Ee 432 - Control Systems: Week # 4 - Continuous Time System Response / Specifications

EE 432 - CONTROL SYSTEMS
Week # 4 Continuous Time System Response / Specifications

Response of First Order Systems
Response of Second Order Systems
Stability
Performance Specifications
Design of Feedback Control Systems 4th (Edition)

R.T. Stefani, C.J. Savant, B. Shahian, G.H. Hostetter
SLIDES COURTESY OF DR. KUNWAR FARAZ AHMED
Lecture Sequence
Response of a First Order

System Continuous Time Response
- Step Input Response
- Example
Example
Consider a system with transfer function
Y (s) s 2

R( s) s 5
Applying a unit step function R(s) = 1/s and substituting this
input into the transfer function and applying the partial
fraction, gives
s2 1
Y (s) .
s5 s The steady state response
2 1 3 1
. . can be obtained by putting t
5 s 5 s5 to infinity, which will give
Applying the inverse y() = 2/5
Laplace transform,
-5 -2
gives the output response
2 3 5 t
c(t ) e
5 5
2
Lecture Sequence

- Example
Example
Output response consists of the sum of forced response
(from the input) and natural response (from the nature
of the system)
Any input to a system will have a forced response at the
output
The poles in transfer function of a system will give the
natural response at the output
Input Pole System zero System Pole
-2

-5
25 35
Output transform: Y ( s )
s s5
2 3 5t
Output time response : y (t ) e
5 5 3
Lecture Sequence

- Example
- Important Terms
+ Time Constant
Important Terms Time Constant
1 t
Time constant, Tc is the time for e to
a
rise to 63% of its final value, or the time when
Step Response
1 Slope=1/T = a
t
From: U(1)
1
a 0.9
0.8
0.7
Amplitude
0.6
To: Y(1)
0.5
0.4
63.2% 86.5% 95% 98.2% 99.3%
0.3
0.2
0.1
at
y (t ) 1 e 0
0 1/a 2/a 3/a 4/a 5/a 6/a
Time (sec.)
Tc
4
Lecture Sequence

- Example
- Important Terms
+ Time Constant
Important Terms Rise Time
+ Rise Time
Rise Time, Tr is time taken for the output
waveform to go from 10% to 90% of its final
Step Response
output value 1
Slope=1/T = a From: U(1)
0.9
2.2
Tr 2.2Tc 0.8
a 0.7
Amplitude
0.6
To: Y(1)
0.5
0.4
63.2% 86.5% 95% 98.2% 99.3%
0.3
0.2
0.1
Tr
y (t ) 1 e at 0
0 1/a 2/a 3/a 4/a 5/a 6/a
Time (sec.)
Tc
5
Lecture Sequence

- Example
- Important Terms
+ Time Constant
+ Rise Time
+ Settling Time Settling time, Ts is time taken for the output
waveform to reach, and stay within 2% of its final
Step Response
output value 1
Slope=1/T = a From: U(1)
0.9
4
Ts 4Tc 0.8
a 0.7
Amplitude
0.6
To: Y(1)
0.5
0.4
63.2% 86.5% 95% 98.2% 99.3%
0.3
0.2
Tr
0.1 Ts
at
y (t ) 1 e 0
0 1/a 2/a 3/a 4/a 5/a 6/a
Time (sec.)
Tc
6
Continuous Time Response
Significance of Response Time
In some cases, it is hard to obtain a From output waveform we could
systems transfer function determine the time constant when
analytically. output rises to 63% of its final value,
We could obtain the transfer function which in this case is 0.63 x 0.72 =0.45.
through experiment or testing. This is about 0.13s hence a =1/0.13 =
For example, a simple general first 7.7
order system would have a transfer
function of
Y (s) K

R( s) s a
After applying a unit step function,
the output response waveform is
obtained
Lecture Sequence

Response of a Second
Order System
- Characteristics Characteristics of Second Order Response
A system with two poles.
When tested with a unit step input, the second
order system will give several type of output
response, which we can analyze.
This will depend on the location on the systems
poles.
8
Lecture Sequence

Order System
- Characteristics
- Over-damped
Over-damped
9
Lecture Sequence

Order System
- Characteristics
- Over-damped
Under-damped
- Under-damped
10
Lecture Sequence

Order System
- Characteristics
- Over-damped
Un-damped
- Under-damped
- Un-damped
11
Lecture Sequence

Order System
- Characteristics
- Over-damped
Critically-damped
- Under-damped
- Un-damped
- Critically-damped
12
Lecture Sequence

Order System
- Characteristics
- Over-damped
General Form
- Under-damped The second order response can be obtained from the general
- Un-damped
- Critically-damped closed loop transfer function referred to as the un-
- General Form
damped natural
K n
2
Y (s) frequency of a
2 second order system
R( s ) s 2 n s n 2 - frequency of
oscillations in the
system without
damping
referred to as the damping ratio of a second
order system, which is a measure of the
degree of resistance to change in the system
output
Equation for pole
s1, 2 n n 1 2
poles are complex if < 1

13
Lecture Sequence

Order System
- Characteristics General Form Case 1
K n
- Over-damped 2
- Under-damped Y (s)
- Un-damped Case 1 for z = 0 (K=1) 2
- Critically-damped
- General Form Roots s1, 2 j n R ( s ) s 2 n s n
2
+ Case 1
Applying unit step function
s1, 2 n n 2 1
at the input gives the
output as
n 2 1
Y (s) 2 .
s n s
2
y (t ) 1 A cos(nt )
the output response is

oscillating and in an un-
damped condition
14
Lecture Sequence

Order System
General Form Case 2 K n
2
- Characteristics Y (s)
- Over-damped 2
- Under-damped
- Un-damped
Case 2 for 0 < z < 1 (K=1) R( s) s 2 n s n 2
- Critically-damped s 2 1
1, 2 n n
s1, 2 n n 2 1
- General Form
+ Case 1
+ Case 2 s1, 2 n jn 1 2
Applying unit step function at
the input gives the output as
n 2 1
Y (s) 2 .
s 2 n s n s
2
y (t ) 1 Ae d t cos(d t )
d n , d n 1 2
the output response is oscillating
and in an under-damped
condition
15
Lecture Sequence

K n
Order System 2
- Characteristics General Form Case 3 Y (s)
- Over-damped 2
- Under-damped Case 3 for z = 1 (K=1) R( s) s 2 n s n 2
s1, 2 n
- Un-damped
- Critically-damped
- General Form
+ Case 1 s1, 2 n n 2 1
+ Case 2
+ Case 3
Applying unit step function at the
input gives the output as
n 2 1
Y (s) 2 .
s 2n s n s
2
n 2 1
.
( s n ) 2 s No oscillation (decays out
quickly without any
y (t ) 1 ( K1e nt K 2te nt ) overshoot or oscillation).
the output response is non-
oscillating and in an critically-
damped condition
16
Lecture Sequence

Order System
General Form Case 4 K n
2
- Characteristics
Y (s)
- Over-damped
2
- Under-damped
- Un-damped
Case 4 for z > 1 (K=1) R( s) s 2 n s n 2
- Critically-damped s 2 1
s1, 2 n n 2 1
- General Form 1, 2 n n
+ Case 1
+ Case 2
+ Case 3
+ Case 4 Applying unit step function at the
input gives the output as
n 2 1
Y (s) 2 .
s 2 n s n s
2
n 2 1
.
( s n n 2 1)( s n n 2 1) s
y (t ) 1 ( K1e s1t K 2 e s2t )
the output response is non-

oscillating and in an over- damped
condition
17
Lecture Sequence

Order System
- Characteristics
- Over-damped
General Forms
- Under-damped
- Un-damped
- Critically-damped
- General Forms
18
Lecture Sequence

Order System
- Characteristics
- Over-damped
General Forms
- Under-damped
- Un-damped
- Critically-damped
- General Forms
usually obtained
in most analysis
19
Lecture Sequence

Order System
- Characteristics
- Over-damped
Important Terms Delay Time
- Under-damped
- Un-damped
Delay time, Td : the time needed for the output response to
- Critically-damped
- General Forms
reach 50% of the final output value.
- Important Terms
+ Delay Time
Td
0.5cfinal
20
Lecture Sequence

Order System
- Characteristics
- Over-damped
- Under-damped
- Un-damped
Rise Time, Tr : the time taken for the output response to go
- Critically-damped
- General Forms
from 10% to 90% of its final output value.
- Important Terms
+ Delay Time
+ Rise Time
Td
0.5cfinal
21
Lecture Sequence

Order System
- Characteristics
- Over-damped
Important Terms Settling Time
- Under-damped
- Un-damped
Settling Time, Ts : the time taken for the output response to
- Critically-damped
- General Forms
reach, and stay within 2% of its final output value.
- Important Terms
+ Delay Time
+ Rise Time
+ Settling Time
4
Ts
n
Td
0.5cfinal
22
Lecture Sequence

Order System
- Characteristics
- Over-damped
Important Terms Peak Time
- Under-damped
- Un-damped
Peak Time, Tp: the time required for the output response to
- Critically-damped
- General Forms
reach the first, or maximum peak.
- Important Terms
+ Delay Time
+ Rise Time
+ Settling Time
+ Peak Time
4
Ts Tp
n n 1 2
Td
0.5cfinal
23
Lecture Sequence

Order System
- Characteristics
- Over-damped
Important Terms Peak Time
- Under-damped
- Un-damped
%age Overshoot, %OS: amount of output response that
- Critically-damped overshoots the final value at the peak time, expressed in
- General Forms
- Important Terms percentage of steady-state value
+ Delay Time
+ Rise Time
+ Settling Time
+ Peak Time
+ % age Overshoot
4
Ts Tp
n n 1 2
Td cmax c final
0.5cfinal %OS 100%
c final

1 2
%OS e 100%
24
Lecture Sequence

System Stability Analysis
Order System
Stability Analysis
+ Types of Stability
Types of Stability
Asymptotic Stability
A system is asymptotically stable when the zero input
response decays to zero as time approaches , for all possible
initial conditions
Bounded Input Bounded Output (BIBO) Stability:

A system is BIBO stable if, for every bounded input, the
output remains bounded with increasing time (all system
poles must lie in the left half of the s-plane or be cancelled
by zeros).
Marginal Stability:
A system is marginally stable if some of the poles lie on the
imaginary axis, while all others are in the LHS of the s-plane.
Some inputs may result in the output becoming unbounded
with time. 25
Initial/Final Value Theorems
Initial Value:
Final Value:
26
Lecture Sequence

Order System
Stability Analysis
Test of Stability
+ Test of Stability
To test the stability of a LTI system we need only
examine the poles of the system, i.e. the roots of the
characteristic equation.
Methods are available for testing for roots with
positive real parts, which do not require the actual
solution of the characteristic equation.
Also, methods are available for testing the stability
of a closed-loop system based only on the loop
transfer function characteristics.
27
Lecture Sequence

Order System
Stability Analysis
Routh-Hurwitz Criterion
+ Test of Stability
+ Routh-Hurwitz Criterion
A quick method for checking stability.
Assume the characteristic
n 1
polynomial is
Q( s ) an s an 1s ... a1s a0
n
where a0 0 .
A necessary (but not sufficient) condition for all
roots to have non-positive real parts is that all
coefficients have the same sign.
For the necessary and sufficient conditions, we first
have to form the Routh Array.
28
Lecture Sequence

Order System
Stability Analysis
Routh-Hurwitz Criterion - Array
+ Test of Stability
Q( s ) an s n an 1s n 1 ... a1s a0
sn an an-2 an-4 an-6
sn-1 an-1 an-3 an-5 an-7
sn-2 b1 b2 b3 b4
sn-3 c1 c2 c3 c4
: : : :
s2 k1 k2
s1 l1
s0 m1
where
an 1an 2 an an 3 an 1an 4 an an 5
b1 b2 etc
an 1 an 1
29
Lecture Sequence

Order System
Stability Analysis
Routh-Hurwitz Stability Criterion - Array
+ Test of Stability
sn an an-2 an-4 an-6
sn-1 an-1 an-3 an-5 an-7
sn-2 b1 b2 b3 b4
sn-3 c1 c2 c3 c4
: : : :
s2 k1 k2
s1 l1
s0 m1
In a similar manner, elements in the subsequent rows c1, c2 ,
are calculated based on the two previous rows.
b1an 3 an 1b2 b1an 5 an 1b3
c1 c2 etc
b1 b1
30
Lecture Sequence

Order System
Stability Analysis
Routh-Hurwitz Criterion
+ Test of Stability
Necessary and sufficient conditions:
If all elements in the first column of the Routh
array have the same sign, then all roots of the
characteristic equation have negative real parts.
If there are sign changes in these elements, then the
number of roots with non-negative real parts is
equal to the number of sign changes.
Elements in the first column which are zero define a
special case.
31
Lecture Sequence

System
Stability Analysis
Order System
Stability Analysis Routh-Hurwitz Criterion Example 1
+ Test of Stability
Q( s ) 2s 4 s 3 3s 2 5s 10
- Example 1
s4 2 3 10 0
s3 1 5 0 0
s2 b1 b2 0
s1 c1 0
s0 d1
3 10 10 0
b1 7, b2 10
1 1
35 10 The characteristic equation has two
c1 6.43 roots with positive real parts since
7
the elements of the first column have
10(6.43) 0
d1 10 two sign changes. (2,1,-7,6.43,10)
6.43
32
Lecture Sequence

System
Stability Analysis
Order System
Stability Analysis Routh-Hurwitz Criterion Special Case 1
+ Test of Stability A zero in the first column:
- Example 1
- Special Case 1
Remedy: substitute for the zero element, finish the Routh
array, and then let 0 .
Q( s ) s 3 3s 2
s3 1 -3 0
s2 0 ( ) 2 0
s1 b1 0
s0 c1
3 2 2
b1 (negative)

b1 2 There are two roots with positive real parts
c1 2
b1 (1, , -2/ , 2)
33
Lecture Sequence

System
Stability Analysis
Order System
+ Test of Stability
An all zero row in the Routh array which
- Example 1
- Special Case 1
corresponds to pairs of roots with opposite signs.
- Special Case 2
Remedy:
form an auxiliary polynomial from the
coefficients in the row above.
Replace the zero coefficients from the
coefficients of the differentiated auxiliary
polynomial.
If there is not a sign change, the roots of the
auxiliary equation define the roots of the system
on the imaginary axis.
34
Lecture Sequence

System
Stability Analysis
Order System
Q( s) s 4 s 3 s 1
+ Test of Stability
- Example 1
- Special Case 1
s4 1 0 -1 0
- Special Case 2
s3 1 -1 0 0
d 2
s2 1 -1 0 ( s 1) 2 s
s1 02 0 ds
s0 d1 d1 1
Obtain the auxiliary polynomial from the row above the all
zero row s2 - 1
Differentiate the auxiliary polynomial and replace the all zero
row with the values obtained from the differentiation
Complete the array
System has one root with a positive real part ( 1, 1, 1, 2, -1).
The root is found from the auxiliary eq. s2 1 = 0 , s = 1
35
Lecture Sequence

System
Stability Analysis
Order System
Stability Analysis Routh-Hurwitz Criterion Parameter Range
+ Test of Stability
The Routh-Hurwitz stability criterion may be
- Example 1
- Special Case 1 used to find the range of a parameter for which
- Special Case 2
- Parameter Range the closed-loop systems is stable.
Leave the parameter as an unknown coefficient in

the characteristic polynomial, form the Routh
array, check the range of the parameter such that
the first column does not change sign.
36
Lecture Sequence

System
Stability Analysis
Order System
Stability Analysis Routh-Hurwitz Criterion Parameter Range
Q( s ) s 4 6s 3 11s 2 6s K
+ Test of Stability
- Example 1
- Special Case 1 s4 1 11 K 0
- Special Case 2
- Parameter Range s3 6 6 0 0
s2 10 K 0
s1 c1 0
s0 d1
60 6 K
c1 , d1 K
10
Then for stability
c1 should be +ve i.e., 60 6K > 0 K < 10
d1 should be +ve i.e., K > 0
Therefore , 0 < K < 10
37
Lecture Sequence

System Performance Specifications
Order System
Stability Analysis
Tracking Systems
- Tracking Systems
Two aspects of performance are often considered
when a control system is designed
Transient Performance
Steady state performance
Previously (Ch 1 and 2) we have concentrated on
defining the differential equations, transfer function,
and stability in terms of the natural response
Now we will analyze the tendency of the system to
follow a desired command. Emphasis will shift to
the steady state performance of a closed loop
system
38
Lecture Sequence

Order System
Stability Analysis
Tracking Systems - Analysis
- Tracking Systems A tracking system creates an output that tracks (follows) an
input with some tolerance
The elevation control system for a shipboard satellite dish
antenna may have a transfer function as
50
T (s) 2
s 4 s 50 Good tracking system
Unit step response of this function is has a rapidly decreasing
1 50 natural response
Y ( s ) T ( s )
s s ( s 4 s 50)
2
(depends on the initial
1 s4 conditions). Forced
2 response component
s s 4 s 50 should then be able to
forced natural
accurately track
This is a function of time after t = 0 reference inputs
y (t ) 1 1.04e 2t cos(6.78t 163.60 )
39
Lecture Sequence

Order System
Stability Analysis
Tracking Systems - Analysis
- Tracking Systems
Analysis and design of tracking systems can be separated
into following major parts
Locate characteristics roots (poles) of the transfer
function. This determines the natural response which
should decay quickly and have well damped
oscillatory terms
Tracking the reference input by the forced response
of the system
What happens to performance if model is inaccurate?
Tracking system response due to unwanted,
inaccessible disturbance inputs
40
Lecture Sequence

Order System
Stability Analysis
Relative Stability
- Tracking Systems Relative stability is the
- Relative Stability
distance into the left
of the complex plane

from imaginary axis to
the nearest pole
-2
-4
Pair of complex
conjugate roots s1,
s2 = -a jw gives rise
to a damped oscillatory Relative Stability
term in the natural = 2 units
response
yi (t ) Ae at cos(t )
where A and depend on b
initial conditions
The damping ratio of -4 -2 -a
this term is = cos -b
where is the
damping angle
41
Lecture Sequence

Order System
Stability Analysis
Steady State Error Initial/Final Value
- Tracking Systems
The initial value of The final value of a
- Steady State Error
+ Initial/Final Value a function of time function of time y(t) is
y(t) is related to the related to the functions
functions laplace laplace transform by
transform by
y (0) lim [ sY ( s)] lim y(t ) lim[sY (s)]

t s 0
s
for example
for example
4s 3 s 2 7 s 3
4s 3s s s 1
4 3 2
Y (s)
Y (s) s 3 9s 2 2s
3s 5 2s 4 s 3 s 10
3
y (0) lim [ sY ( s)]
4 lim y(t ) lim[sY (s)]
t s 0 2
s 3
42
Lecture Sequence

Order System
Stability Analysis
Steady State Error - Definition
- Tracking Systems
The steady-state error is defined as the
+ Initial/Final Value
+ Definition
difference between the input and the output for a
prescribed test input as t infinity
E ( s ) input output
R( s) Y ( s)
Steady-state error analysis only applicable to

stable systems, as the unstable systems represent
the loss of control in steady state
43
Lecture Sequence

Order System
Stability Analysis
Steady State Error Test Inputs
- Tracking Systems Some common test inputs used for steady- state error analysis
- Steady State Error and design are:
+ Definition
+ Test Inputs
44
Lecture Sequence

Order System
Stability Analysis
Steady State Error Graphical Representation
- Tracking Systems
+ Initial/Final Value zero steady-state error
+ Definition
+ Test Inputs
+ Graphical
Representation
finite steady-
state error
infinite value of steady-state error
45
Lecture Sequence

Order System
Stability Analysis
Steady State Error Mathematical Expression
- Tracking Systems
- Relative Stability The steady-state error is the difference between the
+ Initial/Final Value input and output, assume a closed loop transfer
+ Definition
+ Test Inputs function, T(s). The general representation of steady-
+ Graphical
Representation
+ Mathematical
state error for a unity feedback system is
Expression
R(s) E(s) Y(s)
+ G(s)
-
Y (s) G (s)
T (s)
R( s) 1 G ( s)
E ( s ) input output
R( s) Y ( s)
46
Lecture Sequence

Order System
Stability Analysis
- Tracking Systems The steady-state error for a
- Relative Stability R(s) E(s) Y(s)
- Steady State Error unity feedback system: +
- G(s)
+ Definition Y (s) G (s)
+ Test Inputs
T (s)
+ Graphical
Representation R( s) 1 G ( s)
+ Mathematical
G (s)
Expression
E ( s ) input output E ( s) R( s) R( s)
1 G (s)
R( s) Y ( s) G (s)
R( s ) 1
1 G ( s )
1 G ( s ) G ( s )
R( s)
1 G ( s )
1
R( s)
1 G (s)
47
Lecture Sequence

Order System
Stability Analysis
- Tracking Systems The steady-state error for a
- Relative Stability R(s) E(s) Y(s)
- Steady State Error unity feedback system: +
- G(s)
+ Definition
+ Test Inputs
ess lim e(t ) lim sE ( s )
+ Graphical
t s 0
Representation
sR ( s )
+ Mathematical
ess lim G (s)
Expression
s 0 1 G ( s ) E ( s) R( s) R( s)
1 G(s)
Need to analyze the steady state G(s)
R ( s ) 1
error for different R(s) and G(s)
1 G ( s )
1 G ( s ) G ( s )
R( s)
1 G ( s )
1
R( s)
1 G (s)
48
Lecture Sequence

Order System
Stability Analysis
Steady State Error System Types
- Tracking Systems
In order to simplify the analysis of steady-state error,
- Steady State Error systems can be classified by system type
+ Definition R(s) Y(s)
+ Test Inputs
E(s)
+ Graphical + G(s)
Representation -
+ Mathematical
Expression
+ System Types
If N = 0, the system is of Type 0
And so on
K ( s z1 )( s z 2 )...( s z m )
G (s) , mn
s ( s p1 )( s p2 )...( s pn )
N
The system type can be determined by identifying the value

for N at the denominator of the transfer function.
49
Lecture Sequence

Order System
Stability Analysis
Steady State Error System Types
- Tracking Systems
Examples of System Types
+ Initial/Final Value Type 0
+ Definition
+ Test Inputs R(s) E(s) 500( s 2)( s 5) Y(s)
+ Graphical + ( s 8)( s 10)( s 12)
Representation -
+ Mathematical
Expression
+ System Types
Type 1
R(s) E(s) 500( s 2)( s 5)( s 6) Y(s)
+ s ( s 8)( s 10)( s 12)
-
Type 2
R(s) E(s) 500( s 2)( s 4)( s 5)( s 6)( s 7) Y(s)
+ s 2 ( s 8)( s 10)( s 12)
-
50

Ee 432 - Control Systems: Week # 4 - Continuous Time System Response / Specifications

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EE 432 - CONTROL SYSTEMS

Week # 4 Continuous Time System Response / Specifications

Design of Feedback Control Systems 4th (Edition)

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

poles are complex if < 1

Response of a First Order

the output response is

Response of a First Order

Response of a First Order

Response of a First Order

the output response is non-

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Bounded Input Bounded Output (BIBO) Stability:

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Leave the parameter as an unknown coefficient in

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

y (0) lim [ sY ( s)] lim y(t ) lim[sY (s)]

Response of a First Order

Steady-state error analysis only applicable to

Response of a First Order

Response of a First Order

infinite value of steady-state error

Response of a First Order

Response of a First Order

Response of a First Order

Response of a First Order

The system type can be determined by identifying the value

Response of a First Order

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