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Review: Step Response of 1 Order Systems
Review: Step Response of 1 Order Systems
Review: Step Response of 1 Order Systems
Step response
in the s—domain c(t) 1
steady state
Initial slope = =a (final value)
a time constant
;
s(s + a) 1.0
0.9
in the time domain
0.8
¡ ¢
1 − e−at u(t); 0.7 63% of final value
0.6 at t = one time constant
time constant
0.5
1
τ= ; 0.4
a
0.3
rise time (10%→90%) 0.2
2.2 0.1
Tr = ;
a 0 t
1 2 3 4 5
settling time (98%) a a a a a
Tr
4 Ts
Ts = .
a
Figure 4.3 Figure by MIT OpenCourseWare.
system pole –
jω input pole – system zero –
jω
natural response forced response derivative &
amplification
σ σ
−5 0 −5 −2 0
Ω(s) 30
s1 = −5.290Hz, s2 = −56.71Hz ⇒ = .
Vs (s) (s + 5.290)(s + 56.71)
To compute the step response we substitute the Laplace transform of the voltage
source Vs (s) = 30/s and carry out the partial fraction expansion:
jω
system poles
(2nd order overdamped)
input
pole
σ
−56.71 −5.29 −5 0
1st order
system pole
jω
Ω(s) 30
s1,2 = ±j13.42Hz ⇒ = .
Vs (s) (s + j13.42)(s − j13.42)
system poles
(2nd order undamped)
jω
j13.42
input
pole
σ
−5 0
Ω(s) 30
s1,2 = −4 ± j3.74 rad/sec ⇒ = .
Vs (s) (s + 4 + j3.74)(s + 4 − j3.74)
We will now develop the partial fraction expansion method for this case, aiming
to find the step response:
µ ¶
90 90 K1 K 2 s + K3
Ω(s) = = = 90 + 2 .
s(s + 4 + j3.74)(s + 4 − j3.74) s(s2 + 8s + 30) s s + 8s + 30
If the complete square instead of (s+4)2 were of the form s2 , the inverse Laplace
transform would have followed easily from Nise Table 2.1:
· ¸ " #
s+4 s+4
L−1 2 = L−1 2 = cos (3.74t) + 4 sin (3.74t) .
s + 14 s2 + (3.74)
To take the extra factor of 4 into account, we must use yet another property of
Laplace transforms, which we have not seen until now:
£ ¤
L e−at f (t) = F (s + a). (Nise Table 2.2, #4).
t Damping ratio
Figure by MIT OpenCourseWare.
1 Undamped (“natural”) period
ζ≡ .
2π Time constant of exponential decay
system poles
overshoot (2nd order undamped)
jω
−4 + j3.74
j3.74
−4 0 σ
input
pole
−j3.74
−4 − j3.74
We can write the transfer function of the general 2nd —order system with unit
steady state response as follows:
ωn2
, where
s2 + 2ζωn s + ωn2
• undamped if ζ = 0;
• underdamped if 0 < ζ < 1;
• critically damped if ζ = 1;
• overdamped if ζ > 1.
c (t)
Undamped
2.0
1.8
1.6
1.4
Underdamped
1.2
Critically
1.0 damped
0.8
0.6
Overdamped
0.4
0.2
t
0 0.5 1 1.5 2 2.5 3 3.5 4
Please see: Fig. 4.11 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.
We find
1 1 2ζ
K1 = , K2 = − , K3 =
ωn2 ωn2 ωn
Substituting and applying the same method of completing squares that we did
in the numerical example of the DC motor’s angular velocity response, we can
rewrite the laplace transform of the step response as
ζ p
(s + ζωn ) + p ωn 1 − ζ2
1 1− ζ2
− 2 ¡ ¢ .
s (s + ζωn ) + ωn2 1−ζ 2
2
The definitions above can be re—written X + jωn 1 − ζ = jωd
σd ωn s-plane
ζ= ,
ωn θ
σ
p − ζ ωn = − σd
ωd
1 − ζ2 =
,
ωn
p X − jωn 1 − ζ2 = −jωd
ωd 1 − ζ2
⇒ tan θ = = .
σd ζ
Figure 4.10
Figure by MIT OpenCourseWare.
Figure 4.10
Figure by MIT OpenCourseWare. t
0.9cfinal
−ln (%OS/100)
⇔ζ= q
π 2 + ln2 (%OS/100)
Settling time
(to within ±2% of steady state)
0.1cfinal
³ p ´
t
Tr Tp Ts ln 0.02 1 − ζ 2
4
Ts = − ≈ .
Figure by MIT OpenCourseWare. ζωn ζωn
Please see: Fig. 4.19 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.
Recall
σd
ζ= ,
ωn
p ωd
1 − ζ2 =
,
ωn
p
ωd 1 − ζ2
⇒ tan θ = = .
σd ζ
Nise Figure 4.19