AME 455 Control Systems Design Lecture 5 Poles and Zeros. Dominant poles.

Second Order System Response

Instructional objectives: At the end of this lecture students should be able to: Determine the poles and zeros of a system. Eliminate the non-dominant poles. Determine the natural frequency and damping ratio of a second order system. Determine the overshoot of a second order system.

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design Step response of a second order system.
Consider the second order system discussed above subjected to a step input (R(s)=1/s):
2 n 1 a bs + c C ( s) = 2 , = + 2 2 2 s + 2 n s + n s s s + 2 n s + n

where a, b, and c are the partial fraction coefficients (residuals). Using the " cover - up" method, one finds a = 1. The other coefficients can be determined by compating the coefficients of the numerators on each side of the equation
2 2 ) ( n 1 a (s 2 + 2 n s + n bs + c )s = + 2 2 2 2 2 2 s + 2 n s + n s s (s + 2 n s + n ) (s + 2 n s + n )

AME 455 Control Systems Design

The result is b = 1 and c = 2 n . Thus s + 2 n s + n n 1 1 C ( s) = 2 = . 2 2 2 2 2 s s + 2 n s + n s s + 2 n s + n s + 2 n s + n The Laplace transform table requires the denominator in the form of a " complete square" (( s + a) 2 + 2 ), s + n n 1 C ( s) = . 2 2 2 2 2 2 s (s + n ) + n 1 (s + n ) + n 1

One can then establish that a = n and = d = n 1 2 .

AME 455 Control Systems Design

Here we need to distinguish two cases: Case 1: <1 (underdamped system). In this case d is the damped natural frequency of oscillation. The system response can be found by taking the inverse Laplace of C(s):
n s + n 1 C ( s) = . 2 2 2 2 s (s + n ) + d (s + n ) + d
c(t ) = 1 e nt cos d t = 1 e
n t

n t e sin d t = d
n

1 = 1 e nt cos t + n t sin d d 2 n 1 1 2 1 1
2

1 2 cos t + sin t = d d { 4 2 4 3 1 cos sin

= 1 e nt where tan =

sin ( d t + ),

1 2

,d = n 1 2 .

AME 455 Control Systems Design

Case 2: >1 (overdamped system). In this case there are two real poles, that is, there are no oscillations and the sin and cos functions are replaced with hyperbolic functions. To find the time response one can use partial fraction expansion using the two distinct poles, or as a short cut, one can use the previous derivation and replace

d j d , where the new d is defined as d = n 2 - 1 .

In doing so, notice the follwing propertis of complex functions e j d = cos d + j sin d e j ( j d ) = cos( j d ) + j sin( j d ) = e d e j ( j d ) = cos( j d ) + j sin( j d ) = cos( j d ) j sin( j d ) = e d Solving for cos( j d ) and sin( j d ) : e d + e d cos( j d ) = = cosh d 2 e d e d sinh d sin( j d ) = = = j sinh d 2j j

AME 455 Control Systems Design

Now we know how to replace sin( j d t ) and cos( j d t ) c(t ) = 1 e nt cos j d t = 1 e
n t

n t sin j d t = e j d
n

1 = t 2 n cos j t + = 1 e n + sin 1 cosh sinh j t t t d d d d { 2 2 1 4 2 4 3 1 1 j cos n sin 1

= 1 e nt

1
2

sinh ( d t + ),

since sinh(a + b) = sinh(a) cosh(b) + cosh(a ) sinh(b). In this case the phase shift is detemined by a HYPERBOLIC tangent :

2 1 tanh = , and d = n 2 1.
Error in Text, pg.65, eq. 4.37 tan tanh