AME 455 Control Systems Design Lecture 4 First Order systems First order systems Time response of first

st order systems:impulse, step, ramp, Harmonic Poles and zeros Why use Feedback Control: Effects of feedback on steady state error and response time
Instructional objectives: At the end of this lecture students should be able to Obtain the differential equations governing simple first-order mechanical and electrical systems Find time constants of first order systems Find poles and zeros of a system Determine the steady state error via Final Value Theorem

AME 455 Control Systems Design First order systems: systems described by a single first order differential equation First order systems contain one energy storage element: lump mass (can store kinetic and potential energy) spring (stores elastic energy) capacitor (electrostatic energy) coil (electromagnetic field energy)

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design First Order Systems are described by a one-parameter () transfer function (TF):
C (s) R(s)

1 = 1 + s

Lets subject this system to various inputs and see what is its output! The inputs of interest are: impulse, step, ramp and harmonic functions.

AME 455 Control Systems Design Impulse Function:

(t )

dH (t ) 1 (t ) = ( s ) = sH ( s ) = s = 1 dt s
Step Function:

(t )dt = 1
0

(one - sided D. delta)

h(t )

1 h(t ) = 1 H ( s ) = s
Ramp Function:

t r (t ) = t t

1 r (t ) = t R ( s ) = 2 s

AME 455 Control Systems Design

Impulse Response:
( s ) = 1

1 1 + s

1 1 1 t 1 C ( s) = 1= c(t ) = L (C ( s )) = e 1 + s 1 + s

c(t ) = e

AME 455 Control Systems Design

AME 455 Control Systems Design

Step Response:
1 H ( s) = s

1 1 + s

C ( s) =

1 1 1 + s s

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

The system error is defined as the difference between the input and the output:

e(t ) = r (t ) c(t ) E ( s) = R( s) C ( s)

For open-loop system (our case):

E ( s ) = R( s ) C ( s ) = R( s ) G ( s ) R( s ) = (1 G ( s )) R( s)
To find the steady state magnitude of the error (steady state error) one can use the Final Value Theorem:
ess = lim sE ( s) = lim s (1 G ( s )) R( s ) =
s 0 s 0

s 1 ) R( s ) = lim s ( ) R( s) = 1 + s 1 + s s 0 s 0 s 1 ) 2 = = lim s ( = 1 + s { s 1+ 0 s 0
= lim s (1
ramp

AME 455 Control Systems Design

Harmonic Response (system response due to a harmonic input).

r (t ) = A sin t

1 1 + s

c(t ) = B sin(t + ) + + a transient term, which dies out in time >

Under steady-state conditions, the output of the system will have Constant magnitude proportional to the magnitude of the input and oscillating with the same frequency. This can be seen in the Laplace domain by partial fraction expansion:

1 A a bs + c C (s) = = + 2 2 2 2 1 + s 1 s + 1 + s s + 4 2 4 3 1 2 3 1 4 2 4 3
A sin t transient B sin(t + )

AME 455 Control Systems Design

Instead of completing the expansion (a lengthy process), one can Use complex algebra to get an expression for the the steady-state amplitude and phase. Consider the complex plane, where the input And output signals are represented by a constant vectors rotating with an angular rate The two complex vectors must satisfy the first-order j (t + ) c = c0 e differential equation:

r = r0e jt

&(t ) = r (t ) c(t ) + c

c0 e j (t + ) + jc0 e j (t + ) = r0 e j (t ) c0 e j ( ) + jc0 e j ( ) = r0 c0 e j ( ) (1 + j ) = r0

AME 455 Control Systems Design

c0 e j ( ) (1 + j ) = r0 1 c0 e j ( ) = 1 + j r0 c0 c0 1 1 c c0 e j ( ) = = = = = r r0 r0 r0 1 + j 1 + 2 2

= c r = tan

= tan 1 .

AME 455 Control Systems Design

Example: P3.6 Given the differential equation between the input x and the output y of a system, determine the frequency at which the output is 50% of DC value. What is the phase shift (lag) at this frequency?
& + 3y = x 2y 2 sY ( s ) + 3Y ( s ) = X ( s ) 1 Y (s) = X ( s) 2s + 3 The system if first order. We need to determine the time constant : 1 1 1 Y (s) = = = 2 . 3 X ( s) 2s + 3 3 1 + 2 s 3 From here, we need to apply the amplitude formula :
1 2 1+ 2 3
2

1 (50% of DC value) 2

50%
3 3 2

AME 455 Control Systems Design

1 2 = 1+ 2 = 4 2 2 3 2 2 1+ 3 1 3 3 9 = 3 = 2 4 The phase shift there is

2

-60

= -tan -1 = tan -1

3 32 = tan -1 3 = 1.04rad = 60o 2 3

3 3 2

Thus the phase shift is 60 degrees, which corresponds to 1.04 time delay of = 0.4 sec
3 3 2

AME 455 Control Systems Design

Proportional feedback control and its effect on the step response.

AME 455 Control Systems Design

AME 455 Control Systems Design

Faster

Closed-loop control: speeds up the system and in general reduces the steady state error (for large K)!

AME 455 Control Systems Design