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Systems with Time Delay

EGGN 307 Lecture 30

Transfer Functions for Systems with Delays

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What is the transfer function for this linear system? Delay of T seconds

Series Connection for Systems with Delays

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What is the transfer function for these linear systems? Delay of T seconds

Delay of T seconds

Frequency Response for Systems with Delays (1)

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What is the frequency response of

Delay does not change magnitude response

Frequency Response for Systems with Delays (2)

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What is the frequency response of

Delay shifts phase response by

Example 1 (1)
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System with two second delay

Magnitude response is the same as for

Example 1 (2)
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Phase response is

.1 1 10

.2 2 20

11.5 115 1150

Example 2
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What is the additional phase lag (in degrees) at 5 rad/ s due to a delay of
.01 second? .1 second? 1 second?

Answer:
2.86 28.6 286

Feedback Robustness to Delay

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Consider the following feedback system:

What delay can be tolerated before the system becomes unstable? Since delay affects phase but not gain, the answer can be found by examining the phase margin.

Computing the Maximum Allowable Delay

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Suppose
Phase margin is m Phase margin is measured at co (cross-over frequency: frequency where magnitude is 0 db)

Phase lag at crossover frequency due to delay

Maximum delay given by

10

Example 3
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What delay can be tolerated before the feedback system becomes unstable?

11

MATLAB Analysis for Systems with Delay

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>> sys=tf([10],[1 1]); >> set(sys,'iodelay',.164) >> sys Transfer function: 10 exp(-0.164*s) * ----s + 1 >> bode(sys)

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