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Week 3
Week 3
Week 3
- -
·
BIBO stability
-
A system is BIBO stable If the system output is bounded whenever
* eq
gain system
+H y y() kuct)
=
1y(t)1 =
(k) (nCt)1
-
If
afleast one bounded
input causes unbounded output , system
is not BIBO stable
* eq Integrator system
- 3 y(t)
=
S u(z) d7
say
UCt= Act) then yCt)- S"
↑
Ha2= +Ac *
·
BIBO Stability and Poles of transfer Function
Fest For stability A system is BIBU stable it and only if all poles
-
:
TF ECs)
b
:
-
=
-
Test For instability :
ie . If BIBO stable ,
then 90>0 fan-> O
solution with
non-negative real
part ( :. not BIBOstable /
*
Realpoles P , ... PK With Pi < O
*
*
complex conjugate poles 9, 9 ,*, -19 , 9 with ReC9i) <0
acs) :
Stanist . . + 9, 5 + do
do Pi and 9i
↑ Express in terms
of
2
do =
C-11" P1 ·
P2--Px 19 : .. 19e1"
=
(-)(-2)
...
-Pr)(-
--
(e
>0
*
an-1 =-
[P +-+Px+9 , , +9 , 4+-+ Let 92 ]
e - -
20 2Re(91) <0 2 Rel9e) <0
>0
:
·
-
Test For stability :
+ 925+ acs+ 90
If doso and a 230 and &29 : > do then all solutions a(s) =
-
General coefficient based Stability test : Routh -
Hurwoth criterior
Pole-zero cancellation
No /-
*
es .
see
S+ 1
U <
-
always assume disturbance input
↓
/- - 3
-Boras use en
V W
↓ ↓
r D y
+
u
- D -
O -
A
L z
-
I
interconnection stable If for
An of systems is
every Input-output pair
-
↓ ↓
y
-
u
O -
I
-
stability of
the unity feedback
roop
*
Finis
#
pesscess
I
! e
PCS)
#PCS)
[Cs)
ce apact bybc
*
- bes
If PCs) =
Cass
=
are ran a
and
,
*
Characteristic polynomial of the unity Feedback Loop
:
apac t
bobc
*
unity Feedback loop stable It and only if all roofs Of
characteristic
polynomial =
0 have
negative real
part .
happens ?
apac+bpbc 0
/
=
A ->
S a stable if aso
pole
:
:
= =
Scaling :
ensures that
step response
->
I
canonical :
So only parameter is a
coisofde tre:He a l I
-
·
Canonical second order
system
Transfer Function
-
- ↳n a
=
2 IWn
-
+ as + b + 24WnS+ wi b =
Wi
*I :
damping ratio
-
stability
:
·
Pole Locations
Poles :
solutions of si 2 1wnstun =
0
Quadratic Formula :
Pole locations
-
yon I unt
* undamped : (2 =
Underdamped
:
* entically damped
:
* overdamped
:
·
underdamped case
-stand where
-complex conjugate poles : -
yet)
=
1 - e-Jdt[Cs (Wat) +
Wd
Sin(wath] fort>,
Ts =
(based on
exponential enverope)
* 10 % -90%. Risetime
:
Fr =
1 .
* Peaktime
:
Tp
=
#rd (and rst zen of derrative
* overshoot y:
Ymax-Yanas= et(w)= -
*
(e)
I Inad
Os :
overshoot
it increase Is same
We
Ip decrease
Os same
If increase
Is decrease
Ed
Ip same
OS decrease
Increasin Un
same
Wd Ts decrease
> I same
Tp decrease
we increase OS same
od increase
IWnI /Wd
* Real pole at -
<r (Cr > 0)
Wi 1
Hz(8)
·
A +
YLt)
=
A + [Wnt<Bcos(Wat) +
C sin(wdt)) + De-rt
-
observation :
*
If (r> tw -
then response due to pole at -
Xr dies out
· Dominant Poles
Dominant poles :
the
* closest to
Imaginary axis
-
usually either :
Single Dominant
*
Pole &
approx .
by 2 order system
Effect OF ZeNOS
-
Add a zero at s : -
E to transfer Function H .
He s =
(2 5) nes +
= 1x
S
+
I (s()
old step bervahve of
response step response
t)
-
Step response :
yq(t)
=
y(t) +
1
-
observations
*
IE1 large :
Yq(t) = Y(t) -
(z) small :
zew close to the Imaginary axis has a
significant
effect .
·
Effect of additional left half plane (LHP) zeros
LHP zero : -
<OK z > O
-
LHP tero :
Faster Dynamics
* higher over shoot
* lower peak time ,
lower rise time
-
RHPzeN : -
= > 0 4 Z < O