ME 475

Mechatronics

Semester: February 2015

Dr. Sumon Saha

Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, September 23, 2015
Mechatronics Today’s topic

Poles and Zeros

 Mechatronics Poles and Zeros of a Transfer
Function
Define poles and zeros of a transfer function and its use in solving
the system response.

Poles of a transfer function are: Denoted by ‘X’
1. the values of Laplace transform variable, s, that cause the
transfer function to become infinite, or
2. any roots of the denominator of the transfer function that
are common to roots of the numerator.

Zeros of a transfer function are: Denoted by ‘O’

1. the values of Laplace transform variable, s, that cause the
transfer function to become zero, or
2. any roots of the numerator of the transfer function that are
common to roots of the denominator.
s ( s − z1 )( s − z2 )

G (s) = K
( s − p )( s − p )

1 2
 Mechatronics Poles and Zeros of a Transfer
Function
Transient or natural response
System response
Steady-state or forced response

A pole of the input function generates the form of the forced

response.

A pole of the transfer function generates the form of the natural
response.

A pole on the real axis generates an exponential response of
the form e-αt, where, -α is the pole location on the real axis. Thus,
the further to the left a pole is on the negative real axis, the faster
the exponential transient response will decay to zero.

The zeros and poles generate the amplitudes for both the
forced and natural responses.
 Mechatronics Poles and Zeros of a Transfer
Function
The first term originates in the pole of input R(s) and is called the
forced response or steady-state response.

The second term originates in the pole of the transfer function

G(s) and is called natural response or transient response.

c(t)
1 K
R(s) = G (s) =
s τ s +1 τ
K
− tτ
K (1 − e )
C (s) = G (s) R(s)

t
( K / τ) 1 K −K
C (s) = = + c( t ) = K( 1 − e −tτ
) = K − Ke −tτ
( s + 1 / τ) s s s + 1 / τ
 Mechatronics First order system: Response
Component
Consider the system block diagram shown in figure below. With
appropriate diagram show the contribution of input pole, system
zero and system pole on the system time response.

Poles at -5 and Zeros at -2

 Mechatronics First order system: Response
Component
Consider the system block diagram shown in figure below. With
appropriate diagram show the contribution of input pole, system
zero and system pole on the system time response.
Mechatronics Step Response for Second order
system: Undamped (ζ = 0)

Poles: Two imaginary at ±jωn

Natural response: c(t) = Acos(ωnt − φ)

Mechatronics Step Response for Second order
system: Under-damped (0 < ζ < 1)

Poles: Two complex at −ζωn ± jωn√(1−ζ2)

Natural response: c ( t ) = Ae-ζωnt cos ωnt 1 − ζ 2 − φ 

 
Mechatronics Step Response for Second order
system: Critically-damped (ζ = 1)

Poles: Two real poles at −ωn

Natural response: c ( t ) = K1e - ωn t

+ K 2 te - ωn t
Mechatronics Step Response for Second order
system: Over-damped (ζ > 1)

Poles: Two real poles at −ζωn − ωn ζ − 1, −ζωn + ωn ζ − 1

2 2

Natural response: c (t ) = K e
( −ζω −ω
n n )
ζ 2 −1 t
+K e
( −ζω +ω
n n )
ζ 2 −1 t
1 2
 Mechatronics Example Problem #1

Problem: For the transfer function,

9
G (s) = 2
s + 2s + 9
Indicate the poles in the s-plane and write the form of the unit
step response for the system.
Poles are -1 + j√8 and -1 - j √8

ωn = √9 = 3 and
ζ = 2/(2ωn) = 0.33
 Mechatronics Matlab Example Problem #2

Problem: For the transfer function,

36
G (s) = 2
s + 4.2s + 36
Indicate the poles in the s-plane and corresponding step
response curves.

>> G = tf([36],[1 4.2 36]) >> p = pole(G) >> z = zero(G)

Transfer function: p= z=
36
---------------- -2.1000 + 5.6205i Empty matrix: 0-by-1
s^2 + 4.2 s + 36 -2.1000 - 5.6205i

Poles are -2.1 + j5.6205 and -2.1 - j5.6205

 Mechatronics Matlab Example Problem #2

>> zplane(z,p)
6

2
Imaginary Part

-2

-4

-6
-8 -6 -4 -2 0 2 4 6
Real Part
 Mechatronics Matlab Example Problem #2

>> step(G)