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EFFECTS OF POLE LOCATIONS

The real pole (1st order system) The complex pole
(2nd order system)
Transfer function 1 𝜔𝑛2
𝐻(𝑠) = 𝐻(𝑠) = 2
𝑠+𝜎 𝑠 + 2𝜍𝜔𝑛 𝑠 + 𝜔𝑛2
Poles 𝑠 + 𝜎 = 0(𝑠 = −𝜎) 𝑠 2 + 2𝜍𝜔𝑛 𝑠 + 𝜔𝑛2 = 0(𝑠 = −𝜎 ± 𝑗𝜔𝑑
= 𝑟𝑒 𝑗𝜑 )
𝜍: damping ratio (0 ≤ 𝜍 ≤ 1)
𝜔𝑛 : undamped natural frequency
𝜔𝑛 ≥ 0
σ > 0: impulse response is stable 𝜍 = 1: have no damping
σ < 0: impulse response is unstable 𝜍 = 0: the damped natural frequency
1
𝜏 = : time constants 𝜔𝑑 = 𝜔𝑛
𝜎
Poles farther to the left in the s –
plane decay faster than poles closer
to the imaginary axis

TIME DOMAIN SPECIFICATIONS

The real pole (1st order system) The complex pole
(2nd order system)
Transfer function 𝑌 (𝑠 ) 1 𝑌 (𝑠 ) 𝜔𝑛2
𝐺 (𝑠 ) = = 𝐺 (𝑠 ) = =
𝑅 (𝑠 ) 𝑠 + 𝜎 𝑅(𝑠) 𝑠 2 + 2𝜍𝜔𝑛 𝑠 + 𝜔𝑛2

Poles −𝜎 𝑠 = −𝜎 ± 𝑗𝜔𝑑 ; 𝜎 = −𝑆𝜔𝑛 ; 𝜔𝑑

= 𝜔𝑛 √1 − 𝑆 2

The rise time The time constant: 1.8

1 𝑡𝑟 ≅
𝜏= 𝜔𝑛
𝜎
The settling time 1% 2% 5% 1% 2% 5%
𝑡𝑠 ≅ 5𝜏 𝑡𝑠 ≅ 4𝜏 𝑡𝑠 ≅ 3𝜏 4.6 4 3
𝑡𝑠 ≅ 𝑡𝑠 ≅ 𝑡𝑠 ≅
𝜍𝜔𝑛 𝜍𝜔𝑛 𝜍𝜔𝑛
𝜋𝜍
The overshoot No 2
𝑀𝜌 = 𝑒 √1−𝜍 ;0 ≤ 𝜍≤1
The peak time No 𝜋
𝑡𝜌 =
𝜔𝑛 √1 − 𝜍 2