Consys Time Analysis

C ONTROL S YSTEMS : AAOC C321
Department of EEE & I BITS Pilani, K K Birla Goa Campus
Con
Narayan Suresh Manjarekar narayan[at]bits-goa.ac.in
trol
Sy
Impulse response Tome domain analysis First order systems Second order systems Time domain specications Type of a system
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M ODELING STEPS
1
Time domain: (Non)linear Constant Coefcient Differential equations Linearization Linear ODEs zero initial conditions Transfer function Linear ODEs Block diagram BD reduction Linear ODEs Signal ow graph Masons gain formula Impulse response model
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2 3
4 5
Con
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I MPULSE RESPONSE MODEL
1 2 3
Give an impulsive input to the system Record the output: Denote it by g(t)
g(t) is the impulse response of the system Determine the output of the system for a given input: r(t) c(t) = Impulse response model g(t) Laplace Transform G(s)
t
4 5
r( ) g(t )d = g(t) r(t)
Con
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O BJECTIVES
1 2 3
Time response of dynamical systems Order of the system Type of the system
Performance specications in time domain
Con
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R EVISION : C OMPONENTS OF A CLOSED - LOOP
Con
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SYSTEM
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L APLACE TRANSFORM OF SIGNALS

r(t) (t) u(t) r(t) p(t) at e u(t) cos(0 t)u(t) sin(0 t)u(t) at e cos(0 t)u(t) eat sin(0 t)u(t)
Con
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R(s) 1
1 s 1 s2 1 s3 1 s+a s 2 s2 +0 0 2 s2 +0 s+a 2 (s+a)2 +0 0 2 (s+a)2 +0
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T IME RESPONSE USING L APLACE T RANSFORM
Determine: G(s) Compute C(s) = G(s)R(s)
2 3
r(t) Laplace transform R(s)
C(s) Inverse Laplace transform c(t)
Con
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F IRST ORDER SYSTEMS : S TEP RESPONSE
Transfer function: Step input R(s) = C(S) =

1 1 1+sT s
1 1+sT 1 s
Con
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C(S) =
1 s
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T 1+sT
t
1 s
1 1 s+ T
Inverse Laplace c(t) = 1 e T , t 0

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Partial fraction expansion
N ATURE OF THE STEP RESPONSE
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dc(t) | dt t=0
c(t) = 1 e T , t 0 =
1 T
c(t)|t=T = 1 e1 = 0.632 Smaller the time constant, faster the response For t 4T: tolerance 2 % Steady state error = 0
Sy
t
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F IRST ORDER SYSTEMS : R AMP RESPONSE

Transfer function: Ramp input R(s) C(S) = C(S) =
1 1 1+sT s2 1 1+sT = s12
Partial fraction expansion

1 s2
T s
T2 1+sT
Inverse Laplace c(t) = t T + Te T , t 0 Error e(t) = r(t) c(t) Steady state error e() = T
t
Con
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F IRST ORDER SYSTEMS : I MPULSE RESPONSE
Transfer function: C(S) =

1 1+sT
1 1+sT
Inverse Laplace
1 c(t) = T e T , t 0
t
At steady state c() = 0
Con
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Ramp input R(s) = 1
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LTI SYSTEMS
Step response: c(t) = 1 e T t 0

t
1 Impulse response: c(t) = T e T t 0
Con
t
Ramp response: c(t) = t T + Te T t 0
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t 12 / 24
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S ECOND ORDER SYSTEMS
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actual damping critical damping
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Transfer function:
2 n 2 s2 +2n s+n
, n nonnegative constants n : Natural frequency : damping ratio
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U NDERDAMPED CASE : 0 < < 1
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1 s
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1 2
Transfer function:
2 n 2 s2 +2n s+n
C(s) =
d = n
p1,2 = n jd Step response 2 C(s) = s2 +2nn s+2 1 s

n
1 2
2 1
Con
t 0
1
p1,2 = n n
c(t) = 1 en t (cos d t +
s+n 2 s2 +2n s+n
n 2 s2 +2n s+n
1 2
sin d t),
c(t) = en t 1 2 ( 1 2 cos d t + sin d t)

e c(t) = 1
, t 0
n t
Partial fraction C(s) =

1 s
sin(d t + ) , t 0
= cos
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s+2n 2 s2 +2n s+n
U NDERDAMPED CASE : 0 < < 1
Transfer function: p1,2 = n n d = n p1,2 = n jd

e c(t) = 1
n t
2 n 2 s2 +2n s+n
1 2
1 2
sin(d t + ) ,
t 0
Con
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2 1
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U NDAMPED CASE : = 0
Transfer function:
2 n 2 s2 +n 2 n 1 2 s2 +n s
C(s) =
1 s
c(t) = 1 cos n t, t 0 Sustained oscillations
s 2 s2 +n
Con
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Step response C(s) =
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C RITICALLY DAMPED CASE : = 1
Step response C(s) =
2 n 1 (s+n )2 s
c(t) = 1 en t (1 + n t), t 0
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Transfer function:
2 n (s+n )2
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OVERDAMPED CASE : > 1
Two real poles, unequal p1 = n + n p2 = n n 2 1 2 1
c(t) = 1+ response of two rst order systems
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S ECOND ORDER SYSTEMS
Con
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Peak time, Mp = e
1 2
Delay time, td Rise time, tr =

d t p = d
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Settling time, ts =
3 , 4 n n
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S ECOND ORDER UNDERDAMPED SYSTEMS :
Con
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P OLE LOCATIONS
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S ECOND ORDER UNDERDAMPED SYSTEMS :
Con
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P OLE LOCATIONS CONTD
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S TEADY STATE ERROR FOR A TYPE k SYSTEM
Consider a unity gain negative feedback system with the open loop transfer function G(s) G(s) =
(s+z1 )(s+z2 )(s+z3 )(s+zm ) , sk (s+p1 )(s+p2 )(s+p3 )(s+pn )
Type = k
Steady state error: E(s) =
Steady state error: ess = limt e(t) = lims0 sE(s)
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1 R(s) 1+G(s)
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m (k + n)
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E RROR COEFFICIENTS
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Kp = lims0 G(s) Kv = lims0 sG(s) Ka = lims0 s2 G(s)
Unit step ess = Unit ramp
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1 1+Kp 1 ess = Kv 1 Ka
Unit parabola ess =
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E RROR COEFFICIENTS
Step Ramp Parabola
Type 0 Kp < ess < Kv = 0 ess Ka = 0 ess
Type 1 Kp ess = 0 Kv < ess < Ka = 0 ess
Con
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Type 2 Kp ess = 0 Kv ess = 0 Ka < ess <
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Consys Time Analysis

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Consys Time Analysis

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C ONTROL S YSTEMS : AAOC C321

Department of EEE & I BITS Pilani, K K Birla Goa Campus

Narayan Suresh Manjarekar narayan[at]bits-goa.ac.in

I MPULSE RESPONSE MODEL

r( ) g(t )d = g(t) r(t)

Performance specications in time domain

R EVISION : C OMPONENTS OF A CLOSED - LOOP

L APLACE TRANSFORM OF SIGNALS

T IME RESPONSE USING L APLACE T RANSFORM

Determine: G(s) Compute C(s) = G(s)R(s)

r(t) Laplace transform R(s)

C(s) Inverse Laplace transform c(t)

F IRST ORDER SYSTEMS : S TEP RESPONSE

Transfer function: Step input R(s) = C(S) =

Inverse Laplace c(t) = 1 e T , t 0

Partial fraction expansion

N ATURE OF THE STEP RESPONSE

F IRST ORDER SYSTEMS : R AMP RESPONSE

Partial fraction expansion

F IRST ORDER SYSTEMS : I MPULSE RESPONSE

Transfer function: C(S) =

At steady state c() = 0

Ramp input R(s) = 1

Step response: c(t) = 1 e T t 0

1 Impulse response: c(t) = T e T t 0

Ramp response: c(t) = t T + Te T t 0

S ECOND ORDER SYSTEMS

, n nonnegative constants n : Natural frequency : damping ratio

U NDERDAMPED CASE : 0 < < 1

p1,2 = n jd Step response 2 C(s) = s2 +2nn s+2 1 s

s+n 2 s2 +2n s+n

c(t) = en t 1 2 ( 1 2 cos d t + sin d t)

Partial fraction C(s) =

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

U NDERDAMPED CASE : 0 < < 1

Transfer function: p1,2 = n n d = n p1,2 = n jd

c(t) = 1 cos n t, t 0 Sustained oscillations

Step response C(s) =

C RITICALLY DAMPED CASE : = 1

Step response C(s) =

OVERDAMPED CASE : > 1

Two real poles, unequal p1 = n + n p2 = n n 2 1 2 1

c(t) = 1+ response of two rst order systems

S ECOND ORDER SYSTEMS

Delay time, td Rise time, tr =

S ECOND ORDER UNDERDAMPED SYSTEMS :

S ECOND ORDER UNDERDAMPED SYSTEMS :

P OLE LOCATIONS CONTD

S TEADY STATE ERROR FOR A TYPE k SYSTEM

Steady state error: E(s) =

Steady state error: ess = limt e(t) = lims0 sE(s)

Kp = lims0 G(s) Kv = lims0 sG(s) Ka = lims0 s2 G(s)

Unit step ess = Unit ramp

Unit parabola ess =

Step Ramp Parabola

Type 0 Kp < ess < Kv = 0 ess Ka = 0 ess

Type 1 Kp ess = 0 Kv < ess < Ka = 0 ess

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