LINEAR CONTROL

SYSTEMS
Ali Karimpour
Associate Professor
Ferdowsi University of Mashhad
 Lecture 13

Lecture 13

Time domain analysis of control systems

Topics to be covered include:
 Effect of adding poles and zeros to:
 Inside the feedback loop.
 Outside the feedback loop.
 Importance of zeros in transfer functions.
 Dominant poles of transfer function.
 Approximation of high-order systems by low-order
systems. 2
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding poles inside and outside the feedback loop

‫اضافه کردن قطب داخل و خارج حلقه فیدبک‬
r + e c1
G (s)
-

Adding pole inside the Adding pole outside the

feedback loop feedback loop

r e 1 c2 r e 1 c2
G (s ) G (s )
- 1  s - 1  s

Stability of system ?
3
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding zeros inside and outside the feedback loop

‫اضافه کردن صفر داخل و خارج حلقه فیدبک‬
r + e c1
G (s)
-

Adding zero inside Adding zero outside the

feedback loop feedback loop

r e c2 r e c2
-
G (s ) 1  s -
G (s ) 1  s

4
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding‫حلقه‬
poles ‫انتقال‬
inside the
‫تابع‬feedback loop ‫اضافه کردن‬
‫قطب داخل‬
‫فیدبک‬
r + e c1 r e 1 c2
G (s ) G (s)
- - 1  s

n2
Let G (s) 
s( s  2 n )

Before adding pole

n2 C1 ( s ) n2
Loop Tf  M 1 (s)   2
s( s  2 n ) R( s ) s  2 n s  n2
After adding pole
n2 1 C2 ( s ) n2
Loop Tf  M 2 ( s)   3
s ( s  2 n ) 1  s R( s ) s  (1  2 n ) s 2  2 n s  n2
5
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding‫حلقه‬
poles ‫انتقال‬
inside the
‫تابع‬feedback loop ‫اضافه کردن‬
‫قطب داخل‬
‫فیدبک‬
r + e c1 r e 1 c2
G (s ) G (s)
- - 1  s

C1 ( s) n2 C2 ( s ) n2
M 1 (s)   2 M 2 (s)   3
R ( s ) s  2 n s  n2 R( s ) s  (1  2 n ) s 2  2 n s  n2

n  1  1   0 ,1, 2 , 5  1   2   5
1

Note: For τ<0 system is unstable. Why?

6
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding‫حلقه‬
poles ‫انتقال‬
inside the
‫تابع‬feedback loop ‫اضافه کردن‬
‫قطب داخل‬
‫فیدبک‬
r e 1 c2 C2 ( s ) n2
G (s ) M 2 ( s)   3
- 1  s R ( s ) s  (1  2 n ) s 2  2 n s  n2

n  1  1   0 ,1 , 2 , 5
Step Response
2

P.O.
1.8

1.6
τ=5.0
1.4
τ=2.0 tr
1.2
τ=1.0
Amplitude

0.8
τ=0 System speed
0.6

0.4
BW
0.2

0 7
0 2 4 6 8 10 12 14 16 18 20
Time (sec) Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding‫حلقه‬
poles ‫انتقال‬
outside ‫تابع‬
the feedback
‫قطب خارج‬loop ‫اضافه کردن‬
‫فیدبک‬
r + e c1 r 1 c2
G (s ) M (s )
- 1  s
r c1 After adding pole
M (s ) M (s)
Before adding pole c2 ( s )  r ( s)
(1  s )
c1 ( s )  M ( s )r ( s )
s m  am 1s m 1  ...  a1s  a0
 r ( s)
s m  am 1s m 1  ...  a1s  a0 ( s  p1 )( s  p2 ).........( s  pn )(1  s )
 r (s)
( s  p1 )(s  p2 ).........( s  pn ) Step response after adding pole
c0 c1 cn cn 1
Step response before adding pole c2 ( s )    ...  
s ( s  p1 ) ( s  pn ) 1  s
b0 b1 bn
c1 ( s )  
s ( s  p1 )
 ... 
( s  pn )

c2 (t )  u (t ) c0  c1e  p1t  c2 e  p2t ...
1
cn 1  t
 cn e  p n t  e 

c1 (t )  u (t ) b0  b1e  p1t  b2 e  p2t ...  bn e  pnt   8
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding‫حلقه‬
poles ‫انتقال‬
outside ‫تابع‬
the feedback
‫قطب خارج‬loop ‫اضافه کردن‬
‫فیدبک‬
r c2 1
1 M(s) 
M (s ) s2  s 1
1  s
n  1   0.5   0 , 0.5 ,1, 2 , 5
Step Response
1.4
P.O.
τ=0.5
tr
1.2

τ=0 τ=1.0
1

0.8
τ=2.0
Amplitude

0.6 τ=5.0 System speed

0.4

BW
0.2

0
0 5 10 15 20 25
Time (sec)
9
Note: For τ<0 system is unstable. Why? Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding zeros
‫حلقه‬outside
‫ انتقال‬the
‫تابع‬feedback loop ‫اضافه کردن‬
‫صفر خارج‬
‫فیدبک‬
r + e c1 c2
G (s ) r
- M (s ) 1  s

r c1
M (s )

Before adding
c1 ( s )  M ( s )r ( s )
After adding

c2 ( s )  M ( s )(1  s )r ( s ) c2 ( s )  M ( s )r ( s )  sM ( s )r ( s ) c2 ( s )  c1 ( s )  sc1 ( s )

c2 (t )  c1 (t )  c1 (t )

10
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding zeros
‫حلقه‬outside
‫ انتقال‬the
‫تابع‬feedback loop ‫اضافه کردن‬
‫صفر خارج‬
‫فیدبک‬
r + e c1 c2
G (s ) r
- M (s ) 1  s

c2 (t )  c1 (t )  c1 (t )
Step Response
1.4
1.4

1.2
c1 (t )
1.2

11

0.8
0.8
Amplitude

0.6
0.6

0.4
0.4

0.2
0.2
c1 (t )
00
0 5 10 15 20 25
(sec)
-0.2 11
0 5 10 15 20 25
Dr. Ali Karimpour Apr 2013
Time (sec)
 Lecture 13

Adding zeros
‫حلقه‬outside
‫ انتقال‬the
‫تابع‬feedback loop ‫اضافه کردن‬
‫صفر خارج‬
‫فیدبک‬
r + e c1 c2
G (s ) r
- M (s ) 1  s

c2 (t )  c1 (t )  c1 (t )
Step Response
1.4
c2 (t )
1.2
c1 (t )
1

0.8
Amplitude

0.6

0.4

c1 (t )
0.2

-0.2
0 5 10 15 20 25
(sec)
Time (sec) 12
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding zeros
‫حلقه‬outside
‫ انتقال‬the
‫تابع‬feedback loop ‫اضافه کردن‬
‫صفر خارج‬
0.5
M ( s) 
s 2  0.5s  0.5 ‫فیدبک‬
r c1 r c2
M (s ) M (s ) 1  s

c2 (t )  c1 (t )  c1 (t )
 1  z  1
Step Response
2.5

 4 P.O.
 2  z  0.5 2

 2 tr
 4  z  0.25 1.5
 1
Amplitude

System
1
speed
step(.5,[1 .5 .5]);hold on
 0 BW
step([0.5 0.5],[1 .5 .5]) 0.5

step([1 0.5],[1 .5 .5])

step([2 0.5],[1 .5 .5]) 0
0 5 10 15 20 25 13
Time (sec) Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding RHP zeros outside the feedback loop

0.5
‫اضافه کردن صفر سمت راست خارج تابع انتقال‬
M (s)  ‫حلقه فیدبک‬
2
s  0.5s  0.5
r c1 r c2
M (s ) M (s ) 1  s

c2 (t )  c1 (t )  c1 (t ) and   0

Step Response
1.4

1.2
c2 (t )
c1 (t )
1
P.O.
0.8

0.6
tr
Amplitude

0.4

0.2
c1 (t ) System speed
0

-0.2

 c (t )
-0.4
 c1 (1t )
-0.6
0 5 10 15 20 25
14
(sec)
Time (sec)
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding zeros inside the feedback loop

‫اضافه کردن صفر داخل حلقه فیدبک‬
r + e c1 r e c2
G (s ) G (s) 1  s
- -

6
Let G ( s) 
s ( s  1)( s  2)

Before adding zero

6 C1 ( s ) 6
G (s)  M 1 ( s)   3
s( s  1)( s  2) R ( s ) s  3s 2  2s  6
After adding zero
6(1   s ) C2 ( s ) 6(1   s )
G ( s)  M 2 ( s)   3
s( s  1)( s  2) R ( s ) s  3s 2  (2  6 ) s  6
15
Dr. Ali Karimpour Apr 2013
 Lecture 13

Adding zeros inside the feedback loop

‫اضافه کردن صفر داخل حلقه فیدبک‬
r e c2
G (s) 1  s C2 ( s ) 6(1   s )
- M 2 (s)   3
R( s ) s  3s 2  (2  6 ) s  6
  0 , 0.2 , 0.5 , 2 , 5 ,10
Step Response
2

1.8
τ=0
τ=0.2
P.O.
τ=10
tr
1.6

1.4 τ=5.0 τ=0.5

τ=2.0
1.2
Amplitude

0.8
System speed
0.6

0.4 BW
0.2

0
0 1 2 3 4 5 6 7 8 9 10
Note: For τ<0 system
is unstable. Why?16
Time (sec)

Dr. Ali Karimpour Apr 2013

 Lecture 13

Importance of zeros in transfer functions

‫اهمیت صفرها در تابع انتقال‬

We see that the performance of system is concerned

to :

Poles and zeros not just poles

17
Dr. Ali Karimpour Apr 2013
 Lecture 13

Real dominant poles

‫تابع‬of‫در‬
transfer
‫حقیقی‬function.
‫قطبهای غالب‬
‫انتقال‬
Region of insignificant Region of
poles dominant
poles
Unstable
Region

D d

What about D? D > 5 times of d.

18
Dr. Ali Karimpour Apr 2013
 Lecture 13

Complex dominant‫تابع‬
poles
‫ در‬of transfer
‫مختلط‬ function.
‫غالب‬ ‫قطبهای‬
‫انتقال‬
Region of insignificant Region of
poles dominant
poles
Unstable
d Region

What about D? D > 5 times of d.

19
Dr. Ali Karimpour Apr 2013
 Lecture 13

Design procedure.
‫روش طراحی‬
For design
‫ در‬purposes,
‫کنیم قطبها‬such
‫می‬as‫سعی‬
in the‫قطب‬
pole placement
‫در جاگذاری‬design we ‫طراحی‬
‫ مثل‬،‫ها‬ try to put‫در‬
poles on:‫مکان زیر قرار گیرند‬.

Region of
dominant
poles
Region of insignificant
poles
45

D 45

20
Dr. Ali Karimpour Apr 2013
 Lecture 13
Example 1: What are the dominant poles of the following transfer
‫ قطبهای غالب در تابع انتقال زیر را‬:1 ‫مثال‬
function.
‫بیابید‬.
32
M ( s)  dominant
( s  2)( s  16)
response

insignificant
Step

32 1 1.143 0.143
C ( s)  M (s) R(s)  C ( s)   
s ( s  2)( s  16) s s  2 s  16
0

c(t )  (1  1.143e 2t  0.143e 16t )u (t )

dominant insignificant 21
Dr. Ali Karimpour Apr 2013
 Lecture 13
Example 2: Simplify the system in example 1.

‫ را ساده کنید‬1 ‫ سیستم مثال‬:2 ‫مثال‬.

32
M ( s)  c(t )  (1  1.143e 2t  0.143e 16t )u (t )
( s  16)( s  2)
~ 32 32 Step ~ 32 16 16
M (s)   C ( s)  M ( s) R( s)   
( s  16)( s  2) ( s  2) response s ( s  2) s ( s  2)
‫غق‬
c~ (t )  (16  16e 2t )u (t ) ‫ق‬
~
M (s) 
32

32 / 16

2 Step ~
C (s) 
2 1
 
1
( s  16)( s  2) ( s / 16  1)( s  2) s  2 response s ( s  2) s s  2

c~ (t )  (1  1e 2t )u (t )
22
Dr. Ali Karimpour Apr 2013
 Lecture 13
Example 3: What are the dominant poles of the following
‫ را‬function.
transfer ‫ قطبهای غالب در تابع انتقال زیر‬:3 ‫مثال‬
‫بیابید‬.
15.24( s  2.1)
M (s) 
( s  16)( s  2)
response

insignificant
Step

dominant

15.24( s  2.1) 1 0.0544 0.9457

C ( s)  M (s) R(s)  C ( s)   
s ( s  16)( s  2) s s2 s  16
0

c(t )  (1  0.0544e 2t  0.9457e 16t )u (t ) The zero near to pole

makes it insignificant
insignificant dominant 23
Dr. Ali Karimpour Apr 2013
 Lecture 13
Example 4: Discuss the dominant poles of following system.
‫ در مورد قطبهای غالب سیستم زیر‬:4 ‫مثال‬
‫بحث کنید‬.
400a
M ( s) 
( s  a)( s 2  10s  400) 20

dominant
Simplification
-a -5

~ 400 If (a-5) > 5 ∙ 20=100

M ( s) 
( s / a  1)( s 2  10s  400)
~ 400
M (s)  for a > 105
( s 2  10 s  400)
24
Dr. Ali Karimpour Apr 2013
 Lecture 13
Example 5: Compare the step response of M and its approximation
‫مختلف‬
for ‫مقادیر‬
different values‫برای‬
of k. ‫ و تقریب آن را‬M ‫ پاسخ پله‬:5 ‫مثال‬
.‫ بدست آورید‬a
400a ~ 400
M ( s)  M ( s) 
( s  a)( s 2  10s  400) ( s 2  10 s  400)
a=100
Step Response
1.5
Second order
2nd order a=50 Third order a=10
Third order a=20
Third order a=50
a=20 Third order a=100

1
step(400,[1 10 400]);hold on
a=10;step(400*a,conv([1 a],[1 10 400])
Amplitude

a=10 a=20;step(400*a,conv([1 a],[1 10 400]))

0.5

a=50;step(400*a,conv([1 a],[1 10 400]))

a=100;step(400*a,conv([1 a],[1 10 400]))
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (sec)
25
Dr. Ali Karimpour Apr 2013
 Lecture 13

Exercises
‫تمرینها‬
1 Consider following system. Find the dominant poles and insignificant
poles of system. 96
M ( s) 
( s  16)( s  2)( s  3)

2 Derive a suitable second order system for following system.

96
M ( s) 
( s  16)( s  2)( s  3)

3 Compare the step response of the system in problem 2 and step

response of its second order approximation.

26
Dr. Ali Karimpour Apr 2013
 Lecture 13

Exercises
‫تمرینها‬
4 Consider following system. Find the dominant poles and insignificant
poles of system.
3150( s  3.05)
M (s) 
( s  160)( s  20)( s  3)( s  1)

5 Derive a suitable second order system for following system.

3150( s  3.05)
M (s) 
( s  160)( s  20)( s  3)( s  1)

6 Compare the step response of the system in problem 5 and step

response of its second order approximation.

27
Dr. Ali Karimpour Apr 2013