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Ghose/2012 57
a2 ÿ + a1 ẏ + a0 y = b0 r
So,
Y (s) b0
=
R(s) a2 s + a1 s + a0
2
ωn2
= K 2
s + 2ζωn s + ωn2
where,
a0 b0 a1
ωn2 = , K= , ζ= √
a2 a0 2 a0 a2
1
Apply a unit step input r(t) = u(t) = s
Then,
ωn2
Y (s) = K
s (s2 + 2ζωn s + ωn2 )
This can be written as,
k1 k2 s + k3
Y (s) = + 2
s s + 2ζωn s + ωn2
Let us find the values of k1 , k2 , and k3 by equating the coefficients of the numerator
polynomials.
Then,
1 s + 2ζωn
Y (s) = K −
s s + 2ζωn s + ωn2
2
1 s + 2ζωn
= K −
s s2 + 2ζωn s + ζ 2 ωn2 − ζ 2 ωn2 + ωn2
1 s + 2ζωn
= K −
s (s + ζωn )2 + ωn2 (1 − ζ 2 )
1 s + ζωn ζωn
= K − −
s (s + ζωn )2 + ωn2 (1 − ζ 2 ) (s + ζωn )2 + ωn2 (1 − ζ 2 )
√
1 s + ζωn ζωn ωn 1 − ζ 2
= K − − √
s (s + ζωn )2 + ωn2 (1 − ζ 2 ) ωn 1 − ζ 2 (s + ζωn )2 + ωn2 (1 − ζ 2 )
√
1 s + ζωn ζ ωn 1 − ζ 2
= K − − √
s (s + ζωn )2 + ωn2 (1 − ζ 2 ) 1 − ζ 2 (s + ζωn )2 + ωn2 (1 − ζ 2 )
Taking inverse Laplace transforms (assuming 0 < ζ < 1, i.e., an underdamped system),
−ζωn t ζ −ζωn t
y(t) = K 1 − e cos ωn 1−ζ t−
2 √ e sin ωn 1 − ζ 2 t
1 − ζ2
1 −ζωn t
= K 1− √ e 1 − ζ cos ωn 1 − ζ t + ζ sin ωn 1 − ζ t
2 2 2
1 − ζ2
√
Let 1 − ζ 2 = cos φ and ζ = sin φ, then
1 −ζωn t
y(t) = K 1 − √ e cos φ cos ω n 1 − ζ 2 t + sin φ sin ω
n 1 − ζ2 t
1 − ζ2
1 −ζωn t
= K 1− √ e cos(ωn 1 − ζ 2 t − φ)
1 − ζ2
1 −ζωn t
= K 1− √ e cos(ωd t − φ)
1 − ζ2
y(t)
ȳ(t) =
K
so that ȳ(t) → 1 as t → ∞.
Then, the step response of the underdamped system is,
1
ȳ(t) = 1 − √ e−ζωn t cos(ωd t − φ)
1−ζ 2
Lecture Notes on Control Systems/D. Ghose/2012 59
Figure 10.11: Unit step response and location of the poles of a second order system
Rise Time (Tr1 ): This is the same as in the first order system and is the time for y(t)
to go from 0.1 to 0.9 of the final value y(∞).
Rise Time (Tr2 ): This is defined for second-order underdamped systems. This is the
time for y(t) to go from 0 to 1 of the final value y(∞).
Settling Time (Ts ): This is the same as in first order system and is defined as the time
after which y(t) remains within 2% (or 5%) of the final value y(∞).
Maximum Overshoot (Mp ): This is the maximum overshoot value of y(t) over the final
value y(∞) and is usually expressed as a percentage.
Peak Time (Tp ): Time at which the maximum overshoot occurs.
For second-order underdamped system, these quantities can be related to ωn and τ in
an approximate sense.
Settling Time (Ts ): The envelope of ȳ(t) from below is governed by the equation,
1
ȳe (t) = 1 − √ e−ζωn t
1−ζ 2
1
⇒√ e−ζωn Ts = 0.02
1−ζ 2
−ζωn Ts
⇒e = 0.02 1 − ζ 2
⇒ −ζωn Ts = ln 0.02 1 − ζ2
√
ln 0.02 1 − ζ 2
⇒ Ts = −
ζωn
For 0 ≤ ζ ≤ 0.9
−ζωn t ζ
ȳ(t) = 1 − e cos ωd t + √ sin ωd t
1 − ζ2
So,
−ζωn t ζ
ȳ˙ (t) = ζωn e cos ωd t + √ sin ωd t
1 − ζ2
−ζωn t ζωd
−e −ωd sin ωd t + √ cos ωd t
1 − ζ2
ζ2
−ζωn t
= √ ωn e sin ω d t + ω n 1 − ζ 2 e−ζωn t sin ωd t
1 − ζ2
−ζωn t ζ
= ωn e sin ωd t √ + 1−ζ 2
1 − ζ2
1
= ωn e−ζωn t sin ωd t √
1 − ζ2
ω
= √ n 2 e−ζωn t sin ωd t
1−ζ
Slope is zero implies that ȳ˙ (t) = 0, which happens when,
When does this happen for the first time after t = 0? When n = 1. So,
π π
Tp = = √
ωd ωn 1 − ζ 2
√
Design Rule 2: To decrease Tp → Increase ωd → Increase ωn 1 − ζ 2 .
Maximum Overshoot (Mp ): We have seen earlier,
−ζωn Tp ζ
ȳ(t) = 1 − e cos ωd Tp + √ sin ωd Tp
1 − ζ2
−ζωn Tp ζ
= 1−e cos π + √ sin π
1 − ζ2
= 1 + e−ζωn Tp
−ζωn √π
= 1+e ωn 1−ζ 2
−π √ ζ
= 1+e 1−ζ 2
= 1 + Mp
Where,
−π √ ζ
Mp = e 1−ζ 2
For, 0 ≤ ζ ≤ 0.6,
ζ
Mp ∼
=1−
0.6
Design Rule 3: Overshoot decreases with increasing ζ (almost linear decrease for lower
ranges of ζ). So,
To decrease Mp → Increase ζ.
Lecture Notes on Control Systems/D. Ghose/2012 62
Rise Time (Tr2 ): For underdamped system we use the 0% to 100% rise time criterion.
We will denote this as Tr for convenience.
−ζωn Tr ζ
ȳ(Tr ) = 1−e cos ωd Tr + √ sin ωd Tr = 1
1 − ζ2
ζ
⇒ cos ωd Tr + √ sin ωd Tr = 0
1 − ζ2
√
1 − ζ2
⇒ tan ωd Tr = −
ζ
√
1 −1 1 − ζ2
⇒ Tr = tan −
ωd ζ
Let,
cos φ = 1 − ζ2
sin φ = ζ
ζ
tan φ = √
1 − ζ2
√
π 1 − ζ2
⇒ tan φ + =−
2 ζ
√
1−ζ 2 π π
⇒ tan−1 − = + φ = + sin−1 ζ
ζ 2 2
∼ π
= + ζ (for small ζ)
2
√
− ln 0.02 1−ζ 2
4
Ts : Settling ζωn ζωn
To decrease Ts →
time Increase ζωn
Tp : Peak √π = π
ωd
— To decrease Tp →
1−ζ 2
ωn
√
time Increase ωd = ωn 1 − ζ 2
− √ πζ
Mp : Maximum e 1−ζ 2 1− ζ
0.6
To decrease Mp →
overshoot Increase ζ
Tr : Rise time √1 π
2
+ sin−1 ζ π
2ωn
To decrease Tr →
ωn 1−ζ 2
(0% to 100%) Increase ωn
Now, consider the s-plane interpretation of second order systems as given earlier.
Remember how we got these loci.
1
p1,2 = −ζωn ± jωn 1 − ζ 2 = − ± jωd
τ
Lecture Notes on Control Systems/D. Ghose/2012 64
PROBLEM SET 4
1. Find the poles, zeros, time constant, bandwidth, natural frequency, damped fre-
quency, DC gain, damping ratio and whether the system is overdamped or under-
damped, settling time, rise time, peak time, and maximum overshoot (whichever
is relevant) of the following systems:
1 20
(a) G(s) = (b) G(s) =
s+3 s2 + 6s + 20
s+4 2
(c) G(s) = (d) G(s) =
s2 + 4s + 11 (s + 1)(s + 3)
2. For all the above systems determine if the final value theorem can be used to find
the steady state value of the time response under unit step input. If yes, then find
the final value.
3. For all the above systems, determine the equation for the time response to a unit
step input. What kind of response are these. Sketch qualitatively.
ωn2
G(s) = K
s2 + 2ζωn s + ωn2
(a) Suppose ωn = 10 and ζ varies between 0.1 and 2, draw the locus of the poles.
(b) Suppose ζ = 0.2 and ωn varies between 2 and 10, draw the locus of the poles.
(c) Assume that the system is underdamped and τ = 0.6, then sketch the locus
of the poles as both ζ and ω vary.
(d) Assume that the system is underdamped and ωd = 0.8 then sketch the locus
of the poles as both ζ and ω vary.
5. (MATLAB assignment)
(a) Plot the time response of the following systems, driven by step input signal.
K1 s + 2
G(s) = K
2s2 + K2 s + 2K3
(b) Determine and plot the poles and zeros of the above system for the same
three combinations.
(c) Consider a combination of (K, K1 , K2 , K3 ) such that the resulting system is
underdamped and has all the poles on the left hand s-plane. Then, select
another such combination so that the system remains underdamped but has
better performance in terms of rise time, maximum overshoot, peak time, and
settling time. Plot both the time responses.