Overdamped, Underdamped, Critically damped and Undamped responses

Overdamped Two real unequal poles Underdamped Two complex poles Undamped Two imaginary poles Critically damped Two real equal poles

c(t ) = K1e 1t + K 2 e 2t c(t ) = Ae d t cos(d t + ) c(t ) = A cos(n t + ) c(t ) = K1e 1t + K 2 te 1t

= tan -1
Im g Re

Example

For each plant, solve for the natural frequency and damping ratio

Effect of adding an additional pole

If the system has two or more poles or with zeros, it may be approximated as a second-order system that has two complex dominant poles. If the approximation can justified, secondorder formulae can be applied.

Component responses of a three-pole system: a. pole plot; b. component responses: nondominant pole is near dominant second-order pair (Case I), far from the pair (Case II), and at infinity (Case III)

Cases

Dominant poles?

Step responses of system T1(s), system T2(s), and system T3(s)

Validity of 2nd order approx.

In general, if the additional pole is five times or more further away to the left on the s-plane than the real part of the complex dominant pole, a second order approximation is valid. The 2nd order approximation is valid for T2(s) and not for T3(s).

Example
Determine the validity of a 2nd order approx for these 2 TFs

G(s) = G(s) =

700

( s + 15 ) ( s 2 + 4s + 100 )
360

( s + 4 ) ( s 2 + 2s + 90 )

Validity test

System response with an additional zero (first order)

Recall: The poles and zeros generate the amplitudes for both the forced and natural response.
C ( s) = A= B=

Without the zeros the amplitudes for both the forced and natural response.
C ( s) = A= B= 1 A B = + s ( s + 5) s s + 5 1 lim = 1 5

(s + 2)
s ( s + 5)

A B + s s+5

lim = s s5 5 2 3 5t c (t ) = + e 5 5

( s + 2) 2 lim = ( s + 5 ) s 0 5 ( s + 2) 3

( s + 5 ) s 0

1 1 lim = 5 s s 5 1 1 c (t ) = e5 t 5 5

Effect of adding a zero to a two-pole system

Step response of a nonminimum -phase system

Zero on the right hand side of the splane

Step response of the nonminimum-phase network (c(t)) and normalized step response of an equivalent network without the zero