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Unidad 2 Parte 2
Unidad 2 Parte 2
Chapter 4
2.1 Respuesta al escalón unitario y especificaciones en el
tiempo
The output response of a system is the sum of two responses: the forced response and the natural response.
Although many techniques, such as solving a differential equation or taking the inverse Laplace transform,
enable us to evaluate this output response, these techniques are laborious and time-consuming.
Productivity is aided by analysis and design techniques that yield results in a minimum of time.
If the technique is so rapid that we feel we derive the desired result by inspection, we sometimes use the
attribute qualitative to describe the method.
The use of poles and zeros and their The concept of poles and zeros, fundamental to
relationship to the time response of a the analysis and design of control systems,
system is such a technique simplifies the evaluation of a system’s response.
2.1 Respuesta al escalón unitario y especificaciones en el
tiempo
𝑁(𝑠)
𝐷(𝑠)
The poles of a transfer function are (1) the values of the Laplace transform variable,
s, that cause the transfer function to become infinite or (2) any roots of the
denominator of the transfer function that are common to roots of the numerator.
The zeros of a transfer function are (1) the values of the Laplace transform variable,
s, that cause the transfer function to become zero, or (2) any roots of the numerator
of the transfer function that are common to roots of the denominator.
The roots of N(s) are the zeros of the transfer function
2.1 Respuesta al escalón unitario y especificaciones en el
tiempo
To show the properties of the poles and zeros, let us find the unit step response of the
system in the figure: Notation
By applying the
Laplace Transform
2.1 Respuesta al escalón unitario y especificaciones en el
tiempo
A pole on the real axis generates an
exponential response of the form
where a is the pole location on the real axis
0.37
0
0.63
2.1 Respuesta de sistemas de primer orden
𝑑𝑐(𝑡)
ቤ =𝑎
𝑑𝑡 𝑡=0
2.1 Respuesta de sistemas de primer orden
Transient response specification
𝑇𝑟 = 𝑡2 − 𝑡1
2.1 Respuesta de sistemas de primer orden
R(s)=1/s
Laplace inverse
transform
𝐾 𝐾 −𝑎𝑡
𝑐 𝑡 = − 𝑒 time
𝑎 𝑎
2.1 Respuesta de sistemas de primer orden
(Sobre-amortiguado)
2.1 Respuesta de sistemas de segundo orden
Poles and zeros and transient
response to second order systems
(Sub-amortiguado)
2.1 Respuesta de sistemas de segundo orden
Poles and zeros and transient
response to second order systems
(No-amortiguado u oscilatorio)
2.1 Respuesta de sistemas de segundo orden
Poles and zeros and transient
response to second order systems
(Críticamente amortiguado)
2.1 Respuesta de sistemas de segundo orden
Poles −1 ± 8 𝑗
2.1 Respuesta de sistemas de segundo orden
Poles −1 ± 8 𝑗
2.1 Respuesta de sistemas de segundo orden
Poles −1 ± 8 𝑗
2.1 Respuesta de sistemas de segundo orden
Poles −1 ± 8 𝑗
2.1 Respuesta de sistemas de segundo orden
General transfer Time response
function
Based on the previous
𝑐 𝑡 = 1 + 𝑛𝑎𝑡𝑢𝑟𝑎𝑙 𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒
results, we have that
forced response
We define the following natural responses and found their characteristics:
Real poles
2.1 Respuesta de sistemas de segundo orden
Imaginay part
2.1 Respuesta de sistemas de segundo orden
4.5 Respuesta de sistemas de segundo orden
poles
2.1 Respuesta de sistemas de segundo orden
We define two physically meaningful specifications for second-order systems. These quantities can be used to
describe the characteristics of the second-order transient response just as time constant describe the first-order system
response.
Poles −1 ± 8 𝑗
a=2
assuming underdamped
response
2.1 Respuesta de sistemas de segundo orden
Parameters associated with the underdamped response:
2.1 Respuesta de sistemas de segundo orden
Parameters associated with the
Overshoot (sobredisparo/sobrepaso maximo)
underdamped response:
2.1 Respuesta de sistemas de segundo orden
The pure exponential will die out much more rapidly than
the second-order underdamped step response.
The real pole’s transient response will not decay to insignificance at the
peak time or settling time generated by the second-order pair. In this
case, the exponential decay is significant, and the system cannot be
represented as a second-order system.
Question How much farther from the dominant poles does the third pole have to be for its
effect on the second-order response to be negligible?
The answer of course depends on the accuracy for which you are looking !!!!
2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)
5
What about the magnitude of the exponential decay?
Questions
Can it be so large that its contribution at the peak time is not
negligible?
2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case) Third pole
It can be demostrated
that:
c3(t)
2.2 Efectos de introducir polos a la función
de transferencia.
15 > 5x2=10
4 < 5x1=5