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Lecture 6-System Response

The document discusses the response of control systems, focusing on first- and second-order systems and their characteristics such as time constant, rise time, and settling time. It explains the behavior of these systems under different conditions, including impulse and step responses, and highlights the importance of damping ratios in determining system stability. Additionally, it addresses the effects of zeros on system behavior, distinguishing between minimum and non-minimum phase systems.

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13 views37 pages

Lecture 6-System Response

The document discusses the response of control systems, focusing on first- and second-order systems and their characteristics such as time constant, rise time, and settling time. It explains the behavior of these systems under different conditions, including impulse and step responses, and highlights the importance of damping ratios in determining system stability. Additionally, it addresses the effects of zeros on system behavior, distinguishing between minimum and non-minimum phase systems.

Uploaded by

lewis
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control Systems I

System Response
by Mr L. Simukonda
System Response
System Response

U(s) Y(s)
System G(s)

• Given such a system, we can look at how a system behaves in the time domain. The most
common function that is used is a unit step function also know as the heaviside function.

1
• The Transfer function for a unit step is .
𝑠
System Response
Some important terms
• Time constant (τ)-this is how long it takes the system to get to 63% of the final value
• Rise time(Tr)-The time it takes the system to go from 10% to about 90%.
• Settling time(Ts)-The time it takes for the system to stay within 2% of the final value.
y(t)

Target Mark

90%

Ts
Tr
63%

10%

0%
t
System Response
First- and Second-Order Systems
• Most real-world systems are higher than 1st or 2nd order
• But, many higher-order systems can reasonably be approximated
as 1st or 2nd order
– If they have a dominant pole or dominant pair of poles
– Greatly simplifies control system design
• Its important to examine the responses of 1st- or 2nd-order
systems
– Gain insight into relationships between pole locations and dynamic response
• We’ll look at 1st- and 2nd-order impulse and step responses
System Response
Response of First-Order System – Impulse Respons
• The unit impulse response means the response of the system
when the input is a unit impulse.
• Notice that at t = 0 it jumps to x = 1 and then decays exponentially
to 0.
System Response
Response of First-Order System – Impulse Respons
System Response
Response of First-Order System – Impulse Response

• Increasing 𝜎 corresponds to a faster response


System Response
Response of First-Order System – Step Response
System Response
Response of First-Order System – Step Response
System Response
Response of First-Order System – Step Response
System Response
Response of First-Order System – Step Response

• Increasing 𝜎 corresponds to a faster response


System Response
Response of First-Order System

• First-order transfer function

– where 𝑝 is the system pole

• Impulse response is
• If 𝑝 < 0, g(t) decays to zero
– Pole in the left half-plane
– System is stable
• If 𝑝 > 0, g(t) grows without bound
– Pole in the right half-plane
– System is unstable
System Response
Second Order system time response

U(s) 1/s Y(s)


System G(s)

• Let imagine that we excite a system with a step unit signal that means we feed a second
order system with such a signal 1/s.
• The response of the system can be either of the following:
– Underdamped
– Overdamped
– critically dampmed
– undamped
System Response
Second Order system time response
System Response
Second Order System Analysis

• Natural Frequency (wn)


– Natural frequency is the rate at which an object vibrates when it is disturbed.
– Natural frequencies are different from forced frequencies, which occur by applying force
to an object at a specific rate.
• Damping Ratio (ζ)
– The damping ratio determines the way the system oscillations go to zero.
System Response
Second Order system time response

• ζ is know as the damping constant


System Response
Ideal Second Order system time response

• What we strive for is to have a system that is Critically


damped because:
– The system has a relatively short rise time(Tr)
– The system has a short or fast settling time(Ts)
System Response
System Response
Second Order System Analysis

• If ζ =0 undamped system
• 0 < ζ <1 underdamped system
• ζ=1 critically damped system
• ζ > 1 overdamped system
System Response
Examples of Second Order System
Analysis

• Which of the systems presented has a


fast-settling time?
• Which of the systems has the slowest
settling time?
System Response
Second Order Impulse Response – Critically-Damped
System Response
Under-Damped Impulse Response vs. 𝜔n
System Response
Under-Damped Impulse Response vs. ζ
System Response
Un-Damped Impulse Response vs. 𝜔n
System Response
Second Order Step Response – Critically-Damped vs. σ(poles)
System Response
Second Order Step Response – Under-Damped vs. 𝜔n
System Response
Second Order Step Response – Under-Damped vs. ζ
System Response
Second Order Step Response – Un-Damped vs. 𝜔n
System Response
Second Order Step Response
• Rise time, Tr: time required for the waveform to go from
0.1 of the final value to 0.9 of the final value.
• Peak time, TP: The time required to reach the first, or
maximum, peak.
• Percent overshoot, %OS: The amount that the waveform
overshoots the steadystate, or final, value at the peak time,
expressed as a percentage of the steady-state value.
• Settling time, Ts: The time required for the transient’s
damped oscillations to reach and stay within 2% of the
steady-state value.
System Response
Second Order Step Response
• Peak time, TP: The time required to reach the first, or
maximum, peak. The first peak, which occurs at the peak
time, Tp, is found by:
System Response
Step Response Characteristics
System Response
Step Response Characteristics
System Response
Step Response Characteristics
System Response
Example
System Response
Example
System Response
Effects of Zeros on Systems
• Depending on which side your zeros fall on the complex plane, they can cause the system to be either :
– Minimum phase system -
• A transfer function G(s) is minimum phase if both G(s) and 1/G(s) are causal and stable.
• This is a system that has all it poles and zeros on the left hand side.
• Roughly speaking it means that the system does not have zeros or poles on the right-half plane. Moreover,
it does not have delay.
– Non minimum phase system-
• This is a system that has atleast 1 zero on the right hand side on the complex plane.
System Response
Effects of Zeros on Systems

• Non minimum phase system


response to a step function.
• It causes a deep in the response of
the system
– Examples of systems that behave like
this could include parrallel car parking,
areoplane elevation.etc

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