Control Systems

Ruqia
Ikram

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 Module 4

2
Time Response

 Introduction
 Poles and Zeros
 System Response
 First Order System
 Second Order System

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Introduction
 After obtaining a mathematical representation of a subsystem, the subsystem
is analyzed for its transient and steady-state responses to see if these
characteristics yield the desired behavior.

 Two major measures of performance are:

 Transient response
 Steady-state error

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Poles, Zeros and System Response

Total response = Natural response + Forced response

 The concept of poles and zeros, fundamental to the analysis and design of
control systems, simplifies the evaluation of a system’s response.

 The use of poles and zeros and their relationship to the time response of a
system is qualitative technique to evaluate output response.

Poles of a Transfer Function

 The poles of a transfer function are the values of the Laplace transform
variable s, that cause the transfer function to become infinite.
 Roots of the denominator of the transfer function.

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Poles, Zeros and System Response
Zeros of a Transfer Function
 The zeros of a transfer function are the values of the Laplace transform
variable s, that cause the transfer function to become zero.
 Roots of the numerator of the transfer function.

Poles and Zeros of a First-Order System: An Example

For unit step input

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Poles, Zeros and System Response

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First-Order Systems
Considering first-order systems without zeros to define a performance
specification for a system

If the input is a unit step, output C(s) will become

Taking the inverse transform, the step response is given by

When t =1/a

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First-Order Systems
Three transient response performance specifications of first order system are:
 Time Constant
 Rise Time
 Settling Time

Time Constant
Time constant 1/a is the time takes for the step response to rise to 63% of its
final value. a is the exponential frequency.

The time constant can also be evaluated from the pole plot. Farther the pole
from the imaginary axis, the faster the transient response.

Rise time
Rise time is defined as the time for the waveform to go from 0.1 to 0.9 of its final
value.

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First-Order Systems
Settling time
Time for the response to reach, and stay within, 2% of its final value. Letting
c(t)=0.98

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First-Order Systems
The transfer function can be obtained with the help of system’s response.

5.54
𝐺 ( 𝑠) =
𝑠+ 7.7

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Second-Order Systems
 As varying a first-order system’s parameter simply changes the speed of the
response whereas changes in the parameters of a second-order system can
change the form of the response.

 By assigning appropriate values to parameters a and b in general case, one

can show all possible second-order transient responses.

Types of second order system response

 Overdamped Response
 Underdamped Response
 Undamped Response
 Critically Damped Response

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Second-Order Systems
Overdamped Response

This function has a pole at the origin that comes from the unit step input and
two real and distinct poles that come from the system.

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Second-Order Systems
Underdamped Response

This function has a pole at the origin that comes from the unit step input and
two complex conjugate poles that come from the system.

Real part of the pole matches the exponential decay

frequency of the sinusoid’s amplitude.

Imaginary part of the pole matches the frequency of

the sinusoidal oscillation.

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Second-Order Systems

The time constant of the exponential decay is equal to the reciprocal of the real
part of the system pole.

The value of the imaginary part is the actual frequency of the sinusoid name
damped frequency of oscillation .

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Second-Order Systems
Undamped Response

This function has a pole at the origin that comes from the unit step input and
two repeated imaginary poles that come from the system.

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Second-Order Systems
Critically damped Response

This function has a pole at the origin that comes from the unit step input and
two multiple real poles that come from the system.

Critically damped responses are the fastest possible without the overshoot that
is characteristic of the underdamped response.

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Second-Order Systems
Generalized representation of four different types of responses

Overdamped responses
Poles: Two real at

Underdamped responses
Poles: Two complex at

Undamped responses
Poles: Two imaginary at

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Second-Order Systems
Critically damped responses
Poles: Two real at

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Second-Order Systems
Example:
For each of the following transfer functions, write by
inspection, the general form of the step response

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Second-Order Systems
Example
Write by inspection, the general form of the step response

Where

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The General Second-Order Systems
The two quantities can be used to describe the characteristics of the second-
order transient response just as time constants describe the first-order system
response. These quantities are called natural frequency and damping ratio.

Natural Frequency,
The natural frequency of a second-order system is the frequency of oscillation of
the system without damping.

Damping Ratio, 𝜁

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The General Second-Order Systems
As by definition the natural frequency, is the frequency of oscillation of this
system. Therefore, for the general second order system shown below

For the poles to be purely imaginary, a = 0

Assuming an underdamped system, the complex poles have a real part σ, equal
to –a/2. The magnitude of this value is then the exponential decay frequency

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The General Second-Order Systems
General second-order transfer function finally becomes

Solving for the poles for above transfer function

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The General Second-Order Systems

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The General Second-Order Systems

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The General Second-Order Systems

For each of the following transfer functions, find the values of 𝜁 and . Also
Example:

characterize the nature of the response.

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Underdamped Second-Order Systems
The underdamped second order system, a common model for physical
problems, displays unique behavior that must be itemized

Step response for the general second-order system

Expanding by partial fractions

Taking the inverse Laplace transform

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Underdamped Second-Order Systems
 The lower the value of 𝜁, the more oscillatory the response.
 The natural frequency is a time-axis scale factor and does not affect the
nature of the response other than to scale it in time.

Other parameters associated with the underdamped response:

 Rise time
 Peak time
 Percent overshoot
 Settling time

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Underdamped Second-Order Systems
Rise time: The time required for the waveform to go from 0.1 of the final value
to 0.9 of the final value.
Peak time: The time required to reach the first, or maximum, peak.
Percent overshoot: The amount that the waveform overshoots the steady
state.
Settling time: The time required for the transient’s damped oscillations to
reach and stay within 2% of the steady-state value.

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Underdamped Second-Order Systems
 Rise time, peak time, and settling time yield information about the speed of
the transient response.

 This information can help to determine if the speed and the nature of the
response do or do not degrade the performance of the system.

Examples:
 Speed of an entire computer system depends on the time it takes for a
hard drive head to reach steady state and read data.
 Passenger comfort depends in part on the suspension system of a car
and the number of oscillations it goes through after hitting a bump.

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Underdamped Second-Order Systems
Evaluation of

Completing squares in the denominator

Setting the derivative equal to zero yields

Each value of n yields the time for local maxima or minima. The first peak,
which occurs at the peak time is found by letting n=1.
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Underdamped Second-Order Systems

Evaluation of %OS

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Underdamped Second-Order Systems
Evaluation of
In order to find the settling time, we must find the time for which c(t) reaches
and stays within 2% of the steady-state value, c(final).

Assuming cosine term is equal to 1 at settling time

Numerator varies from 3.91 to 4.74 as ζ varies from 0 to 0.9.

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Underdamped Second-Order Systems
Evaluation of
A precise analytical relationship between rise time and damping ratio, cannot be
found. However, the rise time can be found using a computer.
Considering as the normalized time variable and select a value for ζ .

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Reference
Chapter 4, Control Systems Engineering, Norman S Nise, 6th edition.

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