Course roadmap

MECH466: Automatic Control Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 8 Transfer function • Steady state
Root locus
Time-
Time-domain specifications Models for systems Frequency response
Frequency domain
Steady-
Steady-state error • electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Ryozo Nagamune • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

University of British Columbia

Matlab simulations & laboratories

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What we did and what we do next Time response

ƒ We have learned stability.
ƒ Definition in time domain
ƒ Condition in s-
s-domain
System
ƒ Routh-
Routh-Hurwitz criterion to check the condition
ƒ We would like to analyze a system property by
ƒ Stability is a necessary requirement, but not applying a test input r(t)
r(t) and observing a time
sufficient in most control problems. response y(t).
y(t).
ƒ Specifications other than stability ƒ Time response is divided as
ƒ How to evaluate a system quantitatively in time domain?
ƒ How to give specifications in time domain?
ƒ What are the corresponding conditions in s-
s-domain? Transient (natural) response Steady-
Steady-state (forced) response
(after yt dies out)
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 Example of transient & Usage of time responses
steady-state responses
ƒ Modeling
ƒ Some parameters in the system may be estimated by
time responses.

Step response
Step Response
ƒ Analysis
3
ƒ Evaluate transient and steady-
steady-state responses
ƒ Transient response 2.5 (Satisfactory or not?)
2 ƒ Design
Amplitude
1.5 ƒ Given design specs in terms of transient and steady-
steady-
ƒ Steady-
Steady-state resp.
resp.
1 state responses, design controllers satisfying all the
0.5
design specs.
0
0 2 4 6
Time (sec)
8 10 12
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Typical test inputs Typical step response

Step function Ramp function

(Most popular)

Parabolic
Sinusoidal input function
will be dealt with
later.

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Steady state value for step input Steady-state error for input u(t)

G(s)
G(s)

ƒ Suppose that G(s)

G(s) is stable.
stable.
ƒ By the final value theorem:

ƒ Step response converges to some finite value,

called steady state value .
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Peak value, peak time, percent

Delay, rise, and settling times
overshoot

Delay time: time to reach 0.5 yss

Rise time: time to rise from 0.1yss to 0.9yss
Settling time: time to settle within 2% of yss

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3
 An example revisited Remarks on time-domain responses
ƒ For the example in a previous slide, ƒ Speed of response is measured by
ƒ Steady-
Steady-state error : 2 ƒ Rise time, delay time, peak time and settling time
ƒ Delay time around 1.5 sec ƒ Relative stability is measured by
ƒ Rise time around 5 sec 3
Step Response

ƒ Percent overshoot
ƒ Settling time around 6 sec 2.5
ƒ Typically ….
2
ƒ Fast response Æ Large percent overshoot

Amplitude
Remark:
Remark: There is no peak in 1.5 ƒ Large percent overshoot Æ small stability margin
this case, so peak value, peak 1
ƒ We need to take trade-
trade-off between response
time and percent overshoot 0.5 speed and stability.
cannot be defined.
0
0 2 4 6
Time (sec)
8 10 12

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Performance measures Course roadmap

ƒ Transient response (Next lecture) Modeling Analysis Design
ƒ Peak value Laplace transform Time response
Design specs
ƒ Peak time • Transient
Transfer function • Steady state
ƒ Percent overshoot Root locus
We will connect
ƒ Delay time these measures Models for systems Frequency response
Frequency domain
• electrical • Bode plot
ƒ Rise time with s-
s-domain.
• mechanical
ƒ Settling time PID & Lead-
Lead-lag
• electromechanical Stability
• Routh-
Routh-Hurwitz
ƒ Steady state response Linearization • Nyquist
Design examples
ƒ Steady state error (Today’
(Today’s lecture)

Matlab simulations & laboratories

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 Steady-state error Error constants
ƒ Step-
Step-error (position-
(position-error) constant
We assume that the
CL system is stable!
Unity feedback!
ƒ Ramp-
Ramp-error (velocity-
(velocity-error) constant
ƒ Suppose that we want output y(t)
y(t) to track r(t).
r(t).
ƒ Error
ƒ Parabolic-
Parabolic-error (acceleration-
(acceleration-error) constant
ƒ Steady-
Steady-state error

Final value theorem ƒ Kp,

Kp, Kv,
Kv, Ka : ability to reduce steady-
steady-state error
(Suppose CL system is stable!!!)
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Steady-state error for step r(t) Steady-state error for ramp r(t)

Kp

Kv
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Steady-state error for parabolic r(t) System type
ƒ System type of CL system is defined as the
order (number) of poles of G(s)
G(s) at s=0.
ƒ Examples

type 1

type 2

type 3
Ka
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Zero steady-state error Example 1

ƒ If error constant is infinite, we can achieve zero ƒ CL system of type 2
steady-
steady-state error. (Accurate tracking)
ƒ For step r(t)
r(t)

ƒ Characteristic equation
ƒ For ramp r(t)
r(t)

ƒ CL system is NOT stable for any K.

ƒ For parabolic r(t)
r(t) ƒ e(t)
e(t) will not converge. (Don’
(Don’t use today’
today’s results
if CL system is not stable!!!)

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 Example 2 Example 3
ƒ CL system of type 1 ƒ CL system of type 2

ƒ By Routh-
Routh-Hurwitz criterion, CL is stable iff ƒ By Routh-
Routh-Hurwitz criterion, we can show that CL
system is stable.
ƒ Step r(t)
r(t) ƒ Step r(t)
r(t)

ƒ Ramp r(t)
r(t) ƒ Ramp r(t)
r(t)

ƒ Parabolic r(t)
r(t) ƒ Parabolic r(t)
r(t)

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A control example Summary and Exercises

ƒ Time response and time domain specifications
ƒ Steady-
Steady-state error
ƒ For unity feedback (STABLE!) systems, CL system
type determines if the steady-
steady-state error is zero.
ƒ The key tool is the final value theorem!
theorem!
ƒ Closed-
Closed-loop stable?
ƒ Exercises
ƒ Compute error constants
ƒ Read Sections 7.1-
7.1-7.4.
ƒ Solve Problems 7.1, 7.2, 7.3, 7.5, 7.11, 7.12, 7.13.
ƒ Compute steady state errors

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 Announcements
ƒ Midterm exam
ƒ February 12 (Thursday), 9:40-
9:40-10:40am.
ƒ Please come to CEME1202 at/before 9:30am.
ƒ Policy: Closed book, No lecture slide, No calculator
ƒ Last year’
year’s midterm is posted on Vista.

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