Consys Slides 6 Time Analysis

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Impulse response Tome domain analysis First order systems Second order systems Time domain specications Type of a system
CONTROL SYSTEMS: AAOC C321
Narayan Suresh Manjarekar
narayan[at]bits-goa.ac.in
Department of EEE & I
BITS Pilani, K K Birla Goa Campus
1 / 24
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MODELING STEPS
1
Time domain: (Non)linear Constant Coefcient
Differential equations
2
Linearization
3
Linear ODEs zero initial conditions Transfer
function
4
Linear ODEs Block diagram BD reduction
5
Linear ODEs Signal ow graph Masons gain
formula
6
Impulse response model
2 / 24
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IMPULSE RESPONSE MODEL
1
Give an impulsive input to the system
2
Record the output: Denote it by g(t)
3
g(t) is the impulse response of the system
4
Determine the output of the system for a given input: r(t)
5
c(t) =
r() g(t )d = g(t) r(t)

6
Impulse response model g(t) Laplace Transform G(s)
3 / 24
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OBJECTIVES
1
Time response of dynamical systems
2
Order of the system
3
Type of the system
4
Performance specications in time domain
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REVISION: COMPONENTS OF A CLOSED-LOOP
SYSTEM
5 / 24
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LAPLACE TRANSFORM OF SIGNALS
r(t) R(s)
(t) 1
u(t)
1
s
r(t)
1
s
2
p(t)
1
s
3
e
at
u(t)
1
s+a
cos(
0
t)u(t)
s
s
2
+
2
0
sin(
0
t)u(t)

0
s
2
+
2
0
e
at
cos(
0
t)u(t)
s+a
(s+a)
2
+
2
0
e
at
sin(
0
t)u(t)

0
(s+a)
2
+
2
0
6 / 24
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TIME RESPONSE USING LAPLACE TRANSFORM
1
Determine: G(s)
2
r(t) Laplace transform R(s)
3
Compute C(s) = G(s)R(s)
4
C(s) Inverse Laplace transform c(t)
7 / 24
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FIRST ORDER SYSTEMS: STEP RESPONSE
Transfer function:
1
1+sT
Step input R(s) =
1
s
C(S) =
1
1+sT
1
s
Partial fraction expansion
C(S) =
1
s

T
1+sT
=
1
s

1
s+
1
T
Inverse Laplace
c(t) = 1 e
t
T
, t 0
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NATURE OF THE STEP RESPONSE
c(t) = 1 e
t
T
, t 0
dc(t)
dt
|
t=0
=
1
T
c(t)|
t=T
= 1 e
1
= 0.632
Smaller the time constant,
faster the response
For t 4T: tolerance 2 %
Steady state error = 0
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FIRST ORDER SYSTEMS: RAMP RESPONSE
Transfer function:
1
1+sT
Ramp input R(s) =
1
s
2
C(S) =
1
1+sT
1
s
2
Partial fraction expansion
C(S) =
1
s
2

T
s
+
T
2
1+sT
Inverse Laplace
c(t) = t T +Te
t
T
, t 0
Error e(t) = r(t) c(t)
Steady state error e() = T
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FIRST ORDER SYSTEMS: IMPULSE RESPONSE
Transfer function:
1
1+sT
Ramp input R(s) = 1
C(S) =
1
1+sT
Inverse Laplace
c(t) =
1
T
e
t
T
, t 0
At steady state c() = 0
11 / 24
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LTI SYSTEMS
Ramp response: c(t) = t T +Te
t
T
t 0
Step response: c(t) = 1 e
t
T
t 0
Impulse response: c(t) =
1
T
e
t
T
t 0
12 / 24
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SECOND ORDER SYSTEMS
Transfer function:

2
n
s
2
+2
n
s+
2
n
,
n
nonnegative constants
n
: Natural frequency
: damping ratio
actual damping
critical damping
13 / 24
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UNDERDAMPED CASE: 0 < < 1
Transfer function:
2
n
s
2
+2
n
s+
2
n
p
1,2
=
2
1
d
=
n
1
2
p
1,2
=
n
j
d
Step response
C(s) =

2
n
s
2
+2
n
s+
2
n
1
s
Partial fraction
C(s) =
1
s

s+2
n
s
2
+2
n
s+
2
n
C(s) =
1
s

s+
n
s
2
+2
n
s+
2
n

n
s
2
+2
n
s+
2
n
c(t) =
1 e
n
t
(cos
d
t +

1
2
sin
d
t),
t 0
c(t) =
1
e
n
t
1
2
(
1
2
cos
d
t + sin
d
t)
, t 0
c(t) = 1
e
n
t
1
2
sin(
d
t +) , t 0
= cos
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UNDERDAMPED CASE: 0 < < 1
Transfer function:

2
n
s
2
+2
n
s+
2
n
p
1,2
=
n
2
1
d
=
n
1
2
p
1,2
=
n
j
d
c(t) = 1
e
n
t
1
2
sin(
d
t + ) ,
t 0
15 / 24
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UNDAMPED CASE: = 0
Transfer function:

2
n
s
2
+
2
n
Step response C(s) =

2
n
s
2
+
2
n
1
s
C(s) =
1
s

s
s
2
+
2
n
c(t) = 1 cos
n
t, t 0
Sustained oscillations
16 / 24
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CRITICALLY DAMPED CASE: = 1
Transfer function:

2
n
(s+
n
)
2
Step response C(s) =

2
n
(s+
n
)
2
1
s
c(t) = 1 e
n
t
(1 +
n
t), t 0
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OVERDAMPED CASE: > 1
Two real poles, unequal
p
1
=
n
+
n
2
1
p
2
=
n
2
1
c(t) = 1+ response of two rst order systems
18 / 24
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SECOND ORDER SYSTEMS
Delay time, t
d
Rise time, t
r
=

d
Peak time, t
p
=

d
M
p
= e
1
2
Settling time, t
s
=
3
n
,
4
n
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SECOND ORDER UNDERDAMPED SYSTEMS:
POLE LOCATIONS
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SECOND ORDER UNDERDAMPED SYSTEMS:
POLE LOCATIONS CONTD
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STEADY STATE ERROR FOR A TYPE k SYSTEM
Consider a unity gain negative feedback system with the
open loop transfer function G(s)
G(s) =
(s+z
1
)(s+z
2
)(s+z
3
)(s+z
m
)
s
k
(s+p
1
)(s+p
2
)(s+p
3
)(s+p
n
)
, m (k +n)
Type = k
Steady state error: E(s) =
1
1+G(s)
R(s)
Steady state error: e
ss
= lim
t
e(t) = lim
s0
sE(s)
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ERROR COEFFICIENTS
K
p
= lim
s0
G(s)
K
v
= lim
s0
sG(s)
K
a
= lim
s0
s
2
G(s)
Unit step e
ss
=
1
1+K
p
Unit ramp e
ss
=
1
K
v
Unit parabola e
ss
=
1
K
a
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ERROR COEFFICIENTS
Type 0 Type 1 Type 2
Step K
p
< K
p
K
p

e
ss
< e
ss
= 0 e
ss
= 0
Ramp K
v
= 0 K
v
< K
v

e
ss
e
ss
< e
ss
= 0
Parabola K
a
= 0 K
a
= 0 K
a
<
e
ss
e
ss
e
ss
<
24 / 24

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r() g(t )d = g(t) r(t)

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