Chapter 4 - Time-Domain Analysis of Control Systems-Update 1

CHAPTER 4: TIME DOMAIN ANALYSIS OF CONTROL SYSTEMS
CHAPTER 4:
TIME DOMAIN ANALYSIS OF
CONTROL SYSTEMS
11/19/2021
Automatic Control Systems 1
Contents
4.1 Time response of continuous-data system
4.2 The unit-step response and time-domain specifications
4.3 Time response of a first-order system
4.4 Time response of a second-order system
4.5. Dominant poles and zeros of transfer functions
4.6. Steady-state error
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u(t) y(t)
G(s)
U(s) Y(s)
 With zero initial conditions

Y ( s ) = G ( s )U ( s )
 With non-zero initial conditions

p o ly n o m in a l in s
Y ( s ) = G ( s )U ( s ) +
a n s n + a n − 1 s n − 1 + ... + a 1 s + a 0
y(t) = L-1{Y(s)}
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Transient response vs. steady state response
Definition: Time response of a control system is the output response which is a
function of time, to the applied input.
y (t ) = yt (t ) + yss (t ) yt(t): transient response

yss(t): steady-state response
Transient response, yt(t)
 Present in a short period of time immediately after the system is excited
 Reflect dynamic behavior of the system
 Dependent upon the system poles only and not on the type of input
 For the asymptotically stable system,
lim yt (t ) = 0
t →∞
Steady-state response, yss(t):
 Remain after the transient response has died out
 Reflect final accuracy of the system
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Transient response vs. steady state response
y (t ) = yt (t ) + yss (t )
 Remember in Chapter 3: with non-zero initial conditions
p o ly n o m in a l in s
Y ( s ) = G ( s )U ( s ) +
a n s n + a n − 1 s n − 1 + ... + a 1 s + a 0
Total Zero-state Zero-input

response response response
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Example
Determine the zero-state response and zero-input response of a system
10
G(s) =
s+2
with u(t) = 1(t), y(0) = 5
Solution
The differential equation of system is:
dy (t )
+ 2 y (t) = 10u (t )
dt
Taking laplace with non-zero initial condition
10 y (0)
sY ( s ) − y (0) + 2Y ( s ) = 10U ( s )  Y ( s ) = U (s) +
s+2 s+2
 y (t ) = 5(1 − e−2t ) + 2e−2t = 5 − 3e −2t
Zero state response Transient response
Zero input response Steady-state response
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Typical test input signals

1) Unit step, us(t) 2) Unit impulse, δ(t)
1 t ≥ 0 1 du s ∞ t = 0
u s (t ) =   L{u s (t )} = δ (t ) = =  L{δ (t )} = 1
dt  0 t ≠ 0
0 t < 0 s
r (t ) = Rus (t ) (s t )
u
Rt
) =
3) Ramp function input r (t ) = Rus (t ) r (t
R
r (t ) = Rtus (t )
us (t)
4) Prabolic function input 1
Rt 2
Rt 2 r (t ) = u s (t )
r (t ) = u s (t ) 2
2
0 t
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4.2 The unit step response and time domain specifications

4.2.1 Unit step response
 Definition: The response of a system (with all zero initial conditions) to the
unit step input
r(t) = us(t) y(t) = h(t)

G(s)
G( s) −1  G ( s ) 
H ( s ) = G ( s )U s ( s ) =  h(t ) = L  
s  s 
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4.2.2 Time domain specifications
 Overshoot
- Maximum overshoot: Δm = ymax – yss
- Percent maximum overshoot (PO)
ymax − y ss ∆m
PO = ×100% = ×100%
y ss y ss
- Use to measure relative stability
 Time delay, td : The time required for
the step response to reach 50% of its
final value
 Rise time, tr : The time required for the step response to rise from 10 to 90% of
its final value
 Settling time, ts : The time required for the step response to decrease and stay
with ± ε% (ε = 2 or 5) of its final value.
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4.3 Step response of a first-order system

 Model description
dy (t ) Y ( s) K
T + y (t ) = Kr (t ) ⇔ G ( s ) = =
dt R( s ) Ts + 1
K – steady state gain, T– time constant.
j y(t)
-1/T 1
0 t
y (t ) = K (1 − e − t /T )
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4.4 Step response of a second order system
 Model description
2
2 d y (t ) dy (t )
T 2
+ 2ζ T + y ( t ) = r (t )
dt dt
Y ( s) 1 ωn2
⇔ G( s) = = 2 2 = 2
R ( s ) T s + 2T ζ s + 1 s + 2ζωn s + ωn2
ζ – damping ratio
ωn = 1/T – natural frequency
ζ: decide pole of characteristic equation
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• ζ > 1 (overdamped)
p1,2 = −ζωn ± ωn ζ 2 − 1 < 0 y ( t ) = K 1 + k1e p1t + k2 e p2t 

j y(t)
1
0
t
• ζ = 1 (critically damped)
p1 = p2 = −ωn y (t ) = K 1 + ( k1 + k 2t ) e −ωnt 
j y(t)
1
0
t
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• ζ < 1 (underdamped)
 e −ζωnt 
p1,2 = −ζωn ± jωn 1 − ζ 2
y (t ) = K 1 −
 1−ζ 2
sin ωn 1 − ζ 2 t + θ ( ) 

j θ = cos −1 ζ
1
∆m
K
−πζ 1−ζ 2
PO = e × 100
π 2π 3π 4π
2 2
ωn 1− ζ 2
ωn 1 − ζ ωn 1 − ζ ωn 1 − ζ 2
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Maximum overshoot
−πζ 1−ζ 2
PO = e × 100
 ζ 
PO ≈  1 −  × 100
 0.6 
 ζ 
PO = 1 −  ×100
 0.6 
1−ζ 2
PO = e −πζ ×100
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Delay time
or
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Rise time
or
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Settling time
and
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j y
• ζ = 0 (undamped)
p1,2 = ± jωn
K
y (t ) = K (1 − cos ωn t ) 1
t
• -1 < ζ < 0 (negatively damped)

y
s1,2 = −ζωn ± jωn 1 − ζ 2 j
 e −ζωnt 
y (t ) = K 1 −
 1−ζ 2
(
sin ωn 1 − ζ 2 t + θ ) 

K
1 t
• ζ < -1 (negatively damped) j y
s1,2 = −ζωn ± ωn ζ 2 − 1 > 0

K
y (t ) = K (1 + k1e p1t
+ k2 e p2t
) 1
0
t
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4.5 Dominant poles and zeros of TFs

The location of poles and zeros of a transfer function greatly effects the transient
response of the system
Dominant poles:
• Give rise relatively slow decay terms in
the transient response
• Locate close to the imaginary axis in the
left-half s-plane
Insignificant poles:
• Contribute fast decay terms to the
transient response
• Locate far away from the imaginary axis
in the left-half s-plane
Question: How large a pole is considered to be insignificant ?

Answer: If the real part of a pole is at least 5 to 10 times that of a dominant pole
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For example: Consider the following third-order system

6000
G(s) = Step Response
( )
(s + p ) s 2 + 12s + 100
100
80
Poles of the system: third-order system
60
s1 = − p; s2,3 = −6 ± j8
Amplitude
approximate first-order system
• If p = 0.6  Re{s2,3 } ≥ 10 s1
40
20
s1 is considered to be a dominant pole 0

0 1 2 3 4 5 6 7 8 9 10
6000 100 Time (seconds)
G(s) ≈
s+ p Step Response
1.4
The system exhibits dominant first- 1.2
order behavior 1
• If p = 65  s1 ≥ 10 Re{s2,3 }
Amplitude
0.8
third-order system
0.6
approximate second-order system
s2,3 are considered to be dominant poles 0.4
6000 p 0.2
G ( s) ≈
s 2 + 12 s + 100 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Time (seconds)
The system exhibits dominant second-order behavior
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4.6 Steady-state error

4.6.1 Introduction
Definition: The steady state error is the difference between the reference
(desired output) and the output in the steady state.
r(t) y(t)
G(s)
yfb(t)
H(s)
yr?
St = lim ( yr (t ) − y (t ) ) yr: desired output
t →∞
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yr = r(t) y(t)
 System with unity feedback: G(s)
yr(t) r(t) y(t)

 System with H(0) = KH KH G(s)
yr = r/KH KH
r = KHyr
yr(t) r(t) y(t)

 System with H(s) = sNKH sNKH G(s)
sNKH
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4.6.2 Steady state error of a system with unity feedback

sR ( s )
St = lim sE ( s) = lim
s →0 s →0 1 + G ( s )
 System type
m
In general K ∏ ( s − zi )
i =1
G( s) = n −γ
, m ≤ n; zi , p j ≠ 0; K ∈ R
sγ ∏ ( s − p j )
j =1
γ – number of poles of G(s) at s = 0. γ called system type
Define: K p = lim G ( s ) step-error constant

s →0
K v = lim sG ( s ) ramp-error constant

s →0
K a = lim s 2G ( s ) parabolic-error constant

s →0
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 r(t) = Rus(t): R R
St = = Kp - step-error constant
1 + lim G ( s ) 1 + K p
s→0
- γ = 0 (type 0): Kp = const. → St = const. R

Ste ss =
1+ K p
- γ ≥ 1: Kp = ∞ → St = 0.
 r(t) = Rtus(t)
R R R
St = lim = = Kv - ramp-error constant
s →0 s + sG ( s ) lim sG ( s ) K v
s→0
- γ = 0 (type 0): Kv = 0 → St = ∞ ess =

R
Kv
- γ = 1 (type 1): Kv = const. → St = const.
- γ ≥ 2: Kv = ∞ → St = 0.
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 r(t) = Rt2/2.us(t):
R R
St = =
s 2 + lim s 2G ( s ) K a
s→0
- γ = 0 (type 0): Ka = 0 → St = ∞
- γ = 1 (type 1): Ka = 0 → St = ∞
- γ = 2 (type 2): Ka = const. → St = const.
- γ ≥ 3: Ka = ∞ → St = 0.
11/19/2021

Chapter 4 - Time-Domain Analysis of Control Systems-Update 1

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CHAPTER 4: TIME DOMAIN ANALYSIS OF CONTROL SYSTEMS

4.1 Time response of continuous-data system

 With zero initial conditions

 With non-zero initial conditions

4.1 Time response of continuous-data system

y (t ) = yt (t ) + yss (t ) yt(t): transient response

4.1 Time response of continuous-data system

 Remember in Chapter 3: with non-zero initial conditions

Total Zero-state Zero-input

Typical test input signals

4.2 The unit step response and time domain specifications

r(t) = us(t) y(t) = h(t)

4.2.2 Time domain specifications

4.3 Step response of a first-order system

4.4 Step response of a second order system

ζ: decide pole of characteristic equation

p1,2 = −ζωn ± ωn ζ 2 − 1 < 0 y ( t ) = K 1 + k1e p1t + k2 e p2t 

• -1 < ζ < 0 (negatively damped)

• ζ < -1 (negatively damped) j y

s1,2 = −ζωn ± ωn ζ 2 − 1 > 0

4.5 Dominant poles and zeros of TFs

Question: How large a pole is considered to be insignificant ?

For example: Consider the following third-order system

s1 is considered to be a dominant pole 0

4.6 Steady-state error

yr(t) r(t) y(t)

yr(t) r(t) y(t)

4.6.2 Steady state error of a system with unity feedback

γ – number of poles of G(s) at s = 0. γ called system type

Define: K p = lim G ( s ) step-error constant

K v = lim sG ( s ) ramp-error constant

K a = lim s 2G ( s ) parabolic-error constant

- γ = 0 (type 0): Kp = const. → St = const. R

- γ = 0 (type 0): Kv = 0 → St = ∞ ess =

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