CSE 271 – Systems Dynamics and Control

Components

Dynamic Response and

Laplace Transform

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CSE 271 – Systems Dynamics and Control
Components

Analytical Solution of Linear

Models (2)

54
First-order Systems
• In this lecture, we examine the output of first- and second-order
systems

• A first-order system is described by the equation

y = F (t )
1
y +

y H (t ) = Ke −t 

• Stable System: If its y H (t ) decays to zero as t approaches infinity

• If   0 , the system is stable If   0 , the system is unstable

55
First-order Systems
• The complete solution of the system can be described as

y (t ) = y H (t ) + y p (t )

• If the system is stable, yp(t) corresponds to the steady-state response

• Consider a system with a constant input F(t) = A

1
y + y=A

 y H (t ) = Ke −t 
 y (t ) = Ke −t  + y ss

 y (0 ) = y ss + K → K = y (0 ) − y ss
 y (t ) = y ss + ( y (0 ) − y ss )e −t 

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First-order Systems
• The response of any first-order system is then described by
y (t ) = yss + ( y (0 ) − yss )e −t 

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First-order Systems
• The time constant  can be found from the graph as the time taken by
the response to reach 63% between the initial value and the steady-
state value

y (t =  ) = y ss + ( y (0 ) − y ss )e −1
= y (0 ) + 0.6321( y ss − y (0 ))

58
First-order Systems
• Example: Find  and the response of the first-order system where the
system was at rest with no stored energy at t = 0. For t > 0, fa(t) = A

• Solution: The equation corresponding to this system is

Bx + Kx = f a (t )

• To put it in the standard form

x = f a (t )
K 1
x +
B B 59
First-order Systems
• Given that fa(t) = A, the equation can be written as
K A
x + x= (1)
B B
• By comparing equation (1) to a system with constant input
1
y + y=A

B
 =
K
• Since the response of a first-order system to a constant input takes the
form y (t ) = y + ( y (0 ) − y )e −t 
ss ss

 x(t ) = xss + ( x(0 ) − xss )e −t 

 x(0 ) = 0
(
 x(t ) = xss 1 − e −t  )
60
First-order Systems
• The only unknown now is xss
(
 x(t ) = xss 1 − e −t  )
 x (t ) =
1
xss e −t 

• By substituting in equation (1)

K K K A
xss e −t  + xss − xss e −t  =
B B B B
A
 xss =
K
(
 x(t ) = 1 − e − Kt B
K
A
)

61
Second-order Systems
• A second-order system is described by
y + a1 y + a0 y = F (t )

• The characteristic equation of this system is then

r 2 + a1r + a0 = 0

• If the roots are real and distinct, then

y H (t ) = K1e r1t + K 2 e r2t

• If the roots are real but not distinct, then the transient response will be:-

y H (t ) = K1e r1t + K 2te r1t

• If the roots are complex, then r1 =  + j , r2 =  − j and
y H (t ) = et (K1 cos t + K 2 sin t )
= Ket cos(t +  ) 62
Second-order Systems
• These can be plotted as
y H (t ) = K1e r1t + K 2te r1t
y H (t ) = K1e r1t + K 2 e r2t
r1  0
r1  0, r2  0

y H (t ) = Ket cos(t +  )
 0

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Second-order Systems
• When the roots of the characteristic equation are plotted in the complex
plane, we can get some information about the nature of the system
response

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Second-order Systems
• For systems that are unstable:

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Second-order Systems
• Based on these examples, if all roots of the characteristic equation are
inside the left half-plane, the system is stable

• If there are any roots inside the right half-plane or repeated roots on the
imaginary axis, the system is unstable

• If all the roots are inside the left half-plane except for one or more
distinct roots on the imaginary axis, the system is marginally stable

• When the roots of the characteristic equation are complex, it is useful to

write the second-order system differential equation in the form
y + 2n y + n2 y = F (t )

where n is the undamped natural frequency and  is the damping

ratio and   0
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 Second-order Systems
• The roots of the 2nd order system are located at:

− n  n  2 − 1

 =0  2 1  2 =1  2 1
Undamped System Underdamped System Critically Damped Overdamped
System System

jω jω jω jω

j n 1 −  2 x − n + n  2 − 1
j n x
σ σ x σ x x σ
− n − n
− j n x
− n − n  2 − 1
− j n 1 −  x
2

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Second-order Systems
• The response of a second-order system to a unit-step input for different
values of 

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Second-order Systems
• Example: Determine n and  for the system given below for α = 12
and α = 52. For what values of α would the system have decaying
oscillations?
2 y + y + 50 y = F (t )

• Solution: We first have to put the equation in the standard form in which
the coefficient of y is 1

F (t )
1
y + y + 25 y =
2 2

• Therefore

n2 = 25 and 2n =
2

n = 5 rad / s and  =
20
69
Second-order Systems
12
• For α = 12, =
20
52
• For α = 52, =
20
• The system will have damping oscillations for 0    1 which
corresponds to


0  1 → 0    20
20

70
Second-order Systems
• The damping ratio usually depends on the values of the passive
elements in any system and usually is related to friction

f a (t )
B K 1
 +  =  a (t )
x + x + x= B  K 1
 +
M M M J J J
B B
= =
2 MK 2 JK
• If there is no friction in the systems, there will be no element that
dissipates energy when step input is applied and the response will
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consist of constant-amplitude oscillations