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Best Chapt 4-5-6
Best Chapt 4-5-6
2
Introduction
Order of the system:
Consider a system defined by the transfer function:
C ( s) bm s m bm1 s m1 b0
T ( s)
R( s ) ( an s n an 1 s n 1 a0 )
The order of this system is n which is defined by the highest power for s in
the denominator.
Examples:
bm s m bm1s m1 b0
G( s) H ( s) c
s (an s n an 1s n 1 a0 )
A t 0 0 t
u (t ) (t ) U ( s ) A
0 t0
u(t)
Step-function
The step signal imitate the sudden change
characteristic of actual input signal. A
A t0 A 0 t
u( t ) U ( s )
0 t0 s
5
Standard Test Signals
r(t)
Ramp-function
The ramp signal imitate the constant velocity characteristic of
actual input signal.
At t0 A 0 t
r(t ) U ( s ) 2
0 t0 s
p(t)
Parabolic-function
The parabolic signal imitate the constant acceleration
characteristic of actual input signal.
At 2
t0 A
p(t ) 2 t
0
U ( s ) 3 0
t0 s
6
Relation Between Standard Test Signals
Impulse A t0 d
(t )
0 t0
dt
A t0
Step u( t )
0 t0 d
dt
Ramp At t0
r(t )
0 t0 d
At 2
dt
Parabolic t0
p(t ) 2
0 t0
7
Time Response of Control Systems
Time response of a dynamic system is response to an input expressed as
a function of time.
System
Step Input
5
4
Response
Amplitude
3
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
When the response of the system is changed form rest or equilibrium it takes some
time to settle down.
Transient response is the response of a system from rest or equilibrium to steady state.
The response of the system after the transient response is called steady state
response.
9
Time Response of Control Systems
Transient response dependents upon the system poles only and not on
the type of input.
10
Response of First Order System
The Standard form system transfer function G(s) is given by:
C ( s) k
G( s)
R( s ) T s 1
Where K is the D.C gain and T is the time constant of the system.
Time constant is a measure of how quickly a 1st order system responds to a
unit step input.
D.C Gain of the system is ratio between the input signal and the steady
state value of output.
11
Unit-Impulse Response of First Order System
Consider the following 1st order system
K=1 & T=2s
δ(t)
1
R(s ) K C (s )
0
t Ts 1
R( s) 1
K
K
C ( s) G ( s) R( s) T
Ts 1 s 1
K t / T T
c(t ) e
T 12
Unit-Step Response of First Order System
u(t)
1 R(s ) K C (s )
t Ts 1
0
1
R( s ) U ( s )
s
K
C ( s) G ( s) R( s)
s Ts 1 K=1 & T= 1.5s
1 T
C (s) K
s Ts 1
Taking Inverse Laplace of above equation
c(t ) K 1 e t / T
13
Step Response of 1st order System
System takes five time constants to reach its final value.
14
Unit-Ramp Response of First Order System
Unit Ramp Response
K 10
R(s ) C (s ) Unit Ramp
Ts 1 Ramp Response
8
1
R( s ) 2 6
s
c(t)
4
K
C ( s) 2 K=1 & T= 1s
s Ts 1 2
error
The ramp response is given as 0
0 5 10 15
Time
c(t ) K t T Tet / T
15
Table 3.1 Summary of response of a LTI first order system
input: output:
16
Second Order Systems
A general second-order system (without zeros) is characterized by the
following transfer function.
n2
G( s) Open-Loop Transfer Function
s( s 2 n )
C( s ) n2
2
R( s ) s 2 n s n2 Closed-Loop Transfer Function
17
Second Order Systems
C ( s) 2
2 n
R( s ) s 2 n s n
2
18
Example#2
Determine the un-damped natural frequency and damping ratio of the
following second order system.
C( s ) 4
2
R( s ) s 2s 4
Compare the numerator and denominator of the given transfer function
with the general 2nd order transfer function.
C ( s) n2
2
R( s ) s 2 n s n2
3
n 8 , 0.8 and k 0.75
16
20
Second Order Systems - Poles
The second order system Transfer function is
C ( s) n2
2
R( s ) s 2 n s n2
The characteristic polynomial of a second order system is:
s 2 2 n s n2 ( s s1 )( s s2 ) 0
The closed-loop poles of the system are
2 n 4 2n 4 2n
2
s1 , s1 n n 1
2
2
s1 n n 2 1
s 2 n n 2 1 21
Response of Second Order Systems
According the value of , a second-order system can be set into one
of the four categories:
Case 1: Over damped response (ξ > 1)
Case 2: Critically damped response (ξ = 1)
Case 3: Under damped response (0 < ξ <1)
Case 4: No damped response (ξ = 0)
22
Unit-Step Response of Second Order Systems
Case 1: Over damped response (ξ > 1)
The two roots of the characteristic equation s1 and s2 are real and distinct.
jω
s1 n n 2 1
δ s 2 n n 2 1
Example#4: Calculate and plot the output of the system with the following
transfer function:
Solution: With unit step input, its response is:
2
T ( s) 2
s 3s 2
1 1 2 1
C ( s) R( s)T ( s)
s( s 2 3s 2) s s 1 s 2 23
Unit-Step Response of Second Order Systems
The corresponding time domain output is given by:
1 t 2 t
c(t ) L {C( s)} [1 2 e e ]u(t )
output signal
1
time [sec]
24
Unit-Step Response of Second Order Systems
Case 2: Critically damped response (ξ = 1)
The two roots of the characteristic equation s1 and s2 are real and equal.
jω
δ s1, 2 n
Example#5: Calculate and plot the output of the system with the following
transfer function:
Solution: With unit step input, its response is:
5s 4
T ( s)
s 2 4s 4
5s 4 1 1 3
C ( s ) R( s )T ( s )
s ( s 4 s 4) s s 2 ( s 2) 2
2
25
Unit-Step Response of Second Order Systems
The corresponding time domain output is given by:
1
time [sec]
26
Unit-Step Response of Second Order Systems
Case 3: Under damped response (ξ < 1)
The two roots of the characteristic equation s1 and s2 are complex conjugates of on another.
jω
s1, 2 n jn 1 2
δ
s1, 2 n jd
Example#6: Calculate and plot the output of the system with the following
transfer function:
Solution: With unit step input, its response is:
4
T ( s) 2
s 2s 4
4 1 s2
C ( s ) R( s )T ( s )
s ( s 2 2 s 4) s s 2 2 s 4 27
Unit-Step Response of Second Order Systems
The corresponding time domain output is given by:
1 n t 1 − 𝜉2
1
c(t ) L {C ( s )} 1 sin(d t ) u (t ) 𝑤ℎ𝑒𝑟𝑒 𝜃=
2 e 𝜉
1
output signal
1
time [sec] 28
Unit-Step Response of Second Order Systems
Case 4: Undamped response (ξ = 0)
The two roots of the characteristic equation s1 and s2 are imaginary poles.
jω
s1, 2 jn
δ
Example#7: Calculate and plot the output of the system with the following
transfer function:
Solution: With unit step input, its response is:
4
T (s) 2
s 4
c(t ) L1{C ( s )} 1 sin(n t ) u (t )
4 1 s
C ( s) R( s) T ( s)
s ( s 2 4) s s 2 2 2 29
The transient response as a function of the damping ratio ξ
0.5 0
0.1
0.6 0.2
0.7 0.3
0.4
output signal
2
0.8
time [s]
30
Time-Domain Specification
For 0< ξ <1 and ωn > 0, the 2nd order system’s response due to a unit
step input looks like
31
Time-Domain Specification – Delay Time
Delay-Time (Td): The delay (Td) time is the time required for the
response to reach half the final value the very first time.
32
Time-Domain Specification – Rise Time
Rise-Time (TR): The rise time is the time required for the response to
rise from
10% to 90% of its final value, over damped systems
5% to 95% of its final value, Critical damped systems
or 0% to 100% of its final value. under damped systems
tr
d
1 2
tan 1 n
n
33
Time-Domain Specification – Peak Time
Peak Time (Tp): The peak time is the time required for the response to
reach the first (maximum) peak of the overshoot.
tp
d
34
Time-Domain Specification – Maximum Overshoot
Maximum Overshoot (MP): is the maximum peak value of the response
curve measured from unity.
Maximum percent overshoot (P.O): is defined as follows:
( )
MP e
1
2
Mp
P.O x100%
final value
1 2
P.O e x100%
35
Time-Domain Specification – Rise Time
The settling time (Ts): is the time required for the response curve to
reach and stay within a range about the final value of size specified by
absolute percentage of the final value (usually 2% or 5%).
38
Higher Order Systems Response
The natural response of higher-order systems consists of a sum of
terms, one term for each characteristic root:
For each distinct real characteristic root, there is a real exponential term in
the system natural response.
For each pair of complex conjugate roots, there is a an exponential
sinusoidal term in the system natural response.
Repeated roots give additional terms involving power of time times the
exponential.
39
Higher Order Systems Response
Example#8: Analyze the system with the following transfer function:
8 s2 5 8 s2 5
T ( s) 4
s 9 s 37 s 81 s 52 ( s 1)( s 4)( s 2 4 s 13)
3 2
Solution: With unit step input, apply the partial fraction, its response is
given by:
1 k1 k2 k3 k 4 s k5
C ( s) T ( s)
s s s 1 s 4 ( s 2) 2 (3) 2
t 4 t 2 t
c (t ) k1 k 2 e k3 e Ae cos(3t )
40
Higher Order Systems Response
Example#9: Analyze the system with the following T.F
7s 3 6s 2 9s 23
T ( s)
( s 1)( s 4)( s 2 4s 13)( s 2 8s 17)
Solution: With unit step input, apply the partial fraction, its response is
given by:
1 k k k k s k5 k s k7
C ( s) T ( s) 1 2 3 2 4 26
s s s 1 s 3 s 4s 13 s 8s 17
The corresponding time domain output is given by:
n1 t n 2 t
1 1
1 1
c(t ) k1 k 2 e k3 e A1 e cos(d 1t 1 ) A2 e
t 3t
cos(d 2t 2 )
1 12 1 2
2
Where the natural frequencies and damping ratios are given by:
n1 13 3.6rad / sec, 1
4
2n1
0.55 and n 2 17 4.12rad / sec, 2
8
2n 2
0.97
41
The s-Plane Root Location and The Transient Response
42
Example#10
Consider the system shown in following figure, where damping ratio is
0.6 and natural undamped frequency is 5 rad/sec. Obtain the rise time tr,
peak time tp, maximum overshoot Mp, and settling time 2% and 5%
criterion ts when the system is subjected to a unit-step input.
Solution:
ξ = 0.6 and ωn = 5 rad/sec
43
Example#10
Rise Time:
1 2
tr tan1( n ) 0.93 rad
d n
3.141 3.141 0.93
tr tr 0.55s
2
n 1 5 1 0.6 2
Peak Time:
3.141
tp tp 0.785s
d 4
44
Example#10
Settling Time (2%):
4 4
ts ts 1.33s
n 0.6 5
Settling Time (5%):
3 3
ts ts 1s
n 0.6 5
Maximum Overshoot:
3.1410.6
1 2
Mp e e 10.62
0.095
1 2
P.O e 100 9.5% 45
Example#11
For the system shown in Figure, determine the values of gain K and
velocity-feedback constant Kh so that the maximum overshoot in the
unit-step response is 0.2 and the peak time is 1 sec. With these values of
K and Kh, obtain the rise time and settling time. Assume that J=1 kg-m2
and B=1 N-m/rad/sec.
46
Example#11
47
Example#11
(1 KK h )
n K
2 K
48
Example#11
(1 KK h )
n K
2 K
Maximum overshoot is 0.2. The peak time is 1 sec
tp
d
3.141
1
n 1 2
) ln0.2
1 2
ln( e
3.141
n
1 0.456 2
n 3.53
49
Example#11
n 3.96
(1 KK h )
n K
2 K
3.532 K K h 0.178
K 12.5
50
Example#11
n 3.96
3 4
tr ts ts
n 1 2 n n
51
Example#12
When the system shown in Figure(a) is subjected to a unit-step input,
the system output responds as shown in Figure(b). Determine the values
of a and c from the response curve.
a
s( cs 1)
52
Example#13
For the RLC shown in Fig. 3.17, determine the natural frequency n and
the damping ratio ξ for the transfer function T(s)= X(s) / F(s), if M = 1
kg, b= 4 Ns/m and k = 10 N/m. x(t )
Solution: K
The D.E for this system is given by: f (t )
2
M
d x(t ) dx(t )
M 2
f v Kx(t ) f (t )
dt dt fv
The closed loop transfer function is given by Fig. 3.15 RLC network
X (s) 1 1/ m
F ( s) M s f v s k
2 fv k
s
2
S
m m
Then
1 fv 2
n 10 rad / sec and 2 n
k/m m 10 53
Example#14
For the RLC shown in Fig. 3.16, determine the natural frequency n and
the damping ratio ξ for the transfer function T(s)= I(s) / E(s).
Solution:
The closed loop transfer function is given by
I (s) 1 Cs
LC s RCS 1
2
E ( s ) R Ls 1
CS
1 Fig. 3.15 RLC network
s
I (s) L
E (s) R 1
2
s L LC s
Then
1 R R C
n and 2 n
LC L 2 L 54
Example#15
Figure (a) shows a mechanical vibratory system. When 2 lb of force
(step input) is applied to the system, the mass oscillates, as shown in
Figure (b). Determine m, b, and k of the system from this response
curve.
55
Example#16
Given the system shown in following figure, find J and D to yield 20%
overshoot and a settling time of 2 seconds for a step input of torque T(t).
56
Example#16
57
Example#16
58
Steady-State Error
59
Steady-state error
Steady-state error
Consider the feedback control system shown in Fig. 3.16.
R(s) E (s) C (s)
G(s)
Fig. 3.16
H (s)
1
K a lim s G( s) H ( s)
2 ess
s 0 Ka
Summary of steady-state errors
Input step input ramp input acc. input
t2
r (t ) 1 r (t ) t r (t )
Type # 2
1
type 0
system
1 K p
type 1
system 0 1
Kv
type 2 1
system 0 0
Ka
Example
Find the steady state error of the system shown in Fig. 3.17, when the
reference input r(t) is:
a) δ(t) b) u(t) c) t u(t)
Solution:
The steady state error is given by
1
ess lim sE( s) lim
s 0 s 0 1 G ( s ) H ( s )
R( s )
Example (Cont.)
(a) For r (t ) ( t )
1
ess lim s
s 0 5 2
.1 0
1
s 4 s 1
(b) For r ( t ) u( t )
( s 4)( s 1) 1 4
ess lim
s 0
s .
( s 4)( s 1) 10 s 14
(c) For r (t ) t u ( t )
( s 4)( s 1) 1
ess lim s
s 0
. 2
( s 4)( s 1) 10 s
Example
Find the steady state error of the system shown in Fig. 3.18, when the
reference input r(t) is:
a) δ(t) b) u(t) c) t u(t)
Solution:
The steady state error is given by
1
ess lim sE( s) lim
s 0 s 0 1 G ( s ) H ( s )
R( s )
Example (Cont.)
(a) For r (t ) ( t )
s ( s 4)
ess lim s
s 0 s( s 4) 10
.1 0
(b) For r ( t ) u( t )
s ( s 4) 1
ess lim s
s 0
. 0
s( s 4) 10 s
(c) For r (t ) t u ( t )
s ( s 4) 1 4
ess lim s
s 0
. 2
s( s 4) 10 s 10
Example
For the system shown in Fig. 3.19, determine:
a) The system type number
b) Static position error constant Kp
c) Static velocity error constant Kv
d) ess, when r(t) is: u(t) and t u(t)
70
The Concept of Stability
A stable system is a dynamic system with a bounded response to a bounded
input.
Consider the closed loop transfer function of a system as :
bm s m bm1 s m1 b0 N ( s)
T ( s) n 1
an s an 1 s a0
n
( s )
The characteristic equation or polynomial of the system which is given by:
( s) Q( s) an s n an 1s n 1 a0
For the system described by T(s) to be stable, the root of the characteristic equation
must lie in the left half plane.
The Routh-Hurwitz criteria or test is a numerical procedure for determining the
number of right half-plane (RHP) and imaginary axis roots of the characteristic
polynomial.
The Routh-Hurwitz Method Stability Criteria
The method requires two steps:
Step #1: Generate a date table called a Routh table as follows:
Consider the characteristic equation which is given by:
Solution: :
Step #1: Find the system closed loop transfer function T(s)
1000
G( s) ( s 2)( s 3)( s 5) 1000
T ( s) 3
1 G( s) H ( s) 1 1000 s 10 s 31s 1030
2
( s 2)( s 3)( s 5)
Example (Cont.)
Therefore, the characteristic equation is given by:
( s ) s 3 10s 2 31s 1030
Step #2: Generate the Routh table as follows:
Divide by 10
Step #3: Since. There are two sign changes in the left column.
• therefore, the system is unstable and has two roots in the right hand side.
Example
Apply the Routh-Hurwitz Method to determine the stability of a the closed
loop system whose transfer function is given by:
10
T ( s) 5
3s 5s 4 6s 3 3s 2 2s 1
Solution: Generate the Routh table as follows:
Step #3: Interpret the Routh table to tell how many closed-loop system poles are in
the right half-plane There are two sign changes in the left column, therefore, Q(s)
has two RHP roots and hence it is unstable.
Introduction to PID Control
81
Introduction
This introduction will show you the characteristics of the each of proportional
(P), the integral (I), and the derivative (D) controls, and how to use them to
obtain a desired response.
In this tutorial, we will consider the following unity feedback system:
Steady-State
RISE TIME OVERSHOOT SETTLING TIME
Response
Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Eliminate
Kd Small Change Decrease Decrease Small Change
Example Problem
Suppose we have a simple mass, spring, and damper problem.
The modeling equation of this system is x(t )
d 2 x(t ) dx(t ) K
M 2
fv Kx(t ) f (t )
dt dt f (t )
𝑋(𝑠) 1 M
=
𝐹(𝑠) 𝑀 𝑠 2 + 𝑓𝑣 𝑠 + 𝐾
Let fv
M = 1kg
fv = 10 N.s/m
k = 20 N/m
F(s) = 1 = unit step
𝑋(𝑠) 1
= 2
𝐹(𝑠) 𝑠 + 10 𝑠 + 20
Open-loop step response
Let's first view the open-loop step response.
When you are designing a PID controller for a given system, follow the
steps shown below to obtain a desired response.
1) Obtain an open-loop response and determine what needs to be improved
5) Adjust each of Kp, Ki, and Kd until you obtain a desired overall response.
98