Fundamentals of Control Systems Fundamentals of Control Systems

Lecture Notes
Fundamentals of Control Systems
Instructor: Assoc. Prof. Dr. Huynh Thai Hoang

Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
17 August 2014 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

Chapter 3
SYSTEM DYNAMICS
17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 2

Content
The concept of ssystem
stem ddynamics
namics
Time response
Frequency response
Dynamics of typical components
Dynamics
y of control systems
y

The concept of system dynamics

The concept of system dynamics
System dynamics is the study to understanding the behaviour
of complex systems over time.
Systems described by similar mathematical model will expose

similar dynamic responses.
To study
st d the dynamic
d namic responses
responses, input
inp t signals are usually
s all
chosen to be basic signals such as Dirac impulse signal, step
signal, or sinusoidal signal.
Time response
Impulse response
Step response
Frequency response

Impulse response
U (s) Y (s)
G(s)
Impulse response: behavior of a system to a Dirac impulse

Y ( s ) U ( s ).G ( s ) G ( s ) (due to U(s) = 1)
y (t ) L 1Y ( s ) L 1G ( s ) g (t )
Impulse response is the inverse Laplace transform of the TF.
Impulse response is also referred as weighting function.
It is possible to calculate the response of a system to a arbitrarily
input by taking convolution of the weighting function & the input.
t
y (t ) g (t ) * u (t ) g ( )u (t )d
0

Step response
U (s) Y (s)
G(s)
Step response: behavior of a system to a step input

G (s)
Y ( s ) U ( s ).G ( s ) (because U(s) = 1/s)
s

t
y (t ) L 1Y ( s ) L 1
G ( s )
g ( )d
s 0
The step response is the integral of the impulse response
The step response is also referred as the transient function of
the system.

Impulse and step response example
Calculate the impulse response and step response of the
system described by the transfer function:
s 1 U (s) Y (s)
G(s) G(s)
( )
s ( s 5)
Impulse response:
1 s 1 1 1 4
g (t ) L G ( s ) L
1
L
s ( s 5) 5s 5( s 5)
1 4 5t
g t e
( )
5 5
Step response:
1 G ( s ) 1 s 1 4 1 4
h(t ) L L 2 2
s s ( s 5) 25s 5s 25( s 5)
1 4 5t 4
h(t ) t e
5 25 25
Frequency response
Observe the response of a linear system at steady state

when the input is a sinusoidal signal.

Frequency response definition
It can be observed that,
that for linear system,
system if the input is a
sinusoidal signal then the output signal at steady-state is also
a sinusoidal signal with the same frequency as the input, but
diff
different amplitude
li d andd phase.
h
u (t)=Umsin (j) y (t)=Ymsin (j+)
G(s)
U (j) Y (j)
Definition: Frequency
q y response
p of a system
y is the ratio
between the steady-state output and the sinusoidal input.
Y ( j )
Frequency response
U ( j )
It is proven that Frequency response G ( s ) s j G ( j )

pro en that:

Magnitude response and phase response
general, G(j) is a complex function and it can be
In general
represented in algebraic form or polar form.
G ( j ) P( ) jQ( ) M ( ).e j ( )
where:
M ( ) G ( j ) P 2 ( ) Q 2 ( ) Magnitude response
)
1 Q (
( ) G ( j ) tg Phase response
P ( )
Physical meaning of frequency response:

The magnitude response provides information about the gain
of the system with respect to frequency .
The p phase response
p p
provides information about the p phase
shift between the output & the input with respect to frequency
Graphical representation of frequency response
Bode diagram: is a graph of the frequency response of a
linear system versus frequency plotted with a log-frequency
axis. Bode diagram consists of two plots:
Bode magnitude plot expresses the magnitude response
gain L() versus frequency .
L( ) 20 lg M ( ) [dB]
Bode p
phase plot expresses
p p the p
phase response
p ()
versus frequency .
Nyquist
N i t plot:
l t is
i a graph
h in
i polar
l coordinates
di t i which
in hi h the
th
gain and phase of a frequency response G(j) are plotted
when changing
g g from 0+.

Graphical representation of frequency response (cont)
Bode diagram Nyquist plot
Gain margin
Gain margin
Phase margin
Phase margin

Crossover frequency
Gain crossover frequency(c): is the frequency where the
amplitude of the frequency response is 1 (or 0 dB).
M (c ) 1 L (c ) 0
Phase crossover frequency (): is the frequency where

phase shift of the frequency response is equal to 1800 (or
equal to radian).
( ) 1800 ( ) rad

Stability margin
Gain margin (GM):
1
GM GM L( ) [dB]
M ( )
Physical meaning: The gain margin is the amount of
additional
ddi i l gain
i at the
h phase
h crossover ffrequency required
i d to
bring the system to the stability boundary.
Phase margin (M)

M 1800 (c )
Physical meaning: The phase margin is the amount of
additional p
phase lag
g at the g
gain crossover frequency
q y required
q
to bring the system to the stability boundary.
Dynamics of basic factors

The proportional gain
T
Transfer
f function:
f ti G( s) K
Time response:
Impulse response: g (t ) K (t )
Step response: h(t ) K 1(t )
Frequency response: G ( j ) K
Magnitude response: M ( ) K L( ) 20 lg K
Phase response: ( ) 0

The proportional gain Time response
((a)) Weighting
g g function ((b)) Transient function

The proportional gain Frequency response

Integral factor
1
Transfer function: G(s)
s
Time response:
Impulse response: g (t ) 1(t )
Step response: h(t ) t 1(t )
1 1
Frequency
q y response:
p G ( j ) j
j
1
Magnitude response: M ( ) L( ) 20 lg
g


Time response of integral factor
(a) Weighting function (b) Transient function

Frequency response of integral factor

Derivative factor
Transfer function: G(s) s
Time response:
Impulse response: g (t ) (t )
Step response: h (t ) (t )
Frequency response: G ( j ) j
Magnitude response: M ( ) L( ) 20 lg

Time response of derivative factor
Transient function

Frequency response of derivative factor

First--order lag factor
First
1
Transfer function: G( s)
Ts 1
Time response:
1 1 1 T
t
Impulse response: g (t ) L e 1(t )
Ts 1 T
1
t
Step response: h(t ) L 1 (1 e T )1(t )
T 1)
s (Ts

Time response of first-
first-order lag factor
((a)) Weighting

Frequency response of first-
first-order lag factor
1
F
Frequency response: G ( j )
Tj 1
1
Magnitude response: M ( )
1 T 2 2
L( ) 20 lg 1 T 2 2
Phase response: ( ) tg 1 (T )
Approximation
pp of the Bode diagram
g byy asymptotes:
y p
1 / T : the asymptote lies on the horizontal axis
1 / T : the asymptote has the slope of 20dB/dec

first-order lag factor (cont)
corner frequency

First--order lead factor
First
T
Transfer
f function:
f ti G ( s) Ts 1
Time response:
(Ts 1)
Step response: h(t ) L 1
T (t ) 1(t )
s
Impulse response: g (t ) h(t ) T (t ) (t )

Time response of first-
first-order lead factor
Transient function

first-order lead factor
F
Frequency response: G ( j ) Tj 1
Magnitude response: M ( ) 1 T 2 2
L ( ) 20 lg 1 T 2 2
Phase response: ( ) tg 1 (T )
Approximation of the Bode diagram by asymptotes:

1 / T : the asymptote has the slope of +20dB/dec

first-order lead factor (cont)
corner
frequency

Second--order oscillating factor
Second
1
Transfer function: G (s) 2 2 (0 1)
T s 2Ts 1
Time-domain dynamics:
Impulse response: g (t )
n e t
1 2
n

sin ( n 1 2 )t
Step
p response:
p h(t ) 1
e nt
1 2

sin ( n 1 2 )t

Time response of second-
second-order oscillating factor
(a) Weighting function (b) Transient function

Frequency response of second-
1
Frequency response: G ( j )
T 2 2 2Tj 1
1
Magnitude
M it d response: M ( )
(1 T 2 2 ) 2 4 2T 2 2
L( ) 20 lg
l (1 T 2 2 ) 2 4 2T 2 2
2T
1
Phase response: ( ) tg 2 2
1 T
Approximation of the Bode diagram by asymptotes:

1 / T : the asymptote
y p p of 40dB/dec
has the slope

Frequency response of second-
Corner
frequency

Time delay factor
Transfer function: G ( s) e Ts
T
Time-domain dynamics:
Impulse response:
g (t ) L 1 e Ts (t T )
e Ts

Step response: h(t ) L
1
1(t T )
s

Time response of time delay factor
((a)) Weighting

Frequency response of time delay factor
Frequency response: G ( j ) e Tj
Magnitude
M it d response: M ( ) 1 L ( ) 0
Phase response: ( ) T

Frequency response of time delay factor (cont)

Dynamics of control systems

Time response of control systems
Consider a control system which has the TF G(s):
b0 s m b1s m 1 bm 1s bm
G ( s)
a0 s n a1s n 1 an 1s an
Laplace
p transform of the transient function:
G ( s) b0 s m b1s m 1 bm 1s bm
H (s)
s s (a0 s n a1s n 1 an 1s an ) s

Remarks on the time response of control systems
If G(s) does not contain a ideal integral or derivative factor then:

Weighting function decays to 0
g () lim sG ( s ) lim s
0
a0 s a1s an 1s an
s 0 s 0 n n 1
Transient function approaches to non-zero value at steady

state:
1 b0 s m b1s m 1 bm 1s bm bm
h() lim sH ( s ) lim s .
0
s a0 s a1s an 1s an an
s 0 s 0 n n 1

Remarks on the time response of control systems (cont)
If G(s) contain a ideal integral factor (an = 0) then:

Weighting function has non-zero steady-state:
0
a0 s a1s an 1s
s 0 s 0 n n 1
Transient function approaches infinity at steady-state

1 b0 s m b1s m 1 bm 1s bm
h() lim li s .
li sH ( s ) lim

s 0 s 0
s a0 s a1s an 1s
n n 1

If G(s) contain a ideal derivative factor (bm = 0) then:

Weighting function approaches zero at steady-state.
b0 s m b1s m 1 bm 1s
0
a0 s a1s an 1s an
s 0 s 0 n n 1
Transient function approaches zero at steady-state.

1 b0 s m b1s m 1 bm 1s
h() lim sH ( s ) lim s . n n 1
0
s 0 s 0
s a0 s a1s an 1s an

If G(s) is proper (m n) then h(0) = 0.

0
1 b0 s m b1s m 1 bm 1s
h(0) lim H ( s ) lim . n
0
s s s a s a s n 1
an 1s an
0 1
If G(s)
( ) is strictlyy p
proper
p ((m < n)) then g(
g(0)) = 0.
b0 s m b1s m 1 bm 1s
g (0) lim G ( s ) lim
0
s s a s a s
n n 1
an 1s an
0 1

Frequency response of control system
Consider a control system which has the transfer function
G(s). Suppose that G(s) consists of basis factors in series:
l
G ( s ) Gi ( s )
i 1
l
Frequency response: G ( j ) Gi ( j )
i 1
l l
Magnitude response: M ( ) M i ( ) L( ) Li ( )
i 1 i 1
l
Phase
Ph response: ( ) i ( )
i 1
The Bode diagram of a system consisting of basic factors in series

equals to the sum of the Bode diagram of the basic factors.
Approximation of Bode diagram
Suppose that the TF of the system is of the form:
G ( s ) Ks G1 ( s )G2 ( s )G3 ( s )
(>0: the system has ideal derivative factor(s)
<0: the system has ideal integral factor(s))
Step 1: Determine all the corner frequencies i =1/Ti , and sort

them in ascending order 1 <2 < 3
Step 2: The approximated Bode diagram passes through the

point A having the coordinates:
0

L( ) 20 lg K 20 lg 0
where 0 is a frequency
q y g 0 < 1 . If 1 > 1 then it is
y satisfying
possible to chose 0 =1.
Approximation of Bode diagram (cont)
Step 3: Through point A,
A draw an asymptote with the slope:
( 20 dB/dec ) if G(s) has ideal integral factors
(+ 20 dB/dec ) if G(s) has ideal derivative factors
The asymptote extends to the next corner frequency.
Step y i =1/Ti , the slope

p 4: At the corner frequency
q p of the
asymptote is added with:
(20dB/dec i) if Gi(s) is a first-order lag factor (multiple i)
(+20dB/dec i) if Gi(s) is a first-order
first order lead factor (multiple i)
(40dB/dec i) if Gi(s) is a 2nd order oscillating factor (multiple i)
(+40dB/dec i) if Gi(s) is a 2nd order lead factor (multiple i)
The asymptote extends to the next corner frequency.
Step 5: Repeat the step 4 until the asymptote at the last

corner frequency is plotted.
Approximation of Bode diagram Example 1
Plot the Bode diagram using asymptotes:
100(0,1s 1)
G (s)
s (0,01s 1)
Based on the Bode diagram, determine the gain cross
frequency of the system.
Solution:
Corner frequencies:
1 1 1 1
1 10 (rad/sec) 2 100 (rad/sec)
T1 0,1 T2 0,01
The Bode diagram pass the point A at the coordinate:
1

L( ) 20 lg K 20 lg100 40
Approximation of Bode diagram Example 1 (cont)
L(), dB
A
40
20dB/dec
0dB/dec
20
20dB/dec
20dB/dec
0 -1 0 1 2 3 lg
10-1 100 101 102 c
In the Bode diagram, the gain crossover frequency is 103

rad/sec.
Example 2 Bode diagram to transfer function
Determine
D t i th transfer
the t f function
f ti off the
th system
t which
hi h has
h the
th
approximation Bode diagram as below:
L(), dB
60 0dB/dec
54
D E
A
40 20dB/d
20dB/dec
B C
26
20 0dB/dec
0
-1 0 1 1.301 2 lg
g
g1 g2 g3

Example 2 Bode diagram to transfer function (cont)
54 26
The slope of segment CD: 40 (dB/dec)
2 1.301
The corner frequencies:
40 26
lg g1 0 0 .7 g1 100.7 5 (rad/sec)
20
lg g 2 1.301 g 2 101.301 20 (rad/sec)
lg g 3 2 g 3 102 100 (rad/sec)
K (T1s 1)(T2 s 1) 2
The transfer function has the form: G ( s )
s (T3s 1) 2
20 lg K 40 K 100
1 1 1 1 1 1
T1 0.2 T2 0.05 T3 0.01
g1 5 g 2 20 g 3 100

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Lecture Notes

Fundamentals of Control Systems

Instructor: Assoc. Prof. Dr. Huynh Thai Hoang

17 August 2014 H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 2

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 3

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 4

Systems described by similar mathematical model will expose

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 5

Impulse response: behavior of a system to a Dirac impulse

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 6

Step response: behavior of a system to a step input

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 7

Observe the response of a linear system at steady state

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 9

It is proven that Frequency response G ( s ) s j G ( j )

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 10

Physical meaning of frequency response:

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 12

Bode diagram Nyquist plot

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 13

Phase crossover frequency (): is the frequency where

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 14

Phase margin (M)

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 16

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 17

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 18

Bode diagram Nyquist plot

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 20

(a) Weighting function (b) Transient function

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 21

Bode diagram Nyquist plot

Phase response: ( ) 900

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 23

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 24

Bode diagram Nyquist plot

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 26

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 27

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 28

Bode diagram Nyquist plot

Impulse response: g (t ) h(t ) T (t ) (t )

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 30

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 31

Approximation of the Bode diagram by asymptotes:

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 32

Bode diagram Nyquist plot

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 34

(a) Weighting function (b) Transient function

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 35

Approximation of the Bode diagram by asymptotes:

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 36

Bode diagram Nyquist plot

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 38

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 39

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 40

Bode diagram Nyquist plot

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 42

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 43

If G(s) does not contain a ideal integral or derivative factor then:

Transient function approaches to non-zero value at steady

17 August 2014 H. T. Hong - www4.hcmut.edu.vn/~hthoang/ 44

If G(s) contain a ideal integral factor (an = 0) then:

Transient function approaches infinity at steady-state