T im R e o n s e A n a ly s is

267 e s p
FC S t r o s
o f c o n y s te m s

L im t lw r a n bp
f C (t), th e fin l s tp d s ta te v a ]u c C () f th e o u tp u a
T a k in g o a y w

t 00

o ta in e d

l)C s is o f F ir s t O rd e r S y s te m
7 12 A n a
f
'
in th d e n o m in a to r o a
is th h ig h t p o w e r o f s e
O rd e r f s y te s m e e s
rde r
o
O
fe fu n c tio n
c lo s e
d lo o p tr a n s r

h in th e
p le y s te o w n
C o n s id e r a s im s m s

F ig 7 1 8 (a )
if it is e x c ite d b y
F in d v .
(t ) i e Re s po n se

t
u n it s te p in p u
1, t O
V i (t) =

= O, t < O

V () 1 /s
j s
=

La c e

o
(s )

T a k in g L a p la ce in v e rse ,

R C
V (t ) = 1 e
t/
z > C s s
+ C t (t) fo rm
o

SO t/ R C
C ss
- 1 a n d C , (t) = e
l t {l
d C n L I 18
N th t lu o t R a n
is to ta lly d e p e n d e s
'
o w tr a n s ie n
t te r m n t o n v a
V S t m Tht t

f th t
h ic h p
'
e x
pon en tia l d e c a 1/R C is L)
y w ill g e t c o n tr o lle d h y
w
v a lu
e s o f R a n d c w ill n o t a ffe c t th e s te a d ta te p d r t
y s
 T im e R e s po nse A
nay s is
FC S 268 S y s te m s
o f Co n tr o

T h e re s p o n se w ill b e as sho w n

h
t e F ig 7 1 8 (c )
V . (t)

0 0

RC 0 6 32

2R C 0 860

3R C 0 950

4R C 0 982

00

The re s p o n s e is p u re ly ex pon en tia l

N se in p u t is chan g e d to s te p o f A u n its
o w su ppo

Then V i s ()
S

s (1 + s R C ) 5 1+ sR C

So f d e c a y is
r a te t cha n g e d b u t th e
o n o
s te a dy s ta te v a lu e has cha n
c o rre s p o nd in g re s p o n s e can be sho w n a s in
ge d The
th e F ig 7 19
B u t if v a lu e s o f R an d C cha n
a re
ge d
ie Io c a tio n o f p o le s 1 / R C is cha n
=

th e
ge d ,
tr a n s im t ou tp u t w ill beha v e in a
d iffe re n t w ay as r a te o f de ca
y w ill
a ffe c te d w ith o u t c h a n g e in its ge t
s te a d s ta te
y
T he tr a n s ie n t te r m i8 v a n is h i
n g a s it
c o n ta in s e xp o n e n u a l te m o f n e a ti
g v e in d e x
w h ic h ls o n ly b e c a t s e p o le o f th
e s s te
y m is
h a v in g r e a l n e g a tiv e p a r t

F
g 7 19

k
:

.
 269
FC 5 T
m e Res o
p nse A y a is
n a
o f C o n tr o l S y s te m e
tr a n s ie n t re
e ra
l t g e n
f th e c lo s e d lo o p T F
p o le s o
i)
:\

L o c a tio n
o f th e p o le s o f th e c lo s e d lo o p T F a n d it i i d
s n epen den t f th e
n!
of th e in p u t
o

rn a n gitu d e a p p lie d A n y c h a n i
g e n th e m a g n itu d e o f th e s e le c te d
ill n o t h a v e an y e ffe c t on th e 1a n s ie n t r e s o n s e o f th e s t
input w p s em y

C
o s e d L o o p P o e s o f F irs t O r d e r s y s te m
7 12 1
l o tr a n s fe r fu n c tio n o f a s y s te m is g iv e n b y
T h e c lo s e d o p ,

C (s ) G (s )
m 1 G (S ) H (S )
h ic h
h ic h g iv p o le s o f s y s te m is ca lle d c h a r a c te r is tic e q u a tio n w

q u a tio n w es
m e e

1 + G (s ) H (s ) = O
fir s t o rd e r in g e n e ra l o f th e fo rm
th is e q u a tio n is a ls o
F o r fir s t o rd e r s y s te m
1 T s O
o rdef
+ =

io n so fo f fir s t
r o o ts o t c n a r a c re i l B L L c - '

th e
A s c lo s e d lo o p p o le s a re

c lo s e d lo o p p o le i e
sy s te m th e r e is o n ly o n e
1
S =

th e tr a n s ie n t
o n en tia l in d e x in
as an ex p
The lu f c lo s e d lo o p p o le
a p p e a rs
v a e o

m a n a ry
ou tp u t

id e re d a bo v e
e In th e s y s te m c o n s
g
a n d in th e
R

c lo s e d lo p p o le is s -
o

t/R C n en tia 1
ou tp u t C t
() = 1 e ,
th e e k po
t th e
g bu
in d e x th in
is w h ic h is n o
RC
H o se d
o o p p o le

:N
ht
'"
p o le a t 52 - 4 . Th e o u tp u t o

N
f tw

o w
o

a s
s y s te m

t >
s

co ,
e
X XXe
ill
i

ta b ilis e
to its
x
final
s y s te m
t s st d s
y em a n d e
41
in seco n d w

Uex w ill v
n s J _ /

-- - co n d s y s te m tr a n s ie n ts tr a n s ie n
t
ffe c t th e
le s
a
f c lo se d lo o p p
o
th a t lo c a tio r
th is w e ca n c o n c lu de s ta b le
m m o re
i
th e
4 8 c lo s e d lo o p p o e m o v c o
r a k in g s y s te
ic k ly
s
p.
la n e , tr a n ie n ts d le o u t m o re q u


T im e R e s po nse A na ly s is
270
n f r r m n t p n n ? a
u V W U U U W U u l r te M s
FC S

S o n d O rd e r
7 1 3 A n a ly s s o f e c
t its s te a d y s ta te a n d d u r in g
k fin ite tim e to r e a c h o
E v e r y p r a c tic a s y s te m ta e s
l T h e b e h a v io u r o f s y s te m g e ts
in c r e a s e s e x p o n e n tia l y
th is p e r io d it o s c illa te s o r
le s in S p la n e T h e
d lo c a tio n s o f c lo s e d lo o p p o
,

U e c ile J b y ty p o f c lo s e d lo o p p o le s a n
t r s o f th e s y s te m E v e ry
d t o n s e le c tio n o f th e p a r a m e e
c lo s e d lo o p p o le s a r e d e p e n e n
i u r o f th e s y s te m w h ic h is
s y s tt m h a s a t n d e n c y to o p p o s e th e o s c illa to r y b e h a v o
c a lle d d a m p in g N o w th is te n d e n c y co n tr o ls th e ty p e o f c lo s e d lo o p p o le s an d hen ce

th e n a tu r e o f th{ r e s p o n s e

T h is d i m p in g is m e a s u re d by a fa c to r o r a ra tio ca lle d d a m p in g r a tio o f th e

s y s te m T h is fa c to r e x p la in s u s, how m u ch d o m in an t th e o p p o s itio n fr o m th e s y s te m is
to th e o s c illa tio n s in th e ou tp u t In s o m e s y s te m s it w ill b e lo w in w h ic h c a se s y s te m
ill o s c illa te b u t s lo w ly i e w ith d a m p e d fr e u e n c In y be so
it
w
q y so m e s y s te m s m a
h ig h th a t s y s te m t ill n o t o s c illa te a t a ll d
ou u w an n o t o n ly th a t it w ill b e
ex p o n e n tia l ,
so s lo w th a t it
y lo n g tim e to r e a c h th e s te a d y s ta te T h is
w ill ta k e v er
d a m p in g r a tio e x la in in s u c h b h i
p g e a v o u r is d e n o te d b
y a g r e e k s y m b o l (Z e ta ) N o w
,

a s th is m e a s u r e s th e o
p p o s itio n b y th e s y s te m to th e o s c illa t
o r y b e h a v io t r if it is
m a d e z e ro ( O ) s y s te m w ill o s c illa te w ith
= ,
,
m a x im u m f
o p p o s itio n fr o m s y s te m
re qu e n c
y A h
s t e r e is n o
s y s te m n a tu r a ll
H e n c e th is fr e u e n c
,
y a n d fr e e ly o s c illa te s u n d e r s h
u c c o n d itio n
q y o f o s c illa tio n s u n d e r
0 c o n d itio n is c a lle d n a t =

u r a l fr e q u e n c
y
Fo r a se co n d o r d e r s s te
y m th e d e n o m i
n a to r o f c lo s e d lo o
p T F is q u a d r a tic an d
(c lo s e d lo o p tr a n s fe r f
.
As ex
p la in e d b e lo w
ta k e s th e fo r un c tio n ) fo r
m a s, a
se c o n d o rd e r s y s te m

C( - (o
2

R (s ) 2
5
s + ) s ta n da rd 2n d
W o r d e r s s te m
h e re c h a r
a c te r i s tic e
y
q u a tio n is 2
, 5 + 2 (o
s + (o
n = 0
In P r a c tic e i
t is n o t n e c e ss
a
y th a t

HW;
r

Z
n u m er
a to r
-, m u st be a lw a
ys It
X
(o
c
d le te m a y be o th e r
(o r
n
of th e co e ffic ie n t
s ys t
e m re s
+ 2 6 {o
.
s + {o : =o to d e i
c de t
p e c tiv e l
y
he v a l
sh o u ld t be u es
c o rn
n o u e d fo r
co m
o f p a re d w ith th e
p a r is o n to s ta n d a r d fo r m
ob ta in n o f th
th e e s y s te
v al
u es
m The n u m e r a to r
o fa
n d (o
n

"

 27 1
T i"

m
e
g

F ig 7 21

R (s ) 1 -
+ G (s ) H (s
) -

1+ 2
5 + 3s + 12
(s + 1 ) (s + 2)
T h is C L T F is n o t s ta n d a rd as n u m e r a to r te r m is n o t Bu t den
X -0
.
o m in a to r
ith th e b
s ta n d a rd
T
w
r ,
co m
p a r in g th e d e n o m in a to r

(u
n
= 12
ie (u
.
-
ra d / se c
W h ile 2 8 (u 3
n
-
3
=
0 4 33
2
-

7 1 4 E ffee cc tt o
n f F
f o n Se c o n d O rd e r S y s te m p e r fo rm a n c e
C s id e r in
o n
p u t a p p lie d to th e s ta n d a rd se c o n d o r d e r s s te m is it s te p
y u n

2
W n ile
C (s )

2
R (S ) 5 + 2 O
n
S +

2
S + (u ;
n
= O

2
W e ca n w r ite
n
C (s )
r )
=

) "
,

o) .
s s + (u n + D
.
" . ,

tio Co n s id e r th e
N ow n a tu r e o f th e s e ro o ts is depen den t o n d a m p in g ra

fo llo w i
n g ca se s,
 T
m o R e * po n r e A n a y
a
FC S 272
o f c o n tr o t e n

i R c \ u n c u \ i\ in d n t ' R \ l iv S \ y K i\ 1d K J
,

L (s ) = +
K I H K 2
>i(it K ) (>i ) s s +

it k in g \ 1 1' \ t
in v rs L (1) w ill lt \ k t lh t lt t llo ' w in H ro rm ,
,

k II K 2 t
( (I) = C
\t 4 (
w

w ht
! '
( is
S tt t t l y s l, \ t t ) l l pu l

T ht
o \ tp u t is p t tr L ly '

I \ p t n t' n tia T h is m \ 1 11 8 \ t m p in }
is m h ig h th , i t th t m lr o

pu r c lv tx p n t n ti1 l 1 It '
n \ su c h 1 1 l T
l
1 v e rd a ped
'

s y s te m s a re ca O n

H tn e c n a tu ( ' o f re s po n w

w ill b e a s s ho w n in th e F ig 7 22
C rit
c a lly d a m p e d
A s in cm s s ,
o t tt pu t w ill
t
ta k e m o re tim e to re a c h its s to a dy O

s ta te an d hen ce be co n c s lu g g is h
an d s
o w F
g 7 22
C ase 2 = 1,

T he rq o ts a re ,

5 1 2 = (U (O
,
n , n

ie Re a l, e qu al an d n e g a tiv e

(D
C (s ) . .
A B C
+
(
-
S S + D )(S + (D ) ( 2 +
n n S S + )
n ) s
(s + m )
2
(s + (o )
n n
T a k in s L a p la c e In v e rs e , C (t) w ill ta k e th e f ll
o o w in
L a p la c e h v e r s e ) g fo r m (R e fe r C h a p te r 2 fo r

C (t) C + B te (o n
t
ss + C e
(o
n

w h e re C S te a d y s ta te
ou t u t v l ga
p a u e A
T h is ls p u r e ly e x p o n e n tia l B u t i
n co m
d m e r e q u ir e d fo r th is c a s e is le s s p a r is o n w ith o v
e rd a m
an d beca u
se o f r ped c a se ,
se ttlin g
e p e titiv
e o ccu rr
en ce o f r o o ts th e
It i d e c r e a a e d fu r th e r , r o o ts w ill b
eco m e c
v a lu je o f d a lm p in g r a tio
om
p le 'x
e x p o n e n tia l
fo r w h ic h
ro o t
g j '"S
a n d th is
s a re
, X xig
, n e a tiv e an d
is th e le a s t
th e o u tp u t is