Control Theory 1:

Performance of underdamped second order control

systems

R(s)
ωn2
+ − s(s + 2ζωn )

Figure 1: Generic servo system.

The closed loop transfer function

ωn2
s2 + 2ζωn s + ωn2

The poles: p
s1,2 = −ζωn ± jωn 1 − ζ 2, 0<ζ<1

1
 Pole−Zero Map

0.68 0.54 0.42 0.3 0.2 0.09

1
1

0.8
0.8
0.82

0.6
0.6

0.4
0.4 Step Response
0.95

2
0.2
0.2
Imaginary Axis

1.8

0
1.6

1.4
−0.2
0.2

1.2

Amplitude
0.95
−0.4
0.4
1

−0.6
0.6 0.8

0.82 0.6
−0.8
0.8

0.4
−1
1
0.68 0.54 0.42 0.3 0.2 0.09 0.2
−1 −0.8 −0.6 −0.4 −0.2 0
Real Axis 0
0 10 20 30 40 50 60 70
Time (sec)

ζ = 0.3, ζ = 0.05, Effect due to reduction of

ωn = 1 rad/sec ωn = 1 rad/sec damping ratio ζ

√−πζ
PO=100e 1−ζ 2

First peak time

tpeak = ωπd = √π
ωn 1−ζ 2

Rise time

3
Settling time to 5%≈ ωn ζ

Period of damped oscillations

Td = ω2πd = √2π 2
ωn 1−ζ

Transientp(damped) frequency
ωd = ωn 1 − ζ 2

2
 Pole−Zero Map
2.5
2.5
0.66 0.52 0.4 0.28 0.18 0.09

2
2

0.82
1.5
1.5

1
1
0.94
Step Response
0.5
0.5 1.4
Imaginary Axis

0 1.2

1
−0.5
0.5

Amplitude
0.94 0.8
−1
1

0.6
−1.5
1.5
0.82
0.4
−2
2

0.2
0.66 0.52 0.4 0.28 0.18 0.09
−2.5
−2.5 −2 −1.5 −1 −0.5 2.50
Real Axis
0
0 2 4 6 8 10
Time (sec)

ζ = 0.3, ζ = 0.3, Effect due to increase of

ωn = 1 rad/sec ωn = 2 rad/sec undamped frequency ωn

√−πζ
PO=100e 1−ζ 2

First peak time

tpeak = ωπd = √π
ωn 1−ζ 2

Rise time

3
Settling time to 5%≈ ωn ζ

Period of damped oscillations

Td = ω2πd = √2π 2
ωn 1−ζ

Transientp(damped) frequency
ωd = ωn 1 − ζ 2

3
 Tutorial problems

Problem 1
The unit step response of a linear control system is shown in Fig. 2. The system is shown in
Figure 3. Find the parameters of the plant.
1.25

0
0.01 Time (sec)

Figure 2:

R(s)
K
+ − s(s + a)

Figure 3:

Problem 2 A second-order control system has the closed loop transfer function G(s). The
system specifications for a step input follow:

1. Percent overshoot ≤ 5%;

2. Settling time to within 2% of the final value < 4 seconds;

3. Peak time Tp < 1 second.

Show permissible area for the poles of G(s) in order to achieve the desired performance.

Problem 3

4
(a) For the control system shown in Figure 4, find the values of K and Kt so that the maximum
overshoot of the output is approximately 4.3 percent and the rise time tr is approximately
0.2 sec. Use the following equation for the rise-time relationship:

1 − 0.4167ζ + 2.917ζ 2
tr ≈ , 0 < ζ < 1.
ωn

(b) For the control system shown in Figure 4, find the values of K and Kt so that the damping
ratio of the system is approximately 0.6 and the setting time to within 5% of the final value
of the unit step response is approximately 0.1 sec.

(c) Repeat the problem with a maximum overshoot of 10% and a settling time of 0.05 sec.

R(s) Y (s)
100 1
K
+ − + − 1 + 0.2s 20s

Kt

Figure 4:

Problem 4 The open-loop transfer function of a unity negative feedback system is

K
G(s) =
s(s + 2)

A system response to a step input is specified as follows:

Peak time=1.1 sec,

Percent overshoot=5%.

(a) Determine whether both specifications can be met simultaneously.

(b) If the specifications cannot be made simultaneously, determine a compromise value for K
so that the peak time and percent overshoot specifications are relaxed the same percentage.