IntroCtrlSys Chapter5

Lecture Notes
Introduction to Control Systems
Instructor: Dr. Huynh Thai Hoang

Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
3 November 2011 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

Chapter 5
ANALYSIS OF CONTROL SYSTEM

PERFORMANCE
3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 2

Content
Performance criteria
Steady state error
Transient response
p
The optimal performance index
Relationship between frequency domain performances and time
domain performances.

Performance criteria

Performance criteria: Steady state error
yfb(t)
Y(s) ess
R(s) E(s) r(t)
+_ G(s)
Yfb(s) e(t) ess

H(s) t
0
Error: is the difference between the set set-point

point (input) and the feedback
signal.
e(t ) = r (t ) − y fb (t ) ⇔ E ( s ) = R ( s ) − Y fb ( s )
Steady-state error: is the error when time approaching infinity.

ess = lim
li e(t ) ⇔ ess = lim
li sE
E ( s)
t →∞ s →0

Performance criteria – Percent of Overshoot (POT)
Overshoot: refers to an output exceeding its steady-state

steady state value.
value
y(t) y(t)
overshoot
ymax
ymax− yss
yss yss
yss
No overshoot t t
0 0
Percentage of Overshoot (POT) is an index to quantify the

overshoot
h t off a system,
t POT is
i calculated
l l t d as:
ymax − yss
POT = × 100%
yss

Performance criteria – Settling time and rise time
Settling
S ttli time
ti (ts):) is
i the
th time
ti required
i d for
f the
th response off a system
t tot
reach and stay within a range about the steady-state value of size
specified by absolute percentage of the steady-state value (usually
2% or 5%)
Rise time (tr): is the time required for the response of a system to
rise from 10% to 90% of its steady
steady-state
state value.
value
y(t) y(t)
(1+ε)yss
yss yss
(1−ε)yss 0.9yss
0.1yss t
t
0
0 ts tr

Steady--state error
Steady

Steady--state error
Steady
R( )
R(s) E( )
E(s) Y( )
Y(s)
+_ G(s)
Yfb(s)
H(s)
R( s)
Error expression: E (s) =
1 + G (s) H (s)
sR ( s )
Steady-state error: ess = lim sE ( s ) = lim
s →0 s →0 1 + G ( s ) H ( s )
Remark: Steady-state error not only depends on the structure and

parameters
t off the
th system
t butb t also
l depends
d d on the
th input
i t signal.
i l

Steady--state error to step input
Steady
Step input: R( s ) = 1 / s
1
⇒ Steady-state error: ess =
1+ Kp
with K p = lim G ( s ) H ( s ) (position constant)
s →0
yfb(t) yfb(t)
1 1
t t
0 0
G(s)H(s) does not have G(s)H(s) has at least 1
any deal integral factor ideal integral factor
Steady--state error to ramp input
Steady
Ramp input: R( s ) = 1 / s 2
1 K v = lim sG ( s ) H ( s ) (velocity constant)
⇒ ess = with
Kv s →0
s→
yfb(t) yfb(t) yfb(t)

r(t) r(t) r(t)
ess ≠ 0 ess = 0
e(t)→ ∞
t t t
0 0 0
G(s)H(s) does not have G(s)H(s) has 1 ideal G(s)H(s) has at least 2
deal integral factor integral factor ideal integral factors

Steady--state error to parabolic input
Steady
P b li input:
Parabolic i R( s) = 1 / s 3
1
⇒ ess = with K a = lim s 2G ( s ) H ( s ) (acceleration
Ka s →0 constant )
yfb(t) yfb(t) yfb(t)

r(t) r(t) r(t)
ess≠0 ess= 0
e(t)→ ∞
t t t
0 0 0
G(s)H(s) has less than 2 G(s)H(s) has 2 ideal G(s)H(s) has more than 2
ideal integral factors integral factors ideal integral factors

Transient response

First--order system
First
R(s) K Y(s)
Ts + 1
K
Transfer function: G (s) =
T +1
Ts
1
First order system has 1 real pole: p1 = −
T
1 K
Transient response: Y ( s ) = R ( s )G ( s ) = .
s Ts + 1
⇒ y (t ) = K (1 − e − t /T )

First--order system (cont’)
First
Im s y(t)
(1+ε).K
K
(1−ε).K
Re s
0 0.63K
−1/T
t
0
T ts
Pole – zero plot Transient response

of a first order system of the first order
y (t ) = K (1 − e − t /T )

First--order system – Remarks
First
First order system has only one real pole at (−1/T), its transient
response doesn’t have overshoot.
Time constant T:
Ti T is
i the
h time
i required
i d for
f the
h step response off the
h
system to reach 63% its steady-state value.
The further the pole (−1/T)
( 1/T) of the system is from the imaginary
axis, the smaller the time constant and the faster the time response
of the system.
Settling time of the first order system is:
⎛1⎞
ts = T ln
l ⎜ ⎟
⎝ε ⎠
where ε = 0.02
0 02 (2% criterion) or ε = 0.05
0 05 (5% criterion)

First--order system
First
The relationship between the pole and the time response

The further the pole of the system is from the imaginary axis, the
smaller the time constant and the faster the time response of the
system.
Im s y(t)
K
Re s
0
t
0
Pole – zero plot Transient response

of a first order system of the first order
Second--order oscillating system
Second
R(s) K Y(s)
T 2 s 2 + 2ξTs + 1
The transfer function of the second-order oscillating system:

K Kωn2 1
G( s) = 2 2 = 2 (ωn = , 0 < ξ < 1)
T s + 2ξTs + 1 s + 2ξωn s + ωn
2
T
The system has two complex conjugate poles:
p1, 2 = −ξωn ± jωn 1 − ξ 2
1 Kωn2
Transient response: Y ( s ) = R ( s )G ( s ) = . 2
s s + 2ξωn s + ωn2
⇒
⎪⎧
y (t ) = K ⎨1 −
⎪⎩
e −ξωnt
1−ξ 2
[
sin (ωn 1 − ξ 2 )t + θ ]
⎫⎪
⎬
⎪⎭
(cos θ = ξ )

Second--order oscillating system (cont’)
Second
y(t)
Im s
cos θ= ξ
jω n 1 − ξ 2 (1+ε).K
ωn K
Re s ((1−ε)).K
θ
−ξωn 0
− jω n 1 − ξ 2
t
0
ts
Pole – zero plot of a second Transient response of a second

order oscillating system order oscillating system

Second--order oscillating system – Remark
Second
A second order oscillation system has two conjugated complex

poles, its transient response is a oscillation signal.
If ξ = 0,
0 transient
i response is
i
a stable oscillation signal at ξ=0
the frequency ωn ⇒ ωn is ξ = 0.2
called natural oscillation ξ = 0.4
frequency.
If 0<ξ<1,, transient response
p
is a decaying oscillation
signal ⇒ ξ is called damping
constant,, the larger
g the value ξ = 0.6
ξ , (the closer the poles are to
the real axis) the faster the
response decays.

Second--order oscillating system – Overshoot
Second
Transient response of the second order oscillating system has

overshoot.
⎛ ξξπ ⎞
The percentage of overshoot:
o ershoot: POT = exp⎜ − ⎟.100%
⎜ − ξ 2 ⎟
⎝ 1 ⎠
The larger the value ξ, (the

closer the poles are to the
POT ((%)
real
ea axis)
a s) thee smaller
s a e thee
POT.
The smaller the value ξ,
(the closer the poles are to
the imaginary axis) the
ξ
larger the POT
The relationship
between POT and ξ
Second--order oscillating system – Settling time
Second
Settling time:
3
5% criterion: ts =
ξωn
4
2% criterion: ts =
ξωn

Second
Relationship between pole location and transient response
The second order systems that have the poles located in the same
rays starting from the origin have the same damping constant, then
the
h percentage off overshoots
h are the
h same. The
h further
f h theh poles
l
from the origin, the shorter the settling time.
Im s y(t)
K
cosθ = ξ R s
Re
θ
0
t
0
Second
Relationship between pole location and transient response (cont
(cont’))
distance from the origin have the same natural oscillation
frequency. The closer the poles to the imaginary axis, the smaller the
damping constant, then the higher the percentage of overshoot.
Im s y(t)
ωn K
R s
Re
0
t
0
Second
Relationship between pole location and transient response (cont (cont’))

distance from the imaginary axis have the same ξωn, then the settling
time are the same. The further the poles from the real axis, the smaller
the damping constant, then the higher the percentage of overshoot.
Im s y(t)
Re s K
−ξωn 0
t
0
Transient response of high order system
High-order
High order systems are the system that have more than 2 poles.
poles
If a high order system have a pair of poles located closer to the
imaginary axis than the others then the high order system can be
approximated to a second order system. The pair of poles nearest to
the imaginary axis are called the dominant poles.
Im s y(t)
Response off hi
highh
order system
Re s
0 Response of second
order system with the
dominant poles
t
0
High order systems A high order system can be approximated
have more than 2 poles by a dominated-pole second order systems
Performance indices

Integral performance indices
IAE criterion
(Integral of the Absolute Magnitude of the Error )
+∞
J IAE = ∫ e(t ) dt
0
ISE criterion
(Integral of the Square of the Error)
+∞
J ISE = ∫ e 2 (t )dt
d
0
ITAE criterion
(Integral of Time multiplied by the Absolute Value of the Error)
+∞
J ITAE = ∫ t e(t ) dt
0

Optimum systems
A control system is optimum when the selected performance index is
minimized
Second order system: J IAE → min when ξ → 0.707
J ISE → min
i when ξ → 0.5
J ITAE → min when ξ → 0.707
ξ=0.3
y(t)
ξ=0.5
ξ=0.707
ξ=0.9
t
0
Transient response of second order systems

ITAE optimal control
ITAE is usually used in design of control system

An n-order system is optimal according to ITAE criterion if the
denominator of its transfer function has the form:

ITAE optimal control (cont’)
Optimal response according to ITAE criterion
y(t)
1st order
d system
2nd order system
3rd order system
4th order system
t
0

Relationship
p between frequency
q y domain
performances and time domain performances

Relationship between frequency response and steady state error
R(s) Y(s)
+− G(s)
K p = lim G ( s ) H ( s ) = lim G ( jω ) H ( jω )
s →0 ω →0
K v = lim s G ( s ) H ( s ) = lim jωG ( jω ) H ( jω )

s →0 ω →0
K a = lim s G ( s ) H ( s ) = lim( jω ) 2 G ( jω ) H ( jω )
2
s →0 ω →0

Relationship between frequency response and steady state error
R( )
R(s) Y( )
Y(s)
+
− G(s)
Steady state error of the closed-loop

closed loop system depends on the
magnitude response of the open-loop system at low frequencies but
not at high frequencies.
The higher the magnitude response of the open-loop system at low
frequencies, the smaller the steady-state error of the closed-loop
s stem
system.
In particular, if the magnitude response of the open-loop system is
infinityy as frequency
q y approaching
pp g zero,, then the steady-state
y error of
the closed-loop system to step input is zero.
Relationship between frequency response and transient response
R(s) Y(s)
+− G(s)
In the frequency range ω <ωc , because G ( jω ) > 1 then:

G ( jω ) G ( jω )
Gcl ( jω ) = ≈ =1
1 + G ( jω ) G ( jω )
In the frequency range ω >ωc , because G ( jω ) < 1 then:
G ( jω ) G ( jω )
Gcl ( jω ) = ≈ = G ( jω )
1 + G ( jω ) 1
⇒ Bandwidth of the closed-loop
closed loop system is approximate the gain
crossover frequency of the open-loop system.
Bode plot of a open-loop system Bode plot of the corresponding

closed-loop system

R(s) Y(s)
+− G(s)
The higher the gain crossover frequency of open-loop

open loop system,
system the
wider the bandwidth of closed-loop system ⇒ the faster the
response of close-loop system, the shorter the settling time.
π 4π
< tqd <
ωc ωc
The higher the phase margin of the open-loop system, the smaller
the POT of closed-loop system. In most of the cases, if the phase
open loop system is larger than 600 then the POT of
margin of the open-loop
the closed-loop system is smaller than 10%.
Example of relationship between gain crossover frequency and settling time
R(s) Y(s)
+− G(s)
10
G (s) =
s(0.1s + 1)(0.08s + 1)

Example of relationship between gain crossover frequency and settling time
R(s) Y(s)
+− G(s)
50
G ( s) =
s(0.1s + 1)

Example of relationship between phase margin and POT
R(s) Y(s)
+− G(s)
6
G (s) =
s(0.1s + 1)(0.08s + 1)

Example of relationship between phase margin and POT (cont’)
R(s) Y(s)
+− G(s)
6
G ( s) =
s (0.1s + 1)

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Lecture Notes

Introduction to Control Systems

Instructor: Dr. Huynh Thai Hoang

3 November 2011 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1

ANALYSIS OF CONTROL SYSTEM

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 2

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 3

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 4

Yfb(s) e(t) ess

 Error: is the difference between the set set-point

 Steady-state error: is the error when time approaching infinity.

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 5

 Overshoot: refers to an output exceeding its steady-state

 Percentage of Overshoot (POT) is an index to quantify the

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 6

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 7

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 8

 Remark: Steady-state error not only depends on the structure and

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 9

yfb(t) yfb(t) yfb(t)

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 11

yfb(t) yfb(t) yfb(t)

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 12

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 13

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 14

Pole – zero plot Transient response

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 15

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 16

The relationship between the pole and the time response

Pole – zero plot Transient response

 The transfer function of the second-order oscillating system:

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 18

Pole – zero plot of a second Transient response of a second

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 19

 A second order oscillation system has two conjugated complex

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 20

 Transient response of the second order oscillating system has

 The larger the value ξ, (the

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 22

Relationship between pole location and transient response (cont (cont’))

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 27

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 28

Transient response of second order systems

 ITAE is usually used in design of control system

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 30

 Optimal response according to ITAE criterion

2nd order system

3rd order system

4th order system

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 31

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 32

K v = lim s G ( s ) H ( s ) = lim jωG ( jω ) H ( jω )

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 33

 Steady state error of the closed-loop

 In the frequency range ω <ωc , because G ( jω ) > 1 then:

Bode plot of a open-loop system Bode plot of the corresponding

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 36

 The higher the gain crossover frequency of open-loop

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 38

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 39

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 40

3 November 2011 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 41

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Error: is the difference between the set set-point

Steady-state error: is the error when time approaching infinity.

Overshoot: refers to an output exceeding its steady-state

Percentage of Overshoot (POT) is an index to quantify the

Remark: Steady-state error not only depends on the structure and

The transfer function of the second-order oscillating system:

A second order oscillation system has two conjugated complex

Transient response of the second order oscillating system has

The larger the value ξ, (the

ITAE is usually used in design of control system

Optimal response according to ITAE criterion

Steady state error of the closed-loop

In the frequency range ω <ωc , because G ( jω ) > 1 then:

The higher the gain crossover frequency of open-loop