Lecture 2

Lecture 3
Classical Control Overview I
Dr. Radhakant Padhi

Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore
Review of Laplace Transforms
Dr. Radhakant Padhi

Laplace Transform
L a p la c e T ra n s fo rm o f f ( t ) :
F (s) =
(s
= + j : a c o m p le x v a ria b le )
f ( t ) e st d t
In v e rs e L a p la c e T ra n s fo rm o f F ( s ): L 1 [ F ( s ) ] = 1 2 j
+ j
F ( s ) e st d s
1, t 0 where u ( t ) = 0, t < 0
3
= f (t ) u (t )
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Test Signals Commonly Used in Control Systems

Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004
Example 1
L ( t n ) = e st t n dt
0 n
( by definition )
Let v = st dv = s dt v dv L (t ) = e s s 0
n v
1 s
n +1
= n ! ( by induction )
n! e v dv = n +1 s 0
v n
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 5
Example 2
L ( et ) = e st et dt
0
( by definition )
= e ( s 1)t dt
0
e 1 = [0 1] = ( s 1) ( s 1) 0 1 = ( s 1)
( s 1)t
Laplace Transform
Laplace Transform
Result :
L e
at
= + f ( t ) F s a ( )
( s + a )t at st at L e f ( t ) = e e f ( t ) dt = e f ( t ) dt 0 0
Let
= s+a s
t at s L e f ( t ) = e f ( t ) dt
) = F (s = F (s + a)
( by definition )
9
Examples
2 (1) We know: L ( sin 2t ) = 2 s + 22 2 2 3t = 2 Hence L ( e sin 2t ) = 2 2 ( s + 3) + 2 s + 6s + 13 s (2) We know: L ( cos 2t ) = 2 s + 22 s+3 s+3 3t Hence L ( e cos 2t ) = = 2 2 2 ( s + 3) + 2 s + 6s + 13
d F s ( ) Result : L t f ( t ) = ( 1) n ds
n n n
By definition F ( s ) = e st f ( t ) dt
0
Hence
dF ( s ) d st d st = e f ( t ) dt = e f ( t ) dt ds ds 0 ds 0
= te st f ( t ) dt
0
= ( 1) e st t f ( t ) dt
0
= ( 1) L t f ( t )
d F s ( ) Result : L t f ( t ) = ( 1) n ds
n n n
dF ( s ) Hence L t f ( t ) = ( 1) ds
2 d F (s) 2 Similarly L t f ( t ) = ( 1) ds 2 2

n d F (s) n n In general L t f ( t ) = ( 1) ds n
12
df ( t ) Result : L = sF ( s ) f ( 0 ) dt df ( t ) st df ( t ) = e L dt
dt
dt
st st = e f t s e f ( t ) dt ( ) ( ) 0 0 st = + f s e 0 0 ( ) f ( t ) dt 0 F (s)
= s F ( s ) f ( 0)
= 0(Typically)
Hence, multiplication by s is a derivative operator!

Generalization
d df ( t ) d 2 f (t ) f ( 0) L s F ( s ) f ( 0) = L = s 2 dt dt dt = s2 F ( s ) s f ( 0) f ( 0)
d 3 f (t ) 2 f ( 0 ) L s s F ( s ) s f ( 0) f ( 0) = 3 dt 3 2 = s F ( s ) s f ( 0 ) s f ( 0 ) f ( 0 )
Result :
t
t 1 L f ( ) d = F ( s ) 0 s
g (t ) = f (t )
Let g ( t ) = f ( ) d Then g ( 0 ) = 0,
0
t F (s) = L g ( 0 ) = s L f ( ) d f ( t ) = L g ( t ) = sL g ( t ) 0 =0 t 1 Hence L f ( ) d = F ( s ) 0 s i.e. Division by s is an integral operator!

Transfer Function Representation
Dr. Radhakant Padhi

Block Diagram Representation
17

Any physical system that can be represented by a linear, time-invariant constant coefficient differential equation can be modeled as a Transfer function
d n c (t ) d n 1c ( t ) + a n 1 + + a 0 c (t ) an n n 1 dt dt d m r (t ) d m 1 r ( t ) = bm + b m 1 + + b0 r (t ) m m 1 dt dt c ( t ) : th e o u tp u t r ( t ) : th e in p u t a i 's a n d b i ' s a re c o n s ta n ts

Taking Laplace Transform an s n C ( s ) + an 1 s n 1C ( s ) +
+ a0 C ( s ) + initial condition terms = bm s m R ( s ) + bm 1 s m 1 R ( s ) +

+ b0 R ( s ) + initial condition terms Assume all initial conditions as zero (linear system) Then the ratio
C ( s ) bm s m + bm 1 s m 1 + + b0 T (s) = = R ( s ) an s n + an 1 s n 1 + + a0 is called the TRANSFER FUNCTION

System Block Diagram
Definitions:
Roots of numerator: ZEROS Roots of denominator: POLES m n : Proper Transfer Function m < n : Strictly Proper Transfer Function
Example 1: Simple First Order System (R-L Circuit)
d i (t ) v (t ) = L + R i (t ) dt lap lace tran sfo rm 1 I (s) = V (s) Ls + R p o le = R / L

21
Example 2: (Second-order system) Transfer Function Modeling of Car Suspension System

Xo=Vertical motion of the body
Xi= motion of the body at the point P
22
Car Suspension System

0 + b ( x 0 x i ) + k ( x 0 xi ) = 0 mx 0 + bx 0 + kx0 = bx i + kxi mx Taking Laplace Transform ( ms 2 + bs + k ) X 0 ( s ) = (bs + k ) X i ( s ) Hence X 0 (s) (bs + k ) = T (s) = X i ( s ) ( ms 2 + bs + k )
Response of First and Second Order Systems
Dr. Radhakant Padhi

System Response: R-L Circuit

d i (t ) v (t ) = L + R i (t ) dt lap lace transfo rm I (s) 1 = V (s) Ls + R P ole lo catio n: R / L L et L = 1 H R = 1 an d v ( t ) = 1 V (u n it step )

I (s) 1 ; p o le = 2 = V (s) s+2 1 I (s) = s(s + 2) P artia l fractio n ex p an sio n I (s) = V (s) = 1 ; p o le = 0 s
1 A B A= + (s + 2) s s + 2 s 0 T ak in g In v erse L a p la ce T ra n sfo rm 1 1 2 t i (t ) = e 2 2
fo rced resp o n se n atu ral resp o n se
B =
1 s
s 2
26

T o ta l r e s p o n s e = F o rc e d re sp o n se +
d u e to in p u t
N a tu r a l r e s p o n s e
d u e to e n e r g y d is s ip a tio n
A Pole of the input function generates the form of the forced response A Pole of the system transfer function generates the form of the natural response The zeros and poles together generate the exact amplitudes for both forced and natural responses

A system is stable if the natural response approaches zero as time approaches infinity. This demands e-t form in the natural response that means all the poles should lie in the left half of the s-plane
28
First Order Systems
= (1/ a ) : Time constant of the system

Unit Step Response of First-Order System

Output response for a unit step input
c(t ) = 1 e
t /
for t 0
The output will reach its final value as t . Initial speed of response:
t / dc e 1 = = dt t = 0
Unit Step Response of a First-Order System

x (t ) A =1
T =
Settling time: Ts = 4T = 4
Second-Order System (R-L-C Circuit)

= damping ratio n=un damped natural frequency Complex poles
32
Unit Step Response Second-Order System

c (t ) = 1 e nt 1
2
cos (d t ) , where d = n
1 , = tan 1 2
2 1
=0
0<<1 =1 >1
33
Transient Response Specifications
34
Transient response specifications of an Under-damped system

R is e tim e T r = , d
w h e re = ta n
1
P e a k tim e T p = d d = n 1
= e
1
2
d , n
p
M a x im u m o v e r s h o o t M S e ttlin g tim e Ts = = 4
n
3
(2% (5 %
c r ite r io n ) c r ite r io n )
35
Second-Order Systems: Pole Locations and Step Responses

Over damped
Under damped
Undamped
Critically damped
36
Second-order Response As A Function Of Damping Ratio
37
Under Damped System Pole Plot
38
Step Responses of Second Order Under Damped Systems with Pole Movement
Envelop same
with constant real part
Frequency same
with constant imaginary part
Same Overshoot
with constant damping ratio
39
Effect of Adding a Pole

at infinity
far from the pair At Infinity Response
non dominant pole is near dominant second-order pair
Residue of non dominant pole and its response becomes zero as the non dominant pole approaches infinity
Effect of Adding a Zero

Zeros and Poles together dictate the exact response (including magnitude) Zeros mainly effect the residues (i.e. the constants in the numerator in the partial fraction expansion) Closer the zero is to the dominant poles, the greater is its effect on the transient response
Effect of Adding a Zero: Analysis Let C ( s ) : Response of a system with unity in the numerator.
Then by adding a zero, the Laplace transform of the response of the new system will be
(a + s)C (s) = a C (s) + s C (s)
a C ( s ) : A scaled version of the original response s C ( s ) : The derivative of the original response Thus, if a is small (in the LH plane), the derivative term is predominant. Hence, more overshooting is expected.
Effect of Adding a Zero for Small Values of a in the Left-half s-plane

For small values of a, one gets more overshooting
43
Effect of Adding a Zero in RHS of s-plane
(a s)C (s) = a C (s) s C (s),

terms oppose each other!
a>0
In this case the scaled response and derivative
Thus, if the derivative term is large, then the system response will initially follow the derivative "in the opposite direction" of the scaled response!
Effect of Adding a Zero in the Right Half s-plane

The system is called non-minimum phase
Note: Tail-controlled aerospace vehicles are typical examples for non-minimum phase systems
45
46
47

Lecture 2

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lecture 2

Uploaded by

Copyright:

Available Formats

Lecture 3

Classical Control Overview I

Dr. Radhakant Padhi

Review of Laplace Transforms

Dr. Radhakant Padhi

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Test Signals Commonly Used in Control Systems

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Hence, multiplication by s is a derivative operator!

t F (s) = L g ( 0 ) = s L f ( ) d f ( t ) = L g ( t ) = sL g ( t ) 0 =0 t 1 Hence L f ( ) d = F ( s ) 0 s i.e. Division by s is an integral operator!

Transfer Function Representation

Dr. Radhakant Padhi

Block Diagram Representation

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Transfer Function Representation

Transfer Function Representation

Taking Laplace Transform an s n C ( s ) + an 1 s n 1C ( s ) +

+ a0 C ( s ) + initial condition terms = bm s m R ( s ) + bm 1 s m 1 R ( s ) +

C ( s ) bm s m + bm 1 s m 1 + + b0 T (s) = = R ( s ) an s n + an 1 s n 1 + + a0 is called the TRANSFER FUNCTION

System Block Diagram

Example 1: Simple First Order System (R-L Circuit)

d i (t ) v (t ) = L + R i (t ) dt lap lace tran sfo rm 1 I (s) = V (s) Ls + R p o le = R / L

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Example 2: (Second-order system) Transfer Function Modeling of Car Suspension System

Xi= motion of the body at the point P

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Car Suspension System

Response of First and Second Order Systems

Dr. Radhakant Padhi

System Response: R-L Circuit

System Response: R-L Circuit

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

System Response: R-L Circuit

System Response: R-L Circuit

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

First Order Systems

= (1/ a ) : Time constant of the system

Unit Step Response of First-Order System

Unit Step Response of a First-Order System

Second-Order System (R-L-C Circuit)

= damping ratio n=un damped natural frequency Complex poles

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Unit Step Response Second-Order System

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Transient Response Specifications

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Transient response specifications of an Under-damped system

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Second-Order Systems: Pole Locations and Step Responses

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Second-order Response As A Function Of Damping Ratio

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Under Damped System Pole Plot

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

with constant real part

with constant imaginary part

with constant damping ratio

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore