Unit 6

Design of Mechatronics System

Praveen P. Rathod
[email protected]
Department of Mechanical Engineering

BRACT’S, Vishwakarma Institute of Information Technology, Pune-48

(An Autonomous Institute affiliated to Savitribai Phule Pune University)
(NBA and NAAC accredited, ISO 9001:2015 certified)
 Objective

• To understand the interdisciplinary applications of Electronics,

Electrical, Mechanical and Computer Systems for the Control of
Mechanical and Electronic Systems

Learning Outcome/Course Outcome

1. Identify the Stability mechatronics system via identification of poles
and zeros

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 System Modelling
 To understand and control complex systems, one must obtain quantitative

mathematical models of these systems to analyze the relationships between the

system variables.

 Because the systems under consideration are dynamic in nature, the descriptive

equations are usually differential equations obtained by utilizing the physical laws of

the process

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 System Modelling
Transfer Function based Approach

 Why Transfer Function?

 Because it is easier / better to assess some things using classical techniques, such as gain

and phase margin.

 How to determine TF?

 Derive the Governing Differential Equation

 Assume I.C=Zero and

 Take Laplace transform of output

 Take Laplace transform of input

 Transfer function = L (output) / L (input)

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System Modelling: Mechanical System
F
m a s s /s p r in g /d a m p e r
M s y s te m
y
k d

F y
1 /m 1 /s 1 /s
v e lo c it y
d
k d is p l a c e m e n t

Equation of motion (EOM)  my  dy  ky  f

Assuming I.C  0 and taking Laplace of both sides

ms 2 y s   dsy s   ky s   f s 

Output y s  1
T.F   
Input f s  ms 2  ds  k
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 The Stability Analysis

A stable system is a dynamic system with a bounded response to a

bounded input.

Absolute stability is a stable/not stable characterization for a closed-loop

feedback system. Given that a system is stable we can further characterize
the degree of stability, or the relative stability.

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 THE STABILITY OF LINEAR FEEDBACK SYSTEMS
In designing a control system, we must be able to predict the dynamic
behavior of the system from knowledge of the components.

• A linear time-invariant control system is stable if the output eventually

comes back to its equilibrium state when the system is subjected to an initial
condition.
• It is marginally stable if oscillations of the output continue forever.
• It is unstable if the output diverges without bound from its equilibrium state
when the system is subjected to an initial condition.

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 The Concept of Stability Analysis

The concept of stability can be

illustrated by a cone placed on a
plane horizontal surface.

A necessary and sufficient

condition for a feedback
system to be stable is that
all the poles of the system
transfer function have
negative real parts.

A system is considered marginally stable if only certain bounded inputs will result
in a bounded output.
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 S-PLANE: POLES AND ZEROS

A linear system can be represented by the following transfer function:

• Zeros: zi (the roots of the numerator)

• Poles: pi (the roots of the denominator or of the system or
characteristic equation).
• Example: for the TF shown below

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A system is stable if ALL the closed-loop poles are in the LEFT HALF of the
s-plane and have negative real parts, i.e. all the roots of the characteristic
equation are in the left-hand s-plane.

A general closed-loop system transfer function:

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• To use the above fact, we need to solve the characteristic equation:

• The task of factorizing q(s) becomes difficult for n > 2. Do we have an

alternative and simple method?
• Alternative 1 is
• A necessary condition for stability of the system is that all the
coefficients of the closed-loop characteristic equation ai are positive.
This is to say that if at least one of the coefficients of the characteristic
equation q(s) is negative, we can conclude that the system is unstable.
• However, it does not mean that if all the coefficients of q(s) are positive,
the system is stable.

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 Identification of Poles

y s  0 .5 s  2
Transfer Function   2
u s  s  0.5s  2

Characteristic Eq  s 2  0.5s  2  0

- 0.5  0.52  4 *1* 2  0.5  0.25  8  0.5  2.7839i

Roots   
2 *1 2 2

Poles are located at  0.25  1.39i

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 Identification of Zeros

Characteristic Eq  0.5s  2  0

-2
Root 
0.5

Zero is located at - 4.

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 Find T.F , Poles and Zeros comment on stability of the system.

• For the system assume M=1Kg, K=2N/m, d=0.5N/m. also force input
in N and Y id displacement

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 Second order Transient Response
The generalized transfer function for second order transient response system is

Unit Step Response of Second Order System

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 Time Domain Specifications
 Percentage Overshoot (% O.S): It is the amount that the response
overshoots the steady state, or final, value at the peak time, expressed as a
percentage of the steady-state value.
 
1 2
Max % overshoot  100e
 Rise Time (Tr): Time required for the step response to rise from 10% to
90% of its final value.
0.8  2.5
Rise Time  Tr  for 0    1
n
1  0.7
Delay Time  Td  for 0    1
n
 Delay Time (Td): Time required for the step response to reach 50% of final
value
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 Time Domain Specifications
 Settling Time (Ts): Time required for the step response to decrease and stay
within a specified percentage of its final value
 Within ±2% / ±5% / ±10% of final value

4 3 2.3
2% Settling time  Ts  5% Settling time  Ts  10% Settling time  Ts 
 n  n  n

 Steady State Error (ess): It is the difference between the output and the
reference input after the steady state has reached

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 Time Domain Specifications
 Using the values of the natural frequency= =1.414 and the damping
factor=ζ=0.177, determine the values for overshoot, rise time and 2%
settling time
 π  *0.177
1 2
1 0.177 2
Max % overshoot  100e  100e  58.16%

4 4
2% Settling time  Ts    15.98
ζω n 0.177 *1.414

0.8  2.5 0.8  2.5 * 0.177

Rise Time  Tr    0.88
n 1.414

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 Compare with

s 2  8s  12  0

Kind of response is over damped system

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EX:
y s  100
Transfer Function   2
u s  s  15s  100
Find % of overshoot and Rise time

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Routh-Hurwitz Criterion
To check for stability of a system

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 Routh-Hurwitz Stability Criterion
• It is a method for determining continuous system stability.

• The Routh-Hurwitz criterion states that “the number of roots of the

characteristic equation with positive real parts is equal to the number of

changes in sign of the first column of the Routh array”.

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 Routh-Hurwitz Stability Criterion
 This method yields stability information without the need to solve for the closed-
loop system poles.
 Using this method, we can tell how many closed-loop system poles are in the left
half-plane, in the right half-plane, and on the jw-axis. (Notice that we say how
many, not where.)

 The method requires two steps:

1. Generate a data table called a Routh table.
2. interpret the Routh table to tell how many closed-loop system poles are in the
LHP, the RHP, and on the jw-axis.

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 Routh-Hurwitz Stability Criterion

• The characteristic equation of the nth order continuous system can be write as:

• The stability criterion is applied using a Routh table which is defined as;

• Where are coefficients of the characteristic equation.

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 Generating a Basic Routh Table
• First label the rows with powers of s from highest power of s down to lowest power of s in a
vertical column.
• Next form the first row of the Routh table, using the coefficients of the denominator of the
closed-loop transfer function (characteristic equation).
• Start with the coefficient of the highest power and skip every other power of s.
• Now form the second row with the coefficients of the denominator skipped in the previous
step.
• The table is continued horizontally and vertically until zeros are obtained.
• For convenience, any row can be multiplied or divide by a positive constant before the next row
is computed without changing the values of the rows below and disturbing the properties of
the Routh table.
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 Routh’s Stability Condition
• If the closed-loop transfer function has all poles in the left half of the s-plane,
the system is stable. Thus, a system is stable if there are no sign changes in
the first column of the Routh table.

• The Routh-Hurwitz criterion declares that the number of roots of the

polynomial that are lies in the right half-plane is equal to the number of sign
changes in the first column. Hence the system is unstable if the poles lies on
the right hand side of the s-plane.
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 Stability
 need to construct a Routh array.
Consider the system shown in the Figure. The closed-loop characteristic equation is:

• The Routh array is simply a rectangular matrix with one row for each power of s in the
closed-loop characteristic polynomial

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 Stability

Table 1: Starting layout for Routh array

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 Stability

Table 2: Completed Routh array

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Example-1: Find the stability of the continues system having the characteristic equation of

The Routh table of the given system is computed and shown is the table below;

• Since there is no changes of the sign in the first column of the Routh table, it means that all the roots of
the characteristic equation have negative real parts and hence this system is stable.

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Example-2: Find the stability of the continues system having the characteristic polynomial of a third order
system is given below

• The Routh array is

• Because TWO changes in sign appear in the first column, we find that two roots of the characteristic
equation lie in the right hand side of the s-plane. Hence the system is unstable.

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 Example-3: Determine a rang of values of a system parameter K for which the system is stable.

• The Routh table of the given system is computed and shown is the table below;

• For system stability, it is necessary that the conditions 8 – k >0, and 1 + k > 0, must be satisfied. Hence the
rang of values of a system parameter k must be lies between -1 and 8 (i.e., -1 < k < 8).

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 Example-4: Find the stability of the system shown below using Routh criterion.

The close loop transfer function is shown in the figure

The Routh table of the system is shown in the table

Because TWO changes in sign appear in the first column, we find that two roots of the characteristic equation lie
in the right hand side of the s-plane. Hence the system is unstable.
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 Example-5: Find the stability of the system shown below using Routh criterion.

• The Routh table of the system is

• System is unstable because there are two sign changes in the first column of
the Routh’s table. Hence the equation has two roots on the right half of the s-
plane.
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 Stability
The Routh-Hurwitz Criterion: The number of roots of the characteristic polynomial that are
in the right-half plane is equal to the number of sign changes in the first column of the
Routh Array. If there are no sign changes, the system is stable.

Example:6 Test the stability of the closed-loop system

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 Stability
Solution: Since all the coefficients of the closed-loop
characteristic equation s3 + 10s2 + 31s + 1030 are present,
the system passes the Hurwitz test. So we must construct
the Routh array in order to test the stability further.

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 Stability

For clarity, we can rewrite the array:

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 Stability
and now it is clear that column 1 of the Routh array is:

First sign changes

Second sign changes

 and it has two sign changes (from 1 to -72 and

from -72 to 103). Hence the system is unstable with
two poles in the right-half plane.

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 Mechatronics Design Process

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