ME451 L0 Introduction
ME451 L0 Introduction
Lecture 1
Introduction
1
Course information
Required Textbook:
Modern Control Systems, Richard C. Dorf and Robert H.
Bishop, Prentice Hall, 12th edition, 2010, ISBN-10: 0-13-
602458-0
2
Math Prerequisites
Complex Numbers
Add, Subtract, Multiply, Divide
Linear Algebra
Matrix Multiply, Inverse, Sets of Linear Eq.
Linear Ordinary Differential Equations
Laplace Transform to Solve ODE’s
Linearization
Logarithms
Modeling of Physical Systems
Mechanical, Electrical, Thermal, Fluid
Dynamic Responses
1st and 2nd Order Systems of ODE’s
3
Prerequisites: Complex Numbers
Ordered pair of two real numbers
Conjugate
Addition
Multiplication
4
Complex Numbers
Euler’s identity
Polar form
Magnitude
Phase
5
Logarithm
The logarithm of x to the base b is written
The logarithm of 1000 to the base 10 is 3, i.e.,
Properties:
Why?
6
Summary & Exercises
Prerequisites
Complex numbers, Linear Algebra, Logarithm,
Laplace transform
Dynamics
Next
Introduction
Exercises
Buy the course textbook and keep it!
Review today’s slides on complex numbers and
logarithm
Read Chapter 1 and 2 of the textbook.
7
What is “Control”?
Make some object (called system, or plant)
behave as we desire.
Imagine “control” around you!
Room temperature control
Car/bicycle driving
Voice volume control
“Control” (move) the position of the pointer
Cruise control or speed control
Process control
etc.
2017-2018 8
What is “Control Systems”?
Why do we need control systems?
Convenient (room temperature control, laundry
machine)
Dangerous (hot/cold places, space, bomb removal)
Impossible for human (nanometer scale precision
positioning, work inside the small space that human
cannot enter)
It exists in nature. (human body temperature control)
Lower cost, high efficiency, etc.
Many examples of control systems around us
2017-2018 9
Open-Loop Control
Open-loop Control System
Toaster, microwave oven, shooting a basketball
Controller Plant
(Actuator)
2017-2018 12
Closed-Loop (Feedback) Control
Compare actual behavior with desired behavior
Make corrections based on the error
The sensor and the actuator are key elements of
a feedback loop
Design control algorithm
Signal Input Error output
Sensor
2017-2018 13
Ex: Automobile direction control
Attempts to change the direction of the automobile.
Steering
Desired Error
wheel Direction
direction
Brain Hand angle Auto
Eye
2017-2018 14
Ex: Automobile cruise control
Attempts to maintain the speed of the automobile.
Disturbance
Error
Desired Acceleration
speed Speed
Controller Actuator Auto
Sensor
Sensor
Sensor
4. Implemenation
1. Modeling
2. Analysis
3. Design
2017-2018 17
Goals of this course
To learn basics of feedback control systems
Modeling as a transfer function and a block diagram
• Laplace transform (Mathematics!)
• Mechanical, electrical, electromechanical systems
Analysis
• Step response, frequency response
• Stability: Routh-Hurwitz criterion, (Nyquist criterion)
Design
• Root locus technique, frequency response technique,
PID control, lead/lag compensator
Theory, (simulation with Matlab), practice in laboratories
2017-2018 18
Course roadmap
Modeling Analysis Design
t F(s)
0
21
Examples of Laplace transform
Unit step function f(t)
1
t
0
(Memorize this!)
f(t)
Unit ramp function
t
0
(Integration by parts)
22
Integration by parts
EX.
23
Examples of Laplace transform (cont’d)
f(t) Width = 0
Unit impulse function Height = inf
Area = 1
t
0
(Memorize this!)
f(t)
Exponential function
1
t
0
24
Examples of Laplace transform (cont’d)
Sine function
(Memorize these!)
Cosine function
25
Laplace transform table
26
Inverse Laplace Transform
Properties of Laplace transform
1. Linearity
Proof.
Ex.
27
Properties of Laplace transform
2.Time delay
f(t) f(t-T)
Proof.
0 T
Ex.
t-domain s-domain 28
Properties of Laplace transform
3. Differentiation
Proof.
Ex.
t-domain s-domain
29
Properties of Laplace transform
4. Integration
Proof.
t-domain s-domain
30
Properties of Laplace transform
5. Final value theorem
if all the poles of sF(s) are in
the left half plane (LHP)
Ex.
Ex.
Ex.
Ex.
32
Properties of Laplace transform
7. Convolution
Convolution
IMPORTANT REMARK
33
Summary & Exercises
Laplace transform (Important math tool!)
Definition
Laplace transform table
Properties of Laplace transform
Next
Solution to ODEs via Laplace transform
Exercises
Read Chapters 1 and 2.
Solve Quiz Problems.
34
ME451: Control Systems
Lecture 3
Solution to ODEs via Laplace transform
35
Course roadmap
Modeling Analysis Design
t F(s)
0
37
An advantage of Laplace transform
We can transform an ordinary differential
equation (ODE) into an algebraic equation (AE).
t-domain s-domain
ODE AE
1
2
Partial fraction
Solution to ODE expansion
3
38
Example 1
ODE with initial conditions (ICs)
1. Laplace transform
39
Properties of Laplace transform
Differentiation (review)
t-domain
s-domain
40
Example 1 (cont’d)
unknowns
2. Partial fraction expansion
Similarly,
41
Example 1 (cont’d)
3. Inverse Laplace transform
42
Example 2
S1
S2
S3
43
In this way, we can find a rather
complicated solution to ODEs easily by
using Laplace transform table!
44
Example: Newton’s law
M
45
EX. Air bag and accelerometer
Tiny MEMS accelerometer
Microelectromechanical systems (MEMS)
47
Ex: Mechanical accelerometer (cont’d)
We would like to know how y(t) moves when unit
step f(t) is applied with zero ICs.
By Newton’s law
48
Ex: Mechanical accelerometer (cont’d)
Suppose that b/M=3, k/M=2 and Ms=1.
Partial fraction expansion
0
Inverse Laplace transform
-0.1
-0.2
Amplitude -0.3
-0.4
-0.5
0 2 4 6 8 10
Time [sec]
49
Summary & Exercises
Solution procedure to ODEs
1. Laplace transform
2. Partial fraction expansion
3. Inverse Laplace transform
Next, modeling of physical systems using
Laplace transform
Exercises
Derive the solution to the accelerometer problem.
E2.4 of the textbook in page 135.
50
ME451: Control Systems
Lecture 4
Modeling of electrical systems
51
Course roadmap
Modeling Analysis Design
Laplace transform
Time response
Transfer function Design specs
• Transient
• Steady state
Models for systems Root locus
• electrical
Frequency response
• mechanical Frequency domain
• Bode plot
• electromechanical
PID & Lead-lag
Stability
Block diagrams
• Routh-Hurwitz
Design examples
• Nyquist
Linearization
Sensor
4. Implemenation 1. Modeling
Controller Mathematical model
2. Analysis
3. Design
What is the “mathematical model”?
Transfer function
Modeling of electrical circuits
53
Mathematical model
Representation of the input-output (signal)
relation of a physical system
Physical Output
Input
system
Modeling
Model
54
Important remarks on models
Modeling is the most important and difficult task
in control system design.
No mathematical model exactly represents a
physical system.
56
Impulse response
Suppose that u(t) is the unit impulse function
and system is at rest.
System
Laplace
transform
58
Impedance
Generalized resistance to a sinusoidal
alternating current (AC) I(s)
I(s) V(s)
Z(s): V(s)=Z(s)I(s) Z(s)
Resistance
Inductance
Capacitance
59
Memorize!
Kirchhoff’s Voltage Law (KVL)
The algebraic sum of voltage drops around any
loop is =0.
60
Kirchhoff’s Current Law (KCL)
The algebraic sum of currents into any junction
is zero.
61
Impedance computation
V1(s) V2(s)
Series connection
Z1(s) Z2(s)
I(s)
V(s)
Proof (Ohm’s law)
62
Impedance computation
Parallel connection
I1(s)
I(s) Z1(s)
Z2(s)
Proof (Ohm’s law) I2(s)
V(s)
KCL
63
Modeling example
i(t) R1
By Laplace transform,
64
Modeling example (cont’d)
i(t) R1
Transfer function
(first-order system)
65
Example: Modeling of op amp
If(s)
Zf(s) Rule1: i-=0
I(s) Rule2: vd=0
i-
Zi(s) -
Input Vi(s) vd +
Vo(s) Output
66
Modeling example: op amp
R2 C
i-=0
i(t) R1 i- Vd=0
-
vd +
Input vi(t) vo(t) Output
(first-order system)
67
Modeling exercise: op amp
C1 C2
R2 i-=0
R1
i- Vd=0
-
Input vi(t) vd +
vo(t) Output
68
More exercises
Find a transfer function from v1 to v2.
69
Summary & Exercises
Modeling
Modeling is an important task!
Mathematical model
Transfer function
Modeling of electrical systems
Next, modeling of mechanical systems
Exercises
Do the problems in page 19 of this lecture note.
70
ME451: Control Systems
Lecture 5
Modeling of mechanical systems
71
Course roadmap
Modeling Analysis Design
Laplace transform
Time response
Transfer function Design specs
• Transient
• Steady state
Models for systems Root locus
• electrical
Frequency response
• mechanical Frequency domain
• Bode plot
• electromechanical
PID & Lead-lag
Stability
Block diagrams
• Routh-Hurwitz
Design examples
• Nyquist
Linearization
: rotational
3rd law:
For every action has an equal and opposite reaction
74
Translational mechanical elements:
(constitutive equations)
Mass Spring Damper
f(t) f(t)
M x2(t) B x2(t)
K
75
Mass-spring-damper system
K B
x(t)
76
Free body diagram
Direction of actual force will be
automatically determined by the
relative values!
K B
77
Mass-spring-damper system
K B
x(t)
Equation of motion
At rest,
y coordinate:
x coordinate:
79
Automobile suspension system
automobile M1
x1(t)
suspension K1 B
wheel M2
x2(t)
f(t)
tire K2
80
Automobile suspension system
Block diagram
F X2 X1
G2 G1
G3
81
Rotational mechanical elements
(constitutive equations)
Moment of inertia Rotational spring Friction
torque
B
K
J
rotation angle
82
Torsional pendulum system Ex.2.12
J B
friction between
bob and air
83
Torsional pendulum system
K friction between
bob and air
J B
Equation of Motion
By Newton’s law
85
Example (cont’d)
From second equation:
Block diagram
G2 G1
86
Rigid satellite Ex. 2.13
Thrustor
• Broadcasting
• Weather forecast
• Communication Double
• GPS, etc. integrator
87
Summary & Exercises
Modeling of mechanical systems
Translational
Rotational
Next, block diagrams.
Exercises
Derive equations for the automobile suspension
problem.
88
Exercises (Franklin et al.)
Quarter car model: Obtain a transfer function
from R(s) to Y(s).
y(t)
M2 Answer
Ks B
M1
x (t)
Kw
Road surface
89
ME451: Control Systems
Lecture 7
Linearization, time delays
90
Course roadmap
Modeling Analysis Design
System
93
Why linearization?
Real systems are inherently nonlinear. (Linear
systems do not exist!) Ex. f(t)=Kx(t), v(t)=Ri(t)
TF models are only for linear time-invariant (LTI)
systems.
Many control analysis/design techniques are
available for linear systems.
Nonlinear systems are difficult to deal with
mathematically.
Often we linearize nonlinear systems before
analysis and design. How?
94
How to linearize it?
Nonlinearity can be approximated by a linear
function for small deviations around an
operating point
Use a Taylor series expansion
Linear approximation
New coordinate
Nonlinear function
Operating point
Old coordinate 95
Linearization
Nonlinear system:
Let u0 be a nominal input and let the resultant
state be x0
Perturbation:
Resultant perturb:
Taylor series expansion:
96
Linearization (cont.)
N. sys L. sys.
97
Linearization of a pendulum model
Motion of the pendulum
Linearize it at
Find u0
New coordinates:
98
Linearization of a pendulum model (cont’)
99
Time delay transfer function
TF derivation
(Memorize this!)
100
Summary and Exercises
Modeling of
Nonlinear systems
Systems with time delay
Next
Modeling of DC motors
Exercises
Linearize the pendulum model at /4
101
ME451: Control Systems
Lecture 8
Modeling of DC motors
102
Course roadmap
Modeling Analysis Design
105
How does DC motor work?
Armature
ea(t) eb(t) J
Input Bm
107
Modeling of DC motor: time domain
Armature circuit
Mechanical load
Angular position
108
Modeling of DC motor: s-domain
Armature circuit
Mechanical load
Angular position
109
DC motor: Block diagram
Tachometer
(Page 46)
Encoder
(Page 44)
Feedback system
110
Useful formula for feedback
Negative feedback system
Ea
Memorize this!
111
Ex: Derivation of transfer functions
Compute transfer functions from R(s) to Y(s).
Ea Ea
Ea
Ea
112
DC motor: Transfer functions (TF)
113
DC motor: Transfer functions (cont’d)
Note: In many cases La<<Ra. Then, an
approximated TF is obtained by setting La=0.
114
Summary and Exercises
Modeling of DC motor
What is DC motor and how does it work?
Derivation of a transfer function
Block diagram with feedback
Next
Stability of linear control systems, one of the most
important topics in feedback control
Exercises
Go over the derivation for DC motor transfer functions
by yourself. Obtain T(s)/Ea(s).
115
Main message until this point
Many systems
can be represented
as transfer functions!
Lecture 9
Stability
117
Course roadmap
Modeling Analysis Design
x(t) x(t)
K
B
f(t) f(t)
M M
B
x(t) x(t)
120
What happens if a system is unstable?
Tacoma Narrows Bridge (July 1-Nov.7, 1940)
2008…
121
Mathematical definitions of stability
BIBO (Bounded-Input-Bounded-Output) stability :
Any bounded input generates a bounded output.
ICs=0 y(t)
u(t)
BIBO stable
system
Asymptotic stability :
Any ICs generates y(t) converging to zero.
ICs y(t)
Asymp. stable
u(t)=0 system
122
Some terminologies
Ex.
124
“Idea” of stability condition
Example
Asym. Stability:
(U(s)=0)
BIBO Stability:
(y(0)=0)
Bounded if Re0
125
Second order impulse response-
Underdamped and Undamped
… Overdamped
… Critically damped
… Underdamped
… Undamped
126
Second order impulse response –
Underdamped and Undamped
Changing / Fixed
Impulse Response
5
2
Amplitude
-1
-2
-3
-4
0 2 4 6 8 10 12
6
Time (sec)
4
-2
-4
-6 127
-5 0 5
Second order impulse response –
Underdamped and Undamped
Changing / Fixed
Impulse Response
5
2
Amplitude
-1
-2
-3
-4
0 2 4 6 8 10 12
6
Time (sec)
4
-2
-4
-6 128
-5 0 5
Second order impulse response –
Underdamped and Undamped
Changing / Fixed
Impulse Response
5
2
Amplitude
-1
-2
-3
-4
0 2 4 6 8 10 12
6
Time (sec)
4
-2
-4
-6 129
-5 0 5
Remarks on stability
For a general system (nonlinear etc.), BIBO
stability condition and asymptotic stability
condition are different.
For linear time-invariant (LTI) systems (to which
we can use Laplace transform and we can
obtain a transfer function), the conditions
happen to be the same.
In this course, we are interested in only LTI
systems, we use simply “stable” to mean both
BIBO and asymptotic stability.
130
Remarks on stability (cont’d)
Marginally stable if
G(s) has no pole in the open RHP (Right Half Plane), &
G(s) has at least one simple pole on -axis, &
G(s) has no multiple poles on -axis.
131
Examples
Repeated poles
TF:
Pick
Output
132
Feedback Technique
133
Positive Feedback
K will depends on the distance between the guitar and the amplifier.
134
Stability summary
Let si be poles of G.
Then, G is …
(BIBO, asymptotically) stable if
Re(si)<0 for all i.
marginally stable if
Re(si)<=0 for all i, and
simple root for Re(si)=0
unstable if
it is neither stable nor
marginally stable.
135
Mechanical examples: revisited
f(t) K f(t)
M M
K
B
f(t) f(t)
M M
B
x(t) Poles= x(t) Poles=
stable? stable?
136
Examples
Stable/marginally stable
/unstable
???
137
Summary and Exercises
Stability for LTI systems
(BIBO and asymptotically) stable, marginally stable,
unstable
Stability for G(s) is determined by poles of G.
Next
Routh-Hurwitz stability criterion to determine stability
without explicitly computing the poles of a system.
Exercises
Solve examples in the previous slide.
138
ME451: Control Systems
Lecture 10
Routh-Hurwitz stability criterion
139
Course roadmap
Modeling Analysis Design
142
Polynomial and an assumption
Consider a polynomial
Assume
If this assumption does not hold, Q can be factored as
where
The following method applies to the polynomial
143
Routh array
From the given
polynomial
144
Routh array
(How to compute the third row)
145
Routh array
(How to compute the fourth row)
146
Routh-Hurwitz criterion
147
Example 1
Routh array
148
Example 2
Routh array
If 0 appears in the first column of a
nonzero row in Routh array, replace it
with a small positive number. In this
case, Q has some roots in RHP.
149
Example 3
Routh array
If zero row appears in Routh array, Q
has roots either on the imaginary axis
or in RHP.
Find the range of K s.t. Q(s) has all roots in the left
half plane. (Here, K is a design parameter.)
Routh array
No sign changes
in the first column
151
Simple & important criteria for stability
1st order polynomial
152
Examples
All roots in open LHP?
Yes / No
Yes / No
Yes / No
Yes / No
Yes / No
153
Summary and Exercises
Routh-Hurwitz stability criterion
Routh array
Routh-Hurwitz criterion is applicable to only
polynomials (so, it is not possible to deal with
exponential, sin, cos etc.).
Next,
Routh-Hurwitz criterion in control examples
Exercises
Read Routh-Hurwtiz criterion in the textbook.
Do Examples.
154
ME451: Control Systems
Lecture 11
Routh-Hurwitz criterion: Control examples
155
Course roadmap
Modeling Analysis Design
159
Example 1: K(s)=K
Characteristic equation
Routh array
160
Example 1: K(s)=KP+KI/s
Characteristic equation
Routh array
161
Example 1: Range of (KP,KI)
From Routh array,
3.5
2.5
1.5
0.5
0
-1 0 1 2 3 4 5 6 7 8 9
162
Example 1: K(s)=KP+KI/s (cont’d)
Select KP=3 (<9)
Routh array (cont’d)
163
Example 1: What happens if KP=KI=3
Auxiliary equation
2
1.8
1.6
1.4
1.2
1
Oscillation frequency 0.8
0.6
0.4
Period 0.2
0
0 2 4 6 8 10 12 14 16 18 20
165
Example 2 (cont’d)
166
Example 2 (cont’d)
Characteristic equation
167
Example 2 (cont’d)
Routh array
168
Summary and Exercises
Control examples for Routh-Hurwitz criterion
P controller gain range for stability
PI controller gain range for stability
Oscillation frequency
Characteristic equation
Next
Time domain specifications
Exercises
Read Chapter 6 again.
Redo Examples 1 and 2
Do Problem 6.6-(a) and 6.7-(b)-Find the range of K for which the
system is stable.
169
More example 1
Routh array
Derivative of auxiliary poly.
2
(Auxiliary poly. is a factor of Q(s).)
No sign changes
in the first column No root in OPEN(!) RHP
170
More example 2
Routh array
Derivative of auxiliary poly.
4 4
2
No sign changes
in the first column
No root in OPEN(!) RHP
171
More example 3
Routh array
Derivative of auxiliary poly.
4 0
Lecture 12
Time-domain specifications
173
Course roadmap
Modeling Analysis Design
175
Time response
System
Step response
Step Response
3
2.5
Transient response 2
Amplitude
1.5
Steady-state resp. 1
0.5
0
0 2 4 6
Time (sec)
8 10 12
Time (sec) 177
Usage of time responses
Modeling
Some parameters in the system may be estimated by
time responses.
Analysis
Evaluate transient and steady-state responses
(Satisfactory or not?)
Design
Given design specs in terms of transient and steady-
state responses, design controllers satisfying all the
design specs.
178
Typical test inputs
Parabolic
Sinusoidal input function
will be dealt with
later.
179
Steady state value for step test signal
G(s)
181
Steady-state error for reference us(t)
182
Peak value, peak time, and
percent overshoot
183
Delay, rise, and settling times
184
An example revisited
For the example in a previous slide,
Steady-state error : -2
Delay time around 1.5 sec
Rise time around 5 sec 3
Step Response
Amplitude
1.5
Remark: There is no peak in
this case, so peak value, peak 1
185
Remarks on time-domain responses
Speed of response is measured by
Rise time, delay time, and settling time
Relative stability is measured by
Percent overshoot
In general ….
Fast response Large percent overshoot
Large percent overshoot small stability margin
We need to take trade-off between response
speed and stability.
186
Summary and Exercises
Time response and time domain specifications
Time response can be used for
• Parameter estimation
• Design specification of the feedback system
Time response is difficult to compute analytically,
except 1st and 2nd order systems (we’ll study later).
Next
When does steady state error become zero?
Exercises
Read about performance of feedback control
systems.
187
ME451: Control Systems
Lecture 13
Steady-state error
188
Course roadmap
Modeling Analysis Design
190
Steady-state error: unity feedback
We assume that the
CL system is stable!
Unity feedback!
Kp
193
Steady-state error for ramp r(t)
Kv
194
Steady-state error for parabolic r(t)
Ka
195
System type
System type of G is defined as the order
(number) of poles of G(s) at s=0.
Examples
type 1
type 2
type 3
196
Zero steady-state error
If error constant is infinite, we can achieve zero
steady-state error. (Accurate tracking)
For step r(t)
197
Example 1
G(s) of type 2
G(s)
Characteristic equation
198
Example 2
G(s) of type 1 G(s)
Step r(t)
Ramp r(t)
Parabolic r(t)
199
Example 3
G(s) of type 2 G(s)
Ramp r(t)
Parabolic r(t)
200
A control example
Closed-loop stable?
Compute error constants
201
Summary and Exercises
Steady-state error
For unity feedback (STABLE!) systems, the system
type of the forward-path system determines if the
steady-state error is zero.
The key tool is the final value theorem!
Next, time response of 1st-order systems
Exercises
Go over the examples in this lecture.
202
ME451: Control Systems
Lecture 14
Time response of 1st-order systems
203
Course roadmap
Modeling Analysis Design
205
First-order system
A standard form of the first-order system:
DC motor example
206
DC motor example (cont’d)
If La<<Ra, we can obtain a 1st-order system
207
Step response for 1st-order system
Input a unit step function to a first-order system.
Then, what is the output?
u(t) y(t)
0 0
0.8
Amplitude
Time when response
0.4
rises 63% of final value
Indication of speed of 0.2
response (convergence)
0
Response is faster as T 0 1 2 3 4 5 6
Time
becomes smaller.
210
DC gain for a general system
DC gain : Final value of a unit step response
For first-order systems, DC gain is K.
For a general stable system G, DC gain is G(0).
Examples
211
Settling time of 1st-order systems
212
Step response for some K & T
K=1,T=1 K=1,T=2
2 2
Amplitude
Amplitude
1 1
0 0
0 5 10 0 5 10
Time Time
K=2,T=1 K=2,T=2
2 2
Amplitude
Amplitude
1 1
0 0
0 5 10 0 5 10
Time Time
213
System identification
Suppose that we have a “black-box” system
Unknown
214
Ramp response for 1st-order system
Input a unit ramp function to a 1st-order system.
Then, what is the output?
u(t)=t y(t)
0 0
slope
2
0
0 1 2 3 4 5
Time
Time
218
ME451: Control Systems
Lecture 15
Time response of 2nd-order systems
219
Course roadmap
Modeling Analysis Design
221
Second-order systems
A standard form of the second-order system
Closed-loop TF
222
Step response for 2nd-order system
Input a unit step function to a 2nd-order system.
What is the output?
u(t) y(t)
0 0
DC gain
223
Step response for 2nd-order system
for various damping ratio
Undamped 2
Underdamped 1.5
Critically damped 1
Overdamped 0.5
0
0 5 10 15
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Step response for 2nd-order system
Underdamped case
Math expression of y(t) for underdamped case
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Peak value/time: Underdamped case
1.6
1.4
1.2
0.8
0.6
0.4
0.2
0
0 5 10 15
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Properties of 2nd-order system
(5%) (2%)
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Some remarks
Percent overshoot depends on , but NOT n.
From 2nd-order transfer function, analytic
expressions of delay & rise time are hard to
obtain.
Time constant is 1/(n), indicating
convergence speed.
For >1, we cannot define peak time, peak
value, percent overshoot.
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P.O. vs. damping ratio
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Pole locations of G
Poles (0<<1)
Damping ratio
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Influence of real part of poles
Settling time ts decreases.
ts
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Influence of imag. part of poles
Oscillation frequency d increases.
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Influence of angle of poles
Over/under-shoot decreases.
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An example
Require 5% settling time ts < tsm (given):
Im
Re
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An example (cont’d)
Require PO < POm (given):
Im
Re
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An example (cont’d)
Combination of two requirements
&
Im
Re
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Summary
Transient response of 2nd-order system is
characterized by
Damping ratio & undamped natural frequency n
Pole locations
Delay time and rise time are not so easy to
characterize, and thus not covered in this course.
For transient responses of high order systems,
we need computer simulations.
Next, Root locus
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Exercises
(Use a calculator if necessary.)
Read the related topics from the textbook.
1. For the system below with =0.6, n=5
(rad/sec), obtain
• Percent overshoot ?
• 5% settling time ?
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Exercises
2. For the system below, design K1 and K2 s.t.
Percent overshoot is at most 20%?
Peak time is at most 1 sec.?
With designed K1 and K2, what is 5% settling time?
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