Lecture 5

2nd-order system characteristics contd.

Higher order systems

Pole-zero

Dominant poles concept for design purposes

Step-response for varying ζ for a 2ND order system
Step Response
2 0

1.8
0.1

1.6
0.2

1.4 0.3

0.4
1.2 0.5
0.6
Amplitude

0.7
1
0.8

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30

Time (sec.)
 Settling time for varying ζ for a 2ND order system

2
0

1.8
0.1

1.6
0.2

1.4 0.3

0.4
1.2 0.5
Amplitude

0.6

0.8

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30

Time (sec.)
 Higher order systems
s  3s  9s  13s  s( s  1)(s  4s  13)
4 3 2 2

 s( s  1)(s  2  3 j )(s  2  3 j )

First order roots Second order roots

4 Imag
1
Transfer Function  4 X
s  3s 3  9s 2  13s 3

2
Step Response

1
1.8
X X
1.6 -3 -2.5 -2 -1.5 -1 -0.5 0.5 1 1.5 2
-1 Re
1.4

1.2 -2
Amplitude

1
X -3
Complex s-plane
0.8
-4
0.6

0.4 All systems can be categorized as either

0.2
• FIRST ORDER or
0
1 2 3 4 5 6 7 • SECOND
8 9ORDER systems
Time (sec.)
A transfer function can be like:

s2 ( s  2)
Transfer Function  
s 4  3s 3  9s 2  13s s( s  1)(s  2  3 j )(s  2  3 j )

Pole-zero map
4

3 x

Imag Axis
0 O x x

-1

-2

-3 x

-4
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 2

Real Axis
All systems can be categorized as either
• FIRST ORDER or
• SECOND ORDER systems

Whether a system is 3rd order or 4th order or even higher  they can be categorized as a
• First order system
• Second order system

What is the order of a system?  a simple explanation is:

the order of the differential equation

How do you get the order of a system?  Look at the number of energy storing elements
in the system

What are energy storing elements?  Spring, mass, capacitor, inductor, tank filled with
liquid, Air pressure in a tank,

Energy dissipating elements?  damper, resistor, fluid friction, drag effects, …

Dominant poles

250
G1  poles   1,  5  j15
( s  1)(s 2  10s  250) X  5  j15 Im

2250
G2  poles   9,  5  j15
( s  9)(s 2  10s  250) X X X
Re
9 4 1

1000
G3  poles   4,  5  j15 X
( s  4)(s 2  10s  250)
Dominant poles Step Response

1.4
2250
G2 
1.2 G2 ( s  9)( s 2  10s  250)
poles   9,  5  j15
1
G3
poles   4,  5  j15
Amplitude

0.8
X  5  j15 Im
0.6
G1
poles   1,  5  j15 X X X
0.4 1 Re
9 4
250
G1 
0.2 ( s  1)( s 2  10s  250)
X

0
0 1 2 3 4 5 6
Time (sec.)
 1.4

1.2 poles   5  j15

0.8
Amplitude

-1
G1 poles   1,  5  j15
0.6 G1 system

0.4

X  5  j15 Im
0.2

X
0 1 Re
0 1 2 3 4 5 6

Time (sec.)

X
 Step Response
From: U(1)
1.4

poles   5  j15
1.2

G2 poles   9,  5  j15
1

0.8
-9
Amplitude

To: Y(1)

0.6

0.4
X  5  j15 Im

0.2

X X
1 Re
0 9
0 0.2 0.4 0.6 0.8 1 1.2

Time (sec.)
X
 G3 system
1.4

1.2 poles   5  j15

0.8
G3 poles   4,  5  j15
Amplitude

X  5  j15 Im

0.6
-4

X X
1 Re
4
0.4

0.2
X

0
0 0.5 1 1.5

Time (sec.)
The closer the pole is to the imaginary-axis, the longer time it takes to settle

The further a pole is to the imaginary-axis, it settles (transient dies off) more quickly
 1.2 G2
poles   9,  5  j15
1

Amplitude G1
0.8
poles   1,  5  j15

0.6
X  5  j15 Im
0.4

0.2 X X X
1 Re
9 4
0
0 1 2 3 4 5 6
Time (sec.) X

250
G1  poles   1,  5  j15
( s  1)(s 2  10s  250)
2250
G2  poles   9,  5  j15
( s  9)(s 2  10s  250)
 X  5  j15 Im

X X X
1 Re
9 4

Requirements for a pole to be dominant X

For a pole to be dominant, the transient response of the non-dominant poles have to
die off much faster

1. The non-dominant poles are all well to the LEFT of the dominant pole/s on the s-
plane (guideline: about 5 times away)

2. If there are any poles closer to the dominant pole/s then there is also zero/s close
to them to make such pole/s non-dominant.
 Effect of adding a zero closer to a pole
1.4

G11
1.2 poles   1,  5  j15
zero  1.2
1

G1
Amplitude

0.8
poles   1,  5  j15

0.6

0.4

0.2 X  5  j15 Im

0
0 1 2 3 4 5 6 1.2
oX Re
Time (sec.) 1

X
 Effect of adding zeros closer to complex-conjugate poles
Step Response
1.4

G2
1.2
poles   9,  5  j15
1
Amplitude

0.8

G22
0.6
poles   1,  5  j15
0.4 zero  4.8  j14

0.2 X  5  j15 Im
o
 4.8  j14
0
0 1 2 3 4 5 6

Time (sec.) X
Re
9

Xo
 X  5  j15 Im

X X X
1 Re
9 4

Requirements for a pole to be dominant X

For a pole to be dominant, the transient response of the non-dominant poles have to
die off much faster

1. The non-dominant poles are all well to the LEFT of the dominant pole/s on the s-
plane (guideline: about 5 times away)

2. If there are any poles closer to the dominant pole/s then there is also zero/s close
to them to make such pole/s non-dominant.

The dominant pole concept is used in classical control design where only the
dominant pole is placed in the ‘proper’ location that achieves the design specs.