1 Chapter 4: Time Response

Chapter 4

Time Response

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
 2 Chapter 4: Time Response

Figure 4.1
a. System showing
input and output;
b. pole-zero plot
of the system;
c. evolution of a
system response.
Follow blue arrows
to see the evolution
of the response
component generated
by the pole or zero.

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 3 Chapter 4: Time Response

Figure 4.2
Effect of a
real-axis
pole upon
transient
response

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4 Chapter 4: Time Response

Figure 4.3
System for
Example
4.1

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 5 Chapter 4: Time Response

Figure 4.4
a. First-order
system;
b. pole plot

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 6 Chapter 4: Time Response

Figure 4.5
First-order
system
response
to a unit
step

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 7 Chapter 4: Time Response

Figure 4.6
Laboratory
results
of a system
step
response
test

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 8 Chapter 4: Time Response

Figure 4.7
Second-order
systems, pole
plots,
and step
responses

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 9 Chapter 4: Time Response

Figure 4.8
Second-order
step response
components
generated by
complex poles

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 10 Chapter 4: Time Response

Figure 4.9
System for
Example
4.2

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 11 Chapter 4: Time Response

Figure 4.10
Step
responses
for second-
order
system
damping
cases

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12 Chapter 4: Time Response

Figure
4.11
Second-
order
response
as a
function of
damping
ratio

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13 Chapter 4: Time Response

Figure 4.12
Systems for
Example 4.4

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 14 Chapter 4: Time Response

Figure 4.13
Second-order
underdamped
responses for
damping ratio
values

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 15 Chapter 4: Time Response

Figure 4.14
Second-order
underdamped
response
specifications

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 16 Chapter 4: Time Response

Figure 4.15
Percent
overshoot vs.
damping ratio

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Nise/Control Systems Engineering, 3/e
 17 Chapter 4: Time Response

Figure 4.16
Normalized rise
time vs.
damping
ratio for a
second-order
underdamped
response

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Nise/Control Systems Engineering, 3/e
 18 Chapter 4: Time Response

Figure 4.17
Pole plot for
an
underdamped
second-order
system

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 19 Chapter 4: Time Response

Figure 4.18
Lines of constant
peak time,Tp ,
settling
time,Ts , and
percent
overshoot, %OS
Note: Ts < Ts ;2 1

Tp < Tp ; %OS1 <

2 1

%OS2
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 20 Chapter 4: Time Response

Figure 4.19
Step responses
of second-order
underdamped
systems
as poles move:
a. with constant
real part;
b. with constant
imaginary part;
c. with constant
damping ratio
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21 Chapter 4: Time Response

Figure 4.20
Pole plot for
Example 4.6

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 22 Chapter 4: Time Response

Figure 4.21
Rotational
mechanical
system for
Example 4.7

2000, John Wiley & Sons, Inc.

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 23 Chapter 4: Time Response

Figure 4.22
The Cybermotion
SR3 security robot
on patrol. The
robot navigates by
ultrasound and path
programs transmitted
from a computer,
eliminating the need
for guide strips on
the floor. It has video
capabilities as well as
temperature, humidity,
fire, intrusion, and gas
sensors.
Courtesy of Cybermotion, Inc.
2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
 24 Chapter 4: Time Response

Figure 4.23
Component
responses of a
three-pole system:
a. pole plot;
b. component
responses:
nondominant pole
is near
dominant second-
order pair (Case I),
far from the pair
(Case II), and
at infinity (Case III)
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Nise/Control Systems Engineering, 3/e
 25 Chapter 4: Time Response

Figure 4.24
Step responses
of system T1(s),
system T2(s),
and
system T3(s)

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 26 Chapter 4: Time Response

Figure 4.25
Effect of
adding
a zero to a
two-pole
system

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 27 Chapter 4: Time Response

Figure 4.26
Step response
of a
nonminimum-
phase system

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28 Chapter 4: Time Response

Figure 4.27
Nonminimum-phase
electrical circuit

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 29 Chapter 4: Time Response

Figure 4.28
Step response
of the
nonminimum-phase
network of Figure
4.27 (c(t)) and
normalized step
response of an
equivalent network
without the zero
(-10co(t))

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 30 Chapter 4: Time Response

Figure 4.29
a. Effect of
amplifier
saturation on
load angular
velocity
response;
b. Simulink block
diagram

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 31 Chapter 4: Time Response

Figure 4.30
a. Effect of
deadzone on
load angular
displacement
response;
b. Simulink block
diagram

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 32 Chapter 4: Time Response

Figure 4.31
a. Effect of
backlash
on load angular
displacement
response;
b. Simulink block
diagram

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 33 Chapter 4: Time Response

Figure 4.32
Antenna
azimuth
position control
system for
angular
velocity:
a. forward path;
b. equivalent
forward path
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 34 Chapter 4: Time Response

Figure 4.33
Unmanned
Free-
Swimming
Submersible
(UFSS)
vehicle
Courtesy of Naval Research Laboratory.

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 35 Chapter 4: Time Response

Figure 4.34
Pitch control loop for
the UFSS vehicle

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 36 Chapter 4: Time Response

Figure 4.35
Negative step
response of
pitch control for
UFSS vehicle

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 37 Chapter 4: Time Response

Figure 4.36
A ship at sea,
showing roll
axis

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38 Chapter 4: Time Response

Figure P4.1

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39 Chapter 4: Time Response

Figure P4.2

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40 Chapter 4: Time Response

Figure P4.3

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41 Chapter 4: Time Response

Figure P4.4

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42 Chapter 4: Time Response

Figure P4.5

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43 Chapter 4: Time Response

Figure P4.6

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44 Chapter 4: Time Response

Figure P4.7

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45 Chapter 4: Time Response

Figure P4.8

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46 Chapter 4: Time Response

Figure P4.9
(figure
continues)

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
 47 Chapter 4: Time Response

Figure P4.9
(continued)

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
 48 Chapter 4: Time Response

Figure P4.10
Steps in determining
the transfer function
relating output physical
response to the input
visual command

2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
 49 Chapter 4: Time Response

Figure
P4.11
Vacuum
robot lifts
two bags of
salt

Courtesy of Pacific Robotics, Inc.

2000, John Wiley & Sons, Inc.
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50 Chapter 4: Time Response

Figure P4.12

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 51 Chapter 4: Time Response

Figure P4.13

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52 Chapter 4: Time Response

Figure P4.14

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53 Chapter 4: Time Response

Figure P4.15

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54 Chapter 4: Time Response

Figure P4.16

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 55 Chapter 4: Time Response

Figure P4.17

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56 Chapter 4: Time Response

Figure P4.18

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57 Chapter 4: Time Response

Figure P4.19

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58 Chapter 4: Time Response

Figure P4.20
Pump diagram

1996 ASME.
2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e