Automatic Control Systems

Lecture Notes

Prof. Ahmed Sakr

Cairo University
Time Response
• First order system
𝐶 𝑆 𝑎
• =
𝑅 𝑆 𝑆+𝑎
C
• Rising Time (0.1-0.9)
2.2
• 𝑇𝑟 = 1.0
𝑎
0.9
• Settling Time (0-0.98)
4
• 𝑇𝑠 =
𝑎

• Example
0.1
𝐶 𝑆 100
• =
𝑅 𝑆 𝑆+50
Tr t
• 𝑇𝑟 = 0.044 Ts
• 𝑇𝑠 = 0.08
Time Response
• Second order system
𝐶 𝑆 ω𝑛2
• =
𝑅 𝑆 𝑆2+2ξω𝑛𝑆+ω𝑛2

• Closed loop poles

• 𝑆1, 𝑆2 = − ξω𝑛 ± ω𝑛√(ξ2-1)
ξ>1

Overdamped

I
C
1.0 S.S.E.

X X
R

t
Poles location on S-Plan Time response
ξ=0

Undamped

I
C

X
1.0
R

t
Poles location on S-Plan Time response
ξ=1

Critically damped

I
C
1.0 S.S.E.

XX
R

t
Poles location on S-Plan Time response
0<ξ <1 Ꙥ Ꙥ
• Peak Time = Tp = =
ω𝑛 (1−ξ2) ω𝑑
Underdamped
4 4
• Settling Time = Ts = =
ξω𝑛 𝜎𝑑
• Percentage overshoot = % O.S. = e -(ξꙤ/ (1 − ξ2))

I
C O.S.
1.0 S.S.E.
X

R
X

Tp Ts t
Poles location on S-Plan Time response
 Relationship between S-Plan and Time Response
Const. Ts I
Const. ξ

Const. Tp
X ω𝑑

θ
𝜎𝑑 Cos(θ)= ξ R

Poles location on S-Plan

Example
• Consider the second order system
𝐶 𝑆 100
• = 2
𝑅 𝑆 𝑆 +12𝑆+400
• Find Tp , Ts , %O.S.

• ω𝑛= 20
• ξ = 0.3
• Tp = 0.16 s
• Ts = 0.66 s
• %O.S.= 37%
 Time Response with additional poles and zeros
P2 Z2
C P1 C
Z1
1.0 1.0

t t
I I I

X X
X X O O
R R
P2 P1 Z2 Z1
X X

The above formula for Tp, Ts and O.S. are derived for second order system with no zeros.
However if the higher order poles and zeros are 5 times further to the left than the two
dominant poles, the system can be approximated by a second order system.
System Stability
𝐶 𝑆 𝑁(𝑆)
=
𝑅 𝑆 𝑎4𝑆4 + 𝑎3𝑆3 + 𝑎2𝑆2 + 𝑎1𝑆 + 𝑎0

Routh Table

𝑆4 a4 a2 a0

𝑆3 a3 a1

𝑆2 b1=(a2a3-a4a1)/a3 b2=(aoa3-a4x0)/a3

𝑆1 c1=(a1b1-a3b2)/b1

𝑆0 d1=(b2c1-b1x0)/c1

The system is stable if the first column has no sign change

The number of sign changes equals the number of right half-plan poles
If there is a whole zero raw, then there are poles on the imaginary axis
System Stability

Example
𝐶 𝑆 1000
= 3
𝑅 𝑆 𝑆 + 10𝑆2 + 31𝑆 + 1030

𝑆3 1 31

𝑆2 10 1030

𝑆1 -72

𝑆0 103

The system is unstable

The system has two poles in right half-plan
System Stability
Example
𝐶 𝑆 10
= 5
𝑅 𝑆 𝑆 + 2𝑆4 + 3𝑆3 + 6𝑆2 + 5𝑆 + 3

𝑆5 1 3 5

𝑆4 2 6 3

𝑆3 0 ϵ 7/2

𝑆2 (6ϵ-7)/ϵ 3

𝑆1 (42ϵ-49-6ϵ2)/(12ϵ-14)

𝑆0 3

The system is unstable

The system has two poles in right half-plan
System Stability
Example
𝐶 𝑆 10
= 5
𝑅 𝑆 𝑆 + 7𝑆4 + 6𝑆3 + 42𝑆2 + 8𝑆 + 56

𝑆5 1 6 8

𝑆4 7 42 56 P(S) = 7𝑆4 + 42𝑆2 + 56

𝑆3 0 28 0 84 dP(S)/ds = 28𝑆3 + 84𝑆

𝑆2 21 56

𝑆1 28/3

𝑆0 56

The system is critically stable

The system has two poles on the imaginary axis