Department of Electrical and Computer Engineering

UNIVERSITY
COLLAGE OF ENGINEERING &

TECHNOLOGY
DEPARTMENT OF ELECTRICAL
AND COMPUTER ENGINEERING
6/12/17
ADU,CET,ECEg3153
Course name: Introduction to
control systems
Course code: ECEg3153
Course instructor: Getnet Z.
Contact information:
1
Email: abaye.get@gmail.com
Consultation hours:
Wednesday and Friday : from
OUTLINE
Introduction
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Timedomainanalysisof
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Firstordersystems
Secondordersystems
Steadystateerror
Stabilityanalysis's
Routhsstabilitycriteria
2
INTRODUCTION
TimeDomainAnalysisofControlSystems
In timedomain analysis the response of a dynamic
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systemtoaninputisexpressedasafunctionoftime.
It is possible to compute the time response of a
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system if the nature of input and the mathematical
modelofthesystemareknown.
After the engineer obtains a mathematical
representation of a system, the system is analyzed
for its transient and steadystate responses to see if
thesecharacteristicsyieldthedesiredbehavior
3
INTRODUCTION
Theconceptofpolesandzerosarefundamentalto
theanalysisanddesignofcontrolsystemswhich
simplifiestheevaluationofasystem'sresponse.
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Pole,ZerosandSystemResponse
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PoleofaTransferFunction:Thevaluesofthe
Laplacetransformvariable,s,thatcausethe
transferfunctiontobecomeinfinite
ZerosofaTransferFunction:Thevaluesofthe
Laplacetransformvariable,s,thatcausethe
transferfunctiontobecomezero
4
INTRODUCTION
Usually, the input signals to control systems arenot
knownfullyaheadoftime.
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Forexample,inaradartrackingsystem,theposition
andthespeedofthetargettobetrackedmayvaryin
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arandomfashion.
It is therefore difficult to express the actual input
signalsmathematicallybysimpleequations.
SoinordertogetSystemResponse:
Thecommonlyusedtestinputsignalsarestep
functions,rampfunctions,accelerationfunction,
impulsefunctionsandsinusoidalfunctions.
5
INTRODUCTION
StandardTestSignals
The characteristics of actual input signals are a
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sudden shock, a sudden change, a constant velocity,
andconstantacceleration.
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Thedynamicbehaviorofasystemisthereforejudged
and compared under application of standard test
signalsanimpulse,astep,aconstantvelocity,and
constantacceleration.
Another standard signal of great importance is a
sinusoidalsignal.
6
INTRODUCTION
StandardTestSignals
Impulsesignal
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The impulse signal imitate the
sudden shock characteristic of
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actualinputsignal.
IfA=1,theimpulsesignaliscalled
unitimpulsesignal.
7
INTRODUCTION
StandardTestSignals
Stepsignal
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The step signal imitate the
suddenchangecharacteristic u(t)
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ofactualinputsignal.
A
0 t
If A=1, the step signal is
calledunitstepsignal
8
INTRODUCTION
r(t)
StandardTestSignals
Rampsignal
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The ramp signal imitate the
constant velocity
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characteristic of actual input
signal. t
0
r(t)
rampsignalwithslopeA
IfA=1, the ramp signal is r(t)

calledunitrampsignal
unitrampsignal
9
INTRODUCTION
Standardtestsignal
Parabolicsignal
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The parabolic signal imitate p(t)
the constant acceleration
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characteristic of actual input
signal.
0 t
IfA=1,theparabolicsignalis
calledunitparabolicsignal.
10
INTRODUCTION
RelationbetweenstandardTestSignals
Impulse A t0
(t ) d
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0 t0
dt
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Step A t0
u(t )
0 t0 d
dt
Ramp At t0
r(t ) d
0 t0
dt
Parabolic

At 2
t0
p(t ) 2 11
0 t0

INTRODUCTION
LaplaceTransformofTestSignals
Impulse
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A t0
(t )
0 t0
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L{ (t )} (s ) A
Step
A t0
u(t )
0 t0
A
L{u(t )} U (s ) 12
S
INTRODUCTION
Laplacetransformoftestsignals
Ramp At t0
r (t )
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0 t0
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A
L{r (t )} R(s )
s2
Parabolic At 2
t0
p(t ) 2
0 t0

2A
L{p(t )} P(s ) 3
13
S
INTRODUCTION
TimeResponseofControlSystems
Timeresponseofadynamicsystemisresponseto
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aninputexpressedasafunctionoftime.
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Thetimeresponseofanysystemhastwo
components
Transientresponse
Steadystateresponse.
14
TIMEDOMAINANALYSISOF1ST
ORDERSYSTEMS
TransientResponseAnalysis
FirstOrderSystem:
Firstordersystemwithoutzero
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ThefirstordersystemhasonlyonepoleconsideringwithgainK.
C (s ) K

R(s ) Ts 1
WhereKistheD.CgainandTor1/aisthetimeconstantofthe
system.
Time constant is a measure of how quickly a 1 st order system
respondstoaunitstepinput.
D.CGainofthesystemisratiobetweentheinputsignalandthe 15
steadystatevalueofoutput.
ORDERSYSTEMS
AsanexampleForthefirstordersystemgivenbelow
10
G(s )
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3s 1
D.Cgainis10andtimeconstantis3seconds.Andfor
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followingsystem 3 3/5
G( s )
s5 1 / 5s 1
D.CGainofthesystemis3/5andtimeconstantis
1/5seconds.
Ingeneralhaving
E.g:Ifunitstepinputisappliedtothisfirstorder
system Cn(t):(natural),transited
response
16
Cf(t):forced(ss)response
ORDERSYSTEMS
Testing1stordersystems
ImpulseResponseof1stOrderSystem
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Considerthefollowing1stordersystem
(t)
K
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1
R(s ) C (s )
Ts 1
K
0
t
R( s) ( s) 1 C ( s)
Ts 1
Rearrangeaboveequationas K /T
C (s )
s 1/T
Inordertorepresenttheresponseofthesystemintime
domainweneedtocomputeinverseLaplacetransform
oftheaboveequation. 1 A at K t / T
L Ae c(t ) e 17
sa T
ORDERSYSTEMS
Testing1stordersystems
StepResponseof1stOrderSystem
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Considerthefollowing1stordersystem
K
C (s )
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R(s )
Ts 1
K
C (s )
s Ts 1
1
R(s ) U (s )
s
InordertofindouttheinverseLaplaceoftheabove
rcedResponse
K KTNaturalResponse
equation,weneedtobreakitintopartialfractionexpansion
1 T
C (s ) C (s ) K
s Ts 1 s Ts 1

c(t ) K u (t ) e t / T

TakinginverseLaplace

18

c(t ) K 1 e t / T
63%offinalvalue)
c (t ) K 1 e 1
Havingu(t)=1andt=T(atwhichtheresponsereach's
0.632 K
ORDERSYSTEMS
StepResponseof1stOrderSystem
E.g:IfK=10andT=1.5sthen
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K*(1-exp(-t/T))
11
c(t) K 1et /T 10
Step Response
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9
8 steady state output 10

D.C Gain K
7 Input 1
6
c(t)
2
Unit Step Input
1
0
0 1 2 3 4 5 6 7 8 9 10
Time
Exercise:fined1storderresponseforparabolicand
rampsignalinput. 19
ORDERSYSTEMS
RelationBetweenStepandimpulseresponse
Thestepresponseofthefirstordersystemis
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c(t ) K 1 e t / T K Ke t / T
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Differentiatingc(t)withrespecttotyields
dc(t ) d
dt

dt

K Ke t / T
dc(t ) K t / T
e (impulseresponse)
dt T
20
Example: Impulse response of a 1st order system is
givenbelow.
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c(t ) 3e 0.5t
solution
Findout
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The Laplace Transform of Impulse

TimeconstantT response of a system is actually the transfer
D.CGainK functionofthesystem.
Therefore taking Laplace Transform of the
TransferFunction
impulse response given by following
StepResponse equation.
C ( s ) C (s ) 3
c(t ) 3e 0.5t
(s ) R(s ) S 0.5
3 3
C (s ) 1 (s ) C (s ) 6
S 0.5 S 0.5 21
R(s ) 2 S 1
ORDERSYSTEMS
TransientResponsePerformanceSpecification:
TimeConstant:Toraistheonlyparameterneeded
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todescribethetransientresponseWecall1/aorTthe
timeconstantoftheresponse.
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Thetimeconstantcanbedescribedasthetimeforexp(
at)todecayto37%ofitsinitialvalue.Alternately,the
timeconstantisthetimeittakesforthestepresponse
toriseto63%ofitsfinalvalue
Itisrelatedtothespeedatwhichthesystemresponds
toastepinput.
Sincethepoleofthetransferfunctionisata,wecan
saythepoleislocatedatthereciprocalofthetime
constant,and
Thefartherthepolefromtheimaginaryaxis,thefaster 22
thetransientresponse.
ORDERSYSTEMS
RiseTime,Tr:Risetimeisdefinedasthetimefor
thewaveformtogofrom0%or10%to90%or100%
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ofitsfinalvalue.
Risetimecalculatedbysolvingforthedifferencein
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timeatc(t)=0.9andc(t)=0.1.Hence,
OrTr=2.2T
SettlingTime,Ts:Settlingtimeisdefinedasthe
timefortheresponsetoreach,andstaywithin,2%of
itsfinalvalue.
Lettingc(t)=0.98andsolvingfortime,t,wefindthe
settlingtimetobe
OrTs=4T
23
ORDERSYSTEMS
Couldbesummarizedas:
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OrSlope=1/T
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Ts=4T
24
ORDERSYSTEMS
Example:asystemhasatransferfunction
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Findthetimeconstant,Tc,settlingtime,Ts,andrise
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time,Tr?
Solution:
a=50
Tc=1/a=0.02sec
Tr=2.2/a=0.044sec
Ts=4/a=0.08sec
Whatwillbethetotaltimestepresponseandshowthe
naturalandforcedresponses?
1exp(50t)Totalresponse
1forcedresponse 25
exp(50t)Naturalresponse
ORDERSYSTEMS
1stOrderSystemwithaZero
C ( s ) K (1 s )

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R( s) Ts 1
Zeroofthesystemlieat1/andpoleat1/T.
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Stepresponseofthesystemwouldbe:
K (1 s )
C (s )
s Ts 1
K K ( T ) PartialFractions
C (s )
s Ts 1
K InverseLaplace
c(t ) K ( T )e t / T 26
T
ORDERSYSTEMS
1stOrderSystemwith&W/OZero(Comparison)
C (s ) K C (s ) K (1 s )

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R(s ) Ts 1 R(s ) Ts 1

c(t ) K 1 e t / T K
c(t ) K ( T )e t / T
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T
IfT>theshapeofthestepresponseis
approximatelysame(withoffsetaddedbyzero)
Unit Step Response
K 10
c(t ) K (n )e t / T 9.5
T
n
9
c(t ) K 1 e t / T 8.5
T
c(t)
7.5 offset
C (s ) 10(1 2s )
7
R(s ) 3s 1 6.5 27
10 0 5 10 15
c(t ) 10 (2 3)e t / 3 Time
3
ORDERSYSTEMS
IfT<theresponseofthesystemwouldlooklike
Comparingthe2cases
C (s ) 10(1 2s )
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Unit Step Response of 1st Order Systems with Zeros
14
R(s ) 1.5s 1
13
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10
c(t ) 10 (2 1)e t /1.5 12
1.5 11
T
nitStepResponse
Unit Step Response of 1st Order Systems with Zeros
14 10
9 T
13
U
Unit Step Response
8
12
7
11 6
0 5 10 15
Time
10
28
9
0 5 10 15
Time
ORDERSYSTEMS
ExamplesofFirstOrderSystems
ArmatureControlledD.CMotor(La=0)
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ElectricalSystem
MechanicalSystem
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Ra La
B
ia
eb T J
u
Eo (s ) 1

Ei (s ) RCs 1
X o (s ) 1
(s)

K t Ra
X i (s ) b
U(s) Js B K t K b Ra s 1
k 29
TIMEDOMAINANALYSISOF2ND
ORDERSYSTEMS
2ndordersystems
Wehavealreadydiscussedtheaffectoflocationofpole
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andzeroonthetransientresponseof1 stordersystems.
Compared to the simplicity of a firstorder system, a
ADU,CET,ECEg3153
secondordersystemexhibitsawiderangeofresponses
thatmustbeanalyzedanddescribed.
Varying a firstorder system's parameters (T, K)
simplychangesthespeedandoffsetoftheresponse
Whereas,changesintheparametersofasecondorder
systemcanchangetheformoftheresponse.
A secondorder system can display characteristics
much like a firstorder system or, depending on
componentvalues,displaydampedor pureoscillations
30
foritstransientresponse.
ORDERSYSTEMS
2ndordersystems
Ageneralsecondordersystem(withoutzeros)is
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characterizedbythefollowingtransferfunction.
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n2 OpenLoop
G(s)
s( s 2 n ) TransferFunction
C (s ) n2 ClosedLoop

R(s ) s 2 2 n s n2 TransferFunction
damping ratio of the second order system, which is a
measure of the degree of resistance to change in the
systemoutput.
undamped natural frequency of the second
n 31
order system, which is the frequency of
oscillationofthesystemwithoutdamping.
ORDERSYSTEMS
Letsstudytheeffectofpolelocationbeforefinding
responseofthesystem.
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letshavethecharacteristicequationordenominator
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Thefollowingconclusioncouldbedrawn:
32
ORDERSYSTEMS
SecondOrderSystems:
Letstakenumericalexamplesofthesecondorder
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systemresponseswhichhastwofinitepolesandno
zeros.
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33
ORDERSYSTEMS
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34
ORDERSYSTEMS
NB:Varyingafirstordersystem'sparametersimply
changesthespeedoftheresponse,changesinthe
parametersofasecondordersystemcanchangethe
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formoftheresponse.

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Therefore;dep.Ondampingratio()theresponse
Overdampedresponses() 1
Poles:Tworealat(i.e)
Naturalresponse:Twoexponentialswithtime
constantsequaltothereciprocalofthepolelocations,

35
ORDERSYSTEMS
0 1
Underdampedresponses()
Poles:Twocomplexat(i.e)
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Naturalresponse:Dampedsinusoidwithan
exponentialenvelopewhosetimeconstantisequalto
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thereciprocalofthepole'srealpart.Theradian
frequencyofthesinusoid,thedampedfrequencyof
oscillation,isequaltotheimaginarypartofthepoles,
0
Undampedresponses()
Poles:Twoimaginaryat(i.e)
Naturalresponse:Undampedsinusoidwithradian
frequencyequaltotheimaginarypartofthepoles,
36
ORDERSYSTEMS
Criticallydampedresponses() 1
Poles:Tworealat(i.e)
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Naturalresponse:Onetermisanexponentialwhose
timeconstantisequaltothereciprocalofthepole
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location.Anothertermistheproductoftime,tand
anexponentialwithtimeconstantequaltothe
reciprocalofthepolelocation,
37
ORDERSYSTEMS
GeneralSecondOrderSystem
Twophysicallymeaningfulspecificationsforsecond
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ordersystemstransientresponselikethatoftime
constantforfirstorderresponse.
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NaturalFrequency,n:Thenaturalfrequencyofa
secondordersystemisthefrequencyofoscillationof
thesystemwithoutdamping.
Forexample,thefrequencyofoscillationofaseries
RLCcircuitwiththeresistanceshortedwouldbethe
naturalfrequency
DampingRatio,Itistheratioofexponentialdecay
frequencyoftheenvelopetothenaturalfrequency.
Thisratioisconstantregardlessofthetimescaleof 38
theresponse.
ORDERSYSTEMS
Mathematically;
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Expressingsecondordersystemintermsofnatural
frequencyanddampingratio
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Let,
Withoutdamping,thepoleswouldbeonthejaxis,and
theresponsewouldbeanundampedsinusoid.Forthe
polestobepurelyimaginary,a=0.Hence,
Bydefinition,thenaturalfrequency,,isthefrequencyof
oscillationofthissystem.Sincethepolesofthissystem
areonthejaxisat, 39
Then,
ORDERSYSTEMS
Fortheabovegeneralsecondordersystemtransfer
function,assumingunderdampedsystem,the
complexpoleshavearealpart=a/2andthe
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magnitudeofthisvalueistheexponentialdecay
frequency.
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Havingthisgeneral2ndorderunitFBtransfer
function:thegeneral2ndordertimeresponseof
sinusoidalandexponentialparts. 40
ORDERSYSTEMS
Cont
c(t ) 1 e nt cos d t sin d t
1 2

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ADU,CET,ECEg3153
n n 2 1
RealPart ImaginaryPart
41
ORDERSYSTEMS
Example1:Forasystemwithatransfer
functiongivenbelowcalculatethedampingratio
andthenaturalfrequencyofthesystem.
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Solution:
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FromtheTF,
substitutingthevalueofdampingratio
NB:Thedampingratioandthenatural
frequencyofasystemcanbe
relatedwiththepolelocationofthesystem:which
meansiftheinformationaboutthesetwoparameter
isknownwecancalculatethepolesofthesystem.
42
ORDERSYSTEMS
Example 2; The natural frequency of closed loop
poles of 2nd order system is 2 rad/sec and damping
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ratio is 0.5. Determine the location of closed loop
poles so that the damping ratio remains same but
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thenaturalundampedfrequencyisdoubled.Pole-Zero Map 3
3
Solution 0.5 0.38 0.28 0.17 0.08 2.5
n2
0.64
C(s) 4 2
2
2
1.5
R(s) s 2ns n2 s2 2s 4 0.8
1
1
0.94 0.5
Imaginary Axis
0.94 0.5
-1
1
0.8
1.5
-2
2
0.64 43
0.5 0.38 0.28 0.17 0.08 2.5
-3
-2 -1.5 -1 -0.5 30 0.5
Real Axis
ORDERSYSTEMS
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44
ORDERSYSTEMS
UnderdampedSecondOrderSystem
Theunderdampedsecondordersystemisa
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commonmodelforphysicalproblemswhich
displaysuniquebehaviorthathavetobeitemized;
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Hence,adetaileddescriptionoftheunderdamped
responseisnecessaryforbothanalysisanddesign.
Thestepresponseforthegeneralsecondorder
systemis:
45
ORDERSYSTEMS
StepResponseofunderdampedSystem
C (s ) n2 n2
StepResponse C ( s)
s s 2 2 n s n2
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R(s ) s 2 2 n s n2
Thepartialfractionexpansionofaboveequationis
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givenas 1 s 2 n
C (s )
s s 2 2 n s n2

n2 1 2

1 s 2 n
C (s ) 2
s 2 n 2 s s 2 n s 2 n2 n2 2 n2
1 s 2 n
C (s )

s s n 2 n2 1 2
Aboveequationcanbewrittenas
1 s 2 n
C (s ) 46
s s n 2 d2
ORDERSYSTEMS
Where,isthefrequencyoftransientoscillations
andiscalleddampednaturalfrequency.
TheinverseLaplacetransformofaboveequationcanbe
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obtainedeasilyifC(s)iswritteninthefollowingform:
1 s n n
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C (s )
s s n 2 d2 s n 2 d2

n 1 2
1 s n 1 2
C (s )
s s n 2 d2 s n 2 d2
1 s n d
C (s )
s s n d
2 2
1 2 s 2 2
n d
47
1 2
ORDERSYSTEMS
Cont

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When
1 2
0
d n 1 2
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c(t ) 1 cos n t
n
Example:ConsiderEffectofvaryingdampingratio
withconstantnaturalfrequencyforunderdamped
systems.
I, if 0.1 and n 3 rad / sec
II, if 0.5 and n 3 rad / sec
III, if 0.9 and n 3 rad / sec
48
ORDERSYSTEMS
Theresponselooks:
1.4
1.8
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1.6 1.2
1.4
1
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1.2
III
1
0.8
0.8 0.6
0.6 0.4
0.4
0.2
0.2
0
0 0 2 4 6 8 10
0 2 4 6 8 10
1.4
1.2
III 1
0.8
0.6
0.4 49
0.2
0
0 2 4 6 8 10
ORDERSYSTEMS
Homework:StepResponseofoverdampedand
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criticallydampedSystems?
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50
ORDERSYSTEMS
TimeDomainSpecificationsofUnderdampedsystem
For0<<1andn>0,the2ndordersystems
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responseduetoaunitstep
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51
ORDERSYSTEMS
Risetime,Tr:Thetimerequiredforthewaveformto
gofrom0%or10%ofthefinalvalueto90%or100%of
thefinalvalue.
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Peaktime,Tp:Thetimerequiredtoreachthefirst
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themaximum,peak.
Percentovershoot,%OS:Theamountthatthe
waveformovershootsthesteadystate,orfinalvalueat
thepeaktime,expressedasapercentageofthesteady
statevalue.
Settlingtime,Ts:Thetimerequiredforthe
transient'sdampedoscillationstoreachandstaywith
in2%(}5%)ofthesteadystatevalue.
Thedelay(td)time:isthetimerequiredforthe
responsetoreachhalfthefinalvaluetheveryfirst 52
time.
ORDERSYSTEMS
NB:Alldefinitionsarealsovalidforsystemsoforder
higherthan2,howeveranalyticalexpressionsfor
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theseparameterscannotbefoundunlessthe
responseofthehigherordersystemcanbe
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approximatedasasecondordersystem,
Risetime,peaktime,andsettlingtimeyield
informationaboutthespeedofthetransient
response.
Thisinformationcanhelpadesignertodetermine
whetherthespeedandthenatureoftheresponsedo
ordonotdegradetheperformanceofthesystem.
53
ORDERSYSTEMS
Evaluatingtheperformanceparameters
TimeDomainSpecifications(RiseTime)
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n t
c(t ) 1 e cos d t sin d t
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1 2

Put t t r in above equation
Where c(tr ) 1
n t r
cos d t r
c(t r ) 1 e sin d t r
1 2

n t r
0 e cos d t r sin d t r
1 2

e ntr 0 0 cos d t r sin d t r
1 2
54
ORDERSYSTEMS
TimeDomainSpecifications(RiseTime)

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cos d t r sin d t r 0
1 2

ADU,CET,ECEg3153
above equation can be re - writen as 1 2
sin d t r cos d t r

1 2
1 n 1
2
1 2 1
d t r tan t
1
tan
tan d t r r d n

tr
d
a
tan 1
b
55
ORDERSYSTEMS
TimeDomainSpecifications(PeakTime)

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1 2

ADU,CET,ECEg3153
In order to find peak time let us differentiate above
equationw.r.tt.
dc(t )
nt
n e cosd t sind t e n d sind t
t d
cosd t
dt 1 2 1 2

2n d
nt
0e n cosd t sind t d sind t cosd t
1 2
1 2

2n n 1 2
nt
0e n cosd t sind t d sind t cosd t
1 2
1 2 56

ORDERSYSTEMS
TimeDomainSpecifications(PeakTime)
2 2
sin d t n
d 0 n
d 0 sin d t 0
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1 2 1 2

0, , 2 ,
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d t sin 1 0
t
d
Sinceforunderdamped stable systems firstpeak
ismaximumpeaktherefore,

tp
d
TimeDomainSpecifications(MaximumOvershoot)
57
ORDERSYSTEMS
n t p

c(t p ) 1 e cos d t p sin d t p c() 1
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1 2
ADU,CET,ECEg3153

M p 1 e n p cos d t p sin d t p 1 100
t
1 2

Put tp in above equation
d
n
cos 100
M p e d
d sin d
d 1 2 d

58
ORDERSYSTEMS
Put d n 1- 2 in above equation
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n

n 1 2 cos 100
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Mp e sin
2
1

Mp e
1 2
1 0 100

1 2
Mp e 100
59
ORDERSYSTEMS
TimeDomainSpecifications(SettlingTime)
Settlingtime(2%)criterion
6/12/17
Timeconsumedinexponentialdecayupto98%
oftheinput.
ADU,CET,ECEg3153
1
T
4 n
t s 4T
n
Settlingtime(5%)criterion
Time consumed in exponential decay up to
95%oftheinput. 3 60
t s 3T
n
ORDERSYSTEMS
Example1:Considerthesystemshowninfollowing
figure,wheredampingratiois0.6andnatural
6/12/17
undampedfrequencyis5rad/sec.Obtaintherise
timetr,peaktimetp,maximumovershootMp,and
ADU,CET,ECEg3153
settlingtime2%and5%criteriontswhenthesystem
issubjectedtoaunitstepinput.
61
ORDERSYSTEMS
Solution
RiseTime
tr
6/12/17
d
ADU,CET,ECEg3153
2
1
tan1( n ) 0.93 rad
n
3.141 3.141 0.93
tr tr 0.55s
n 1 2
5 1 0.6 2
PeakTime
3.141
tp tp 0.785 s
d 4 62
ORDERSYSTEMS
Cont
SettlingTime(2%) SettlingTime(4%) MaximumOvershoot
6/12/17
4 3
ts ts
n n 1 2
ADU,CET,ECEg3153
Mp e 100
4 3
ts 1.33s t s 1s
0.6 5 0.6 5
3.1410.6
1 0.6 2
Mp e 100
Example:calculateTp,Ts,%OSandTrfora
systemwithatransferfunction;
63
ORDERSYSTEMS
Relationshipb/n%OS,TpandTstothelocation
ofthepolesofthesystem
6/12/17
Thepoleplotforageneral,underdampedsecond
ordersystem,FromthePythagoreantheoremthat
ADU,CET,ECEg3153
theradialdistancefromtheorigintothepoleisthe
naturalfrequency,n,andthecosineoftheangle
formedb/nthisline&therealaxisbethedamping
ratio.
64
Poleplotforsecondorderunderdampedsystem
ORDERSYSTEMS
Fromthepreviouspeaktimeandsettlingtime
equationforsecondorderstepresponse.Comparing
thevaluestothepolelocations;
6/12/17
ADU,CET,ECEg3153
Where;distheimaginarypartofthepoleandis
calledthedampedfrequencyofoscillation,disthe
magnitudeoftherealpartofthepoleandisthe
exponentialdampingfrequency.
65
ORDERSYSTEMS
Fromtheequations,Tpisinverselyproportionalto
theimaginarypartofthepole.Sincehorizontallines
onthesplanearelinesofconstantimaginaryvalue,
6/12/17
theyarealsolinesofconstantpeaktime.
ADU,CET,ECEg3153
Thesettlingtimeisinverselyproportionaltothereal
partofthepole.
Sinceverticallinesonthesplanearelinesof
constantrealvalue,theyarealsolinesofconstant
settlingtime.
Finally,since=cos,radiallinesarelinesof
constant
Sincepercentovershootisonlyafunctionof ,radial
linesarethuslinesofconstantpercentovershoot, 66
%OS.
ORDERSYSTEMS
Linesofconstantpeaktime,Tp,settlingtime,Ts,
andpercentovershoot,%OS.
6/12/17
ADU,CET,ECEg3153
67
ORDERSYSTEMS
6/12/17
ADU,CET,ECEg3153
68
ORDERSYSTEMS
Example1:ForthesystemshowninFigure(a),
determinethevaluesofgainKandvelocityfeedback
constantKhsothatthemaximumovershootinthe
6/12/17
unitstepresponseis0.2andthepeaktimeis1sec.
WiththesevaluesofKandKh,obtaintherisetime
ADU,CET,ECEg3153
andsettlingtime.AssumethatJ=1kgm2andB=1
Nm/rad/sec.
69
ORDERSYSTEMS
Solution:reducetheblockinto
6/12/17
ADU,CET,ECEg3153
Since J 1 kgm 2 and B 1 Nm/rad/sec
C (s ) K
2
R(s ) s (1 KK h )s K
ComparingaboveT.Fwithgeneral2ndorderT.F
n K
C (s ) n2
2 (1 KK h ) 70
2
R(s ) s 2 n s n
2 K
ORDERSYSTEMS
Cont
Maximumovershootis0.2. Thepeaktimeis1sec
6/12/17

tp
ADU,CET,ECEg3153
d
3.141
1

n 1 2
) ln 0.2
1 2
ln(e
3.141
n
1 0.4562
n 3.53
71
ORDERSYSTEMS
Cont Thentheriseandsettling
timecanbecalculatedas:
n 3.96
6/12/17
(1 KK h )
tr
2 K n 1 2
n K
ADU,CET,ECEg3153
t r 0.65s
0.456 2 12.5 (1 12.5K h )
3.53 K 4
ts
2 K h 0.178 n
3.53 K
t s 2.48s
K 12.5 3
ts
n
t s 1.86s 72
ORDERSYSTEMS
Example2:Giventhesystemshowninfollowing
figure,findJandDtoyield20%overshootanda
6/12/17
settlingtimeof2secondsforastepinputoftorque
T(t).
ADU,CET,ECEg3153
Solution:modelT.F
73
ORDERSYSTEMS
Cont
6/12/17
ADU,CET,ECEg3153
74
ORDERSYSTEMS
Exersice1:Figure(a)showsamechanicalvibratory
system.When2lbofforce(stepinput)isappliedto
6/12/17
thesystem,themassoscillates,asshowninFigure
(b).Determinem,b,andkofthesystemfromthis
ADU,CET,ECEg3153
responsecurve.
75
ORDERSYSTEMS
Exersice2:WhenthesystemshowninFigure(a)is
subjectedtoaunitstepinput,thesystemoutput
6/12/17
respondsasshowninFigure(b).Determinethe
valuesofaandcfromtheresponsecurve.
ADU,CET,ECEg3153
a
s ( cs 1)
76
ORDERSYSTEMS
EffectofAddingPoleandZeroonthe
TransientResponseofSecondOrderSystem
6/12/17
Addingpoleforsecondordersystem:
Ifasystemhasmorethantwopolesorhaszeros,
ADU,CET,ECEg3153
wecannotusetheformulastocalculatethe
performancespecificationsthatwederived.
However,undercertainconditions,asystemwith
morethantwopolesorwithzeroscanbe
approximatedasasecondordersystemthathasjust
twocomplexdominantpoles.
Then,theformulasforpercentovershoot,settling
time,andpeaktimecanbeappliedtothesehigher
ordersystemsbyusingthelocationofthedominant 77
poles.
ORDERSYSTEMS
Consideringathreepolesystemwithcomplexpoles
andathirdpoleontherealaxis.
6/12/17
Assumingthatthecomplexpolesareat
andtherealpoleisatr,thestepresponseofthe
ADU,CET,ECEg3153
systemcanbedeterminedfromapartialfraction
expansion.
Andthesystemresponsebecome;
78
ORDERSYSTEMS
6/12/17
ADU,CET,ECEg3153
79
ORDERSYSTEMS
If(CaseII),thepureexponentialwilldieout
muchmorerapidlythanthesecondorder
6/12/17
underdampedstepresponse.
Ifthepureexponentialtermdecaystoan
ADU,CET,ECEg3153
insignificantvalueatthetimeofthefirstovershoot,
suchparametersaspercentovershoot,settlingtime,
andpeaktimewillbegeneratedbythesecondorder
underdampedstepresponsecomponent.
Thus,thetotalresponsewillapproachthatofapure
secondordersystem(CaseIII).
80
ORDERSYSTEMS
NB:Ifrisnotmuchgreaterthan(CaseI),the
realpole'stransientresponsewillnotdecayto
6/12/17
insignificanceatthepeaktimeorsettlingtime
generatedbythesecondorderpair.
ADU,CET,ECEg3153
Inthiscase,theexponentialdecayissignificant,and
thesystemcannotberepresentedasasecondorder
system.
Howmuchshouldfurthertheadditionalrealpole
fromthedominantpoledependsontheaccuracyfor
whichwearelooking.Butmostofthetimefivetime
constants.
Hence,therealpoleshouldfivetimesfarthertothe
leftthanthedominantpoles,torepresentthesystem 81
byitsdominantsecondorderpairofpoles.
ORDERSYSTEMS
Wehavetoalsoconsideralsotheeffectoftheresidue
onthemagnitudeoftheexponentialmagnitude.
6/12/17
Example:Comparingtheeffectofaddingrealpole
onstepresponseforthefollowingthreesystem
ADU,CET,ECEg3153
82
ORDERSYSTEMS
AddingZerosonthesystem:
Thezerosofaresponseaffecttheresidue,or
6/12/17
amplitude,ofaresponsecomponentbutdonotaffect
thenatureoftheresponse,exponential,damped
ADU,CET,ECEg3153
sinusoid,andsoon.
Letsaddarealaxiszerotoatwopolesystem.We
canaddazeroeitherinthelefthalfplaneorinthe
righthalfplane.
83
ORDERSYSTEMS
6/12/17
ADU,CET,ECEg3153
Thecloserthezeroistothedominantpoles,thegreater
itseffectonthetransientresponse.Asthezeromoves
84
awayfromthedominantpoles,theresponseapproaches
thatofthetwopolesystem.
ORDERSYSTEMS
Secondordersystems
Exercise:Describethenatureofthesecondorder
6/12/17
systemresponseviathevalueofthedampingratio
forthesystemswithtransferfunction
ADU,CET,ECEg3153
12
1. G ( s ) 2
s 8 s 12
16
2. G ( s ) 2 Dothemasyourown
s 8s 16 revision
20
3. G ( s ) 2
s 8 s 20 85
STEADYSTATEERROR
SteadyStateResponse:
Controlsystemsanalysisanddesignfocusonthree
specifications:
6/12/17
(1)Transientresponse
(2)Steadystateerrors
ADU,CET,ECEg3153
(3)Stability
SteadyStateError:Steadystateerroristhe
differencebetweentheinputandtheoutputfora
prescribedtestinputast.
E(s)=C(s)R(s)
86
STEADYSTATEERROR
Steadystateerrorforunityfeedbacksystem
Itcanbecalculatedfromasystem'sclosedloop
6/12/17
transferfunction,T(s),ortheopenlooptransfer
function,G(s),forunityfeedbacksystems.
ADU,CET,ECEg3153
SteadyStateErrorinTermsofT(s)
87
6/12/17 ADU,CET,ECEg3153
88
STEADYSTATEERROR
STEADYSTATEERROR
ConsideringG(s)
6/12/17
ADU,CET,ECEg3153
89
STEADYSTATEERROR
Any physical control system inherently suffers steady
stateerrorinresponsetocertaintypesofinputs.
6/12/17
Asystemmayhavenosteadystateerrortoastepinput,
but the same system may exhibit nonzero steadystate
ADU,CET,ECEg3153
errortoarampinput.
Whether a given system will exhibit steadystate error
for a given type of input depends on the type of open
looptransferfunctionofthesystem.
ClassificationofControlSystems
Control systems may be classified according to their
ability to follow step inputs, ramp inputs, parabolic
inputs,andsoon.
The magnitudes of the steadystate errors due to these
individual inputs are indicative of the goodness of the 90
system.
STEADYSTATEERROR
Considertheunityfeedbackcontrolsystemwiththe
6/12/17
followingopenlooptransferfunction
ADU,CET,ECEg3153
It involves the term sN in the denominator,
representingNpolesattheorigin.
A system is called type 0, type 1, type 2, ... , if N=0,
N=1,N=2,...,respectively.
Asthetypenumberisincreased,accuracyisimproved.
91
STEADYSTATEERROR
However,increasingthetypenumberaggravatesthe
6/12/17
stabilityproblem.
A compromise between steadystate accuracy and
ADU,CET,ECEg3153
relativestabilityisalwaysnecessary.
SteadyStateErrorofUnityFeedbackSystems
Considerthesystemshowninfollowingfigure.
Theclosedlooptransferfunctionis
92
STEADYSTATEERROR
SteadyStateErrorofUnityFeedbackSystems
The transfer function between the error signal E(s)
6/12/17
andtheinputsignalR(s)is
ADU,CET,ECEg3153
E (s ) 1

R(s ) 1 G(s )
Thefinalvaluetheoremprovidesaconvenientwayto
findthesteadystateperformanceofastablesystem.
SinceE(s)is
Thesteadystateerroris
93
STEADYSTATEERROR
StaticErrorConstants
The static error constants are figures of merit of
6/12/17
controlsystems.Thehighertheconstants,thesmaller
thesteadystateerror.
ADU,CET,ECEg3153
In a given system, the output may be the position,
velocity,pressure,temperature,orthelike.
Therefore, in what follows, we shall call the output

position,therateofchangeoftheoutputvelocity,
andsoon.
This means that in a temperature control system

position represents the output temperature,
velocity represents the rateof change of the output 94
temperature,andsoon.
STEADYSTATEERROR
StaticPositionErrorConstant(Kp)
Thesteadystateerrorofthesystemforaunitstep
6/12/17
inputis
ADU,CET,ECEg3153
ThestaticpositionerrorconstantKpisdefinedby
Thus,thesteadystateerrorintermsofthestatic
positionerrorconstantKpisgivenby
95
STEADYSTATEERROR
StaticPositionErrorConstant(Kp)
ForaType0system
6/12/17
ADU,CET,ECEg3153
ForType1orhighersystems
Foraunitstepinputthesteadystateerroressis
96
STEADYSTATEERROR
StaticVelocityErrorConstant(Kv)
Thesteadystateerrorofthesystemforaunitramp
6/12/17
inputis
ADU,CET,ECEg3153
ThestaticpositionerrorconstantKvisdefinedby
Thus,thesteadystateerrorintermsofthestatic
velocityerrorconstantKvisgivenby
97
STEADYSTATEERROR
ForaType0system
6/12/17
ADU,CET,ECEg3153
ForType1systems
Fortype2orhighersystems
98
STEADYSTATEERROR
Forarampinputthesteadystateerroressis
6/12/17
ADU,CET,ECEg3153
StaticAccelerationErrorConstant(Ka)
Thesteadystateerrorofthesystemforparabolic
inputis
99
STEADYSTATEERROR
ThestaticaccelerationerrorconstantKais
definedby
6/12/17
Thus, the steadystate error in terms of the static
ADU,CET,ECEg3153
accelerationerrorconstantKaisgivenby
ForaType0system
ForType1systems
100
STEADYSTATEERROR
Fortype2systems
6/12/17
Fortype3orhighersystems
ADU,CET,ECEg3153
Foraparabolicinputthesteadystateerroressis
101
STEADYSTATEERROR
Summery
6/12/17
ADU,CET,ECEg3153
E.g.1:Forthesystemshowninfigurebelow
evaluatethestaticerrorconstantsandfindthe
expectedsteadystateerrorsforthestandardstep,
rampandparabolicinputs.
100(s 2 )(s 5)
R(s) s 2 (s 8)(s 12 ) C(S)
102
STEADYSTATEERROR
Solution:(evaluationofStaticErrorConstants)
100(s 2)(s 5)
G( s ) 2
s (s 8)(s 12)
6/12/17
K p lim G(s )
s 0 K lim sG(s ) v
s 0
ADU,CET,ECEg3153
100(s 2 )(s 5) 100s(s 2 )(s 5)
K p lim 2 K v lim 2
s 0 s (s 8)(s 12 ) s 0 s (s 8)(s 12 )
Kp Kv
2 100s 2 (s 2)(s 5) 100(0 2)(0 5)

K a lim s G(s ) K a lim Ka
10.4
s 0 (0 8)(0 12)
s 0 2
s (s 8)(s 12)
0 0 0.09
103
STEADYSTATEERROR
6/12/17
ADU,CET,ECEg3153
Ex:Findthesteadystateerrorsforinputsof
5u(t),5tu(t),and5tu(t)tothesystemshownin
below
104
STABILITYANALYSIS
Stability:isthemostimportantsystem
specification.
6/12/17
Ifasystemisunstable,transientresponseand
steadystateresponse(i.e.steadystateerror)are
ADU,CET,ECEg3153
nothing.
Thereared/tdefinitionofstabilityforacertain
system
Ingeneral:
Stable:ifnaturalresponseapproacheszeroastime
approachesinfinity.
Unstable:ifthenaturalresponsegrowwithout
boundastimeapproachesinfinity.
MarginalStability:neithergrowsnordecaybut 105
remainconstantoroscillate.
STABILITYANALYSIS
AnOtherDefinition:
Asystemisstableifeveryboundedinputyieldsa
6/12/17
boundedoutput.
Asystemisunstableifanyboundedinputyieldsan
ADU,CET,ECEg3153
unboundedoutput.(wecallitBIBOstability
definition)
StabilityandRootsofCharacteristicsEquation
CharacteristicsEquation:isthedenominatorofour
systemtransferfunction.Forinstanceforasecond
ordersystem,
Then,therootswillbe:
106
STABILITYANALYSIS
Basedonthesystempolelocationdefinitionsof
stability:
6/12/17
Stablesystemshaveclosedlooptransferfunctions
withpolesonlyonthelefthalfplane.
ADU,CET,ECEg3153
Iftheclosedloopsystempolesareontherighthalf
ofthesplanei.e.havingapositiverealpart,the
systemisunstable.
Thustherootsofthecharacteristicsequation
determinethetransientresponseofthesystem.
asecondordersystemcouldbe:
Overdamped:
Criticallydamped:
Underdamped:
107
STABILITYANALYSIS
Ifthecoefficientofbintheaboveequationbe
negative,therootswillbe:
6/12/17
Ingeneralifanyoftherootsofthecharacteristics
equationhaspositiverealparts,thesystemwillbe
ADU,CET,ECEg3153
unstable.
108
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
109
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
110
STABILITYANALYSIS
RouthHurwitzStabilityCriterion
RouthandHurwitzgiveamethodofindicatingthe
6/12/17
presenceandnumberofunstableroots,butnottheir
value,usingRouthtable.
ADU,CET,ECEg3153
TheRouthHurwitzcriterionstatesthatthe
numberofrootsofthecharacteristicequationwith
positiverealpartsisequaltothenumberofchanges
insignofthefirstcolumnoftheRoutharray.
Thismethodyieldsstabilityinformationwithoutthe
needtosolvefortheclosedloopsystempoles.
Usingthismethod,wecantellhowmanyclosedloop
systempolesareinthelefthalfplane,intheright
halfplane,andonthejaxis.(Note:wearesaying 111
howmany,notwhere.)
STABILITYANALYSIS
The method requires two steps:
1. Generate a data table called a Routh table.
6/12/17
2. interpret the Routh table to tell how many closed-loop
system poles are in the LHP, the RHP, and on the jw-axis.
ADU,CET,ECEg3153
Thecharacteristicequationofthenorder
continuoussystemcanbewrittenas:
ThestabilitycriterionisappliedusingaRouthtable
whichisdefinedas:
112
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
HowtogenerateRouthTable:
Firstlabeltherowswithpowersofsfromhighest
powerofsdowntolowestpowerofsinavertical
column.
NextformthefirstrowoftheRouthtable,usingthe
coefficientsofthedenominatoroftheclosedloop
113
transferfunction(characteristicequation).
STABILITYANALYSIS
Startwiththecoefficientofthehighestpowerand
skipeveryotherpowerofs.
6/12/17
Nowformthesecondrowwiththecoefficientsofthe
denominatorskippedinthepreviousstep.
ADU,CET,ECEg3153
Thetableiscontinuedhorizontallyandvertically
untilzerosareobtained.
Forconvenience,anyrowcanbemultipliedor
dividebyapositiveconstantbeforethenextrowis
computedwithoutchangingthevaluesoftherows
belowanddisturbingthepropertiesoftheRouth
table.
114
STABILITYANALYSIS
RouthTableInterpretation
Iftheclosedlooptransferfunctionhasallpolesin
6/12/17
thelefthalfofthesplane,thesystemisstable.
Thus,asystemisstableiftherearenosignchanges
ADU,CET,ECEg3153
inthefirstcolumnoftheRouthtable.
TheRouthHurwitzcriteriondeclaresthatthe
numberofrootsofthepolynomialthatareliesinthe
righthalfplaneisequaltothenumberofsign
changesinthefirstcolumn.
Hencethesystemisunstableifthepolesliesonthe
righthandsideofthesplane.
115
STABILITYANALYSIS
Fortheretobenorootswithpositiverealpartsthen
thereisnecessary,butnotsufficient,conditionthat
6/12/17
allcoefficientsinthecharacteristicsequationhave
thesamesignandthatnonearezero.
ADU,CET,ECEg3153
Iftheaboveissatisfied,thenecessaryandsufficient
conditionforstabilityisallcoefficientsofthefirst
columnofRoutharrayhavethesamesign.The
numberofsignchangesindicatethenumberof
unstableroots.
116
STABILITYANALYSIS
Onlythefirst2rowsofthearrayareobtainedfrom
thecharacteristicequationtheremainingare
calculatedasfollows;
6/12/17
ADU,CET,ECEg3153
117
STABILITYANALYSIS
Example2:Findthestabilityofthesystemshown
belowusingRouthcriterion.
TheRouthtableofthesystemis:
6/12/17
ADU,CET,ECEg3153
Systemisunstablebecausetherearetwosignchanges
inthefirstcolumnoftheRouthstable.Hencethe 118
equationhastworootsontherighthalfofthesplane.
STABILITYANALYSIS
Exercise:Findthestabilityofthesystemusing
RouthHurwitzCriterion.
6/12/17
ADU,CET,ECEg3153
SpecialCases:
Case1:AZeroOnlyintheFirstColumn,substitute
withaverysmallnumber0andproceed
Example:determinethestabilityofthesystem
StabilityviaEpsilonMethodRouthtable 119
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
Ifischosenpositive,thetableshowsasignchange
fromthesrowtothesrow,andtherewillbe
anothersignchangefromthesrowtothesrow.
Hence,thesystemisunstableandhastwopolesin
therighthalfplane.
120
STABILITYANALYSIS
CaseII:EntireRowisZero
SometimeswhilemakingaRouthtable,wefindthat
6/12/17
anentirerowconsistsofzeros.
Thishappenbecausethereisanevenpolynomial
ADU,CET,ECEg3153
thatisafactoroftheoriginalpolynomial.
Thiscasemustbehandleddifferentlyfromthecase
ofazeroinonlythefirstcolumnofarow.
121
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
122
STABILITYANALYSIS
Applicationofrouthsstabilitycriteriatocontrol
systemanalysis
6/12/17
ThiscriteriahaslimiteduseinLTIsystemsbecause
itdoesnotsuggesthowtoimproverelativestability
ADU,CET,ECEg3153
orhowtostabilizeunstablesystems.
Howeverwecanconsiderthesysteminwhichthe
rangeofparametersvalueofwhichdetermines
stabilityofthesystem(likethegainorDCgainod
system)
Example:Determiningacceptablegainvalues
forasystemForthesystembeingstable:Considera
systemwhoseclosedlooptransferfunctionis
123
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
124
STABILITYANALYSIS
Cont
6/12/17
ADU,CET,ECEg3153
125
6/12/17
Thank you dear
ADU,CET,ECEg3153
students
Any questions?
126

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UNIVERSITY

COLLAGE OF ENGINEERING &

IfA=1, the ramp signal is r(t)

the constant acceleration

8 steady state output 10

The Laplace Transform of Impulse

c(t ) 10 (2 3)e t / 3 Time

The transfer function between the error signal E(s)

Therefore, in what follows, we shall call the output

This means that in a temperature control system

2 100s 2 (s 2)(s 5) 100(0 2)(0 5)

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