ME 390 HW 7

Jon Chen
November 9, 2016

1
Given the following pole zero plots (figure 1), find the transfer function associated with each,
and plot the step responses (Figure 2).
1. Pole: 1 2i

5
(S (1 + 2i))(S (1 2i))
5
= 2
S + 2S + 5

(1)

20
(S (2 + 4i))(S (2 4i))
20
= 2
S + 4S + 20

(2)

5
(S (1 + 2i))(S (1 2i))(S + 1)
5
= 3
2
S + 3S + 7S + 5

(3)

5(S + 1)
(S (1 + 2i))(S (1 2i))
5(S + 1)
= 2
S + 2S + 5

(4)

TF =

2. Pole: 2 4i

TF =

3. Pole: 1 2i, 1
TF =

4. Pole: 1 2i
Zero: 1
TF =

Figure 1: Pole Zero Plot

Figure 2: step response of transfer function 1, 2, 3, 4 in red, dashed blue, blue, and black
respectively
We note that function 1 and 2 overlap completely, this makes sense as the poles of 2 are
simply scalar multiples of that of 1. Thus the response of the two systems are the same.
Comparing 1 and 3, we notice that 3 has an additional pole at -1. This adds a purely
exponential component to the response. Thus we notice that the oscillations for 3 is much
more damped than that of 1. Comparing 4 to 1, we notice that 4 has an additional zero at
-1. The addition of a zero to the system speeds up the response. We notice that the first
peak occurs much earlier than that in 1 and the initial slope is also steeper than that of 1.

2
 0 
   
x1
0
1
x1
0
=
+
u
0
x2
225
5 x2
5
 

 x1
 
1
y= 1
+ 0 u
x2
1. Transfer Function:

C[SI A]1 B + D
5+S
2
S + 5S + 225

2. Poles:
5

875i
2

(5)

(6)

(7)

3. Zero:
5

(8)

S 2 + 5S + 225 =S 2 + 2n S + n2

n = 225
=15

(9)

4. Natural Frequency:

5. Damping Ratio:
1
6

(10)

1
6
=
n
15

(11)

=
6. Time Constant:
=

7. Compare
 the step response of the given system with the one in which the C matrix is
1
0 (Figure 3)

Figure 3: step response of transfer function 1 and 2 in red and blue respectively
We note that red has a much faster and louder response compared to blue. Looking at
the transfer functions of both, we note that both red and blue have the same pole, but
red as an additional zero. The zero speeds up the response of the system by shifting
the phase of the oscillation frequency forward and making the initial slope steeper. We
also note that the frequency of both systems remains the same, as both share the same
poles.
3