SMJE 4243

Control Systems Design

Dr. Mohd Azri Mohd Izhar

Rom No.: F306M
Email: mohdazri.kl@utm.my
1

Outline
Introduction
Transfer Function
Closed-Loop Control

Transient and Steady-State Response

First-Order Systems
Second-Order Systems
Higher Order Systems
Stability Criterion
Steady-State Errors
Frequency Response
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Why Control System?

Good Improved control is a key enabling technology underpinning:
- generally
- Convenience and Comfort
- doctor
- Precision of tools
- industry
- Enhance product quality
- Waste minimization
- Higher safety margins

What is Control System?

Input
Response

Open-Loop Control System (No feedback)

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Closed-Loop Control System

Feedback
Feedback is a key tool that can be used to modify
the behavior of a system.
This behavior altering effect of feedback is a key
mechanism that control engineers exploit
deliberately to achieve the objective of acting on a
system to ensure that the desired performance
specifications are achieved.
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Closed-Loop Control System

Closed-Loop versus Open-Loop

Control Systems?
7

Example Control System

Autopilot Control System

Design and Compensation of

Control Systems
Performance Specifications
- Requirement on control system
- Can be in the form of transient response, steady-state
requirements or in frequency response
- Specifications must be given before the design process begins
System Compensation
- Adjusting system for satisfactory performance
- A device inserted into the system for the purpose of satisfying
the specifications is called a compensator
- The compensator compensates for deficient performance of
the original system
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Design and Compensation of

Control Systems
Design Procedures
- Set up a mathematical model of the control system and adjust
the parameters of a compensator
- The most time-consuming part of the work is the checking of
the system performance by analysis with each adjustment of
the parameters
- After that, designer must construct a prototype and test the
open-loop system
- If absolute stability of the closed loop is assured, the designer
closes the loop and tests the performance of the closed loop
- Redesign until the system meets the specifications

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Transfer Function
Used to characterize the input-output relationships of
components or systems that can be described by linear, timeinvariant, differential equations
Definition: Ratio of the Laplace transform of the output
(response function) to the Laplace transform of the input
(driving function) under the assumption that all initial
conditions are zero

Inverse Laplace transform of G(s) gives the impulse response of

the system
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Transfer Function

Closed-loop transfer function

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Automatic Controllers

An automatic controller compares the actual value of the plant

output with the reference input (desired value), determines the
deviation, and produces a control signal that will reduce the
deviation to zero or to a small value.
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Disturbance Rejection

Assume reference input is zero,

Assume disturbance is zero,

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Time Response
The time response of a control system consists of two
parts:
1. Transient response

2. Steady-state response

- from initial state to the final

- the manner in which the

state purpose of control

system output behaves as t

systems is to provide a desired

approaches infinity the error

response.

after the transient response has

decayed, leaving only the

continuous response.
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First-Order Systems

Unit-Step Response Example

The smaller time constant T,

the faster the system response
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First-Order Systems
Unit-Ramp Response Example

Unit-Impulse Response Example

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Second-Order Systems
Second-order systems exhibit a wide range of responses which
must be analyzed and described. Whereas for a first-order system,
varying a single parameter changes the speed of response,
changes in the parameters of a second order system can change
the form of the response.
For example: a second-order system can display characteristics
much like a first-order system or, depending on component
values, display damped or pure oscillations for its transient
response.
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Second-Order Systems
Example: Servo System

Closed-loop transfer function:

Standard form of the second-order system

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Second-Order Systems
Standard form of the second-order system

n - referred to as the un-damped natural frequency of the second order

system, which is the frequency of oscillation of the system without
damping.
- referred to as the damping ratio of the second order system, which is
a measure of the degree of resistance to change in the system output.

Poles;

Poles are complex if < 1!

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Second-Order Systems
- According the value of , a second-order system can be set into
one of the four categories:
1. Overdamped - when the system has two real distinct poles
( >1).
2. Underdamped - when the system has two complex conjugate
poles (0 < <1)
3. Undamped - when the system has two imaginary poles ( = 0).
4. Critically damped - when the system has two real but equal
poles ( = 1).
Find the poles and the corresponding category for damping?

()
(a)
()

9
2 +9+9

()
(b)
()

9
2 +3+9
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Unit-step response curves with various

values of

The fastest
response?

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MATLAB

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Time-Domain Specifications
(A) For transient response, we have 5 specifications:
1. Delay time, td : Time required for the response to reach half the final value
for the first time
2. Rise time, tr : Time required for response to rise from 10% to 90% of final value (overdamped)
: Time required for response to rise from 0% to 100% of final value (underdamped)

3. Peak time, tp : Time required for the response to reach the first peak of the overshoot
4. Max. % overshoot , Mp : Maximum peak value of the response curve measured from
the steady state value. Indirectly related to stability of system
5. Settling time, ts : Time required for the response curve to reach and stay within a range
about the final value of size specified by absolute percentage of
the final value (usually 2% or 5%)

(B) Steady State Response

(a) Steady state error
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Time-Domain Specifications

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Time-Domain Specifications
For unit-step response (for underdamped system):

(a) tr rise time =

12

(b) tp peak time =

n 1 2

(c) MP max overshoot

=n is the attenuation
d =n 12 is the
damped natural frequency

If final value not unity,

For %, multiply with 100%

(d) ts settling time (2% error) =

For rapid response, n must be large

All equations above valid only for the standard second-order system (without zero)

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Exercise

Consider the system shown above, where =0.6 and n=5

rad/sec. Find the rise time tr , peak time tp, maximum overshoot
Mp, and settling time ts when the system is subjected to a unitstep input.

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MATLAB
MATLAB can conveniently be used to obtain the rise
time, peak time, maximum overshoot, and settling
time. Consider the system defined by

num = [25];
den = [1 6 25];
step_time=0.005;
t = 0:step_time:5;
y = step(num,den,t);
r = 1;
while y(r) < 1.0001;
r = r + 1;
end;
rise_time = (r - 1)*step_time
[ymax,tp] = max(y);
peak_time = (tp - 1)*step_time
max_overshoot = ymax-1
s = length(t);
while y(s) > 0.98 & y(s) < 1.02;
s = s - 1;
end;
settling_time = (s - 1)*step_time

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Mp versus curve

To limit the maximum overshoot Mp, the damping ratio should not be too small
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Unit-impulse response curves

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Higher-Order System

After factorization,

The poles of C(s) consist of real poles and pairs of complex-conjugate poles. R(s) is unit-step.

Composed of first and second-order terms!

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Higher-Order System
Inverse Laplace transform of C(s):

The response curve of a stable higher-order system is the sum of a number of exponential
curves and damped sinusoidal curves
Type of transient response is determined by the closed-loop poles, while the shape of
the transient response is primarily determined by the closed loop zeros.

The zeros of C(s)/R(s) do not affect the exponents in the exponential terms, but they
affect the magnitudes and signs of the residues.
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Stability in S Plane
The stability of a linear closed-loop system can be determined from the location of the
closed-loop poles in the s plane.
If poles lie in the right-half s plane, then the transient response increases monotonically or
oscillates with increasing amplitude. Unstable system
If all closed-loop poles lie to the left-half s plane, any transient response eventually reaches
equilibrium Stable system
How about closed-loop poles on the j axis?
To guarantee fast, yet well-damped, transient response
characteristics, it is necessary that the closed-loop poles
of the system lie in a particular region in the complex
plane.

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Rouths Stability Criterion

It is a method for determining continuous system stability.

The Routh (or Routh-Hurwitz) criterion states that the number of

roots of the characteristic equation with positive real parts is equal to
the number of changes in sign of the first column of the Routh array
Using this method, we can tell how many closed-loop system poles are in the
left-half plane, in the right-half plane, and on the j-axis.
The method requires two steps:
1. Generate a data table called a Routh table.
2. Interpret the Routh table to tell how many closed-loop system poles are in
the LHP, the RHP, and on the j -axis.
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Rouths Stability Criterion

The characteristic equation of the nth order continuous system can be write as:

The stability criterion is applied using a Routh table which is defined as;

Where

are coefficients of the characteristic equation.

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Generating a Basic Routh Table

1. First label the rows with powers of s from highest power of s down to lowest power of s in
a vertical column.
2. Next form the first row of the Routh table, using the coefficients of the denominator of
the closed-loop transfer function (characteristic equation).
3. Start with the coefficient of the highest power and skip every other power of s.
4. Now form the second row with the coefficients of the denominator skipped in the
previous step.
5. The table is continued horizontally and vertically until zeros are obtained.

6. For convenience, any row can be multiplied or divide by a positive constant before the
next row is computed without changing the values of the rows below and disturbing the
properties of the Routh table.
The number of roots of the polynomial that are lies in the right-half plane is equal to the
number of sign changes in the first column

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Example: Generating a Basic Routh Table.

Only the first 2 rows of the array are obtained from the characteristic eq. the
remaining are calculated as follows;

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Three Cases or Configurations in the First

Column Array of the Rouths Table:
1. Case-I: No element in the first column is zero.
2. Case-II: A zero in the first column but some other elements of the row
containing the zero in the first column are nonzero.
3. Case-III: A zero in the first column and the other elements of the row
containing the zero are also zero.

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Case-I: No element in the first column is zero.

The characteristic polynomial of a third order system is given below

The Routh array is

Where

The requirement for a stable third order system is that the coefficients be positive
and

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Example: Find the stability of the continues system having the characteristic
polynomial of a third order system is given below

The Routh array is

Because TWO changes in sign appear in the first column, we find that two roots
of the characteristic equation lie in the right hand side of the s-plane. Hence the
system is unstable.
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Exercise
Find the stability of the system shown below using Rouths
criterion.

41

Case-II: A zero in the first column but some other

elements of the row containing the zero in the first
column are nonzero.
If only one element in the array is z ero, it may be replaced w ith a small positiv e
number that is allow ed to approach zero after completing the array.
q( s )

2s

2s

4s

The Routh array is then:

11s 10

s 5 1 2 11
s 4 2 4 10
s 3 b1 6 0
s 2 c1 10 0
s1 d1 0 0
s 0 10 0 0

w here:
b1

2 2 1 4

c1

4 2 6

12

d1

6 c1 10

6
c1

There are tw o sign changes in the first column due to the large negative number
calculated f or c1. Thus, the system is unstable because tw o roots lie in the
right half of the plane.
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2

Case-III: A zero in the first column and the other

elements of the row containing the zero are also
zero.
If all the coefficients in any derived row are zero, it indicates that there are roots of
equal magnitude lying radially opposite in the s plane
In such a case, the evaluation of the rest of the array can be continued by forming an
auxiliary polynomial with the coefficients of the last row and by using the coefficients of
the derivative of this polynomial in the next row.

One root with a

+ve real part
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Steady-State Errors In Unity Feedback

Control Systems
Errors can be attributed to many factors, for example:
1) Changes in reference input
2) Imperfection in system component (static friction, deterioration and etc.)
In this part, the discussion is more on the type of steady-state error that is caused by the
incapability of a system to follow particular types of inputs

It involves the term sN in the denominator, representing a pole of multiplicity N at the

origin.
A system is called type 0, type 1, type 2,p , if N=0, N=1, N=2, p , respectively. This
classification is different from that of the order of a system.
As the type number is increased, accuracy is improved; however, increasing the type
number aggravates the stability problem.

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Steady-State Errors In Unity Feedback

Control Systems

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Static Position Error Constant

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Static Velocity Error Constant

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Static Velocity Error Constant

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Exercise
Find the steady-state error for the unit parabolic input
1 2
with = .
2

Hint:

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Steady-State Error in Terms of Gain K

Error=0 for Type 3 or higher

systems
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Frequency Response
Steady-state response of a system to a sinusoidal input
Vary the frequency of the input signal over a certain range and
study the resulting response
One advantage:
can use the data obtained from
measurements on the physical system without deriving its
mathematical model
Replacing s=j in transfer function, G(s):

The function G(j) is called the sinusoidal transfer function

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Frequency Response

There are three commonly used representations of sinusoidal transfer functions:

1. Bode diagram or logarithmic plot
2. Nyquist plot or polar plot
3. Log-magnitude-versus-phase plot (Nichols plots)
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Example Bode Plot for G(j)=1/(1+jT).

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Example Polar Plot

Example Nichols Chart

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Additional Exercises
(1) Consider the system shown below. Determine the value of k such that the damping
ratio is 0.5. Then obtain the rise time tr , peak time tp, maximum overshoot
Mp, and settling time ts in the unit-step response.

(2) Determine the range of parameter K for which the system with below closedloop transfer function is unstable.

()

= 4
() + 3 + 2 + +
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Additional Exercises
(3)

(4)

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Reflection
What we have learnt today:
1. Introduction
a) Transfer Function
b) Closed-Loop Control

2. Transient and Steady-State Response

a)
b)
c)
d)
e)

First-Order Systems
Second-Order Systems
Higher Order Systems
Stability Criterion
Steady-State Errors

3. Frequency Response
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