TIME RESPONS

Dasar Sistem Kontrol

System Response
This module is concern with the response of LTI system. L.T. is used to investigate the response of first and second order systems. Higher order systems can be considered to be the sum of the response of first and second order system. Unit step, ramp, and sinusoidal signal play important role in control system analysis. It is therefore we will investigate this signals.

System Response
Review of some LTI properties We will express system as in figure below, system input is r(t), output is c(t), and impulse response is h(t) r(t) h(t) c(t) Taking the L.T. of (1) yields C(s) = R(s)H(s) (2) Where C(s) is the L.T. of c(t) R(s) is the L.T. of r(t) H(s) is the L.T. of h(t) H(s) is called the transfer function (T.F) 3. Derivative If the input is r(t) then the output is c(t) where r(t) denotes the derivative of r(t) 4. Integral If the input is r(t)dt then the output is c(t)dt 5. Poles and Zero T.F. is usually rational and therefore can be expressed as N(s)/D(s). Poles is the values of s resulting T.F to be infinite. Zeroes is the values of s resulting T.F to be zero

1. Impulse response Impulse response, denoted by h(t), is the output of the system when its input is impulse (t). h(t) is called the impulse response of the system or the weighting function 2. Convolution Output of LTI system is the convolution of its input and its impulse response:
c(t ) = r (t ) * h(t ) = r () h(t )d = r (t ) h( )d
t t

(1)

Poles, Zeros, and System Response

The output response of a system is the sum of two responses: the forced response and the natural response The poles of a transfer function are (1) the values of the Laplace transform variable, s, that cause the transfer function to become infinite or (2) any roots of the denominator of the transfer function that are common to roots of the numerator The zeros of a transfer function are (1) the values of the Laplace transform variable, s, that cause the transfer function to become zero, or (2) any roots of the numerator of the transfer function that are common to roots of the denominator.

INTRO Pole dan Zero Pada System Orde Satu

Fungsi alih sistem orde 1, Secara grafis,

Untuk mencari A dan B,

Persamaan respon sistemnya,

Time Response of the First Order Systems.

Here we will investigate the time response of the first order systems. The transfer function of a general first order system can be written as: C (s) K (1) G(s) = = R ( s ) s + 1 We can found the differential equation first we write (1) as K 1 (2) Solving for C(s) yields

C (s) =

c (0) ( K / )R(s) + s + (1 / ) s + (1 / )

(5)

The eq. can be shown in the block diagram as shown in the figure bellow. R(s)
K 1

s + C ( s ) = R ( s )
1 K & c(t ) + c(t ) = r (t )

s+
c(0)

C(s)

The diff. Eq. is the inverse L.T. of (2) (3)

1 s + 1

Now we take the L.T of (3) and include the initial condition term to get

1 K sC ( s ) c(0) + C ( s) = R ( s)

(4)

Note that the initial condition as an input has a Laplace transform of c(0), which is constant. The inverse L.T of a constant is impulse (t). Hence the initial condition appears as the impulse function Here we can see that the impulse function has a practical meaning, even though it is not a realizable signal

Time Response of the First Order Systems.

Since we usually ignore the initial condition in block diagram, we use the system block diagram as shown bellow. R(s)
K

C(s)

s + 1
Suppose that the initial condition is zero then

The first term originates in the pole of input R(s) and is called the forced response or steady state response The second term originates in the pole of the transfer function G(s) and is called the natural response Figure below plot c(t) c(t) 1/ K

C ( s) =

( K / ) R( s) s + (1 / )

(1)

K (1 e )
t

Unit step response

For unit step input R(s)=1/s, then

C ( s) =

( K / ) 1 K K = + (2) ( s + 1 / ) s s s + 1 /
t

Taking the inverse L.T of (2) yields

c(t ) = K (1 e

(3)

t The final value or the steady state value of c(t) is K that is lim c(t)= K t c(t) is considered to reach final value after reaching 98% of its final value. The parameter is called the time constant. The smaller the time constant the faster the system reaches the final value.

Time Response of Second Order System

The standard form second order system is
2 C ( s) n G(s) = = 2 R( s ) s + 2n s + 2 n

(1)

Case 3: =1 (real equal poles), c(t) is

c(t ) = 1 + k1e t / + k 2te t /

Case 4: =0 (imaginary poles), c(t) is

(5)

The poles of the TF is s = n (12) Where = damping ratio n = natural frequency, or undamped frequency. Consider the unit step response of this system

This system is said to be critically damped

c(t ) = 1 sin(nt + )
This system is said to be undamped

(3)

C ( s) = G ( s) R( s) =

( s 2 + 2n + 2 ) s n
2 n

define = 1 and = tan 1 ( ).

Case 1: 0<<1 (complex poles), c(t) is
1 c(t ) = 1 e nt sin( nt + )

(2) For this system we have Time constant = = 1/n ; frequency = n c(t) =0 0.2 0.7 2 n t

(3)

This system is said to be underdamped Case 2: >1 (real unequal poles), c(t) is

c(t ) = 1 + k1e t / 1 + k 2e t / 2

(4)

This system is said to be overdamped

General Second-Order System

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

So,

PROBLEM: Given the transfer function of Eq. , find and n

Time Response Specification in Design

The typical of unit step response of a system is as in figure below c(t) Mpt 1+ d 1.0 0.9 1 d 0.1 nt Ts Tr Tp Rise time Tr is the time required for the response to rise from 10% to 90% of the final value css. Mpt is the peak value, and Tp is the time required to reach Mpt. Mpt css percent overshoot = 100% css css Settling time, Ts ,is the time required for the output to settle within a certain percent of its final value. Common values are 5% and 2%. Settling time is proportional to the , k Ts = k = n If 2% is used to specify the settling value then k=4. Tr, Ts,and css, are equally meaningful for, over, critically, or under-damped cases, while Tp,and Mp,are meaningful only for under-damped cases. Under-damped cases. To find Tp,we differentiate c(t) and equalizing the result to zero and solve the equation for t. We will find that

Tp = n 1

M p = 1+ e
/ 1 2

/ 1 2

% over shoot = e

100%

Time Response Specification in Design

Recall that

Tp =
and

n 1

or nT p =

Example: Servomotor is used to control the position of plotter pen as in the following figure. Amplifier motor R(s) + Kp 0.5/s(s+2)

% over shoot = e /

1 2

100%
T ( s) =

Both %over-shoot and nTp are functions only of and can be plotted as in the following figure 100 %over-shoot 80 60 40 20 0.2 0 0.4 0.6 0.8 %over-shoot nTp 5.0 4.6 4.2 3.8 3.4 1 3.0 nTp

0.5 K a / s( s + 2) 0.5 K a = 2 1 + 0.5K a / s( s + 2) s + 2 s + 0.5K a

Here we have

2n = 2 and 2 = 0.5 K a n
Suppose that we want to have =1, the fastest response with no overshoot then n= 1 and Ka=2. Note that the settling time is Tp= 4/ n= 4s It is not fast enough. If we want the faster response First we have to choose a different motor, then Redesign the compensator.

Sumber Pustaka
Norman S. Nise, Control Systems Engineering, Fourth Edition, 2004, Wiley & Sons..