Course roadmap
ME451: Control Systems Modeling Analysis Design
Laplace transform Time response
Design specs
• Transient
Lecture 14 Transfer function • Steady state
Root locus
Time response of 1st-order systems
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist
Michigan State University
(Matlab simulations &) laboratories
1 2
Performance measures (review) First-order system
Transient response (Today’
(Today’s lecture) A standard form of the first-order system:
Peak value
Peak time
Percent overshoot
Next, we will connect
Delay time these measures
Rise time with s-
s-domain.
DC motor example
Settling time
Steady state response
Steady state error (Done)
3 4
DC motor example (cont’d) Step response for 1st-order system
If La<<Ra, we can obtain a 1st-order system Input a unit step function to a first-order system.
Then, what is the output?
u(t)
u(t) y(t)
y(t)
0 0
TF from motor input voltage to
motor speed is 1st-
1st-oder
motor position is 2nd-
2nd-order
(Partial fraction expansion)
5 6
How to eliminate steady-state error Meaning of K and T
Make a feedback system with a controller having K : Gain
an integrator (copy of Laplace transform of a unit Final (steady-
(steady-state) value 1
K=1,T=1
step function):
0.8
Controller
u(t)
u(t)
1 T : Time constant 0.6
Amplitude
Time when response
0 0.4
rises 63% of final value
Indication of speed of 0.2
One has to select controller parameters response (convergence)
to stabilize the feedback system. Response is faster as T 0
0 1 2 3 4 5 6
Time
Suppose K=T=1, and obtain such parameters! becomes smaller.
7 8
DC gain for a general system Settling time of 1st-order systems
DC gain : Final value of a unit step response
For first-
first-order systems, DC gain is K. Relation between time and exponential decay
For a general stable system G,
G, DC gain is G(0).
Final value theorem
Examples 5% settling time is about 3T!
2% settling time is about 4T!
9 10
Step response for some K & T System identification
2
K=1,T=1
2
K=1,T=2
Suppose that we have a “black-box” system
Amplitude
Amplitude
1 1 Unknown
0 0 Obtain step response
0 5 10 0 5 10
Time Time
K=2,T=1 K=2,T=2
2 2
Amplitude
Amplitude
1 1
0
0 5 10
0
0 5 10 Can you obtain a transfer function? How?
Time Time
11 12
Ramp response for 1st-order system Ramp response for 1st-order system
K =1 ,T =1
Input a unit ramp function to a 1st-order system.
5
K=1,T=1
Then, what is the output? 4 y(t)
y(t)
u(t)=t
u(t)=t
Amplitude
u(t)=t
u(t)=t y(t)
y(t) 3
Amplitude
slope
2
0 0
1
0
0 1 2 3 4 5
Time
T im e
Steady state response
(Partial fraction expansion) We may want to modify the system s.t.
13 14
How to eliminate steady-state error Summary and exercises
Make a feedback system with a controller having Time response for 1st-order systems
a double integrator (copy of Laplace transform of Step and ramp responses
ramp function): Time constant and DC gain
u(t)=t
u(t)=t Controller System identification
Next, time response for 2nd-order systems
0
Exercises
Review examples in this lecture.
One has to select controller parameters
to stabilize the feedback system.
Suppose K=T=1, and obtain such parameters!
15 16
