D(s)

R(s) +
C(s)
+
-
Controller + Plant

MA3005: Control Theory

Assistant Professor Guo Zhan Lum

1
 Teaching Plan (Part I)
LAMS and Live Short Review Lectures
Week Lecture Topics Tutorial
1 Introduction to Systems and Laplace Transformation
2 Mathematical Modelling of Dynamic Systems 1
3 Mathematical Modelling of Mechanical Systems 2
4 Response and Stability 3
5 First-Order and Second-Order Systems 4
6 Transient Response 5
7 Basic Control Actions (Quiz Week)

2
 Transfer Function
𝑠+3
R(s) 𝑠 3 + 2𝑠 2 + 5𝑠 + 10 C(s)

System Order: Highest power of ‘s’ in the denominator (e.g., 3rd-order system)
Poles of transfer function: Dictate transient response
DC gain of transfer function: Dictate steady-state response (step inputs)

Objectives
1. First order, second order and higher order systems
2. Step, impulse, ramp and parabolic responses
3. Pole-zero cancellation

3
3
 First Order Systems
𝑘 Find: c(t) when r(t) is a step input with magnitude p
𝑝
R(s) 𝜏𝑠 + 1 C(s) 𝑟 𝑡 = 𝑝𝑢(𝑡) 𝑅 𝑠 =
𝑠

Solving: c(t) when r(t) is a step input with magnitude p

𝑝 𝑘 𝐴 𝐵
𝐶(𝑠) = = +
𝑠 𝜏𝑠+1 𝑠 𝜏𝑠 + 1

Steady-state output Transient output

𝐴 and 𝐵 are residues

4
 First Order Systems
𝑘 Find: c(t) when r(t) is a step input with magnitude p
𝑝
R(s) 𝜏𝑠 + 1 C(s) 𝑟 𝑡 = 𝑝𝑢(𝑡) 𝑅 𝑠 =
𝑠

Solving: c(t) when r(t) is a step input with magnitude p

𝑝 𝑘 𝐴 𝐵
𝐶(𝑠) = = +
𝑠 𝜏𝑠+1 𝑠 𝜏𝑠 + 1
𝑝𝑘 𝑝𝑘𝜏
= −
𝑠 𝜏𝑠 + 1
𝑡
−𝜏
𝑐 𝑡 = 𝑝𝑘 − 𝑝𝑘e

Steady-state output
Transient output
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 First Order Systems
𝑘 Find: c(t) when r(t) is a step input with magnitude p
𝑝
R(s) 𝜏𝑠 + 1 C(s) 𝑟 𝑡 = 𝑝𝑢(𝑡) 𝑅 𝑠 =
𝑠
𝑡
−
Solution: 𝑐 𝑡 = 𝑝𝑘 − 𝑝𝑘e 𝜏

e.g., p = k = 1 Steady-state
value

2% settling time: 𝑡𝑠 = 4𝜏
2% settling
time

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 Key Parameters
𝑘 Find: r(t) when c(t) is a step input with magnitude p

R(s) 𝜏𝑠 + 1 C(s) Solution: 𝑐 𝑡 = 𝑝𝑘 − 𝑝𝑘e

𝑡
−𝜏

𝐺(𝑠)
𝑘
DC gain of 𝐺 𝑠 = lim =𝑘
𝑠→0 𝜏𝑠+1

𝑐𝑠𝑠 = 𝑝𝑘 (product of DC gain and magnitude of step)

Im
1
Poles of 𝐺 𝑠 : 𝑠 = − 𝜏
𝑡 1 Re
−𝜏 −
→ 𝑐𝑡𝑟 𝑡 = 𝐴𝑒 𝜏

𝑐 𝑡 = 𝑐𝑠𝑠 + 𝑐𝑡𝑟
7
s-plane
 Second Order Systems
𝑘𝜔𝑛2
Find: 𝑐 𝑡 when r(t) is a step
R(s) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 C(s) input with magnitude p

𝐺(𝑠)
2
𝑘𝜔𝑛
DC gain of 𝐺 𝑠 = lim 2 =𝑘
𝑠→0 𝑠 2 +2𝜁𝜔𝑛 𝑠+𝜔𝑛

𝑐𝑠𝑠 = 𝑝𝑘 (product of DC gain and magnitude of step)

Poles of 𝐺 𝑠 : 𝑠 = −𝜁𝜔𝑛 ± 𝜔𝑛 𝜁 2 − 1

 > 1 (overdamped)  = 1 (critically damped)  < 1 (Underdamped)

𝑠 = 𝑎, 𝑏 𝑠 = −𝜁𝜔𝑛 𝑠 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2

(repeated pole)
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 Overdamped Systems
𝑘𝜔𝑛2 Find: 𝑐 𝑡 when r(t) is a step
input with magnitude p
R(s) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 C(s)
𝑐𝑠𝑠 = 𝑝𝑘,  > 1
𝐺(𝑠)

Poles: 𝑠 = 𝑎, 𝑏 → 𝑐𝑡𝑟 = 𝐴𝑒 𝑎𝑡 + 𝐵𝑒 𝑏𝑡

Im
Two first order poles

b a Re
Pole ‘a’ is dominant
because it decays slower
than pole ‘b’
s-plane

𝑐 𝑡 = 𝑐𝑠𝑠 + 𝑐𝑡𝑟
e.g., p = k = 1 9
 Critically Damped Systems
𝑘𝜔𝑛2 Find: 𝑐 𝑡 when r(t) is a step
input with magnitude p
R(s) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 C(s)
𝑐𝑠𝑠 = 𝑝𝑘,  = 1
𝐺(𝑠)

Poles: 𝑠 = −𝜁𝜔𝑛 → 𝑐𝑡𝑟 = 𝐴𝑡𝑒 −𝜁𝜔𝑛 𝑡

Im
Repeated pole

Re
−𝜁𝜔𝑛
Critically damped systems
are faster than
overdamped systems
s-plane

𝑐 𝑡 = 𝑐𝑠𝑠 + 𝑐𝑡𝑟
e.g., p = k = 1
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 Underdamped Systems
𝑘𝜔𝑛2 Poles
𝑠 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2 ,
R(s) 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 C(s) Transient
𝐴𝑒 −𝜁𝜔𝑛 𝑡 cos(𝜔𝑛 1 − 𝜁 2 𝑡 + ∅)

Step Response (p = k = 1)
Im 𝜋𝜁
−
%OS = 𝑒 1−𝜁 2
𝜁𝜔𝑛
𝜔𝑛
𝜔𝑛 1 − 𝜁2 𝛽
Re
4
𝑡𝑠 = steady-state
𝜁𝜔𝑛
cos 𝛽 = 𝜁 value

s-plane
11
𝑐 𝑡 = 𝑐𝑠𝑠 + 𝑐𝑡𝑟
 Higher Order Systems

• Higher order systems can be decomposed into multiple first and second
order systems

• Expect some deviations from first and second order systems

• Transient response will be dominated by slowest poles (dominant poles)

• Steady-state value is equal to the product of DC gain of transfer function and

magnitude of input step

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 Output Responses
Unit Impulse Unit Step Unit Ramp Unit Parabolic

𝑡2
𝑟 𝑡 = 𝛿(𝑡) 𝑟 𝑡 = 𝑢(𝑡) 𝑟 𝑡 = 𝑡. 𝑢(𝑡) 𝑟 𝑡 = . 𝑢(𝑡)
2
r r r r
t-domain

t t t t

1 1 1
s-domain 1
𝑠 𝑠2 𝑠3
𝑡 𝑡 𝑡
d𝑐 𝑡
න 𝑐(𝑡) d𝑡 න න 𝑐(𝑡) d𝑡 d𝑡
Output d𝑡 𝑐(𝑡) 0 0 0

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 Example (I)
𝑅(𝑠) 𝐸(𝑠) 1 𝐶(𝑠)
𝐴 Find K, A such that the unit step response:
𝑠+𝐵
2% settling time = 8 s, ess = 0.1

𝐴 2% settling time criterion

𝐶 𝐴
= 𝐺𝐶𝐿 = 𝑠 + 𝐵 =
𝑅 𝐴 𝑠+𝐵+𝐴 𝑡𝑠 = 4𝜏 = 8 → 𝜏=2
1+𝑠+𝐵

𝐴 Steady-state error criterion

𝐴+𝐵 𝑘 𝑒𝑠𝑠 = 𝑟 − 𝑐𝑠𝑠 = 0.1
= =
1 𝜏𝑠 + 1
𝐴+𝐵 𝑠+1 𝑐𝑠𝑠 = 0.9 = 𝑘

1
Time constant of 𝐺𝐶𝐿 : Comparison
𝐴+𝐵
1 𝐴
DC gain of 𝐺𝐶𝐿 :
𝐴 =2 = 0.9
𝐴+𝐵 𝐴+𝐵 𝐴+𝐵

𝐴 = 0.45, 𝐵 = 0.05 14
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 Example (II)
0.9 Aim: Find unit impulse and ramp response
R(s) 2𝑠 + 1 C(s) −
𝑡
Given unit step response: 𝑐 𝑡 = 0.9 − 0.9e 2

Unit impulse response

𝑡
𝑑 −
𝑐 𝑡 = (0.9 − 0.9e )
2
𝑑𝑡

𝑡
−2
𝑐 𝑡 = 0.45e

Unit ramp response

𝑡 𝑡 𝑡 𝑡
−2 −2
𝑐 𝑡 = න 0.9 − 0.9e 𝑑𝑡 = 0.9𝑡 + 1.8e 0
0
𝑡
−2
= 0.9𝑡 + 1.8e − 1.8

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15
 Pole-Zero Cancellation

𝑁 𝑠
Transfer function: 𝐺(𝑠) =
G(s) 𝐷(𝑠)

Y(s) X(s) Zero(es): All ‘s’ that satisfy 𝑁 𝑠 = 0

Pole-zero cancellation
A phenomenon in which the effects of a pole will be cancelled
when its location in the s-plane is very near a zero

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 Example
𝑠 + 0.99 Effects of pole s = 1 is minimized due to
R(s) (𝑠 + 1)(𝑠 + 5) C(s) pole-zero cancellation

1 𝑠 + 0.99
Unit step response: 𝐶(𝑠) =
𝑠 (𝑠 + 1)(𝑠 + 5)

𝐴1 𝐵1 𝐵2
= + +
𝑠 𝑠+1 𝑠+5

0.198 0.0025 0.2005

= + −
𝑠 𝑠+1 𝑠+5

𝑐 𝑡 = 0.198 + 0.0025𝑒 −𝑡 − 0.2005𝑒 −5𝑡

Very small residue

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 Cancelling Unwanted Pole(s)
𝑅(𝑠) 1 𝐶(𝑠)
𝐺𝑐
(𝑠 + 𝐴)(𝑠 + 𝐵)(𝑠 + 𝐷)
controller Plant

If pole 𝑠 = −𝐴 is undesirable, 𝐺𝑐 can be designed to be:

𝐺𝑐 = 𝑠 + 𝐴 ± 𝜖

where 𝜖 is a very small number

NOTE: Pole-zero cancellation can only be done on stable poles!!

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 Summary

▪ First order, second order and higher order systems

▪ Step, impulse, ramp and parabolic responses
▪ Pole-zero cancellation

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