Feedback Control Systems
(KON 313E)
Week 5
[Link]. Volkan Sezer
Control and Automation Engineering Department
Time Response of Underdamped 2nd-Order Systems
Unit Step Response
Time Response of Underdamped 2nd-Order Systems
Time Response of Underdamped 2nd-Order Systems
1) Td: Delay Time
𝑀𝑟 It is defined as the time when the system response
reaches 50% of the arrival value for the first time.
𝐶(𝑇𝑑) = 0.5
𝑇𝑑
1+0.7𝜉
𝑇𝑑 ≈
𝑊𝑛
Time Response of Underdamped 2nd-Order Systems
2) Tr: Rise Time
The time required for the waveform to go from 0.1 of the
𝑀𝑟 final value to 0.9 of the final value.
0.8+2.5𝜉 1−0.4167𝜉+2.917𝜉 2
𝑇𝑑
𝑇𝑟 ≈ or 𝑇𝑟 ≈
𝑊𝑛 𝑊𝑛
Time Response of Underdamped 2nd-Order Systems
3) Tp: Peak Time
The time required to reach the first, or maximum, peak.
Can be found by equalizing the derivative of the response
to zero.
𝑀𝑟
𝑇𝑑
The first peak, which occurs at the peak time, Tp, is found by letting n=1.
Time Response of Underdamped 2nd-Order Systems
4) %OS (Percent Overshoot)
It is the percentage of the difference between the maximum
value of the response and the final value.
𝑀𝑟
%OS
𝑇𝑑
−(𝜉 𝜋Τ 1−𝜉 2 ቁ
1+𝑒 −1
%𝑂𝑆 = ∗ 100
1
%𝑂𝑆 =
Time Response of Underdamped 2nd-Order Systems
4) %OS (Percent Overshoot)
It is the percentage of the difference between the maximum
value of the response and the final value.
𝑀𝑟
%OS
The overshoot depends only on the damping ratio!
𝑇𝑑
For the required overshoot, the corresponding damping
ratio can be obtained.
Obtain by yourself!
Time Response of Underdamped 2nd-Order Systems
𝑀𝑟 5) Ts: Settling Time
The settling time is the time for which c(t) reaches and
stays within 2% band of the steady-state value, Cfinal.
(Some sources may use 5% band)
𝑇𝑑
2% band
3
𝑇𝑠 = 5% band
𝜉𝑤𝑛
Time Response of Underdamped 2nd-Order Systems
The transient response is expected to be sufficiently fast and sufficiently damped
Overshoot and rise time are contradictory quantities
In most of the requirements, 0.5<𝜉<0.8 is expected.
Time Response of Underdamped 2nd-Order Systems
R(s) 50
C(s)
2 G(s)=𝑠2+15𝑠
+
_
Find theTp, %OS, Ts and Tr for the unit step response of the given closed loop system.
100
𝐶𝐿𝑇𝐹 = =0.475sec. = 0.53sec.
𝑠 2 + 15𝑠 + 100
𝑤𝑛 2 =100 → 𝑤𝑛 =10
%OS = %2.838
2𝜉𝑤𝑛 = 15 → 𝜉=0.75
0.8+2.5𝜉
𝑇𝑟 ≈ = 0.27sec.
𝑊𝑛
Time Response of Underdamped 2nd-Order Systems
4
Obtain a 2nd order system with a settling time of 𝑇𝑠 = 𝜉𝑤 = 1.107 𝜉𝑤𝑛 = 3.614
𝑛
1.107sec (in the 2% band) and a maximum
overshoot of 16%. Find the poles of the system. −ln(0.16) 𝜉 = 0.504
𝜉=
𝜋2 +𝑙𝑛2 (0.16)
3.614
𝑤𝑛 = = 7.17
0.504
𝑤𝑛 2 7.172
𝐺(𝑠) = 2 =
𝑠 + 2𝜉𝑤𝑛 𝑠 + 𝑤𝑛 2 𝑠 2 + 2 ∗ 0.504 ∗ 7.17 ∗ 𝑠 + 7.172
Im
51.4
𝐺(𝑠) =
𝑠 2 + 7.23𝑠 + 51.4 X 6.193j
For the poles: 𝑠 2 + 7.23𝑠 + 51.4 = 0 -3.614 Re
−7.23 ∓ 7.232 − 4 ∗ 1 ∗ 51.4 𝑠1,2 = −3.614 ∓6.193j X -6.193j
𝑠1,2 =
2
Higher-order systems
Effects of Extra Poles and Zeros
So far, we have analysed 2nd order systems with no zero and 2 poles
Higher-order systems with more than 2 poles can also generally be regarded as 2nd order.
As the poles move away from the imaginary axis, their effect on the response decreases. In practice, the
effect of poles 5 times further to the left is neglected.
The effect of the zeros in the system increases as they approach the dominant poles.
When zeros are directly on the pole, pole-zero cancellation occurs.
And they cancel out each other’s effect.
≅
Higher-order systems
Find the step response of each of the transfer functions
The step response, for the transfer function, can be found by multiplying the transfer
function by 1/s, a step input, and using partial-fraction expansion followed by the
inverse Laplace transform to find the response..
Steady State Error Analysis for Unit Feedback
Systems
Steady State Error Analysis for Unit Feedback Systems
Steady State Error Analysis for Unit Feedback Systems
The difference between the input signal and the output It is analysed not only for unit step inputs, but also for ramp
when 𝑡 → ∞ is called the steady state error (𝑒𝑠𝑠 ). and parabola inputs.
R(s) E(s) C(s)
G(s) If H(s)=1 , it is unity feedback system.
+
_
G(s)H(s): Open loop transfer function.
H(s)
Final Value Theorem:
E(s) = R(s)-E(s)G(s)H(s)
For unity feedback system:
E(s)(1+G(s)H(s))=R(s) 𝑒𝑠𝑠 = 𝑒(∞) = lim 𝑒 𝑡 = lim 𝑠𝐸(𝑠)
𝑡→∞ 𝑠→0
𝑅(𝑠)
𝑅(𝑠) E(s) = 1+𝐺
E(s) = 𝑠
1+𝐺 𝑠 𝐻(𝑠)
Steady State Error Analysis for Unit Feedback Systems
System Type
In a unity feedback system, the number of poles at the origin (s=0) of the open loop system gives the type of the system.
Im
n=0: type-0 ×
×
×
Re
n=1: type-1
n=2: type-2
..
Steady State Error Analysis for Unit Feedback Systems
Steady State Error for Unit Step Input
Analysis for Type-0
r(t)=1
1 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 1
𝑅 𝑠 = 𝐾𝑝 = lim
𝑠→0 𝑠 + 𝑝1 𝑠 + 𝑝2 . .
=M 𝑒𝑠𝑠 =
𝑠 1+𝑀
Analysis for Type-1 and Higher Types
𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 1
𝐾𝑝 = lim =∞ 𝑒𝑠𝑠 = =0
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 . . 1+∞
Steady state error is zero for type-1 and higher types.
Position Constant𝐾𝑝
1
𝑒𝑠𝑠 = 𝐾𝑝 = lim 𝐺(𝑠)
1 + 𝐾𝑝 𝑠→0
Steady State Error Analysis for Unit Feedback Systems
Steady State Error for Unit Ramp Input
Analysis for Type-0
r(t)=tu(t) 1
𝑠𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 𝑒𝑠𝑠 = =∞
1 𝐾𝑣 = lim =0 𝐾𝑣
𝑅 𝑠 = 2 𝑠→0 𝑠 + 𝑝1 𝑠 + 𝑝2 . .
𝑠 The response is not able to track the input
System Analysis for Type-1
𝑠𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 1 1
𝐾𝑣 = lim =M 𝑒𝑠𝑠 = =
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 . . 𝐾𝑣 𝑀
Constant steady state error
Analysis for Type-2 and Higher Types
𝑠𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 1 1
𝐾𝑣 = lim 2 =∞ 𝑒𝑠𝑠 = = =0
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 . . 𝐾𝑣 ∞
No steady state error
Velocity Coefficient𝐾𝑣
1
𝑒𝑠𝑠 = 𝐾𝑣 = lim 𝑠𝐺(𝑠)
𝐾𝑣 𝑠→0
Steady State Error Analysis for Unit Feedback Systems
Steady State Error for Unit Parabol Input
Analysis for Type-0
r(t)=𝑡 2 u(t) 1 1
𝑠 2 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 𝑒𝑠𝑠 = = =∞
1 𝐾𝑎 = lim =0 𝐾𝑎 0
𝑅 𝑠 = 3 𝑠→0 𝑠 + 𝑝1 𝑠 + 𝑝2 . .
𝑠
Analysis for Type-1
𝑠 2 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 1 1
𝐾𝑎 = lim
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 . .
=0 𝑒𝑠𝑠 = = =∞
𝐾𝑎 0
Analysis for Type-2
1 1
𝑠2𝐾𝑠 + 𝑧1 𝑠 + 𝑧2 . . 𝑒𝑠𝑠 = =
𝐾𝑎 = lim 2 =M 𝐾𝑎 𝑀
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 . .
Analysis for Type-3 and Higher Types
Acceleration Coefficient 𝐾𝑎 𝑠 2 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 . . 1 1
𝐾𝑎 = lim 3
𝑠→0 𝑠 𝑠 + 𝑝1 𝑠 + 𝑝2 . .
=∞ 𝑒𝑠𝑠 = = =0
1 𝐾𝑎 ∞
𝑒𝑠𝑠 = 𝐾𝑎 = 𝑠 2 lim 𝐺(𝑠)
𝐾𝑎 𝑠→0
Steady State Error Analysis for Unit Feedback Systems
Summary Table
Velocity Coefficient Position
Coefficient
Acceleration
Coefficient
