UWE Bristol

Control
UFMFV7-15-2

Lecture 4: Systems Analysis (2) ---

2nd Order Time Response and the
Block Diagram Approach
Today’s Lecture

• Last Week:
– Inputs: Step, Ramp and Pulse
– Response in the Time Domain (First order)
– Final Value Theorem
• This Week:
– Second order time response
– Introduction to block diagram algebra
Second Order Systems (TF)

• Characterised by ζ (damping ratio) and ωn

(undamped natural frequency)
• The standard form may be expressed in
two different ways
1 n2
G (s)   2
2 s s 2
s  2n s  n2
1  2
n n
 : damping ratio n : undamped natural frequency
 Second Order Step response (3
factors, TF, ipt, opt)
• Work out the step response as per last week:
1  n2
G( s)   2
2s s 2
s  2 n s   n2
1  2
n n
1 1
C ( s)  * response to unit step input
s 2s s 2
1 
n  n2
1  n2 1  s  2 n 
C ( s)  * 2  Part.Fract.   2 

s s  2 n s   n
2
s  s  2 n s   n2 
 Second Order Step response
(ILT)
Further manipulation to fit transform tables....
  n  
   d 
1  ( s  n )  n  1  ( s  n )  d  
C(s)      
s  ( s  n ) 2  d2  ( s  n )  d ( s  n ) 2  d2
2 2 
 s
 
 
 

where damped natural frequncy d  n 1   2  1

Inverse Laplace transform

 nt  n 
C (t )  1   e
 Cosd t  Sind t  

  d 
 Second Order Step response
(plot vs time, damping ratio ζ)
So, what does this C (t )  1   e  nt Cos t   n Sin t  
  D 

D
response look like?   D 
y(t)
Under-damped ζ<1
ζ<1: under-damped
(oscillatory response)
(ζ=0: undamped---sustained
oscillations)

Increasing ζ ζ=1: critical damping

(fastest response with no
overshoot)

ζ>1: over-damped
(Cannot overshoot)
Critically damped Time
0
ζ=1
Second Order Step response
Envelope ----
(underdamped example)

y(t)

1 e  n t


 n t
  n 
1 e  sin  d t  cos d t 
  d 
1  e  n t

0  Time

Second Order Step response
Periodic Time
(frequency is ωd rad/s)

y(t) 2
d



0 Time
 Second Order Step response
Performance Criteria: all linked
with ζ and ωn
• Rise time, tr
– Time to first reach steady state
value (for underdamped systems) y(t)
– Time to go from 10% to 90%
amplitude for overdamped y(tp) –yss
systems
yss
• Peak time, tp
– Time to initial overshoot 95%

• Peak overshoot, y(tp) –yss

– Initial overshoot, above
steady state value (usually
expressed as %)
• Settling time, ts
5% settling time
– Time for response to reach and
remain in specified ratio (±5% in
this case) 0 tr tp ts Time
• Number of oscillations to ts
Second Order Step response
• Rise time
– By setting y(tr) = 1 in response (and much
manipulation):

1  1 1  
2 
tr    tan 
d   

– Low damping ratio gives faster response
(small tr), but also produce oscillatory
responses.
– Compromise necessary (0.4<ζ<0.8 a good start)
Second Order Step response

• Time to peak:
– Time to peak: from inspection, for oscillatory
system, time to peak is one half periodic
response:
1 2 
tp  
2 d d
– Confirmed by setting first derivative of y to 0
(and much manipulation)
Second Order Step response
• Peak overshoot
– Use tp and evaluate using time response

 n 
y t p   1  e
 nt p
  sin d t p  cos d t p 
 d 
– Percentage maximum peak value:

peak value - final value  yt p  

   1 100 per cent
final value  yss 
Second Order Step response
• Settling Time
 
– Decaying exponential term  nt describes
envelope of the oscillation
e
– Equate to 0.05 gives the 5% settling time
 n t s
e  0.05
  nt s  ln 0.05  3
so
3
t s (5%) 
 n
Second Order Step response

• Number of oscillations before settling time

Settling time
Number of oscillatio ns 
Periodic time

• We also use tables and standard response

curves – have a look at the exam data
sheet.
Standard (normalised) step response
 Example
• RLC circuit system
R R
L sL

Vo (output) Vo (output)
Vi (input) I (current) Vi (input) I (current)
1/(sC)
C

Vo  s  1 1 n  4  2 rad/s
G s   
Vi  s  LCs 2  RCs  1 s 2  2s  4 1
 
standard forms 2
1 4 1 1 3
 OR d  n 1   2  2  3

4 s 2  2s  4  
4 1  0.5s  0.25s 2  4
Example
• RLC circuit system

G s  
1 4 1 1 4
Unit Step input, so C ( s )  *
4 s 2  2s  4 s 4 s 2  2s  4

• Full solution is:

1 t  1 
ct   1  e  sin 3t  cos 3t 
4  3 
 n  4  2 rad/s
Example  
1
2
3
d  n 1   2  2  3
• RLC circuit system 4
– Periodic Time:
2
2
Periodic Time    3.628 sec
d 3
– Rise time:

1   1
 
 
2
1 
tr    tan 1   tan 1 3  1.209 sec
d   
 3

– Time to peak:
1 2  
tp     1.814 sec
2 d d 3
 n  4  2 rad/s
Example  
1
2
3
d  n 1   2  2  3
• RLC circuit system 4
– Peak overshoot
• Apply tp to equation
1 1.814  1 
ct p   1  e  sin 3 (1.814)  cos 3 (1.814)   0.2092
4  3 
– Percentage increase
peak value - final value  ct p   css 
   100%
final value  css 
 0.2092  0.25 
  100%  16%
 0.25 
 n  4  2 rad/s
Example  
1
2
3
d  n 1   2  2  3
• RLC circuit system 4
– 5% Settling Time
3 3
t s (5%)    3 sec
 n 0.5(2)
– Number of oscillations
Settling time 3
Number of oscillatio ns    0.827
Periodic time 3.628
Example
• RLC circuit system

tr  1.209 s
t p  1.814 s
ts  3 s
Periodic Time  3.628 s
Peak overshoot  0.2092 (16%)
What about more complicated systems?
• we are by now happy with using transfer
functions and showing them in “blocks”
• More complex systems can be made up of
a number of blocks:
R T C
G1 G2
𝑇 𝐶
• Transfer functions are 𝐺1 = 𝑎𝑛𝑑 𝐺2 =
𝑅 𝑇
𝐶 𝑇 𝐶
• Combined 𝐺 = = ∗ = 𝐺1 ∗ 𝐺2
𝑅 𝑅 𝑇
What about more complicated systems?
• We refer to manipulating blocks like this as
“Block Diagram Algebra”, and it helps
understand the overall behaviour of a system
• Let’s look at the closed loop feedback system
below:
R + error C
G
-

H
What about more complicated systems?
R + error C
G
-

H
• 𝐶 = 𝐺 ∗ 𝑒𝑟𝑟𝑜𝑟 𝑏𝑢𝑡 𝑤𝑒 𝑘𝑛𝑜𝑤 𝑡ℎ𝑎𝑡 𝑒𝑟𝑟𝑜𝑟 = 𝑅 − 𝐻𝐶
• Substituting and rearranging
• 𝐶 = 𝐺 𝑅 − 𝐻𝐶 𝑠𝑜 𝐶 1 + 𝐺𝐻 = 𝑅𝐺
𝐶 𝐺
• 𝑂𝑣𝑒𝑟𝑎𝑙𝑙 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = Opposite sign
𝑅 1+𝐺𝐻
𝐶 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡ℎ 𝑔𝑎𝑖𝑛
• 𝑂𝑣𝑒𝑟𝑎𝑙𝑙 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 =
𝑅 1+𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛
Rules!
Today’s lecture
• Step response of Second Order System
• Defined by natural frequency and damping ratio
• Damping ratio relates to oscillation in response
• Performance criteria
– Rise time
– Peak time and amplitude
– Settling time
• Simplifying block diagrams
• Tutorial sheet 4 Identifying performance criteria
• Exercises for Block Diagram algebra will be in
next week’s lecture