Lecture-Slides CHAPTER 05

ME464-Sys Dyn & Ctrl Spring-2013
Dr. Shaukat Ali
Chapter 5
The Performance of Feedback

Control Systems
Dr. Shaukat Ali
Outline
5.1: Introduction
5.2: Test Input signals
5.3: Performance of First Order Systems
and Performance of Second Order Systems
5.5: The s-plane Root Location
5.6: The Steady State Error
Dr. Shaukat Ali
5.1: Introduction
The ability to adjust the transient and steady-state response of a
feedback control system is a beneficial outcome of the design of
control systems.
One of the first steps in the design process is to specify the measures
of performance.
In this chapter we introduce the common time-domain specifications

such as percent overshoot, settling time, time to peak, time to rise, and
steady-state tracking error.
We will use selected input signals such as the step and ramp to test the
response of the control system.
The correlation between the system performance and the location of
the system transfer function poles and zeros in the s-plane is discussed.
Dr. Shaukat Ali
5.1: Introduction
A distinct advantage of feedback control system is the
ability to adjust the transient and steady-state
response
Steady-State response:
exists a long time following any input signal initiation
Transient Response:
disappears with time
Dr. Shaukat Ali
5.1: Introduction
Design Specifications:
normally include several time-response indices for a specified
input command as well as a desired steady-state accuracy.
Dr. Shaukat Ali
5.1: Introduction
Performance Indices
Transient Performance:
Time delay td
Rise time tr
Peak time tp
Settling time ts
Percent overshoot
Steady-state Performance:
Steady-state error ess
Dr. Shaukat Ali
5.2: Test Input Signals

The standard test input signals commonly used are:
Impulse input
Step input (fig. a)
Ramp input (fig. b)
Parabolic input (fig. c)
Dr. Shaukat Ali
5.2: Test Input Signals

Input
Impulse
time domain
A ( t ),
Step:
A,
Ramp:
At , t 0
Parabolic:
At
t0
s-domain
A
A
t0
s
A
s
2
t0
2A
s
Where A is a constant
With these test signals, mathematical and experimental
analyses of control systems can be carried out easily since the
signals are very simple functions of time.
Dr. Shaukat Ali
Order of a System
The order of a system
Is defined as being the highest power of derivative in the
differential equation, or being the highest power of s in the
denominator of the transfer function.
A first-order system only has s to the power one in the
denominator
A second-order system has the highest power of s in the
denominator being two.
Dr. Shaukat Ali
Order of a System
Dr. Shaukat Ali
Performance of First Order Systems

A first-order system only has s to the power one in the
denominator
Examples of first-order systems are

velocity of a car on the road, control of the velocity of a
rotating system,
electric systems where energy storage is in one capacitor or
one inductor,
incompressible fluid flow in a pipe,
level control of a tank,
temperature in a body with essentially uniform temperature
distribution (e.g. steam filled vessel).
Dr. Shaukat Ali

Example1: Mechanical system
M is the mass
r(t) is the external force
B is the friction coefficient
y(t) is the velocity
r t
By t
Time domain model:

M
dy t
dt
By t r t
Transfer function:
Y s
R s
1
Ms B
Dr. Shaukat Ali

Example1: Elect system
C is capacitance
r(t) is the source voltage
R is the resistance
y(t) is the output voltage
r t
Time domain model:

RC
dy t
dt
y t r (t )
Transfer function:
Y s
R s
1
RCs 1
Dr. Shaukat Ali

1st order prototype system:
The general form of a first order system is given by:
Y s
R s
s 1
Where is called as time constant.
Performance of 1st order system to the following

inputs:
Unit step function
Unit impulse function
Unit ramp function
Dr. Shaukat Ali

Performance of 1st order system to Unit-step function:
Input: R(s)=1/s
Response to unit-step input:
y t 1 e
t /T
, t0
The response has two parts:

Steady-state response:
y ss t 1
Transient response:
y t t e
t /T
, which decays to zero as t
Steady state error is zero

Dr. Shaukat Ali

Performance indices/specifications
Transient state:
Time constant (): it is the time it takes for the step response to rise
to 63% of its final value.
Settling time (Ts): it is the time for the response to reach, and stay
within 2% of its final value.
Steady state:
Steady state error (ess): the difference between the input and the
output as time approaches infinity.
Note: the larger the time constant, the slower the

transient response.
Dr. Shaukat Ali
s-plane Analysis
Consider the following Laplace Transform function:
T s
N s
D s
N(s) and D(s) are the polynomials of (s).

D s s a n 1 s
n
n 1
an2 s
n2
a1 s a o
1
Characteristic equation: D s 0
Roots (s1, s2, sn) of this characteristic equation are called
the poles of the system.
Imaginary
s Real part imaginary
part
Real
s j
s plane
Dr. Shaukat Ali
s-plane Analysis of First Order Systems

s-plane analysis:
First order system:
Y s
1
R s s 1
Poles of the system:
s
Imaginary
Real
s plane
Note: the farther the pole is from the imaginary axis, the
faster the transient response
Dr. Shaukat Ali
Home work
Study the 1st order system response for the following
input signals
Unit ramp input
Unit impulse input
Dr. Shaukat Ali
5.3: Performance of Second Order Systems

2nd order prototype system:
The general form of a second order system is given by:
d y t
dy t
dt
2
Y s
R s
dt
n y t K n r t
2
Kn
s 2 n s n
2
K: the gain of the system

: the damping ratio of the system
n : the natural frequency of the system
Example: spring-mass-damper system, RLC circuit
Dr. Shaukat Ali

The characteristic equation:
s 2 n s n 0
2
Solution of the characteristic equation are the poles of

the system:
s1
s 2
n 1
n 1
Three cases:
1 : critically damped
1 : over-damped
0 1 : underdamped
Dr. Shaukat Ali

Unit-step response of 2nd order systems
Critically damped case
Transfer function:
Y s
R s
s 2 n s n
2
Unit step response:

Y s
s s n
Using partial fraction expansion:

Y s
1
s
1
s n
Dr. Shaukat Ali

The response to unit step input is:

y t 1 e
nt
t 1
No oscillations
Exponential decay
Dr. Shaukat Ali

Transfer function
Y s
R s
Imaginary

s1 , 2 n
Two equal negative real poles
Real
s plane
Note: the farther the pole is from the imaginary axis, the faster
the transient response
Dr. Shaukat Ali

Over-damped case
Transfer function:
Y s
R s
s 2 n s n
2
The poles are:
s1 n
s2
Factorizing the denominator:

Y s
R s
s s1 s s 2
Dr. Shaukat Ali

Over-damped case
Unit step response:

Y s
s s s1 s s 2

e s1 t e s 2 t
y t 1
2
s 2
2 1 s1
Dr. Shaukat Ali

Over-damped case
Transfer function:
Imaginary
Y s
R s
s s1 s s 2
s1 n
s2
Real
s1
s2
s plane
2 distinct negative real poles
Dr. Shaukat Ali

Under-damped case
Transfer function:
Y s
R s
s 2 n s n
2
s2
The poles are:

s1
Imaginary
n 1
n 1
s 2
OR
s1
s 2
j n 1
j n 1
Real
n
s1
s plane
Dr. Shaukat Ali

Under-damped case
Unit step response: :

Y s
s s
j d s
j d

y t 1
n t
sin d t
where
1 2
1
tan
d n 1
Dr. Shaukat Ali

Unit step response of 2nd-order system
If
, 2 distinct negative real roots, overdamped
e s1 t e s 2 t
y t 1
s s
2
2 1 1
2
If
s1 n
s2
, 2 equal negative real roots, critically damped
y t 1 e
nt
t 1
n
s1 , 2 n
Dr. Shaukat Ali

Unit step response of 2nd-order system
If
If
0 1
, 2 distinct negative complex roots, underdamped
y t 1
n t
sin d t
s1
s 2
j n 1
j n 1
, 2 distinct complex conjugate roots, undamped
y t 1 cos n t
s1 j n
s 2 j n
Dr. Shaukat Ali

Performance indices/specifications
Transient state:
Peak time (Tp): The time required for the response to reach
the first peak of the overshoot.
Maximum overshoot: the maximum amount by which the
system output response proceeds beyond the desired
response.
M .O M fv
pt
The maximum overshoot is often represented by a

percentage of the final value:
M fv
P .O
100 %
pt
fv
Rise time (Tr): The time required for the step response to
rise from 10% to 90% of its final value. (Note: for under damped,
we take the time to reach 100% of the value the first time)
Dr. Shaukat Ali

Settling time (Ts): The time required for the step response
to settle within a certain percentage of its final value.
For varying within 2% of the final value, the setting time is:
T s 4
For varying within 5% of the final value, the setting time is

T s 3
n
NOT all the specifications apply to any given system. For example for an
over-damped system, the terms peak time and maximum overshoot do
not apply.
Dr. Shaukat Ali

Rise time (Tr):
By setting y(t)=1:
y t 1 1
Tr
n T r
sin d T r
Peak time (Tp):

By seting dy/dt=0:
Tp
Dr. Shaukat Ali

Maximum overshoot (M.O):
M .O M
pt
fv
The value of the response at t=Tp

M
pt
1 exp
M .O exp
P .O exp
100
Note: the overshoot is independent of n

Dr. Shaukat Ali

Naturally these two performance measures are in opposition and a
compromise must be made.
nT p
P .O exp
100
Dr. Shaukat Ali

Two factors of the transient response
Swiftness of response (represented by rise time and peak time)
Closeness of the response (represented by the overshoot and
settling time)
Dr. Shaukat Ali

For a given ,The response is faster for larger n
0 .2
Note: the overshoot is independent of

n
Dr. Shaukat Ali

Steady state error (ess): the difference between the input (desired output)
and the output (actual output) at the steady state.
For unity feedback system:
R s
E s
Controller
G c s
U s
Process
Y s
G p s
Sensor
Measured output
E s R s Y s
R s
1 G s
1
e ss lim sE s lim
s 0
s 0
sR s
1 G s
Clearly, the steady state error depends upon the characteristics of G(s).
Dr. Shaukat Ali

Generally, the G(s) is given by:
G s
K ( s b m 1 s
m 1
b1 s b o )
s ( s a n 1 s
n 1
a1 s a o )
Where N is an integer, the value of N is called as the type of

the system.
Thus if N = 0 then the system is said to be type 0, if N = 1
then type 1, if N = 2 then type 2 and so on.
Dr. Shaukat Ali
Dr. Shaukat Ali

Let us determine the steady state error for the standard
input signals:
Step input signal:
e ss lim
s 0
Let
sR s
1 G s
R s
lim
s 0
A
s
A
1 G s
A
1 lim G s
s 0
K p lim G s
e ss
s 0
A
1 K p
For type 0 system, ess=constant,

for N>0, ess=0
Dr. Shaukat Ali

Ramp input signal:
e ss lim
sR s
s 0
Let
1 G s
R s
lim
s 0
A
s
A
s sG s
A
lim sG s
s 0
K v lim sG s
s 0
e ss
A
Kv
For type 0 system, ess=infinite,

for N=1, ess=constant,
for N>1, ess =0
Dr. Shaukat Ali

Parabolic input signal:
e ss lim
s 0
Let
sR s
1 G s
lim
s 0
R s
A
s
A
s s G s
2
A
lim s G s
2
s 0
K a lim s G s
2
s 0
e ss
A
Ka
For N=0 or 1, ess=infinite,

for N=2, ess=constant
Dr. Shaukat Ali
The above methods for steady state error are applicable to

unity feed back system only
Dr. Shaukat Ali

Example 5.3: Mobile robot steering control
Discuss the ess for step input when.

Gc(s)=K1
Gc(s)=K1+K2/s
Dr. Shaukat Ali

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ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

The Performance of Feedback

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

In this chapter we introduce the common time-domain specifications

Dr. Shaukat Ali

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Dr. Shaukat Ali

5.2: Test Input Signals

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

5.2: Test Input Signals

Dr. Shaukat Ali

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Performance of First Order Systems

Examples of first-order systems are

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Performance of First Order Systems

Time domain model:

ME464-Sys Dyn & Ctrl Spring-2013

Performance of First Order Systems

Time domain model:

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

Performance of First Order Systems

Where is called as time constant.

Performance of 1st order system to the following

Dr. Shaukat Ali

Performance of First Order Systems

The response has two parts:

, which decays to zero as t

Steady state error is zero

Dr. Shaukat Ali

Performance of First Order Systems

Note: the larger the time constant, the slower the

Dr. Shaukat Ali

N(s) and D(s) are the polynomials of (s).

Dr. Shaukat Ali

s-plane Analysis of First Order Systems

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

ME464-Sys Dyn & Ctrl Spring-2013

Dr. Shaukat Ali

5.3: Performance of Second Order Systems

K: the gain of the system

Dr. Shaukat Ali

5.3: Performance of Second Order Systems

Solution of the characteristic equation are the poles of

Dr. Shaukat Ali

5.3: Performance of Second Order Systems

Unit step response:

Using partial fraction expansion:

ME464-Sys Dyn & Ctrl Spring-2013

5.3: Performance of Second Order Systems