Scribd
Upload
50 views13 pages

Control System

This document discusses the poles and zeros of transfer functions and their impact on dynamic and transient system responses. It contains the following key points: 1. Poles determine the natural response - a pole's location dictates the exponential decay rate in the system's step response. Poles farther left on the real axis yield faster decay. 2. Zeros and poles together determine the amplitudes of forced and natural responses. 3. For a first-order system, the time constant is equal to the reciprocal of the pole location. Performance specs like rise time and settling time can be expressed in terms of the pole. 4. Applying a step input to a first-order system allows identifying its transfer function by

Uploaded by

Khalid Mahmud
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
50 views13 pages

Control System

This document discusses the poles and zeros of transfer functions and their impact on dynamic and transient system responses. It contains the following key points: 1. Poles determine the natural response - a pole's location dictates the exponential decay rate in the system's step response. Poles farther left on the real axis yield faster decay. 2. Zeros and poles together determine the amplitudes of forced and natural responses. 3. For a first-order system, the time constant is equal to the reciprocal of the pole location. Performance specs like rise time and settling time can be expressed in terms of the pole. 4. Applying a step input to a first-order system allows identifying its transfer function by

Uploaded by

Khalid Mahmud
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 13

Dynamic/Transient Response Characteristics

Poles and Zeros of a 1st Order System


A generalized TF:

Characteristic Equation

Example:

Standard Ways of writing G(s)

What are the significance of Poles and Zeros?


Ex: Consider the step response of
Multiplying G(s) with the step input (1/s):

Thus,
So, we see that the pole of G(s) at s = -5 appears in the exponential decay rate
3

Contributions of Poles and Zeros to the system Response:

Conclusions:
1. A pole of the input function generates the form of the forced response
(that is the pole at the origin generated a step function at the output).
2. A pole of the transfer function (system) generates the form of the
natural response (that is, the pole at -5 generated e-5t ).
4

3.

A pole on the real axis generates an exponential response of the form


e-t, where is the pole location on the real axis.

4.

thus, further to the left a pole is on the negative real axis, the faster
the exponential transient response will decay to zero

The Zeros and Poles generate the amplitudes for both the forced and
natural responses. This can be seen from the following calculations:

The previous observations can lead us to the answers to the following question
How can we predict the transient response (TR) due to any TF without
computing the solution?
Example:
We have,

Taking ILT:

Additional Info: TR obviously depends on type of input, so we choose the test


input
STEP FUNCTION
6

Performance Specification for 1st-order System:


Recall:
One of the primary objectives of designing a control system is to
make the output follow the input as closely as possible.
Does this happen for 1st-order system?

Test Input: STEP FUNCTION


So,

STEP RESPONSE:
7

We would like to specify, HOW CLOSE TO u(t) WE WANT c(t)


1.

Time Constant: Clearly the STEEPER the initial slope, the QUICKER
c(t) gets to u(t)
initial slope,

Define: Time Constant = 1/a

The Time Constant is the time it takes for the step response to 63% of
its final value.

Note: The Time Constant can be known just by looking at the G(s) or pole
plot

Since the pole is at a, we can say that the pole is located at the reciprocal of
the time constant
The farther the pole from the imaginary axis, the faster the
Transient Response
2.

Alternatively we can use the specification, Rise Time (Tr)

Tr : Rise time is defined as the time for the waveform to go from 0.1 to 0.9
of its final value

3.

Settling Time (Ts): It is defined as the time for the response to reach and
stay within, 2% of its final value.

Note:
All the specs can be expressed
in terms of the pole.
Conversely, knowing the pole,
one can predict the shape of
transient response without
calculation

10

1st-order System Example:


An RC circuit:

where,

a = 1/RC

So,
Time Constant = 1/a=RC
Tr = 2.2/a = 2.2 RC
Ts = 4/a = 4 RC

11

1st-order System Identification:


Assume: Only the input and output of a 1st-order system is accessible. How
to experimentally find the TF?
Procedure:
1. Assume,
2. Apply a unit step input, u(t)
3. Observe/record the output

So, we can solve for K and a

12

2nd-Order System:

Lets go to the BOARD

13

You might also like