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BEKC 3523 | CONTROL SYSTEM ENGINEERING

CHAPTER 3: Part 1
Time Domain Analysis & Stability 3.1 
Time Response
Assoc. Prof. Dr. Chong Shin Horng
Control, Instrumentation & Automation
Faculty of Electrical Engineering 3.1.1 System modeling diagrams 
3.1.2 Effect of zero and pole locations
3.1.3 Time‐domain specification
3.1.4 Effect of additional zero and pole

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3.1.1 System Modeling Diagrams 3.1.1 System Modeling Diagrams

(1) The block diagram (1) The block diagram
• The shorthand pictorial representation of the cause-and-effect • The shorthand pictorial representation of the cause-and-effect
relationship between the input and output of a physical system. relationship between the input and output of a physical system.
Negative Feedback

(a) A simple block (b) Block diagram with gain (s-domain)

Fig. 1: Block diagram

• Output – the value of input multiplied by the block gain Fig. 2: Three examples of elementary block diagrams

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3.1.1 System Modeling Diagrams 3.1.1 System Modeling Diagrams

(1) The block diagram Exercise 3-1
C ( s)
• Negative feedback. Determine the ratio of the block diagram shown in Fig. E1.
R( s )

Fig. E1

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3.1.1 System Modeling Diagrams 3.1.1 System Modeling Diagrams

Exercise 3-2 Exercise 3-3
C (s) C (s)
Determine the ratio of the block diagram shown in Fig. E2. Determine the ratio of the block diagram shown in Fig. E3. Also find the
R( s) R( s)
characteristic equation

Fig. E2 Fig. E3

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3.1.1 System Modeling Diagrams 3.1.1 System Modeling Diagrams

(1) The block diagram reduction (1) The block diagram reduction
• Shifting of take-off point after a block • Shifting of take-off point before a block

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3.1.1 System Modeling Diagrams 3.1.1 System Modeling Diagrams

(1) The block diagram reduction (1) The block diagram reduction
• Shifting a summing point after a block • Shifting a summing point before a block

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3.1.1 System Modeling Diagrams 3.1.1 System Modeling Diagrams

(1) The block diagram reduction Procedure for reduction of block diagram
• Example of block diagram algebra (useful in block diagram
reduction).
1. Reduce the cascade blocks.
2. Reduce the parallel blocks.
3. Reduce the internal feedback loops.
4. It is advisable to shift take-off points towards right and summing
point towards left.
5. Repeat steps1 to step 4 until the simplest form is obtained.
6. Find transfer function of the overall system using the formula
C(s)/R(s).

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3.1.2 Effect of Pole and Zero Locations 3.1.2 Effect of Pole and Zero Locations
 A transfer function
C ( s)
G( s) 
R ( s ) assuming zero initial conditions

 C(s) and R(s) both are polynomial in s.

 Let C ( s )  bm s m  bm 1s n 1    b0

 and R ( s )  s n  an 1s n 1    an ZEROS – values of s for which the 

magnitude of the transfer function 
b s m  bm 1s n 1    b0 becomes zero
G( s)  m n ( s  2)
s  an 1s n 1    an G (s)  POLES – values of s for which the 
K ( s  b1 )( s  b2 )( s  b3 ) ( s  bm )
K = gain factor ( s  5) magnitude of the transfer function 
G( s)  -bm = zero
becomes infinity
( s  a1 )( s  a2 )( s  a3 ) ( s  an ) -an = pole

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3.1.2 Effect of Pole and Zero Locations 3.1.3 Time Domain Specifications
 Due to application of an excitation to a system, the response
( s  2) ( s  2) 1
C (s)   R( s)   of the system is known as time response and it is a function
( s  5) ( s  5) s of time.
A B
 
s ( s  5) Partial fraction  There are two parts of response of any system:
(i) transient response;
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  (ii) steady-state response
s ( s  5)
The total response of a system
2 3 5t Differential equation
c(t )   e is the sum of transient
response and steady-state
5 5
response

Time response c(t )  ctf (t )  css

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First order system First order system

a c(t )  c f (t )  cn (t )  1  e  at
First-order system
G(s) 
without zero: ( s  a)

R( s)  1 s
a
C (s) 
s( s  a)

Taking the inverse transform, the step response is given by

c(t )  c f (t )  cn (t )  1  e  at
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First order system First order system

1 1
time constant   a (Exponential frequency)
time constant
a

63% Time constant:

Initial slope:

Time constant –

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First order system First order system

Rise time Settling time

time for the waveform to go from 0.1 to 0.9 of its final time for response to reach, and stay within, 2% of its
value. final value.

Step response: Step response:

2.31 0.11 2.2 4
c(t )  1  e  at tr    c(t )  1  e  at ts 
a a a a
When c(t) = 0.1: When c(t) = 0.9: Letting c(t) = 0.98:

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First order system First order system

 First-order transfer functions via Testing Solution Example 3-1:
K K a K a K K at
Example 3-1: C (s)    c(t )   e
K s(s  a) s (s  a) a a
Consider a simple first-order system, G ( s )  . Find the time
(s  a)
constant and value K.

Final value = 0.72

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Second order system Second order system

 Varying a first-order system’s parameter simply changes the
speed of the response.
 Changes in the parameters of second-order system can change
the form of the response.
 Let us look at this system:

Standard form of 2nd –order system:  Fig. 3‐1: Second‐order system

G(s) From Fig. 3-1:

n 2
G (s) 
s  2n s  n 2
2 n 2
G( s) 
 : damping ratio s  s  2n 
n : natural frequency / 
undamped frequency

NOTE: all system characteristics of the standard 2nd –
order system are functions of  and n. 
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Second order system Second order system

• Let steady the effect of pole location before finding the unit step input response.  The quantities used to describe the characteristics of the second-
• To find the poles of the closed-loop transfer function of Fig. 3-1, let’s put:
order transient response:

2n  (2n ) 2  4n 2  Natural frequency, n

s  n   2n 2  n 2
2 - frequency of oscillation of the system without damping.
s  n  n  2  1
 Damping ratio, 
• From the above eq., the following conclusion can be drawn:
Exponential decay frequency

① ② ③ Natural frequency (rad/sec)
The poles The poles The poles are
1 Natural period (seconds)
are real and are real and real and 
unequal if equal if complex conj if 2 Exponential time constant
 2 1  0  2 1  0  2 1  0

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Second order system Second order system

Hence
Exponential decay frequency  a2 The lower the value of ζ, the more 
  
Natural frequency (rad/sec) n n oscillatory the response. 

a  2n

General second-order transfer function:

n 2
G (s) 
s  2n s  n
2 2

s1, 2   n  n  2  1 Second‐order underdamped responses for damping ratio values.  

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Effect of  on Nature of Response Effect of  on Nature of Response

Response c(t) to a Response c(t) to a
unit step input r(t), Underdamped-response 0  1 unit step input r(t), Underdamped-response 0   1
1 1
R( s )  R( s ) 
s s

Roots … s  1  j 8 Roots … s  1  j 8

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Effect of  on Nature of Response Effect of  on Nature of Response

Response c(t) to a Response c(t) to a
unit step input r(t), Undamped-response  0 unit step input r(t), Critically damped  1
1 1
R( s )  R( s ) 
s s
input

Roots … Roots …

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Effect of  on Nature of Response Second order system

Example 3-2:
Given the transfer function as below, find  and  n .

36
G ( s) 
s  4.2 s  36
2

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Underdamped 2nd -order system Underdamped 2nd -order system

 Before a control system is designed, specification must be 4  cmax  c final
developed that describe the characteristics that the system Ts  Tp  %OS  100
n n 1   2
c final
should possess.
  1 2 
%OS  e  
100

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Problem: Exercise 3-2 Time Response and Pole Location

For a system having G(s) as shown below and negative unity feedback, find:  The parameters of the step response of the standard 2nd –order
system can also be related to the pole locations of the transfer
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G( s)  function.
s  s  10 
Location of poles:
(i) n n 2
G (s) 
(ii)  s  2 n s  n
2 2 s1,2  n  n  2  1
(iii) d
(iv) Tp
(v) Mp

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Time Response and Pole Location Summary & Exercises

n  Today topic
cos    Decreasing the angle α reduces 

n the percent overshoot.  3.1.1 System modeling diagram
Hence, specifying the %OS to be   3.1.2 Effect of zero and pole locations
1 2 less than a particular value   3.1.3 Time Domain Specification
  tan 1  cos 1  restricts the pole locations to the 
 region of the s‐plane (Fig. c)  3.1.4 Effect of Additional Zero and Pole

 Next
Chapter 3.2 Steady-state error
 3.2.1 Steady-state error for unity feedback
 3.2.2 Static error constant and system type

 Exercise
 Tutorial 3.1 and problems in Revision Book
The radial distance from the origin to the pole is natural 
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