EE302 - Feedback Systems Spring 2019

Lecture 8
Lecturer: Asst. Prof. M. Mert Ankarali

8.1 Second Order Systems

Let’s derive the transfer functions for the following electrical and mechanical systems

A B C
R y(t)

Vs(t)
b
L
F(t)
k
C

1
VC (s) LC
GA (s) = = 2 R 1
Vs (s) s + L s + LC
1
Y (s) M
GB (s) = = 2 b k
F (s) s + Ms+ M
1
Θ(s) J
GC (s) = = β
T (s) s2 + Js+ J
κ

Most of the (passive) second order systems, can be put into the following the standard form
ωn2
G(s) = KDC
s2 + 2ζωn s + ωn
where
0 < ωn Undamped natural frequency
0<ζ Damping ratio
KDC DC Gain

Accordingly for the systems that we analyzed previously we have the following relations
r r
1 R C
A : ωn = , ζ= , KDC = 1
LC 2 L
r r
k b 1 1
B : ωn = , ζ= , KDC =
M 2 Mk k
r r
κ b 1 1
C : ωn = , ζ= , KDC =
J 2 Jκ κ

8-1
8-2 Lecture 8

Definition: Given a transfer function, G(s) = N (s)

D(s) , where N (s) and D(s) are polynomials in s. Roots of
N (s) are called “zeros” of G(s), and roots of D(s) are called the “poles” of G(s).
Behavior of the output y(t) are majorly determined by the pole locations.

8.1.1 Step Response Types for the Second Order System in Standard Form
2
ωn
Given that G(s) = 2 ,
s2 +2ζωn s+ωn the poles can be computed as
p
s1,2 = −ζωn ± ωn ζ2 − 1

Case 1: When ζ = 0, the system becomes undamped and G(s) takes the form

ωn2
G(s) =
s2 + ωn2

We can compute the step-response as

1 ωn2 1 s
Y (s) = G(s)U (s) = 2 2
= − 2
s s + ωn s s + ωn2
y(t) = 1 − cos(ωn t) for t > 0

Pole locations and step response when ζ = 0 (undamped), is illustrated in the Figure below

Pole Locations Step Response

Im
Output

Re 1

0
Time

Case 2: When ζ = 1, the system becomes “critically” damped and G(s) takes the form

ωn2 ωn2
G(s) = =
s2 + 2ωn s + ωn (s + ωn )2

We can compute the step-response as

1 ωn2 1 1 ωn
Y (s) = G(s)U (s) = = − +
s (s + ωn )2 s s + ωn (s + ωn )2
y(t) = 1 − e−ωn t − ωn te−ωn t

Pole locations and step response when ζ = 1 (critically damped), is illustrated in the Figure below
Lecture 8 8-3

Pole Locations Step Response

Im
1

Output
Re

0
Time

Case 3: When ζ > 1, the system becomes over damped and there exist two real roots
p
p1 = −ζωn + ωn ζ 2 − 1 > −ωn
p
p2 = −ζωn − ωn ζ 2 − 1 < −ωn

G(s) can be written in terms of s1 and s2

p1 p2
G(s) =
(s + p1 )(s + p2 )

where it is easy to see that p1 p2 = ωn2 . Finally, we can compute the step-response as
p1 p2
Y (s) = G(s)U (s) =
s(s − p1 )(s − p2 )
p2 p1
y(t) = 1 + e p1 t − ep2 t
p1 − p2 p1 − p2
Pole locations and step response when ζ > 1 (over damped), is illustrated in the Figure below

Pole Locations Step Response

Im
1
Output

Re

0
Time
8-4 Lecture 8

Case 3: When 0 < ζ < 1, the system becomes under damped and there exist two complex conjugate roots.
p
p1,2 = −ζωn ± jωn 1 − ζ2
|p1,2 | = ωn

p
Let σ = ζωn and ωd = ωn 1 − ζ 2 (which is called damped natural frequency), then we know that general
solution of the ODE solution takes the form

y(t) = yp (t) + C1 e−σt cos(ωd t) + C2 e−σt sin(ωd t)

Steady-state conditions leads that yp (t) = 1. Then we can compute remaining coefficients from zero initial
conditions constraints

y(0) = 0 → C1 = −1
d  −σt 
ẏ(0) = 0 → e [− cos(ωd t) + C2 sin(ωd t)] |t=0 = 0
dt
−σe−σt [− cos(ωd t) + C2 sin(ωd t)] + e−σt [ωd sin(ωd t) + C2 ωd cos(ωd t)] |t=0 = 0
 

[σ + C2 ωd ] = 0
σ ζ
C2 = − = −p
ωd 1 − ζ2

Finally output, y(t), takes the form

" #
ζ
y(t) = 1 − e−σt cos(ωd t) + p sin(ωd t)
1 − ζ2

If we combine cos and sin terms into a single sin with phase shift we obtain

e−σt hp i
y(t) = 1 − p 1 − ζ 2 cos(ωd t) + ζ sin(ωd t)
1 − ζ2

e−ζωn t
=1− p sin(ωd t + φ) t ≥ 0
1 − ζ2

where

sin(ωd t + φ) = sin(φ) cos(ωd t) + cos(φ) sin(ωd t)

cos(φ) = ζ
p
sin(φ) = 1 − ζ 2
p
1 − ζ2
tan(φ) =
ζ

Pole locations and step response when ζ > 1 (under damped), is illustrated in the Figure below
Lecture 8 8-5

Pole Locations Step Response

Im

Output
Re

0
Time

8.1.2 Transient Response Characteristics for Underdamped Second Order Sys-

tems in Standard Form

Important transient characteristics and performance metrics for 2nd order underdamped systems are illus-
trated in the Figure below.

Step Response & Transient Characteristics

MP

1 %2 %5

0 Time
tr t p ts,5 ts
8-6 Lecture 8

Rise Time (tr): The first time instant the response intersects the y = 1 line.

y(tr ) = 1
e−ζωn tr
1=1− p sin(ωd tr + φ)
1 − ζ2
π = ωd tr + φ
π−φ
tr =
ωd

Peak Time (tp ): The first time instant the response makes a peak
 
dy
=0
dt tp
" #
d e−ζωn t hp i
−p 1 − ζ cos(ωd t) + ζ sin(ωd t)
2 =0
dt 1 − ζ2 tp
h hp i h p ii
ζωn e−ζωn t 1 − ζ 2 cos(ωd t) + ζ sin(ωd t) − e−ζωn t −ωd 1 − ζ 2 sin(ωd t) + ζωd cos(ωd t) =0
tp
hh p i h p ii
ζ 1 − ζ 2 cos(ωd t) + ζ 2 sin(ωd t) − −(1 − ζ 2 ) sin(ωd t) + ζ 1 − ζ 2 cos(ωd t) =0
tp
 2
ζ sin(ωd t) + (1 − ζ 2 ) sin(ωd t) tp = 0


sin(ωd ttp ) = 0
π
tp =
ωd

Maximum Overshoot (Mp ): The maximum amount by which the response exceeds the value 1.

Mp = y(tp ) − 1
" #
e−ζωn t hp i
= 1− p 1 − ζ cos(ωd t) + ζ sin(ωd t)
2 −1
1 − ζ2 tp
−ζωn ωπ p
" #
e d
= p 1 − ζ 2 (−1)
1 − ζ2
−π √ ζ −π
Mp = e 1−ζ 2 = e tan φ

Maximum Percentage Overshoot (M Pp ) is simply calculated as M Pp = Mp 100.

Settling Time (ts ): The earliest time instant such that |y(t) − 1| ≤ 0.02s or (|y(t) − 1| ≤ 0.05s) for all
t ≥ ts .Actual, settling time is very difficult to compute analytically (not so hard with numerical simulations).
Thus we use following approximations.
3
ts,5 = %5
ζωn
4
ts,2 = %2
ζωn

Example 1:
Lecture 8 8-7

In this problem, we perform four different pole re-location cases. During re-locations we keep some parameters
constant. Specifically

1. p1 moved to a new location p2 by keeping ζ (and φ) constant.

2. p1 moved to a new location p2 by keeping ωd constant.
3. p1 moved to a new location p2 by keeping ωn constant.
4. p1 moved to a new location p2 by keeping σ = ζωn constant.

For each four cases, explain what happens rise time, peak time, maximum overshoot, and settling time.

Im Im

Re Re

Im Im

Re Re
8-8 Lecture 8

Example 2: Consider the following closed-loop system

+ +
r(t) KP y ( t)
− −

KD

Design KP and KD gains such that, maximum percent overshoot is less than %4.32, and settling time (%2)
is less than 1 s.
Solution: Lets compute the closed-loop transfer function. In order to do that, first derive the transfer
function from E(s) to Y (s) which is called feed-forward transfer function.
 
Y (s) 1/s 1 KP
= KP =
E(s) 1 + KD /s s s(s + KD )

we can derive the G(s) as

KP
s(s+KD ) KP
G(s) = KP
=
1 + s(s+K s2 + KD s + KP
D)

We can see that with KP and KD gains we have total control on the characteristic equation. Now let’s
analyze the performance requirements.
First requirement state that Maximum percent overshoot is less than %4.32, which means that MP < 0.0432.
Let’s find a condition on ζ or φ,

−π √ ζ
MP = e 1−ζ 2 = e−π/ tan φ < 0.0432
−π/ tan φ < −π
tan φ < 1

The region on s-plane that satisfy the MP requirement is illustrated below.

s-plane

45o
Lecture 8 8-9

Second requirement state that settling time (%2) is less than 1 s, which implies

4 4
ts,2 = = <1
ζωn σ
σ>4

The region on s-plane that satisfy the settling time requirement is illustrated below.

s-plane

-4

If we combine the requirements, we obtain the following region of possible pole locations.

s-plane

-4

Based on these requirements let’s choose p1,2 = −5 ± 4j as desired pole locations. We can then compute the
desired characteristic equation and then find the associated controller gains as

d∗ (s) = (s + 5 + 4j)(s + 5 − 4j) = s2 + 10s + 41

KP = 41
KD = 10
8-10 Lecture 8

If we plot the step-response, we can illustrate the performance and check if we can meet the requirements.

Step Response

MP = 0.02
1
ts = 0.56 s

0
0 1 2
Time (seconds)

Transient Specifications for Over-damped Case

• Obviously, there is no over-shoot in over-damp case, thus MP = 0.

• For settling time we can use the same approximate formula by considering the dominant/slowest pole,
i.e.
3
ts,5 = %5
σmin
4
ts,2 = %2
σmin

• Since y(t) only crosses the y = 1 as t → ∞, tr definition is not applicable for over-damped case. Instead,
a different rise time definition can be used (which is applicable for both over-damped, under-damped,
critically-damped systems, as well as first order systems). t̄r is the time for y(t) to go from 0.1 to 0.9.
It is pretty hard to compute this time analytically, thus in general numerical and/or graphical methods
are used.
Rise-time concept is illustrated in the figure below, for an example system.
1

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0 1 2 3 4 5 6
Time (seconds)
Lecture 8 8-11

8.2 Higher Order Systems

In general, the poles closer to the jω axis determine the behavior of the system. If the “distance” between
the poles that are close to the jω axis and other poles is high, then they dominate the behavior and we call
them dominant poles. For example, figure given below illustrates a third order system, where we have two
complex conjugate roots and one real root. In this case, the magnitude of the real pole is more than three
times of the magnitude of the real part of the complex conjugate poles, thus the systems acts like a second
order system.

s-plane s-plane