Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 14 Transfer function • Steady state
Root locus
Time response of 1st-order systems
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories

1 2

Performance measures (review) First-order system

ƒ Transient response (Today’
(Today’s lecture) ƒ A standard form of the first-order system:
ƒ Peak value
ƒ Peak time
ƒ Percent overshoot
Next, we will connect
ƒ Delay time these measures
ƒ Rise time with s-
s-domain.
ƒ DC motor example
ƒ Settling time
ƒ Steady state response
ƒ Steady state error (Done)

3 4
 DC motor example (cont’d) Step response for 1st-order system
ƒ If La<<Ra, we can obtain a 1st-order system ƒ Input a unit step function to a first-order system.
Then, what is the output?
u(t)
u(t) y(t)
y(t)

0 0

ƒ TF from motor input voltage to

ƒ motor speed is 1st-
1st-oder
ƒ motor position is 2nd-
2nd-order
(Partial fraction expansion)
5 6

How to eliminate steady-state error Meaning of K and T

ƒ Make a feedback system with a controller having ƒ K : Gain
an integrator (copy of Laplace transform of a unit ƒ Final (steady-
(steady-state) value 1
K=1,T=1

step function):
0.8
Controller
u(t)
u(t)
1 ƒ T : Time constant 0.6

Amplitude
ƒ Time when response
0 0.4
rises 63% of final value
ƒ Indication of speed of 0.2

One has to select controller parameters response (convergence)

to stabilize the feedback system. ƒ Response is faster as T 0
0 1 2 3 4 5 6
Time
Suppose K=T=1, and obtain such parameters! becomes smaller.
7 8
 DC gain for a general system Settling time of 1st-order systems
ƒ DC gain : Final value of a unit step response
ƒ For first-
first-order systems, DC gain is K. ƒ Relation between time and exponential decay
ƒ For a general stable system G,
G, DC gain is G(0).

Final value theorem

ƒ Examples 5% settling time is about 3T!

2% settling time is about 4T!

9 10

Step response for some K & T System identification

2
K=1,T=1
2
K=1,T=2
ƒ Suppose that we have a “black-box” system
Amplitude

Amplitude

1 1 Unknown

0 0 ƒ Obtain step response

0 5 10 0 5 10
Time Time
K=2,T=1 K=2,T=2
2 2
Amplitude

Amplitude

1 1

0
0 5 10
0
0 5 10 ƒ Can you obtain a transfer function? How?
Time Time

11 12
Ramp response for 1st-order system Ramp response for 1st-order system
K =1 ,T =1

ƒ Input a unit ramp function to a 1st-order system.

5
K=1,T=1
Then, what is the output? 4 y(t)
y(t)
u(t)=t
u(t)=t

Amplitude
u(t)=t
u(t)=t y(t)
y(t) 3

Amplitude
slope
2

0 0
1

0
0 1 2 3 4 5
Time
T im e

ƒ Steady state response

(Partial fraction expansion) ƒ We may want to modify the system s.t.
13 14

How to eliminate steady-state error Summary and exercises

ƒ Make a feedback system with a controller having ƒ Time response for 1st-order systems
a double integrator (copy of Laplace transform of ƒ Step and ramp responses
ramp function): ƒ Time constant and DC gain
u(t)=t
u(t)=t Controller ƒ System identification
ƒ Next, time response for 2nd-order systems
0
ƒ Exercises
ƒ Review examples in this lecture.

One has to select controller parameters

to stabilize the feedback system.
Suppose K=T=1, and obtain such parameters!
15 16