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CHEE 3550

Process Dynamics and Control

Lecture Notes #4: Transfer Function Models


of Dynamical Processes

CHEE 3550 - Winter 2012 - S.Blouin 1


Lecture Notes Content

„ Transfer Functions [Seborg 3.1]

„ Poles & Zeros [Seborg 6.1]

„ Transfer Functions for Nonlinear Systems [Seborg 4.4]

„ Simplifying Multiple Transfer Functions [Seborg 4.3]

„ First Order Systems [Seborg 5.2,5.3]

„ Second Order Systems [Seborg 5.4]

„ Higher Order Systems [Seborg 6.3]

„ Systems with Time Delays [Seborg 6.2]

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Linear SISO Control Systems
„ General form of a linear SISO control system:

¾ this is a underdetermined higher order differential


equation
¾ the function must be specified for this ODE to
admit a well defined solution

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Transfer Functions
The expression

describes the dynamic behavior of the process explicitly

¾ The Laplace domain function is called the transfer function


between and

¾ Transfer functions are usually represented in block diagram form

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Transfer Function
„ Heated stirred-tank model (constant ) Tin , F

Q
T, F
¾ Taking the Laplace transform yields:

or letting
1
τ 1 ρCp F
T (s) = τ s+1
T (0) − T (s)
τ s+1 in
+ τ s+1
Q(s)

Transfer functions

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Transfer Function
„ Heated stirred tank example
1
τ 1 ρCp F
T (s) = τ s+1
T (0) + T (s) + τ s+1
τ s+1 in
Q(s)

τ
τ s+1
+
+

e.g. The block is called the transfer function relating Q(s) to T(s)

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Process Control

Time Domain Laplace Domain

Process Modeling, Transfer function


Experimentation and Modeling, Controller
Implementation Design and Analysis

Ability to understand dynamics in Laplace and


time domains is extremely important in the
study of process control

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Transfer Functions
„ Transfer functions are generally expressed as a ratio of
polynomials

Where

¾ The polynomial is called the characteristic polynomial of

¾ Roots of are the zeros of


¾ Roots of are the poles of

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Transfer Function
„ Order of underlying ODE is given by degree of
characteristic polynomial
Q: What is the order of the following transfer function?

Q: What is the order of the following transfer functions?

¾ Order of the process is the degree of the characteristic


(denominator) polynomial
¾ The relative order is the difference between the degree of the
denominator polynomial and the degree of the numerator
polynomial

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Transfer Function
„ Steady state behavior of the process obtained from the
final value theorem
e.g. First order process

For a unit-step input,

From the final value theorem, the ultimate value of is

¾ This implies that the limit exists, i.e. that the system is stable.

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Transfer Function
„ Transfer function is the unit impulse response

e.g. First order process,

Unit impulse response is given by

In the time domain,

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Transfer Function
„ Unit impulse response of a 1st order process
MATLAB
dt = 0.1;
Tfinal = 6;
Time = 0:dt:Tfinal;
num = [1]; den = [1 1];
sys = tf(num,den);
Output = impulse(sys,Time);
plot(Time,Output);
xlabel('Time');
ylabel('Output');

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Deviation Variables
„ To remove dependence on initial condition
e.g.

Compute equilibrium condition for a given and

Define deviation variables

Rewrite linear ODE


0

or

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Deviation Variables
Assume that we start at equilibrium
1 K
T 0 (s) = T 0
τ s+1 in (s) + τ s+1 Q0
(s)
Transfer functions express extent of deviation from a given
steady-state
Q: Why do we do all this?

„ Procedure
¾ Find steady-state
¾ Write steady-state equation
¾ Subtract from linear ODE
¾ Define deviation variables and their derivatives if required
¾ Substitute to re-express ODE in terms of deviation variables

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Deviation Variables
„ In mechanical systems, the equilibrium is usually selected
as the initial rest position
¾ Cruise control example v 0 (t) = v(t) − (0), u0 (t) = u(t) − (0)

¾ Suspension system example x0 (t) = x(t), y 0 (t) = y(t), r 0 (t) = r(t)

¾ Satellite system

¾ DC motor

„ Using initial condition such that the output is at zero,


avoids the need for deviation variables
¾ Initial conditions must be an equilibrium of the system

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Deviation Variables
„ Example (the ball and beam example)

¾ This is a nonlinear system of ordinary differential equations

¾ Must be linearized about an equilibrium to obtain a transfer


function model

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Deviation Variables
„ Pendulum example
¾ System equations are nonlinear in

¾ For small perturbation about the vertical position , the


nonlinearity can approximated (1st order Taylor series expansion)

¾ Linearized model

¾ Starting at rest, , taking the Laplace transform

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Process Modeling
„ Gravity tank

Fo

h F

L
Modeling Objectives: Control height of liquid in tank

Fundamental quantity: Mass, momentum

Assumptions: Outlet flow is driven by head of liquid in the tank


Incompressible flow
Plug flow in outlet pipe
Turbulent flow

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Transfer Functions
From mass balance and Newton’s law,

A system of simultaneous ordinary differential equations results

Q: Is it a linear or nonlinear system of ODEs?

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Nonlinear ODEs
Q: If the model of the process is nonlinear, how do we
express it in terms of a transfer function?

A: We have to approximate it by a linear one (i.e.,Linearize)


in order to take the Laplace.

f(x)

f(x0) ∂f
( x0 )
∂x

x0
x
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Nonlinear Systems
„ First order Taylor series expansion

1. Function of one variable


∂ f ( xs )
f ( x ) ≈ f ( xs ) + ( x − xs )
∂x

2. Function of two variables


∂ f ( x s ,u s ) ∂ f ( x s ,u s )
f ( x , u ) ≈ f ( x s , us ) + ( x − xs ) + ( u − us )
∂x ∂u
3. ODEs
∂ f ( xs )
x& = f ( x ) ≈ f ( xs ) + ( x − xs )
∂x

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Transfer Function
„ Procedure to obtain transfer function from nonlinear
process models
¾ Find an equilibrium point of the system
¾ Linearize about the steady-state
¾ Express in terms of deviations variables about the steady-state
¾ Take Laplace transform
¾ Isolate outputs in Laplace domain

¾ Express effect of inputs in terms of transfer functions

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Transfer Function
„ Ball and beam example
¾ Linearize the system of equations about equilibrium

¾ The nonlinear model is given by

¾ Linearize (1st order Taylor series expansion about equilibrium)

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Transfer Function
„ Linearization gives the linear system

¾ Taking Laplace transform

¾ Transfer function

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Block Diagrams
„ Transfer functions of complex systems can be represented
in block diagram form.

„ 3 basic arrangements of transfer functions:

1. Transfer functions in series

2. Transfer functions in parallel

3. Transfer functions in feedback form

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Block Diagrams
„ Transfer functions in series

¾ Overall operation is the multiplication of transfer functions

¾ Resulting overall transfer function

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Block Diagrams
„ Transfer functions in series (two first order systems)

¾ Overall operation is the multiplication of transfer functions

¾ Resulting overall transfer function

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Transfer Functions
„ DC Motor example:
¾ In terms of angular velocity

¾ In terms of the angle

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Transfer Functions
„ Transfer function in parallel

¾ Overall transfer function is the addition of TFs in parallel

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Transfer Functions
„ Transfer function in parallel

¾ Overall transfer function is the addition of TFs in parallel

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Transfer Functions
„ Transfer functions in negative feedback form

MATLAB
>> s = tf(‘s’);
>> G1 = 2/(3*s+1);
>> G2 = 6.5/(4.2*s+3);
>>feedback(G1,G2,-1)
Transfer function:
8.4 s + 6
----------------------
12.6 s^2 + 13.2 s + 16
¾ Overall transfer function

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Transfer Functions
„ Transfer functions in positive feedback form

MATLAB
>> s = tf(‘s’);
>> G1 = 2/(3*s+1);
>> G2 = 6.5/(4.2*s+3);
>>feedback(G1,G2,+1)
Transfer function:
8.4 s + 6
----------------------
12.6 s^2 + 13.2 s - 10
¾ Overall transfer function

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Transfer Function
„ Example

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Transfer Function
„ Example

¾ A positive feedback loop

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Transfer Function
„ Example

¾ Two systems in parallel


Î Replace by

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Transfer Function
„ Example

¾ Two systems in parallel

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Transfer Function
„ Example

¾ A negative feedback loop

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Transfer Function
„ Example

¾ Two process in series

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First Order Systems
„ First order systems are systems whose dynamics are
described by the transfer function

where

¾ is the system’s (steady-state) gain

¾ is the time constant

„ First order systems are the most common behaviour


encountered in practice

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First Order Systems
Examples, Liquid storage
Fin

F
¾ Assume:
Î Incompressible flow
Î Outlet flow due to gravity
¾ Balance equation:
Î Total
Î Flow In
Î Flow Out

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First Order Systems
„ Balance equation:

¾ Deviation variables about the equilibrium

¾ Laplace transform

„ First order system with

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First Order Systems
Examples: Cruise control

DC Motor

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First Order Systems

Liquid Storage Tank

Speed of a car

DC Motor

First order processes are characterized by:

1. Their capacity to store material, momentum and energy

2. The resistance associated with the flow of


mass, momentum or energy in reaching their capacity
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First Order Systems
„ Step response of first order process

Step input signal of magnitude M

¾ The ultimate change in is given by

Q: Could we get the same result in another way?

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First Order Systems
„ Step response MATLAB
clc;clear;
dt = 0.1;
Tfinal = 6;
Time = 0:dt:Tfinal;
num = [1]; den = [1 1];
sys = tf(num,den);
Output = step(sys,Time);
plot(Time,Output);
xlabel('Time');
ylabel('Output');

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First Order Systems

„ What do we look for?


¾ System’s Gain: Steady-State Response

¾ Process Time Constant:

Time Required to Reach


63.2% of final value

„ What do we need?
¾ System initially at equilibrium
¾ Step input of magnitude M
¾ Measure process gain from new steady-state
¾ Measure time constant

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First Order Systems
„ First order systems are also called systems with finite
settling time
¾ The settling time is the time required for the system to come
within 5% of the total change and remain there for all times

¾ Consider the step response

¾ The overall change is


Î

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First Order Systems
„ Settling time

MATLAB
num = [1]; den = [1 1];
sys = tf(num,den);
ltiview('step',sys);

% set settling time to 5%


% (Edit => Viewer Pref.
% => Options)
% Right-click and select
% “settling time”

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First Order Systems
„ Process initially at equilibrium subject to a step of
magnitude 1

MATLAB
num = [3.2]; den = [7 1];
sys = tf(num,den);
ltiview('step',sys);

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First Order Systems
Ramp response:

MATLAB
TimeStep = 0.01;
Ramp input of slope a Time = 0:TimeStep:5;
Input = Time;
5
G = tf([1],[1 1]);
4.5 [Output] = lsim(G,Input,Time);
4 plot(Time,Input); hold on;
plot(Time,Output); hold off;
3.5

2.5

1.5

0.5 a = 1 ,τ = 1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

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First Order Systems
Sinusoidal response

Sinusoidal
2 input Asin(ωt)
1.5

0.5
AR
0

-0.5

-1 φ
-1.5
0 2 4 6 8 10 12 14 16 18 20

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First Order Systems

10
0 Bode Plots
High Frequency
Corner Frequency Asymptote
-1
10

-2
10 -2 -1 0 1 2
10 10 10 10 10

0
-20
-40
-60
-80
-100 -2 -1 0 1 2
10 10 10 10 10

MATLAB
Amplitude Ratio Phase Shift num = [1]; den = [1 1];
sys = tf(num,den);
ltiview(‘bode',sys);

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Integrating Systems
Example: Liquid storage tank

Fi

F
Laplace domain dynamics
1 1
H(s) = As F in (s) − As F (s)

If there is no outlet flow,

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Integrating Systems
„ Example
¾ Capacitor

¾ Dynamics of both systems is equivalent

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Integrating Systems
„ Step input of magnitude M (Q: What is the TF of a step?)

Slope =

Time Time

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Integrating Systems

„ Impulse response of magnitude M

Time Time

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Integrating Systems
„ Rectangular pulse response

Time Time

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Second Order Systems
„ Second order process:
¾ Assume the general form

where = Process steady-state gain


= Process time constant
= Damping Coefficient

„ Three families of processes

Underdamped
Critically Damped
Overdamped

Q:What is a physical example of an overdamped system?

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Second Order Systems
Three types of second order process:

1. Two First Order Systems in series or in parallel


e.g. Two holding tanks in series

2. Inherently second order processes: Mechanical systems


possessing inertia and subjected to some external force
e.g. A pneumatic valve

3. Processing system with a controller: Presence of a


controller induces oscillatory behavior
e.g. Feedback control system

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Second Order Systems
„ Multicapacity Second Order Processes
¾ Naturally arise from two first order processes in series
Q: What is an example of such a system?

¾ By multiplicative property of transfer functions

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Transfer Functions
„ First order systems in parallel

¾ Overall transfer function a second order process (with one zero)

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Second Order Systems
„ Inherently second order process:
e.g. Pneumatic Valve

By Newton’s law
p

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Second Order Systems
„ Feedback Control Systems

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Second Order Systems
„ Second order process:
¾ Assume the general form

where = Process steady-state gain


= Process time constant
= Damping Coefficient

„ Three families of processes

Underdamped
Critically Damped
Overdamped

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Second Order Systems
„ Roots of the characteristic polynomial

Case 1) Two distinct real roots


System has an exponential behavior

Case 2) One multiple real root


Exponential behavior

Case 3) Two complex roots


System has an oscillatory behavior

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Second Order Systems
„ Step response of magnitude M

2
1.8
ξ=0
1.6 ξ=0.2
1.4
1.2
1
0.8
0.6
ξ=2
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
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Second Order Systems
Observations

¾ Responses exhibit overshoot when

¾ Large yields a slow sluggish response

¾ Systems with yield the fastest response without overshoot

¾ As (with ) becomes smaller, system becomes more


oscillatory

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Second Order Systems
Characteristics of underdamped second order process

1. Rise time,
2. Time to first peak,
3. Settling time,
4. Overshoot:

5. Decay ratio:

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Second Order Systems
„ Step response

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Second Order Systems
„ Sinusoidal Response

where

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Second Order Systems

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More Complicated Systems
Transfer function typically written as rational function of polynomials

where and can be factored following the discussion on partial


fraction expansion

s.t.

where and appear as real numbers or complex conjugate pairs

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Poles and Zeroes
Definitions:
¾ the roots of are called the zeros of G(s)

¾ the roots of are called the poles of G(s)

Poles: Directly related to the underlying differential equation

If , then there are terms of the form in


Î vanishes to a unique point

If any then there is at least one term of the form


Î does not vanish

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Poles
e.g. A transfer function of the form

with can factored to a sum of

¾ A constant term from


¾ A from the term
¾ A function that includes terms of the form

Poles can help us to describe the qualitative behavior of a complex system


(degree>2)
The sign of the poles gives an idea of the stability of the system
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Poles
„ Calculation performed easily in MATLAB
„ Function POLE, PZMAP

e.g.
» s=tf('s');
» sys=1/s/(s+1)/(4*s^2+2*s+1);
Transfer function:
1
-------------------------
4 s^4 + 6 s^3 + 3 s^2 + s
» pole(sys)
ans =
0
-1.0000
-0.2500 + 0.4330i
MATLAB
-0.2500 - 0.4330i

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Poles
„ Function PZMAP (» pzmap(sys))

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Poles

„ One constant pole


¾ integrating feature

„ One real negative pole


¾ decaying exponential

„ A pair of complex roots with negative real part


¾ decaying sinusoidal

Q:What is the dominant feature?

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Poles
„ Step Response

¾ Integrating factor dominates the dynamic behaviour

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Poles
„ Example

¾ Poles
Î -1.0000
-0.0000 + 1.0000i
-0.0000 - 1.0000i

Î One negative real pole


Î Two purely complex poles

Q: What is the dominant feature?

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Poles
„ Step Response

¾ Purely complex poles dominate the dynamics

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Poles
„ Example

¾ Poles
Î -8.1569
-0.6564
-0.1868

¾ Three negative real poles

Q: What is the dominant dynamic feature?

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Poles
„ Step Response
MATLAB
num = [1]; den = [1 9 7 1];
sys = tf(num,den);
ltiview('step',sys);

¾ Slowest exponential ( ) dominates the dynamic


feature (yields a time constant of 1/0.1868= 5.35 s

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Poles
„ Example

¾ Poles
-4.6858
0.3429 + 0.3096i
0.3429 - 0.3096i

Î One negative real root


Î Complex conjuguate roots with positive real part

¾ The system is unstable (grows without bound)

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Poles
„ Step Response

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Poles
„ Two types of poles

¾ Slow (or dominant) poles


Î Poles that are closer to the imaginary axis
z Smaller real part means smaller exponential term and
slower decay

¾ Fast poles
Î Poles that are further from the imaginary axis
z Larger real part means larger exponential term and faster

decay

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Poles
„ Poles dictate the stability of the process

¾ Stable poles
Î Poles with negative real parts
Î Decaying exponential

¾ Unstable poles
Î Poles with positive real parts
Î Increasing exponential

¾ Marginally stable poles


Î Purely complex poles
Î Pure sinusoidal

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Poles

Oscillatory Integrating
Behaviour Behaviour

Pure Exponential

Stable Unstable

Marginally
Stable
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Poles
„ Example

Stable Poles

Unstable Poles

Fast Poles
Slow Poles

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Poles and Zeros
Definitions:
B(s)
¾ the roots of are called the zeros of G(s) G(s) = A(s)

¾ the roots of are called the poles of G(s)

Zeros:
¾ Do not affect the stability of the system but can modify the dynamical
behaviour

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Zeros
„ Types of zeros:

¾ Slow zeros are closer to the imaginary axis than the dominant poles of the
transfer function
Î Affect the behaviour
Î Results in overshoot (or undershoot)

¾ Fast zeros are further away to the imaginary axis


Î have a negligible impact on dynamics

¾ Zeros with negative real parts, , are stable zeros


Î Slow stable zeros lead to overshoot

¾ Zeros with positive real parts, , are unstable zeros


Î Slow unstable zeros lead to undershoot (or inverse response)

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Zeros
Zeros can result from two processes in parallel

If gains are of opposite signs and time constants are different then a right half
plane zero occurs

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Zeros
„ Example MATLAB
num = [0.1 1]; den = [1 9 7 1];
sys = tf(num,den);
pole(sys)
zero(sys)
pzmap(sys)
ltiview('step',sys);
¾ Poles
Î -8.1569
-0.6564
-0.1868

¾ Zeros
Î -10.000

Q:What is the effect of the zero on the dynamic behaviour?

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Zeros
„ Poles and zeros

Dominant
Fast, Stable
Pole
Zero

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Zeros
„ Unit step response:

¾ Effect of zero is negligible

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Zeros
„ Example

¾ Poles
Î -8.1569
-0.6564
-0.1868

¾ Zeros
Î -0.1000

Q: What is the effect of the zero on the dynamic behaviour?

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Zeros
„ Poles and zeros:

Slow (dominant)
Stable zero

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Zeros
„ Unit step response: MATLAB
num1 = [0.1 1]; num2 = [10 1];
den = [1 9 7 1];
sys1 = tf(num1,den);
sys2 = tf(num2,den);
ltiview('step',sys1,sys2);

¾ Slow dominant zero yields an overshoot.


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Zeros
„ Example

¾ Poles
Î -8.1569
-0.6564
-0.1868

¾ Zeros
Î 10.000

Q: What is the effect of the zero on the dynamic behaviour?

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Zeros
„ Poles and Zeros

Dominant Fast Unstable


Pole Zero

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Zeros
„ Unit Step Response:

¾ Effect of unstable zero is negligible

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Zeros
„ Example

¾ Poles
Î -8.1569
-0.6564
-0.1868

¾ Zeros
Î 0.1000

Q: What is the effect of the zero on the dynamic behaviour?

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Zeros
„ Poles and zeros:

Slow
Unstable Zero

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Zeros
„ Unit step response:

¾ Slow unstable zero causes undershoot (inverse response)


Q: Can the inverse response exist in reality? If yes, give examples?
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Zeros
Observations:

¾ Adding a stable zero to an overdamped system yields overshoot

¾ Adding an unstable zero to an overdamped system yields


undershoot (inverse response)

¾ Inverse response is observed when the zeros lie in right half


complex plane,

¾ Overshoot or undershoot are observed when the zero is dominant


(closer to the imaginary axis than dominant poles)

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Zeros
„ Example: System with complex zeros

Dominant
Pole

Slow
Stable Zeros

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Zeros
„ Poles and zeros

¾ Poles have negative real parts: The system is stable

¾ Dominant poles are real: yields an overdamped behaviour

¾ A pair of slow complex stable zeros: yields overshoot

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Zeros
„ Unit step response:

¾ Effect of slow zero is significant and yields oscillatory behaviour

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Zeros
„ Example: System with zero at the origin

Zero at
Origin

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Zeros
„ Unit step response

¾ Zero at the origin: eliminates the effect of the step Q: Why?

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Zeros

„ Observations:

¾ Complex (stable/unstable) zero that is dominant yields an


(overshoot/undershoot)

¾ Complex slow zero can introduce oscillatory behaviour

¾ Zero at the origin eliminates (or zeroes out) the system response
to a step

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Delay

Fi

Control loop

Time required for the


fluid to reach the valve
usually approximated as
dead time

Manipulation of valve does not lead to immediate


change in level

CHEE 3550 - Winter 2012 - S.Blouin 111


Delay
Delayed transfer functions

e.g. First order plus dead-time

Second order plus dead-time

CHEE 3550 - Winter 2012 - S.Blouin 112


Delay
„ Dead time (delay)

¾ Most processes will display some type of lag time


¾ Dead time is the moment that lapses between input changes and
process response

Step response
CHEE 3550of a first
- Winter order
2012 plus dead time process
- S.Blouin 113
Delay
„ Delayed step response:

Q: What is the transfer function?


CHEE 3550 - Winter 2012 - S.Blouin 114
Delay
„ Problem
¾ use of the dead time approximation makes analysis (poles and
zeros) more difficult

„ Approximate dead-time by a rational (polynomial)


function
¾ Most common is Pade approximation
³ ´k
−θs −θs+2k
e ≈ θs+2k , k ∈ {1, 2, . . .}

CHEE 3550 - Winter 2012 - S.Blouin 115


Pade Approximations
„ In general Pade approximations do not approximate dead-time very
well

„ Pade approximations are better when one approximates a first order


plus dead time process

„ Pade approximations introduce inverse response (right half plane


zeros) in the transfer function

CHEE 3550 - Winter 2012 - S.Blouin 116


Pade Approximations
„ Step response of Pade Approximation

¾ Pade approximation may introduce a significant inverse response

CHEE 3550 - Winter 2012 - S.Blouin 117

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