UNIDAD 2:

Análisis de la respuesta de sistemas lineales (transitorio,

estado estable, estabilidad)
ASIGNATURA INGENIERIA DE CONTROL / TEORÍA DE CONTROL 1
PROF. MARIELA CERRADA LOZADA
2. Introducción
Chapter 7

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 roots of D(s) are the poles of the transfer function

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

Poles and zeros on

the complex plane

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

The farther to the left a pole is on the negative

real axis, the faster the exponential transient
response will decay to zero

The zeros and poles generate the amplitudes for

both the forced and natural responses
2.1 Respuesta al escalón unitario y especificaciones en el
tiempo
Qualitative Analysis of the Time
Response due to a Step Input
 2.1 Respuesta de sistemas de primer orden
If the input is a unit step, where R(s)=1/s, the Laplace
transform of the step response is C(s), where:
Laplace inverse
𝑨 𝑩 transform 𝐴=1
A model for a first order system: = + 𝒄 𝒕 = 𝑨 + 𝑩𝒆−𝒂𝒕
𝒔 𝒔+𝒂 𝐵 = −1

the forced response the natural response

Let us examine the significance of parameter

a, the only parameter needed to describe
the transient response
2.1 Respuesta de sistemas de primer orden
1

0.37

0
0.63
 2.1 Respuesta de sistemas de primer orden

Transient response parameter

We call 1/a the time constant of the response and it is

denoted as t
The time constant can be described as the time for
to decay to 37% of its initial value

We can call the parameter a the exponential frequency

a is the initial rate of change of c(t) at t=0

𝑑𝑐(𝑡)
ቤ =𝑎
𝑑𝑡 𝑡=0
 2.1 Respuesta de sistemas de primer orden
Transient response specification

is defined as the time for the waveform

to go from 0.1 to 0.9 of its final value.
Rise time is found by solving

for the difference in time at c (t)=0.9 and c(t)=0.1

ln(0.1)
c (t)=0.9 𝑡2 = −
𝑎
ln(0.9)
c (t)=0.9 𝑡1 = −
𝑎

𝑇𝑟 = 𝑡2 − 𝑡1
 2.1 Respuesta de sistemas de primer orden

Transient response specification

is defined as the time for the response
to reach, and stay within, 2% of its
final value. Other criterion takes 5% of
its final value
ln 0.02 3,9120
c (t)=0.98 𝑡𝑠 = − =
𝑎 𝑎
 2.1 Respuesta de sistemas de primer orden
c(t)

What does it happen in case of:

R(s)=1/s

Laplace inverse
transform
𝐾 𝐾 −𝑎𝑡
𝑐 𝑡 = − 𝑒 time
𝑎 𝑎
 2.1 Respuesta de sistemas de primer orden

Suppose the systems response is given by

Find the values of K and a to describe the

transfer function:

based on the meaning of the rise time and

the DC gain.

See page 168 of autor Norman Nise and

Skill-Assessment Exercise 4.2
 2.1 Respuesta de sistemas de segundo orden
Poles and zeros and transient
response to second order systems

(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

Real part Imaginay part

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.

The natural frequency of a second-order

system is the frequency of oscillation of the
system without damping.
 2.1 Respuesta de sistemas de segundo orden
w1 is wn
Note that wn is the square root of
(Frecuencia Natural de oscilación) the imaginary part

The poles of this system are on the jw-axis at ± 9 𝑗

2.1 Respuesta de sistemas de segundo orden

This is a measure to quantitatively describe the damped

oscillation regardless of the time scale.
2.1 Respuesta de sistemas de segundo orden

Poles −1 ± 8 𝑗

a=2

Real part of the poles 𝑎

2
2.1 Respuesta de sistemas de segundo orden
Real part of the poles
 2.1 Respuesta de sistemas de segundo orden
Summarizing: Consider the general system

Undamped system is defined for the poles to be

purely imaginary, a = 0. Hence,

Assuming an underdamped system, the complex

poles have a real part, s, equal to a/2

Our general second-order transfer function finally

looks like this:
2.1 Respuesta de sistemas de segundo orden

Poles of the system

2.1 Respuesta de sistemas de segundo orden

Poles of the system

2.1 Respuesta de sistemas de segundo orden

Poles of the system

2.1 Respuesta de sistemas de segundo orden

Poles of the system

2.1 Respuesta de sistemas de segundo orden
4.5 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden

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

By using Laplace By using inverse

Transform Laplace Transform

Zero crossing depends on the t

according to this equation
=0

The first peak, which

occurs at the peak time,
Tp, is found by letting n=1
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
2.1 Respuesta de sistemas de segundo orden
 2.2 Efectos de introducir polos a la función
de transferencia.
1 Without zeros
First orden system 𝐺 𝑠 =
𝜏𝑠 + 1 Only one pole

Second orden system Without zeros

Only two poles

Once we justify this approximation, the formulas

Under certain conditions, a system with more than two poles
or with zeros can be approximated as a second-order system
that has just two complex dominant poles.
for percent overshoot, settling time, and peak
time can be applied to these higher-order
systems by using the location of the dominant
poles.
 2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)

Consider a three-pole system

with complex poles and a third Two complex poles
pole on the real axis.
One real pole

Third real pole

placement
2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)
By considering
input step u(t)

After applying inverse Laplace

transform

The pure exponential will die out much more rapidly than
the second-order underdamped step response.

If the pure exponential term decays to an insignificant value

at the time of the first overshoot, such parameters as
percent overshoot, settling time, and peak time will be
generated by the second-order underdamped step response
component (CASE III).
2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)
 2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)

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)

Assumption The exponential decay is negligible after five time

constants.
Thus, if the real pole is five times farther to the left than
the dominant poles, we assume that the system is
represented by its dominant second-order pair of poles.

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

Assume a step response, C(s),

of a three-pole system:

It can be demostrated
that:

the residue of the nondominant pole and its response,

becomes zero as the nondominant pole approaches infinity.
2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)
2.2 Efectos de introducir polos a la función
de transferencia.
(Underdamped case)
c1(t)
c2(t)

c3(t)
2.2 Efectos de introducir polos a la función
de transferencia.

15 > 5x2=10

4 < 5x1=5