e
-2t
cos(4.532t-53.34)
y= 1 - 1.14e
-2t
+ 0.707 e
-2t
cos(4.532t- 78.63)
73.626
(s+3)(s
2
+ 4s + 24.542)
24
3 0 0.5 1 1.5 2 2.5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time(seconds)
Example 1 .. Adding a pole to the 2nd order system
numt1=[24.542];%Define numerator of T1.
dent1=[1 4 24.542]; %Define denominator of T1.
step(numt1,dent1) %Run a step response plot.
title('Test Run of T1(s)') %Add title to graph.
pause
[y1,x1,t1]=step(numt1,dent1);%Run step response of T1 and collect points.
numt2=[245.42];%Define numerator of T2.
p1=[1 10]; %Define (s+10) in denominator of T2.
p2=[1 4 24.542]; %Define (s^2+4s+24.542) in denominator of T2.
dent2=conv(p1,p2); %Multiply (s+10)(s^2+4s+24.542) for denominator of T2.
[y2,x2,t2]=step(numt2,dent2);%Run step response of T2 and collect points.
numt3=[73.626];%Define numerator of T3.
p3=[1 3]; %Define (s+3) in denominator of T3.
dent3=conv(p3,p2); %Multiply (s+3)(s^2+4s+24.542) for denominator of T3.
[y3,x3,t3]=step(numt3,dent3);%Run step response of T3 and collect point
plot(t1,y1,t2,y2,t3,y3)%Plot acquired points with all three plots on one graph.
title('Step Responses of T1(s),T2(s),and T3(s)') %Add title to graph.
xlabel('Time(seconds)') %Add time axis label.
ylabel('Normalized Response')%Add response axis label.
text(0.7,0.7,y3(t)') %Label step response of T1.
text(0.7,1.1,y2(t)') %Label step response of T2.
text(0.5,1.3,y1(t)') %Label step response of T3.
y
3
(t)
y
2
(t)
y
1
(t)
Second Second- -order System order System
T(s)
y(t)
24.542
s
2
+ 4s + 24.542
y= 1 - 1.09e
-2t
cos(4.532t-23.8)
245.42
(s+10)(s
2
+ 4s + 24.542)
y= 1 - 0.29e
-2t
- 1.89 e
-2t
cos(4.532t-53.34)
y= 1 - 1.14e
-2t
+ 0.707 e
-2t
cos(4.532t- 78.63)
73.626
(s+3)(s
2
+ 4s + 24.542)
25
T(s)
Example 2 .. Adding a zero to the 2nd order system
Second Second- -order System order System
8
s
2
+ 2s + 8
(8/3)(s+3)
s
2
+ 2s + 8
(8/5)(s+5)
s
2
+ 2s + 8
(8/10)(s+10)
s
2
+ 2s + 8
(a) Find the step response of the following system
8
s
2
+ 2s + 8
(b) Add a zero at -3 to the above system and determine the step
response
( c ) Add a zero at -5 to the above system and determine the step
response
(d) Add a zero at -10 to the above system and determine the step
response
Compare the above three systems for the effect of the added zero on the
2nd order system response
numt1=8; %Define numerator of T1.
dent=[1 2 8]; %Define denominator of T1.
[y1,x1,t1]=step(numt1,dent); %Run step response of T1
numt2=(1/3)*numt1*[1 3]; %Define numerator of T2.
[y2,x2,t2]=step(numt2,dent); %Run step response of T2
numt3=(1/5)*numt1*[1 5]; %Define numerator of T3.
[y3,x3,t3]=step(numt3,dent); %Run step response of T3
numt4=(1/10)*numt1*[1 10]; %Define numerator of T4.
[y4,x4,t4]=step(numt4,dent); %Run step response of T4
plot(t1,y1,t2,y2,t3,y3,t4,y4)%Plot acquired four plots
title('Step Responses of T1(s),T2(s),T3(s),and T4(s)')
xlabel('Time(seconds)') %Add time axis label.
ylabel('Normalized Response') %Add response axis label
26
Example 2 .. Adding a zero to the 2nd order system
Second Second- -order System order System
0 1 2 3 4 5 6
0
0.5
1
1.5
Step Responses
Time(seconds)
N
o
r
m
a
l
i
z
e
d

R
e
s
p
o
n
s
e
y
1
y
4
y
2
y
3
27
Higher Order Systems ( Dominant Poles)
Second Second- -order System order System
Dominant
Poles
Region
Insignificant
Poles
Region
1. Left half plane poles which are
close to the imaginary axis give
rise to slowly decaying transient
response.
2. Left half plane poles which are
far away from the imaginary axis
give rise to fast decaying time
response.
d
3. If the magnitude of the real part
of a pole is at least 5 to 10 times
that of a dominant pole or a pair of
complex dominant poles, then the
pole may be regarded as
insignificant.
28
Third Order Systems ( dominant Poles)
Second Second- -order System order System
10
E.g. T(s) = 20/(s+10)(s
2
+2s+2)
The poles are at
s
1
= -10
s
2
= -1 + j1
s
3
= -1 - j1
The real part of the pole s
1
is 10 time
that of s
2
and s
3
. Thus the poles s
2
and
s
3
are dominant poles and s
1
is insignificant
S
2
s
3
s
1
29
Design Problem 1
Second Second- -order System order System
For the control system shown, determine
suitable values for k
1
and k
2
to satisfy the
following specifications:
(a) Maximum Overshoot for a unit step
of 25%
(b) A peak time of 2 seconds
T
T
p
= --------------- = 2
n
= 1.72

n
1 -
2
Solution:
T(s)= k
1
/(s
2
+ k
1
k
2
s + k
1
)

n
= k
1
, 2
n
= k
1
k
2
e
-
(
T /

1 -
2

= 02 = 0404
Thus k
1
=
n
2
= 2.95 and k
2
= 2
n
/ k
1
= 0.471 sec
k
1
/s 1/s
k
2
- -
r(t)
y(t)
30
Design Problem 2
Second Second- -order System order System
For the forth order control system given by
480
T(s) =
(s
2
+ 22s + 120)(s
2
+ 3s + 4)
Reduce the given system to a second order one
and sketch the unit step response.
Solution:
480
T(s) =
(s + 10)(s + 12) (s + 1.5 - j1.32) (s + 1.5 + j1.32)
The poles of the system are at -10, -12, -1.5 +- j1.32
Thus the dominant poles are form the factor (s
2
+ 3s + 4)
Thus 2
n
= 3 and
31
x
x

n

n
j
n
1 -
2
- j
n
1 -
2
Design Problem 2 .. ontinued
Second Second- -order System order System

n
1 -
2
= 1.32
and
n
= 1.5
1.32
-1.5
Solving for and
n
yields
= 07 and
n
= 2
2
0 0 .5 1 1 .5 2 2 .5 3 3 .5 4
0
0 .2
0 .4
0 .6
0 .8
1
1 .2
1 .4
Step Responses