Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 15 Transfer function • Steady state
Root locus
Time response of 2nd-order systems
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories

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Performance measures (review) Second-order systems

ƒ Transient response (Today’
(Today’s lecture) ƒ A standard form of the second-order system
ƒ Peak value
ƒ Peak time
ƒ Percent overshoot
Next, we will connect
ƒ Delay time these measures
ƒ Rise time with s-
s-domain.
ƒ DC motor position control example
ƒ Settling time Amplifier Motor
ƒ Steady state response Closed-
Closed-loop TF
ƒ Steady state error (Done)

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 Step response for 2nd-order system
Step response for 2nd-order system
for various damping ratio
ƒ Input a unit step function to a 2nd-order system.
What is the output? ƒ Undamped 2

u(t)
u(t) y(t)
y(t)

1
ƒ Underdamped 1.5

0 0
ƒ Critically damped 1

DC gain ƒ Overdamped 0.5

0
0 5 10 15

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Step response for 2nd-order system Peak value/time: Underdamped case

Underdamped case
ƒ Math expression of y(t) for underdamped case
1 .6

1 .4

1 .2

0 .8

0 .6

0 .4

0 .2

0
0 5 10 15

Damped natural frequency

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Properties of 2nd-order system Some remarks
ƒ Percent overshoot depends on ζ, but NOT ωn.
ƒ From 2nd-order transfer function, analytic
expressions of delay & rise time are hard to
obtain.
ƒ Time constant is 1/(ζωn), indicating
convergence speed.
ƒ For ζ>1, we cannot define peak time, peak
value, percent overshoot.

(5%) (2%)
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P.O. vs. damping ratio Pole locations of G

ƒ Poles (0<ζ<1)

ƒ Damping ratio

Next, we clarify the influence of

pole location on step response.

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 Influence of real part of poles Influence of imag. part of poles
ƒ Settling time ts decreases. ƒ Oscillation frequency ωd increases.

ts

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Influence of angle of poles An example

ƒ Over/under-shoot decreases. ƒ Require 5% settling time ts < tsm (given):

Im

Re

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 An example (cont’d) An example (cont’d)
ƒ Require PO < POm (given): ƒ Combination of two requirements

&

Im Im

Re Re

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Summary Exercises
(Use a calculator if necessary.)
ƒ Transient response of 2nd-order system is ƒ Read the related topics from the textbook.
characterized by
1. For the system below with ζ=0.6, ωn=5
ƒ Damping ratio ζ & undamped natural frequency ωn
(rad/sec), obtain
ƒ Pole locations
• Percent overshoot ?
ƒ Delay time and rise time are not so easy to • 5% settling time ?
characterize, and thus not covered in this course.
ƒ For transient responses of high order systems,
we need computer simulations.
ƒ Next, Root locus

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 Exercises
2. For the system below, design K1 and K2 s.t.
ƒ Percent overshoot is at most 20%?
ƒ Peak time is at most 1 sec.?
ƒ With designed K1 and K2, what is 5% settling time?

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