1

Topics to be covered include:

Effect of adding poles and zeros to:
Open-loop transfer function.
Closed-loop transfer function.
Importance of zeros in transfer functions.
Dominant poles of transfer function.
Approximation of high-order systems by
low-order systems.
Time domain analysis of control systems
2
Adding poles to open loop and closed
loop transfer functions

Adding pole to closed loop
transfer function

s t + 1
1
c
2

r
) (s M
Adding pole to open loop
transfer function
+

-
c
1
e
r
) (s G

-
c
2
e
r
) (s G
s t + 1
1
c
1
r

) (s M
3
Adding zeros to open loop and closed
loop transfer functions
Adding zero to closed loop
transfer function

-
c
2
e
r
) (s G s t + 1
s t + 1
c
2

r
) (s M
Adding zero to open loop
transfer function
+

-
c
1
e
r
) (s G
c
1
r

) (s M
4
Adding poles to closed loop transfer
functions
+

-
c
1
e
r
) (s G

-
c
2
e
r
) (s G
s t + 1
1
Let
) 2 (
) (
2
n
n
s s
s G
,e
e
+
=
) 2 (
2
n
n
s s
Tf Loop
,e
e
+
=
Before adding pole
2 2
2
1
1
2 ) (
) (
) (
n n
n
s s s R
s C
s M
e ,e
e
+ +
= =
s s s
Tf Loop
n
n
t ,e
e
+ +
=
1
1
) 2 (
2
After adding pole
2 2 3
2
2
2
2 ) 2 1 ( ) (
) (
) (
n n n
n
s s s s R
s C
s M
e ,e t ,e t
e
+ + + +
= =
5
Adding poles to closed loop transfer
functions
+

-
c
1
e
r
) (s G

-
c
2
e
r
) (s G
s t + 1
1
2 2
2
1
1
2 ) (
) (
) (
n n
n
s s s R
s C
s M
e ,e
e
+ +
= =
2 2 3
2
2
2
2 ) 2 1 ( ) (
) (
) (
n n n
n
s s s s R
s C
s M
e ,e t ,e t
e
+ + + +
= =
5 , 2 , 1 , 0 1 1 = = = t , e
n
5 , 2 , 1 , 0 5 . 0 1 = = = t , e
n
1
2 = t 5 = t 1 = t
Note: For <0 system is unstable. Why?
6
0 2 4 6 8 10 12 14 16 18 20
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Adding poles to closed loop transfer
functions

-
c
2
e
r
) (s G
s t + 1
1
2 2 3
2
2
2
2 ) 2 1 ( ) (
) (
) (
n n n
n
s s s s R
s C
s M
e ,e t ,e t
e
+ + + +
= =
5 , 2 , 1 , 0 1 1 = = = t , e
n
=0
=1.0
=2.0
=5.0
7
0 2 4 6 8 10 12 14 16 18 20
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Adding poles to closed loop transfer
function

-
c
2
e
r
) (s G
s t + 1
1
2 2 3
2
2
2
2 ) 2 1 ( ) (
) (
) (
n n n
n
s s s s R
s C
s M
e ,e t ,e t
e
+ + + +
= =
5 , 2 , 1 , 0 5 . 0 1 = = = t , e
n
=0
=1.0
=2.0
=5.0
P.O.
t
r
System speed

BW

8
Adding poles to open loop transfer
function
c
1
r

) (s M
s t + 1
1
c
2
r

) (s M
) ( ) ( ) (
1
s r s M s c =
) (
) 1 (
) (
) (
2
s r
s
s M
s c
t +
=
Before adding pole
After adding pole

) (
) ( )......... )( (
...
2 1
0 1
1
1
s r
p s p s p s
a s a s a s
n
m
m
m
+ + +
+ + + +
=

) (
) 1 )( ( )......... )( (
...
2 1
0 1
1
1
s r
s p s p s p s
a s a s a s
n
m
m
m
t + + + +
+ + + +
=

Step response before adding pole Step response after adding pole
) (
...
) (
) (
1
1 0
1
n
n
p s
b
p s
b
s
b
s c
+
+ +
+
+ =
s
c
p s
c
p s
c
s
c
s c
n
n
n
t +
+
+
+ +
+
+ =
+
1 ) (
...
) (
) (
1
1
1 0
2
( )
t p
n
t p t p
n
e b e b e b b t u t c

+ + + = ... ) ( ) (
2 1
2 1 0 1
(
)
t
n
t p
n
t p t p
e
c
e c
e c e c c t u t c
n t
t
1
1
2 1 0 2
... ) ( ) (
2 1

+ +
+ + =
9
0 5 10 15 20 25
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Adding poles to open loop transfer
functions
s t + 1
1
c
2
r

) (s M
1
1
M(s)
2
+ +
=
s s
5 , 2 , 1 , 5 . 0 , 0 5 . 0 1 = = = t , e
n
=0
=0.5
=1.0
=5.0
=2.0
P.O.
t
r
System speed

BW

Note: For <0 system is unstable. Why?
10
Adding zeros to open loop transfer
functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
) ( ) ( ) (
1
s r s M s c =
) ( ) 1 )( ( ) (
2
s r s s M s c t + = ) ( ) ( ) ( ) ( ) (
2
s r s sM s r s M s c t + = ) ( ) ( ) (
1 1 2
s sc s c s c t + =
Before adding
After adding
) ( ) ( ) (
1 1 2
t c t c t c
'
+ = t

System response after adding zero to open loop transfer function =
sum of original system response and times of its derivative
11
0 5 10 15 20 25
0
0.2
0.4
0.6
0.8
1
1.2
1.4

(sec)

Adding zeros to open loop transfer
functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
) ( ) ( ) (
1 1 2
t c t c t c
'
+ = t

0 5 10 15 20 25
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
) (
1
t c'
) (
1
t c
12
Adding zeros to open loop transfer
functions
c
1
r
) (s M
s t + 1
c
2
r
) (s M
) ( ) ( ) (
1 1 2
t c t c t c
'
+ = t

0 5 10 15 20 25
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
) (
1
t c'
) (
1
t c
0 5 10 15 20 25
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
) (
1
t c
) (
1
t c'
) (
2
t c
13
Adding zeros to open loop transfer
functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
) ( ) ( ) (
1 1 2
t c t c t c
'
+ = t

0 5 10 15 20 25
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4

(sec)

0 5 10 15 20 25
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
) (
2
t c
) (
1
t c
) (
1
t c'
14
Adding zeros to open loop transfer functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
) ( ) ( ) (
1 1 2
t c t c t c
'
+ = t
1 1 = = z t
5 . 0 2 = = z t
25 . 0 4 = = z t
5 . 0 5 . 0
5 . 0
) (
2
+ +
=
s s
s M
step(.5,[1 .5 .5]);hold on
step([0.5 0.5],[1 .5 .5])
step([1 0.5],[1 .5 .5])
step([2 0.5],[1 .5 .5])
0 5 10 15 20 25
0
0.5
1
1.5
2
2.5
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 = t
1 = t
2 = t
4 = t
15
Adding zeros to open loop transfer functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
) ( ) ( ) (
1 1 2
t c t c t c
'
+ = t
5 . 0 5 . 0
5 . 0
) (
2
+ +
=
s s
s M
P.O.
t
r
System speed

BW

0 5 10 15 20 25
0
0.5
1
1.5
2
2.5
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 = t
1 = t
2 = t
4 = t
16
0 5 10 15 20 25
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4

(sec)

Adding RHP zeros to open loop transfer functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
0 and ) ( ) ( ) (
1 1 2
<
'
+ = t t t c t c t c
5 . 0 5 . 0
5 . 0
) (
2
+ +
=
s s
s M
0 5 10 15 20 25
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4

(sec)

) (
1
t c'
0 5 10 15 20 25
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
) (
1
t c
) (
1
t c'
) (
2
t c
) (
1
t c'
17
Adding RHP zeros to open loop transfer functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
0 and ) ( ) ( ) (
1 1 2
<
'
+ = t t t c t c t c
1 1 = = z t
5 . 0 2 = = z t
25 . 0 4 = = z t
5 . 0 5 . 0
5 . 0
) (
2
+ +
=
s s
s M
step(.5,[1 .5 .5]);hold on
step([-0.5 0.5],[1 .5 .5])
step([-1 0.5],[1 .5 .5])
step([-2 0.5],[1 .5 .5])
0 5 10 15 20 25
-1.5
-1
-0.5
0
0.5
1
1.5
2
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 5 10 15 20 25
-1.5
-1
-0.5
0
0.5
1
1.5
2


Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
= 0
= -1
= -2
= -4
t
t
t
t
18
Adding RHP zeros to open loop transfer functions
c
1
r
) (s M s t + 1
c
2
r
) (s M
5 . 0 5 . 0
5 . 0
) (
2
+ +
=
s s
s M
P.O.
t
r
System speed

0 5 10 15 20 25
-1.5
-1
-0.5
0
0.5
1
1.5
2
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
0 5 10 15 20 25
-1.5
-1
-0.5
0
0.5
1
1.5
2


Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
= 0
= -1
= -2
= -4
t
t
t
t
19
Adding zeros to closed loop transfer
functions
+

-
c
1
e
r
) (s G

-
c
2
e
r
) (s G s t + 1
Let
) 2 )( 1 (
6
) (
+ +
=
s s s
s G
) 2 )( 1 (
6
) (
+ +
=
s s s
s G
Before adding zero
6 2 3
6
) (
) (
) (
2 3
1
1
+ + +
= =
s s s s R
s C
s M
) 2 )( 1 (
) 1 ( 6
) (
+ +
+
=
s s s
s
s G
t
After adding zero
6 ) 6 2 ( 3
) 1 ( 6
) (
) (
) (
2 3
2
2
+ + + +
+
= =
s s s
s
s R
s C
s M
t
t
20
Adding zeros to closed loop transfer
functions

-
c
2
e
r
) (s G s t + 1
6 ) 6 2 ( 3
) 1 ( 6
) (
) (
) (
2 3
2
2
+ + + +
+
= =
s s s
s
s R
s C
s M
t
t
10 , 5 , 2 , 5 . 0 , 2 . 0 , 0 = t
P.O.
t
r
System speed

BW

0 1 2 3 4 5 6 7 8 9 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
=0
=0.5
=2.0
=0.2
=5.0
=10
21
Importance of zeros in transfer
function
We see that the performance of system is concerned
to :

Poles and zeros not just poles
22
Real dominant poles of transfer
function.
Region of insignificant
poles
Region of
dominant
poles
Unstable
Region
d
D
What about D?
D > 5 or 10 times of d.
23
Complex dominant poles of transfer
function.
Region of insignificant
poles
Region of
dominant
poles
Unstable
Region
D
What about D?
D > 5 or 10 times of d.
d
24
Design procedure.
Region of insignificant
poles
Region of
dominant
poles
D

45

45
For design purposes, such as in the pole placement design we try to put
poles on:
25
Example 1: What are the dominant poles of
the following transfer function.
) 16 )( 2 (
32
) (
+ +
=
s s
s M
16
143 . 0
2
143 . 1 1
) (
+
+
+
=
s s s
s C
) 16 )( 2 (
32
) ( ) ( ) (
+ +
= =
s s s
s R s M s C
S
t
e
p


r
e
s
p
o
n
s
e

) ( ) 143 . 0 143 . 1 1 ( ) (
16 2
t u e e t c
t t
+ =
dominant
insignificant
insignificant
0
dominant
26
Example 2: Simplify the system in
example 1.
) 2 )( 16 (
32
) (
~
+ +
=
s s
s M
) 2 (
32
) ( ) ( ) (
~
+
= =
s s
s R s M s C
) 2 (
16 16
+
=
s s
) ( ) 16 16 ( ) (
~
2
t u e t c
t
=
Step
response
) 2 (
2
) (
~
+
=
s s
s C
) ( ) 1 1 ( ) (
~
2
t u e t c
t
=
) 2 (
32
+
~
s
Step
response
) 2 )( 1 16 / (
16 / 32
) 2 )( 16 (
32
) (
~
+ +
=
+ +
=
s s s s
s M
) 2 )( 16 (
32
) (
+ +
=
s s
s M
) ( ) 143 . 0 143 . 1 1 ( ) (
16 2
t u e e t c
t t
+ =
2
2
) 2 )( 1 16 / (
16 / 32
) 2 )( 16 (
32
) (
~
+
~
+ +
=
+ +
=
s s s s s
s M
2
1 1
) 2 (
2
) (
~
+
=
+
=
s s s s
s C
27
Example 3: What are the dominant poles of
the following transfer function.
) 2 )( 16 (
) 1 . 2 ( 24 . 15
) (
+ +
+
=
s s
s
s M
16
9457 . 0
2
0544 . 0 1
) (
+

+
=
s s s
s C
) 2 )( 16 (
) 1 . 2 ( 24 . 15
) ( ) ( ) (
+ +
+
= =
s s s
s
s R s M s C
S
t
e
p


r
e
s
p
o
n
s
e

) ( ) 9457 . 0 0544 . 0 1 ( ) (
16 2
t u e e t c
t t
=
insignificant
0
dominant
The zero near to pole
makes it insignificant
dominant
insignificant
28
Example 4: Discuss the dominant poles of
following system.
) 400 10 )( (
400
) (
2
+ + +
=
s s a s
a
s M
S
i
m
p
l
i
f
i
c
a
t
i
o
n



If (a-5) > 5 20=100
dominant
-5 -a
20
) 400 10 )( 1 / (
400
) (
~
2
+ + +
=
s s a s
s M
) 400 10 (
400
) (
~
2
+ +
=
s s
s M
for a > 105
29
Example 5: Compare the step response of M
and its approximation for different values of k.
) 400 10 )( (
400
) (
2
+ + +
=
s s a s
a
s M
) 400 10 (
400
) (
~
2
+ +
=
s s
s M
step(400,[1 10 400]);hold on

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

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

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

a=100;step(400*a,conv([1 a],[1 10 400]))
0 0.2 0.4 0.6 0.8 1 1.2
0
0.5
1
1.5


Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
Second order
Third order a=10
Third order a=20
Third order a=50
Third order a=100
2
nd
order
a=10
a=20
a=50
a=100