3.

Reset and add “many” poles in one location of the negative-real axis and note the effect
in (the initial part of) the step response. Does the rise time, settling time, or final value of the
step response change as you add extra poles? What system element could you approximately
substitute for “many” poles in one location?

Assume that the unit step response of n number of poles in one location s = -a is expressed:
an
Y ( s )= n
s ( s+a)
The inverse Laplace transform of Y(s) is
y ( t ) =L−1 {Y ( s) }
−τ s
A pure time delay factor e (τ≥0) . From the given information, we need to prove that
an +1 an
n+1
≈ n
e−τs
s (s +a) s(s+ a)

a as 1
e  s   e s   1 s
Or sa a a
τs
Using Taylor – Maclaurin series to expand e
( s ) 2 ( s )3
e s  1   s    ...  1   s
2! 3!
1 1 as
Let   , then e s  a  s 
a a a
n n
a − τs a a an+1
n
e = n
× = n+1
s (s +a) s (s+a) a+s s (s +a)

So, Y ' ( s )=Y (s)e−τs

 y’(t) = y(t - τ)
−τ s
Hence, we can conclude that the pure time delay factor e (τ≥0) is the element that we can
use to approximately substitute for “many” poles in one location.

Experiment results

1 pole at s = -5 3 poles at s = -5
 5 poles at s = -5 10 poles at s = -5

6. Find a “stable” second-order transfer function, having only complex poles, that has a step
response with greater than 100 [%] peak overshoot.

 If the system have only complex poles (no zero)

The unit step response is
 n2
Y (s) 
s( s 2  2n s  n2 )
And the Percent Overshoot (P.O.) with greater than 100% peak over shoot means we must have:



1 2
P.O.  100e [%]  100%


1 2 
e 1   0    0(impossible)
 1  2
So, it is conclude that if there is no zero we cannot have a “stable” second-order transfer function having only
complex poles that has a step response with greater than 100%.
The percent maximum overshoot reaches if ξ = 0 or poles lie on the vertical axis.

Fig. percent overshoot and normalized peak time versus damping ratio ξ for a second-order system.

 Case 2: The system has two complex poles and one zero to be stable
 In this case we can easily find a system that satisfies the requirement. For example in the
s  3.1
figure T(s) = ( s  1.2  5.7 j )( s  1.2  5.7 j )