DREAM DREAM IDEA IDEA PLAN PLAN IMPLEMENTATION IMPLEMENTATION

Linear-Control-Systems

Present to: Amirkabir University of Technology (Tehran Polytechnic) & Semnan University

Dr. Kourosh Kiani

Email: kkiani2004@yahoo.com Email: Kourosh.kiani@aut.ac.ir Web: www.kouroshkiani.com

Lecture 11 Lecture 11

Transient and Steady-State Transient and Steady-State Response Analyses Response Analyses of of Second-order systems Second-order systems

Time response of 2-order systems

What is a second-order system?

Second-order systems are described by second-order differential equations.

Example A prototype second-order differential equation: d2 d 2 2 y (t ) + 2 n y (t ) + n y (t ) = n u (t ) dt 2 dt

y(t)---output respon se of the system; u(t)---input to the system

5

Using Laplace transform and assuming zero initial conditions, we get:

2 2 s 2 ( s ) + 2 n sY ( s ) + n Y ( s ) = n U ( s ) Y

Transfer function of a second-order system:

2 n Y ( s) G(s) = = 2 2 U ( s ) s + 2 n s + n

- damping ratio , will determine how much the system

oscillates as the response decays toward steady state.

n - undamped natural frequency

the system oscillates during any transient response

, will determine how fast

Finding n and for a second-order system

2 2 Gs 2 ( )= s + . s+ 2 2 2 2
n G(s) = 2 2 s + 2 ns + n n 2= 2 2 2 n =2 .2 n = 2 =2 3 .3
7

s +2 ns+ =2
2

2 n

s = n +n 2 2 2 s2= n n 2 2

Step response of second-order systems

A 2-order system:
Case 1:
2 n G(s) = 2 2 s + 2 n s + n

Input :

< 2 underdamped), including =2undamped) ( (

u (t ) = 2 ); (t 2 U (s) = s

2 y (t ) = 2 e nt sin( nt + ),
Case 2:

where = 2 2

=tan 2 / ) (
2

> 2overdamped) (
t /2

y (t ) = 2 k2 + e
Case 3:

+ k2 e

t / 2

where 22 = ,

n n 2 2

= 2critically damped) (
y (t ) = 2 k2 t / + k2 t / + e e where = 2 n
8

Step response of second-order systems

A 2-order system:
Case 1:
2 n G(s) = 2 2 s + 2 n s + n

< 2 underdamped), (

2 nt y (t ) = 2 e sin( nt + )
Case 2:

> 2 overdamped) (

y (t ) = 2 k2 t /2 + k2 t / 2 + e e
Case 3:

=2 (critically damped)

y (t ) = 2 k2 t / + k2 t / + e e
9

Transient and steady-state response

The time response of a control system is usually divided into two parts: y (t ) = yt (t ) + yss (t ) y(t) 1

Transient response yt (t ) t -- defined as the part of the 0 time response that goes to Steady-state response yss (t ) zero as time becomes very large. -- the part of the time lim yt (t ) = 2 t response that remains after the transient has died out.
The steady-state response can still vary in a fixed pattern, such as a sine wave, or a ramp function that increases with time.
10

Time-domain Specifications
1. Steady-state value: yss 2. Maximum overshoot: M p = ymax yss ; 3. Peak time: t p 4. Rise time: tr 5. Settling time: ts
Is there overshoot in the time response of a first-order system?
0.1

Percent overshoot = ymax

Mp yss

22 2%

How to calculate

tp ?
0.9

Mp

error band

yss

tr

tp

ts
11

In practical applications, the following criteria are often used

Rise time : evaluate the response speed of the system quickness) Overshoot: evaluate the damping of the system (smoothness) Settling time: reflect both response speed and damping

12

Relationship between the characteristicequation roots and the step response

A second-order system: Its characteristic equation:
2 n G(s) = 2 2 s + 2 n s + n

D( s ) = s 2+ 22 s + n2 = n

The value of

. determines the location of the roots ofD ( s ) = 2

overdamped critically damped underdamped undamped
negatively damped
13

> 2 s22 = n n 2 2 : , = 2 s22 = n : ,

3 < 3 s22 = n jn 2 2 < : ,

= 2 s22 = jn : ,
< 2 s22 = n jn 2 2 : ,

A second-order system:

2 n G(s) = 2 2 s + 2 n s + n

>2 :

j 0 j 0

s22 = n n 2 2 ,

overdamped

= 2 s22 = n : ,
2 <2 < :
s22 = n jn 2 2 ,
0

critically damped
j

underdamped
j

= 2 s22 = jn : ,
0

undamped

14

A second-order system: Effects of damping ratio (for a given n ) Overshoot M p

2 n G(s) = 2 2 s + 2 n s + n

The oscillation is smaller

rise time

tr

The speed of the response is slower

We are confronted with a necessary compromise between the speed of response and the allowable overshoot.
15

Note: In control engineering, except those systems that do not allow any oscillation, usually a control system is desirable with - moderate damping (allowing some overshoot) - quick response speed - short settling time Therefore, a second-order control system is usually designed as an underdamped system.

16

Performance of a Second-Order System

17

Underdamped second-order system

G(s) = 2 2 s + 2 n + n
2 n

Im s2

, damping ratio n , natural undamped frequency

d
Re

s2

s22= n jn 2 2 ,
= jd
= n , dampting factor d = n 2 , damped frequency
2

d
=? = arccos
2 2 = arctan
18

Performance analysis
Unit-step response: 1. Rise Time

y (t ) = 2

nt
2

2
t r nwnt r

sin(d t + )2 < 2 <

y (t r ) = 2 that is, 2 ,
e n tr 2 2

ee

,2 d tr = +

2 2 2

sin(wdtt r+ =2 = d r + ) 2 2
,2, 2,2 (n n = )
L

tr is the time needed for the response to reach the steady-state value for the first time, so n=1.

tr = = d n 2

For a given wn tr For a given wn tr .

19

 e y (t ) = 2 sin(d t + )2 < 2t p = w = < 2 wn 2 d 22

nt

3. Overshoot

y (t p ) = 2

wn t p

sin( + )

y (t p ) y () % = 222 % y ()

Im
2

sin( + ) = sin = 2 y (t p ) = 2 e +
/ 2
2

Re
d

Suppose that y () = 2 Thus % = e

/ 2 2

22 2%

22 = arctan

Overshoot is a function of damping ratio , independent of wn.

20

 % Usually is set between 0.4 and 0.8 to get better smoothness and quickness, the corresponding overshoot is between 25% and 2.5%.

Damping ratio
21

y (t ) = 2
4 Settling Time

nt

22

sin(d t + )2 < 2 <

With the definition of error band

n t

22

sin( 2

nt s

+ ) . or .22 2222

ts can not be obtained directly, but we can get the relationship between wn, ts and .

22

Relationship between ( ,n ) and (tr ,t p , %, ts )

tr =

= d n 2 2

For a given n

tp = = d n 2 2

tr t p % can be calculated by the requirement on the overshoot %. [2 ,2 ]. .2 .2 n ts Once is determined,n can be determined based on the requirement on error band %. 23

% = e

/ 2 2

222 %

2 ts = 2 ( %) n 2 ts = 2 ( %) n

Standard performance measures

2 ts = 2 ( %) n ts 2 = 2 ( %) n

Settling time

T p=

n 2

Peak time Peak response Percent overshoot

24

Mt =2 +e p

22

P .=2 . 2 O 2 e

22

Settling time
2% settling time ln ( 2 ) .22 2 ts = n n 1% settling time ln ( 3 ) .33 3 .3 ts = n n

25

Percent overshoot
Percent Overshoot is defined as:

P.O =

M p C final C final

*22 2

M p =C max The peak value of the time response C final = Final value of the response

P .=2 . 2 O 2 e

22
26

27

Settling time

T(s = s )=2

28

Example: Consider the following unit-feedback system

R(s) -

2A K s (s + 2) .2 2

C(s)

System input is the unit-step function, When the amplifier gains are KA=200, KA=1500, KA=13.5 respectively, can you calculate the time-domain specifications of the unit-step response ? Investigate the effect of the amplifier gain KA on the system response
29

Solution: The closed-loop transfer function is

2A K G ( s) (s ) = =2 2 G ( s) s +2. s +2 + 22 K A 33 33 K A = 2 2 ( s) = 2 2, s + 2. 2 +2 2 2 s 22
2 n =2 2, 2 = 2 22 2. 2 n

2. 22 n =3. (rad / s ), = 33 33 3 =. 3 2n
30

According to the formula to calculate the performance indices, it follows that

tp =

n 2 n

22 .2(sec)

2 ts = 3 3(sec) .33

% = e

/ 2

222 22 % = %

31

K A = 33 33

If K A = 222 n = 22(rad / s ); =2 , then .2 .222 t p = 3 3s), t s = 3 3( s), % = 3 . 3( .33 3%

If K A = 2222 n = 22(rad / s ); =2 , then .2 .2 t p = 3 3( s), t s =3 3( s), % =3.3 .3 3 .33 3%
Thus, the greater the KA, the less the,the greater the wn, the less the tp, the greater the%, while the settling time ts has no change. >2 K A = 2.2 2
Overdamped

When K A = 22 2, .

=222 . (rad /s ), 22 =.
32 32

When K A = 22 2, .

=222 . ( rad /s ), 22 =.

When system is over-damped, there is no peak time, overshoot and oscillation. The settling time can be calculated approximately:

t s T= 22( se 2 2 . ) c 2 = ( n T
2

) 2

The settling time is greater than previous cases, although the response has no overshoot, the transition process is very slow, the curves are as follows:
33 33

 c (t )
22 . 22 . 22 . 22 . 22 . 22 . 22 .

= 2 ( K A = 22 ) .2 22

= 2 ( K A = 2.2 .2 2)
= 2 2( K A = 22 .22 2)

2 2 2 2 2 2 22 2 2 22 2 2 2

wnt

Note: When KA increases tp decreases tr decreases the speed of response increases, meanwhile, the overshoot increases. Therefore, to improve the dynamic performance indexes of system, we adopt PDcontrol or velocity feedback control namely, PD 34 34 compensation

Finding transient response

2 2 G )= (s s (s+2 )
2 2 T ( s) = 2 s + 2+ 2 s 2 = s 2+ 2 + 2 s 2 = s + 2 ns +
2 2 n

T= p

2 n

= . 2e 2 s 2c 2 2

P .=2 . 2 O 2 e

2 2

= .% 3 3 2

n = 2 = 2 2 2 n =2 =2 , .2

2 T(s = .2 2e sc s )=

35

Gain design for transient response

K G )= (s s (s+2 )
Design the value of gain, K, for the feedback control system so that the system will respond with a 10% overshoot.

36

K T (s) = 2 s + 2+ K s = s + 2+ K s
2 = s 2+ 2 n s + n 2

for P.O.=2% 2

P.O.=2 e 2 2

2 2

=2.2 2%

n = K
2 2 n =2 = , 2K

= 2 2, .2 2

K =3.2 3

37

Effects of Adding Poles and Zeros to Transfer Functions

38

Effects of Adding Poles

R( s)
2 n s(s + 2 n ) 2 n G Y ( s ) Open-loop TF ( s) = s( s + 2 ) n Closed-loop TF 2 n Y ( s) G ( s) (s) = = = 2 2 R ( s ) 2 G ( s ) s + 2 n s + n +

s = 2 p T

R( s)

2 2 Tp s +

2 n s(s + 2 n )

Y ( s)

Open-loop TF 2 n G(s) = s ( s + 2 n )(2 Tp s) +

n2 Closed-loop TF ( s ) = 2 Tp s 2+ (22 nT p ) s 2+ 2 ns + n +

39

T 1. Adding a pole at s = 2 p to the open-loop TF

How does it affect Open-loop system step-response performance?

Tp = 2 2 2 2 , , , poles : s = , 2 2 , 2 , .2 .2
j

2 .2 2 2 0 .2

T As the pole at s = 2 p is moved toward the origin in the s-plane -- Increasing the maximum overshoot of the closed-loop system; -- Increasing the rise time of the closed-loop system.
40

Effects of Adding Poles

R( s)
2 n s(s + 2 n ) 2 n Y ( s ) Open-loop TF ( s ) = G s(s + 2 n ) Closed-loop TF 2 n Y ( s) G ( s) (s) = = = 2 2 R ( s ) 2 G ( s ) s + 2 n s + n +

T 2. Adding a pole at s = 2 p to the closed-loop TF

Closed-loop TF

2 n ( s) = 2 2 ( s + 2 n s + n )(2 Tp s ) +
2 n = 2 2 Tp s 2+ (22nT p ) s 2+ ( 2 n + nT p ) s + n +

41

T 2. Adding a pole at s = 2 p to the closed-loop TF

Tp = 2 2 , 2 2 2 , .2 , , s = , 2 2 2 , 2 , , .2 .2
j

2 .2 2 .3 2 3 0

opposite effects to that of adding a pole to open-loop TF

T As the pole at s = 2 p is moved toward the origin in the s-plane -- the maximum overshoot of the closed-loop system decreases; -- the rise time of the closed-loop system increases.
1. 2. Adding a pole to the closed-loop system has the effect as increasing the damping ratio; An originally underdamped system can be made into overdamped by adding a closed-loop pole.
42

Open-loop

closed-loop

43

Effects of Adding Zeros

R( s)
2 n s(s + 2 n ) 2 n G Y ( s ) Open-loop TF ( s) = s( s + 2 ) n Closed-loop TF 2 n Y ( s) G ( s) (s) = = = 2 2 R ( s ) 2 G ( s ) s + 2 n s + n +

T 1. Adding a zero at s = 2 z to the closed-loop TF

Closed-loop TF 2 2 2 n (2 Tz s ) + Y ( s) n n Tz s (s) = = 2 + 2 2= 2 2 2 R ( s ) s + 2 n s + n s + 2 n s + n s + 2 n s + n

44

T 1. Adding a zero at s = 2 z to the closed-loop TF

Closed-loop 2 2 2 TF Y ( s) n (2 Tz s ) + n n Tz s (s) = = 2 + 2 2 = 2 2 2 R ( s ) s + 2 n s + n s + 2 n s + n s + 2 n s + n
(t For a unit-step input 2 ) , R ( s ) = 2 s

The step response of the closed-loop system

2 2 n n 2 2 Y ( s) = (s ) R (s ) = 2 + Tz s 2 2 2 s + 2 n s + n s s + 2 n s + n s

dy2 t ) ( y (t ) = L [Y ( s )] = y2 t ) + Tz ( dt
2

45

T 1. Adding a zero at s = 2 z to the closed-loop TF

< a) Its effects on an underdamped ( 2 < 2 )system

2 n (2 Tz s) + Y (s) ( s) = = 2 R ( s ) s + 2 n s + n2

TZ = 2 2 2 2 2 , , , , 2 2 2 2 s = , 2 , , , 2 2 2 2
j

2 2

2 20 2 3 3

As the zero at s = 2 z is moved toward the origin in the s-plane T -- the maximum overshoot of the closed-loop system increases; -- the rise time of the closed-loop system decreases. The additional zero has the effect as reducing the damping ratio
46

T 1. Adding a zero at s = 2 z to the closed-loop TF

b) Its effects on an overdamped ( > 2 )system TZ = 2 2 2 2 2 , , , , 2 2 2 2 s = , 2 , , , 2 2 2 2
j

2 n (2 Tz s) + Y ( s) ( s) = = 2 R ( s ) s + 2 n s + n2

2 2

2 20 2 2 2

Adding a zero to an overdamped system can change it into an underdamped system by putting the zero at a proper position.

47

Effects of Adding Zeros

R( s)
2 n s(s + 2 n ) 2 n G Y ( s ) Open-loop TF ( s) = s( s + 2 ) n Closed-loop TF 2 n Y ( s) G ( s) (s) = = = 2 2 R ( s ) 2 G ( s ) s + 2 n s + n +

s = 2 z T

R( s)

2 Tz s +

2 n s(s + 2 n )

Y ( s)

Open-loop TF 2 (2 Tz s)n + G(s) = s(s + 2 n )

2 n (2 Tz s ) + Closed-loop TF ( s ) = 2 2 2 s + (2 n + Tzn ) s + n

48

T 1. Adding a zero at s = 2 z to the open-loop TF

Closed-loop TF

The additional zero changes both numerator and denominator.

2 2 n (2 Tz s ) + n (2 Tz s ) + (s) = 2 = 2 2 2 2 s + (2 n + Tzn ) s + n s + 2 zn s + n

The equivalent damping ratio: Tzn z = + > 2 Tz z overshoot % when z > 2 the closed-loop system , becomes overdamped (no overshoot no matter how large Tz is)
49

Dominant Poles of Transfer Function

Dominant poles: those poses that have a dominant effect on the transient response.
By identifying dominant poles, high-order systems can be approximated by lower ones as the transient response is concerned. e.g.

2 c2 c2 c2 Y ( s) = = + + ( s + p2 s + p2)( s + p2) s + p2 s + p2 s + p 2 )(

y (t ) = c2 e

p2 t

+ c2 e

p2 t

+ c2 e

p2 t

poles: - p2 - p2, - p2 ,

If p2> p2 > p2, c2 p2 decays fastest, c2 p2 decays slowest. e t e t

Position of Poles in the left-half s-plane Their effects on transient response

close to the imaginary axis far away from the imaginary axis

decaying relatively slowly decaying fast

50

Numerical example of the second-order system

R( s) = 2 s

G (s )

b s 2+as +b

C (s )

51

Overdamped
R( s) = 2 s

G (s )

2 s 2+2 +2 s

C (s )

>> num=[9]; >> den=[1 9 9]; >> pzmap(num,den) >> axis([-2 2 -4 4]); >> grid on; >> step(num,den)

C ( s) =

2 2 = s ( s 2+ 2 + 2 s ( s + 2 2)( s + 2 2) s ) .22 .22

2 2 2 . 3 c = 2.223 ( 2 e2 . e3 t +3 t+ t ) . 3 3 2 2
52

Underdamped
R( s) = 2 s

G (s )

2 s 2+2 +2 s

C (s )

>> num=[9]; >> den=[1 2 9]; >> pzmap(num,den) >> axis([-2 2 -4 4]); >> grid on; >> step(num,den)

2 2 C )= 2 ( s = ss + s 2ss 2 2 2 2 ( 2 ) ( + ) ++ ) + j (s j

2 ct 2 (s 2 s 2 ( )= c e o t+ i n t ) 2
t

53

2 ct 2 (s 2 s 2 ( )= c e o t+ i n t ) 2
t
54

Undamped
R( s) = 2 s

G (s )

2 s 2+2

C (s )

>> num=[9]; >> den=[1 9]; >> pzmap(num,den) >> axis([-2 2 -4 4]); >> grid on; >> step(num,den)

2 C )= 2 (s s +2 (s ) c) 2 t (=c t o s2
55

Critically damped
R( s) = 2 s

G (s )

2 s 2+2 +2 s

C (s )

>> num=[9]; >> den=[1 6 9]; >> pzmap(num,den) >> axis([-2 2 -4 4]); >> grid on; >> step(num,den)

2 2 C )= 2 ( s = 2 ss + s 2 ss 2 ( 2 ) ( +) +

c) 2 ( = 2e t t e

2 t 2 t

56

Step response for second order system damping cases

57

58

Summary
Overdamped Poles: Two real at - 1, - 2 Underdamped Poles: Two complex at - d + j d, - d - j d Undamped Poles: Two imaginary at + j 1, - j 1 Critically damped Poles: Two real at - 1,

59

Constant real part

Constant imaginary part

Constant damping ratio

60

Questions? Discussion? Suggestions ?

61

62