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Chapter10 PDF
Chapter10 PDF
Chapter 10
Time-Domain Analysis and
Design of Control Systems
A. Bazoune
10.1 INTRODUCTION
R (s ) C (s )
C (s ) =G(s ) R(s )
Terminology:
Disturbance U ( s )
R (s ) G1 (s ) G2 (s ) C (s )
± E (s ) = R (s ) ± b (s ) M (s )
B (s )
H (s )
1. Plant: A physical object to be controlled. The Plant G 2 ( s ) , is the controlled system, of which
a particular quantity or condition is to be controlled.
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
2. Feedback Control System: A system which compares output to some reference input and
keeps output as close as possible to this reference.
4. Open-loop Control System: Output of the system is not feedback to the system.
5. The Control Elements G 1 ( s ) , also called the controller, are the components required to
generate the appropriate control signal M ( s ) applied to the plant.
7. The Reference Input R ( s ) is an external signal applied to a feedback control system in order
to command a specified action of the plant. It often represents ideal plant output behavior.
8. The Controlled Output C ( s ) is that quantity or condition of the plant which is controlled.
9. The Primary Feedback signal B ( s ) is a signal which is a function of the controlled output
C ( s ) , and which is algebraically summed with the reference input R ( s ) to obtain the
actuating signal E (s ) .
( )
10. The Actuating Signal E s , also called the error or control action, is the algebraic sum
consisting of the reference input R ( s ) plus or minus (usually minus) the primary feedback
B (s ) .
11. The Manipulated Variable M ( s ) (control signal) is that quantity or condition which the
control elements G 1 ( s ) apply to the plant G 2 ( s ) .
12. A Disturbance U (s ) is an undesired input signal which affects the value of the controlled
output C ( s ) . It may enter the plant by summation with M ( s ) , or via an intermediate
point, as shown in the block diagram of the figure above.
13. The Forward Path is the transmission path from the actuating signal e to the controlled output
C (s ) .
14. The Feedback Path is the transmission path from the controlled output C ( s ) to the primary
feedback signal B (s ) .
15. Summing Point: A circle with a cross is the symbol that indicates a summing point. The (+)
or ( − ) sign at each arrowhead indicates whether that signal is to be added or subtracted.
16. Branch Point: A branch point is a point from which the signal from a block goes concurrently
to other blocks or summing points.
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
Definitions:
E (s )
R (s ) G (s ) C (s )
B (s )
H (s )
For the system shown in Figure 10-3, the output C ( s ) and input R ( s ) are related as follows:
C (s ) = G (s ) E (s )
where
E ( s ) = R ( s ) − B ( s ) = R ( s ) − H ( s )C ( s )
Eliminating E ( s ) from these equations gives
C ( s ) = G ( s ) [ R ( s ) − H ( s ) C ( s )]
[1 + G ( s ) H ( s )]C ( s ) = G ( s ) R ( s )
or
C (s ) G (s )
=
R (s ) 1 + G (s ) H (s )
The Characteristic equation of the system is defined as an equation obtained by setting the
denominator polynomial of the transfer function to zero. The Characteristic equation for the above
system is 1+ G (s) H (s) = 0.
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
X G1 G2 Y X G 1G 2 Y Y = (GG
1 2 )X
X G1
± Y X G1 ± G 2 Y Y = (G1 ±G2 )X
G2
u G u G y y = Gu
y 1
u u 1/ G u = y
G
u G u G y
y y = Gu
y y G
u1 G u1 G y
y e2 = G ( u1 − u2 )
u2 u2 G
u1 G u1 G y
y y = Gu1 − u2
u2 1/ G u2
G2 1/ G2 G1 y
u y = ( G1 − G2 ) u
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
█ Example 1
5/11
ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
C G 1 GH
= = ⋅ = Closed-loop Transfer function
R 1 ± GH H 1 ± GH
█ Example 2
⇒
Step 4:
⇒
█ Example 3
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
█ Example 4
Use block diagram reduction to simplify the block diagram below into a single block relating
Y ( s ) to R ( s ) .
█ Solution
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
█ Example 5
█ Solution
Multiple-Inputs cases
In feedback control system, we often encounter multiple inputs (or even multiple output
cases). For a linear system, we can apply the superposition principle to solve this type of
problems, i.e. to treat each input one at a time while setting all other inputs to zeros, and then
algebraically add all the outputs as follows:
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
█ Example 6
█ Solution
Step1: Put U ≡ 0
Step2: The system reduces to
G1G 2
Step 3: The output C R due to input R is C R = ⋅R
1 + G1G 2
G2
Step 4c: By Equation (7.3), the output CU due to input U is CU = ⋅U
1 + G1G 2
Step 5: The total output is C:
10/11
ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
G1G 2 G2 G2
C = C R + CU = ⋅R+ ⋅U = ⋅ [G1 R + U ]
1 + G1G 2 1 + G1G 2 1 + G1G 2
█ Example 7
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
Chapter 10
Time-Domain Analysis and Design of
Control Systems
A. Bazoune
In many practical cases, the desired performance characteristics of control systems can
be given in terms of transient-response specifications. Frequently, such performance
characteristics are specified in terms of the transient response to unit-step input, since such an
input is easy to generate and is sufficiently drastic. (If the response of a linear system to a step
input is known, it is mathematically possible to compute the system’s response to any input).
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
1. Delay time, Td
2. Rise time, Tr
3. Peak time, Tp
4. Maximum overshoot, M p
5. Settling time, Ts
These specifications are defined next and are shown in graphically in Figure 10-21.
Delay Time. The delay time Td is the time needed for the response to reach half of
its final value the very first time.
Rise Time. The rise time Tr is the time required for the response to rise from 10%
to 90%, 5% to 95%, or 0% to 100% of its final value. For underdamped second order systems,
the 0% to 100% rise time is normally used. For overdamped systems, the 10% to 90% rise time
is common.
Peak Time. The peak time Tp is the time required for the response to reach the first
peak of the overshoot.
Settling Time. The settling time Ts is the time required for the response curve to reach
and stay within 2% of the final value. In some cases, 5% instead of 2% , is used as the
percentage of the final value. The settling time is the largest time constant of the system.
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
e
− ζωn t
1−ζ
2
c (t ) = 1 − sin ωd t + tan
−1
(10-14)
ζ
2
1−ζ
A family of curves c ( t ) plotted against t with various values of ζ is shown in Figure 10-24.
Step Response
1.6
ζ = 0.2
1.4
1.2 0.5
0.7
u (t ) 1
1
Amplitude
0.8
ωn2 2
1
t s2 + 2 ζ ωn s + ωn2 0.6
− −−−
−
5
In p u t 0.4
0.2
0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)
_______________
Output
Figure 10-24 Unit step response curves for a second order system.
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
Rise Time. We find the rise time Tr by letting c (Tr ) = 1 in Equation (10-13), or
− ζωnT r
ζ
c (T r ) = 1 = 1 − e sin ωdT r + cos ωdT r (10-15)
1 − ζ
2
− ζω n t
Since e ≠ 0 , Equation (10-15) yields
ζ
sin ωdT r + cos ωdT r = 0
2
1−ζ
or
2
1−ζ
tan ωdT r = −
ζ
Thus, the rise Tr is
1 1−ζ 2 π −β
T r = tan − −1
= (10-16)
ωd ζ ωd
where β is defined in Figure 10-25. Clearly to obtain a large value of Tr we must have a
large value of β .
jω
S-plane
jω d
β = cos−1 (ζ )
ωn
or β = sin−1 ( 1 −ζ 2 )
ωn 1 − ζ 2
1 −ζ 2
or β = tan−1
ζ
β
O
σ
−σ
ζω n
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
dc (t ) ωn − ζω t
= e sin ωd t = 0
n
dt 1−ζ 2
It follows that
sin ωd t = 0
or
ωd t = 0, π , 2π , 3π ,... = nπ , n = 0,1,2.....
Since the peak time Tp corresponds to the first peak overshoot ( n = 1) , we have ωdT p = π .
Then
π π
Tp = = (10-17)
ωd ωn 1 − ζ 2
The peak time Tp corresponds to one half-cycle of the frequency damped oscillations.
−ζωn (π ωd ) ζ
( )
M p = c Tp − 1 = − e 2
sin π +
cos π
1− ζ
= −1
=0
or
1−ζ 2
M p = e−πζ (10-18)
1−ζ 2
M p% = e−πζ ×100%
The relationship between the damping ratio ζ and the maximum percent overshoot is
shown in Figure 10-26. Notice that no overshoot for ζ ≥ 1 and overshoot becomes negligible
for ζ > 0.7 .
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
Figure 10-26 Relationship between the maximum percent overshoot M p % and damping ratio ζ
Settling Time Ts Based on 2% criterion the settling time Ts is defined as:
e−ζωnTs = 0.02
ln ( 0.02 ) 4
−ζωnTs = ln ( 0.02 ) ⇒ Ts = ≈
−ζωn ζωn
4
Ts = ( 2% Criterion ) (10-19)
ζωn
3
Ts = ( 5% Criterion ) (10-20)
ζωn
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
TABLE 1. Useful Formulas and Step Response Specifications for the Linear
Second-Order Model m x + c x + k x = f (t ) where m, c, k constants
− c ± c 2 − 4mk
1. Roots s1, 2 =
2m
2. Damping ratio or ζ = c / 2 mk
k
3. Undamped natural frequency ωn =
m
4. Damped natural frequency ωd = ωn 1 −ζ 2
5. Time constant τ = 2m / c = 1 / ζω n if ζ ≤ 1
2πζ δ
6. Logarithmic decrement δ= or ζ =
2
1−ζ 4π 2 + δ 2
7. Stability Property Stable if, and only if, both roots have negative real parts, this
occurs if and only if , m, c, and k have the same sign.
9. Peak time: Time needed for the response to reach the first peak of the overshoot
Tp = π /ωn 1 − ζ 2
10. Delay time: Time needed for the response to reach 50% of its final value the first time
1 + 0.7ζ
Td ≈
ωn
11. Settling time: Time needed for the response curve to reach and stay within 2% of the final
4
value Ts =
ζωn
12. Rise time: Time needed for the response to rise from (10% to 90%) or (0% to 100%) or (5% to
π −β
95%) of its final value Tr = (See Figure 10-25)
ωd
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
SOLVED PROBLEMS
█ Example 1
█ Example 2
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
█ Solution
Determine the values of Td , Tr , Tp , Ts when the control system shown in Figure 10-28 is
subject to a unit step input
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ME 413 Systems Dynamics & Control Chapter 10: Time-Domain Analysis and Design of Control Systems
1
R( s) C (s)
s ( s + 1)
█ Solution
1−ζ 2 1−0.52
Maximum Overshoot : M p = e −πζ = e−π ×0.5 = e −1.81 = 0.163 = 16.3%
4 4
Settling time: Ts = = = 8s
ζωn 0.5 ×1
10/10
ME 413 Systems Dynamics & Control Section 10-4: Stability
Chapter 10 9
The base of the hollow is in equilibrium point. If the ball is displaced a small distance
from this position and released, it oscillates but ultimately returns to its rest position
at the base as it loses energy as a result of friction. This is therefore a stable
equilibrium point. (With no energy dissipation the ball would roll back and forth forever
and exhibit neutral stability).
The ball is in equilibrium if placed exactly at the top of the surface, but if it is displaced
an infinitesimal distance to either side, the net gravitational force acting on it will cause
it to roll down the surface and never return to the equilibrium point. This equilibrium is
therefore unstable.
The ball neither moves away nor returns to its equilibrium position. The flat portion
represents a neutrally stable region.
1/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
The stability of a linear closed-loop system can be determined from the location of the
closed-loop poles in the s-plane. If any of these poles lie in the Right-Half of the s-plane
(RHS), then with increasing time, they give rise to the dominant mode, and the transient
response increases monotonically or oscillates with increasing amplitude. Either of these
motions represents an unstable motion.
For such a system, as soon as the power is turned on, the output may increase with time.
If no saturation takes place in the system and no mechanical stop is provided, then the
system may eventually be damaged and fail, since the response of a real physical system
cannot increase indefinitely.
Stability may be defined as the ability of a system to restore its equilibrium position
when disturbed or a system which has a bounded response for a bounded output.
R (s) E (s) C ( s)
G (s)
H ( s)
C (s) G (s)
=
R (s) 1+ G (s) H (s)
1+ G (s) H (s) = 0
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ME 413 Systems Dynamics & Control Section 10-4: Stability
( s − z1 )( s − z2 ) ( s − z3 ) ... ( s − zn )
T (s) =
( s − p1 )( s − p2 )( s − p3 ) ... ( s − pm )
where z1 , z1 ,..., zn are the zeros of T ( s ) and p1 , p1 ,..., pm are the poles of T ( s ) . If the
input R ( s ) is given then
C (s) = T (s) R (s)
or
In order to compute the output, we resort the above equation into partial fraction
expansion
K1 K2 K n K i1 Ki 2 K ij
C (s) = + + ... + + + + ... +
( s − p1 ) ( s − p2 ) ( s − pm ) ( s − pi ) ( s − pii ) ( s − pik )
The first bracket contains time that originates from the system itself. Terms in the
first bracket will give rise to time in the form
Terms of the imaginary exponent are basically sinusoidal functions(which will never die
away). Terms with real exponent must have negative values in order to force the
sinusoidal functions to approach a very small magnitude (die away). The location of the
roots of the characteristic equation on the s-plane will indicate the condition of
stability.
Im
Margin
Stability
Stable Unstable
region region Re
s-plane
s = σ + jω
3/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
There are two necessary but insufficient conditions for the roots of the characteristic
equation to lie in Left Hand Side (LHS)-plane (i.e., stable system)
1. All the coefficients an , an −1 , an − 2 ,... , a1 and a0 should have the same sign.
2. None of the coefficients vanish (All coefficients of the polynomial should exist).
a ( s ) = s6 + 4s5 + 3s 4 − 2s3 + s 2 + 4s + 4
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ME 413 Systems Dynamics & Control Section 10-4: Stability
█ Solution
One coefficient (-2) is negative. Therefore, the system does not satisfy the necessary
condition for stability.
a ( s ) = s6 + 4s5 + 3s 4 + s 2 + 4s + 4
█ Solution
3
The term s is missing. Therefore, the system does not satisfy the necessary condition
for stability.
The necessary and sufficient condition for the roots of the characteristic equation to
lie in Left Hand Side (LHS)-plane (i.e., stable system) is
Step 1: Arrange the coefficients of the above equation into two rows. The
first row consists of the first, third, fifth, …, coefficients. The
second row consists of the second, fourth, sixth,…, coefficients, all
counting from the highest term as shown in the tabulation below
an an−2 an−4 an−6
an−1 an−3 an−5 an−7
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ME 413 Systems Dynamics & Control Section 10-4: Stability
a6 s 6 + a5 s5 + a4 s 4 + a3s3 + a2 s 2 + a1s + a0 = 0
s6 a6 a4 a2 a0
s5 a5 a3 a1 0
a5a4 − a6a3 a a − a6a1 a a −a ×0
s 4
a5
=A 5 2
a5
=B 5 0 6
a5
= a0 0
Aa3 − a5B Aa1 − a5a0 A ×0 −a5 ×0
s3 A
=C
A
=D
A
=0 0
BC − AD Ca0 − A ×0 C ×0−A ×0
s2 C
=E
C
= a0
C
=0 0
ED −Ca0
s1 E
=F 0 0 0
Fa0 − E ×0
s0 F
= a0 0 0 0
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ME 413 Systems Dynamics & Control Section 10-4: Stability
s6 a6 a4 a2 a0
s5 a5 a3 a1 0
a6 a 4 a a a a
− − 6 2 − 6 0 0
s4 a5 a3
=A
a5 a1
=B
a5 0
= a0
a5 a5 a5
a5 a3 a a1 a5 0
− − 5 −
s 3 A B
A
=C
A a0
A
=D
A 0
= 0 0
A
A C A C A C
− − −
s2 B D a0 0 0 0 0
=E = a0 =0
C C C
C E
−
s 1
D a0
= F
0 0 0
E
E F
−
s0 a0 0
= a0
0 0 0
F
█ Example 1 Given
2 ( s 2 + 2s + 25 )
H (s) =
s5 + s 4 + 3s3 + 9s 2 + 16s + 10
█ Solution
7/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
s5 1 3 16 0
s4 1 9 10 0
1× 3 − 9 ×1 1×16 − 10 ×1
s3 1
= −6
1
=6 0 0
−6 × 9 − 6 ×1 −6 ×10 − 0 ×1
s2 −6
= 10
−6
= 10 0 0
10 × 6 − 10 × ( −6 ) 10 × 0 − 0 × ( −6 )
s1 10
= 12
10
=0 0 0
12 ×10 − 0 × (10 )
s0 12
= 10 0 0 0
There are 2 sign changes. There are 2 poles on the right half of the “s” plane.
Therefore, the system is unstable.
Pole-Zero Map
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-1.5 -1 -0.5 0 0.5 1
Real Axis
pzmap plot
█ Example 2 In the figure below, determine the range of K for the system to be
stable
R (s) E (s) K
C ( s)
s ( s + 1)( s + 2)
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ME 413 Systems Dynamics & Control Section 10-4: Stability
s3 1 2 0
s2 3 K 0
2 × 3 − K ×1 6 − K
s1 3
=
3
0 0
6 − K × K − 3× 0
3
s0 6−K
=K 0 0
3
For the system to be stable we must have the following two conditions satisfied
simultaneously:
i) K >0
and
6−K
ii) > 0 ⇒ 6−K > 0 ⇒ K < 6
3
The above two conditions can be shown graphically on the real line
0<K <6
−∞ 0 1 2 3 4 5 6 +∞
K <6
K >0
The intersection of the two conditions above gives the condition for the stability
of the above system, that is 0 < K < 6 . What will happen if K = 0 or K = 6 ?
9/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
Special Cases
When the first term in a row is zero, the following element of (power-1) s will be
infinite. One of the following methods may be used.
1
1 Substitute for s = in the original equation The same
x
criterion applies for x . Then solve for x .
█ Example 3
Check whether the following system given by its characteristic equation is stable
or not
Γ ( s ) = 1 + G (s )H (s ) = s 4 + s 3 + 2s 2 + 2s + 5 = 0
█ Solution
s4 1 2 5
s3 1 2 0
1 × 2 − 1× 2 1× 5 − 1× 0
s2 1
=0
1
=5
10/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
Γ ( s ) = s 4 + s 3 + 2s 2 + 2s + 5 = 0
Γ ( s ) and
1
Substitute s = in the above B ( x ) have
x
4 3 2
B ( x ) = (1 x ) + (1 x ) + 2 (1 x ) + 2 (1 x ) + 5 = 0 same stability
characteristic
or B ( x ) = 5x 4 + 2x 3 + 2x 2 + x + 1 = 0
First Sign x4 5 2 1
Change.
x3 2 1 0
x2 2 × 2 − 1 × 5 −1
= 1
Second Sign 2 2
Change.
( −1 2 ) ×1 − 1× 2 = 5
x1 ( −1 2 )
0
x0 1
There are two sign changes. Therefore, there are 2 roots that lie on the right half of the
s-plane. The system is unstable.
Let a = 1 an arbitrary value. Notice that if we get again a zero in the first column, this
means that a = 1 is a root of the polynomial. In this case change the value of a . For
a = 1 , the above polynomial becomes
B (s ) = s + 1)
(
(
s + s + 2s + 2s + 5 )
4 3
2
or
B ( s ) = s 5 + 2s 4 + 3s 3 + 4s 2 + 7s + 5
s5 1 3 7 0
s4 2 4 5 0
First Sign
s3 2×3 −1× 4
= +1
2×7 −1×5 9
= 0 0
2 2 2
Change.
s2 1 × 4 − ( 9 2) × 2
= −5
1×5 −2× 0
=5 0 0
Second Sign 1 1
Change. −5 × ( 9 2) − 5 × 1
s1 −5
= 11 2 0
(11 2) × 5 − 0 × 5 = 5
s0 (11 2)
11/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
There are two sign changes. Therefore, there are 2 roots that lie on the right half of the
s-plane. The system is unstable.
s4 1 2 5
s3 1 2 0
First Sign s2 1 × 2 − 1× 2
=0ε
1× 5 − 1× 0
=5
Change. 1 1
s1 2×ε − 5×1 5
= 2 − = −∞
0
Second Sign
ε ε
0 is substituted by
Change. 5 ε
5 × 2 − − ε × 0
ε
s0 5
=5 Tends to −∞
as ε → 0
2 −
ε
There are two sign changes. Therefore, there are 2 roots that lie on the right half of the
s-plane. The system is unstable.
Pole-Zero Map
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real Axis
12/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
This situation occurs when the characteristic equation has a pair of real roots with
opposite sign ( ± r ) , complex conjugate roots on the imaginary axis ( ± j ω ) , or a pair of
complex conjugate roots with opposite real parts ( −a ± jb , a ± jb ) as shown in the
figure below.
1. Form the “auxiliary equation” as shown in the example below from the preceding
row.
2. Complete Routh array by replacing the zero row with the coefficients obtained
by differentiating the auxiliary equation.
3. Roots of the auxiliary equation are also roots of the characteristic equation (i.e.,
Q ( s ) = 1 + G ( s ) H ( s ) = 0 ). The roots of the auxiliary equation occur in pairs
and are of opposite sign of each other. In addition the auxiliary equation is always
“even” order.
█ Example 3
Check whether the following system given by its characteristic equation is stable
or not
A ( s ) = 1 + G (s )H (s ) = s 5 + 5s 4 + 11s 3 + 23s 2 + 28s + 12 = 0
█ Solution
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ME 413 Systems Dynamics & Control Section 10-4: Stability
d [a ( s ) ]
Step 2 Take the derivative of the auxiliary equation with
ds
respect to s .
d [a ( s ) ]
Step 3 Replace the row of zeros with the coefficients of .
ds
Step 4 Continue with Routh’s tabulation in the usual manner with the
newly formed row of coefficients replacing the row of zeros.
s5 1 11 28
s4 5 23 12
5 ×11 − 1× 23 5 × 28 − 12 ×1
s3 5
= 6.4
5
= 25.6 0
s0
d [a ( s ) ]
The auxiliary equation is a ( s ) = 3s 2 + 12 and = 6s
ds
The zeros in the row of s1 are replaced by the coefficient of the derivative
d [a ( s ) ]
of the auxiliary equation = 6s
ds
s1 6 0
6 × 12 − 0 × 3
s0 6
=6
There are no sign changes in the first column of the Routh array. All roots have
negative real parts except for a pair on the imaginary axis.
a1 ( s ) = 3s 2 + 12 = 3 ( s 2 + 4 ) = 0 ⇒ s1,2 = ± j 2
14/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
s1 = −3 (real)
s = − j 2
2
A ( s ) = s 5 + 5s 4 + 11s 3 + 23s 2 + 28s + 12 = 0 ⇒ complex conjugates
s3 = + j 2
s = −1
4 real repeated
s5 = −1
Pole-Zero Map
2
1.5
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
Limitations
15/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
Solved Problems
16/20
ME 413 Systems Dynamics & Control Section 10-4: Stability
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ME 413 Systems Dynamics & Control Section 10-4: Stability
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ME 413 Systems Dynamics & Control Section 10-4: Stability
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ME 413 Systems Dynamics & Control Section 10-4: Stability
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
Chapter 10
Time-Domain Analysis and Design of
Control Systems
A. Bazoune
The steady state error is a measure of system accuracy. These errors arise from the
nature of the inputs, system type and from nonlinearities of system components such as static
friction, backlash, etc. These are generally aggravated by amplifiers drifts, aging or
deterioration. The steady-state performance of a stable control system is generally judged by
its steady state error to step, ramp and parabolic inputs.
1
E (s) = R (s) (3)
1+ G (s)
The steady-state error ess may be found by use of the Final Value Theorem (FVT) as follows:
sR ( s )
ess = lim e ( t ) = lim SE ( s ) = lim (4)
t →∞ s→0 s→0 1+ G (s)
Equation (4) shows that the steady state error depends upon the input R ( s ) and the forward
transfer function G ( s ) . The expression for steady-state errors for various types of standard
test signals are derived next.
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
G (s) =
(
K (Tz1s + 1)(Tz 2 s + 1) Tzj s + 1 )
(8)
n
( )
s Tp1s + 1 (Tz 2 s + 1) (Tzk s + 1)
where K and T are constants. The system type refers to the order of the pole of G ( s ) at s = 0 .
Equation (8) is of type n .
G (s) =
(
K ' ( s + z1 )( s + z2 ) s + z j )
n (9)
s ( s + p1 )( s + p2 ) ( s + pk )
∏z
j
j
K = K' (10)
∏p
k
k
with the gain relation of Equation (10) for the two forms of G ( s ) , it is sufficient to obtain
steady state errors in terms of the gains of any one of the forms. We shall use the time
constant form in the discussion below.
Equation (8) involves the term sn in the denominator which corresponds to number of
integrations in the system. As s → 0 , this term dominates in determining the steady-state
error. Control systems are therefore classified in accordance with the number of integration in
the open loop transfer function G ( s ) as described below.
1. Type-0 System.
K
If n = 0, G ( s ) = = K the steady-state errors to various standard inputs, obtained from
s0
Equations (5), (6), (7) and (8) are
1 1 1
ess ( Position ) = = =
1 + G (0) 1 + K 1 + Kp
1 1
ess ( Velocity ) = lim = lim =∞ (11)
s →0 sG ( s ) s →0 sK
1 1
ess ( Acceleration ) = lim 2
= lim 2 = ∞
s →0 s G ( s ) s→0 s K
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
2. Type-1 System.
K
If n = 1, G ( s ) = , the steady-state errors to various standard inputs, obtained from
s1
Equations (5), (6), (7) and (8) are
1 1 1
ess ( Position ) = = lim = =0
1 + G (0) s → 0 K 1+ ∞
1+
s
1 1 1 1
ess ( Velocity ) = lim = lim = = (12)
s →0 sG ( s ) s→0 K K Kv
s
s
1 1 1
ess ( Acceleration ) = lim 2 = lim = =∞
s →0 s G ( s ) s→0 2 K 0
s
s
3. Type-2 System.
K
If n = 1, G ( s ) = , the steady-state errors to various standard inputs, obtained from
s2
Equations (5), (6), (7) and (8) are
1 1 1
ess ( Position ) = = lim = =0
1 + G ( 0 ) s→0 1 + K 1 + ∞
s2
1 1 1
ess ( Velocity ) = lim = lim = =0 (13)
s →0 sG ( s ) s →0 K ∞
s 2
s
1 1 1 1
ess ( Acceleration ) = lim 2 = lim = =
s →0 s G ( s ) s →0 2 K
s 2 K Ka
s
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
r(t) = A
Type-0 system
A ess = ∞
ess =
1 + Kp ess =∞
r(t ) = At
Type-1 system
A ess = ∞
ess = 0 ess =
Kv
Type-2 system
1 2
r(t ) = At
2
ess = 0 A
ess = 0 ess =
Ka
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
R (s) E (s) C ( s)
G ( s)
H( s)
R (s) E (s) C ( s)
G ( s)
H( s)
Parallel blocks. Can
be combined in one
−1
R (s) E (s) C ( s)
G ( s)
H ( s) −1
Ge ( s)
R (s) E (s) G( s)
1+ G( s) H( s) −G( s)
C ( s)
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
█ Example 1
1
s+5
█ Solution
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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ME 413 Systems Dynamics & Control Section 10-5: Steady State Errors and System Types
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MCEN 467 – Control Systems
Chapter 4:
Basic Properties of Feedback
• The control system does not need to know why the measured
value is not currently what is required, only that is so.
P, PI or PID Controller
• When utilizing the PID algorithm, it is necessary to decide
which modes are to be used (P, I or D) and then specify the
parameters (or settings) for each mode used.
Controller Output
PID Controller
PID Controller
Definitions
• In the time domain:
t de(t )
u (t ) = K p e(t ) + K i ∫ e(t ) dt + K d
0 dt
1 t de(t )
= K p e(t ) + ∫ e(t )dt + Td
Ti 0 dt
integral time constant derivative time constant
Kp Kd
where Ti = , Td =
Ki Ki derivative gain
Controller Effects
• A proportional controller (P) reduces error responses to
disturbances, but still allows a steady-state error.
Closed-loop Response
Rise time Maximum Settling Steady-
overshoot time state error
P Decrease Increase Small Decrease
change
I Decrease Increase Increase Eliminate
Ex (cont’d): No controller
• This corresponds to a
steady-state error of 95%,
quite large!
• Let K p = 300
Ex (cont’d): PD Controller
Ex (cont’d): PD control
• Let K p = 300, K d = 10
Ex (cont’d): PI Controller
Ex (cont’d): PI Controller
• Let K p = 30, K i = 70
Ex (cont’d): Summary
P PD
PI PID
MCEN 467 – Control Systems
• Anticipation
→ From Derivative action
react to rapid rate of change before errors grows too big
MCEN 467 – Control Systems
Effect of Proportional,
Integral & Derivative Gains on the
Dynamic Response
MCEN 467 – Control Systems
Proportional Controller
• Pure gain (or attenuation) since:
the controller input is error
the controller output is a proportional gain
E ( s) K p = U ( s) ⇒ u (t ) = K p e(t )
MCEN 467 – Control Systems
→ Reduce stability!
MCEN 467 – Control Systems
Integral Controller
• Integral of error with a constant gain
→ increase the system type by 1
→ eliminate steady-state error for a unit step input
→ amplify overshoot and oscillations
t
Ki
E (s) = U ( s ) ⇒ u (t ) = K i ∫ e(t )dt
s 0
MCEN 467 – Control Systems
→ Increase oscillations
and overshoot!
MCEN 467 – Control Systems
Derivative Controller
• Differentiation of error with a constant gain
→ detect rapid change in output
→ reduce overshoot and oscillation
→ do not affect the steady-state response
de(t )
E ( s ) K d s = U ( s ) ⇒ u (t ) = K d
dt
MCEN 467 – Control Systems
→ Upgrade transient
response
→ Decrease the peak and
rise time
→ Increase overshoot
and settling time!
MCEN 467 – Control Systems
Conclusions
• Increasing the proportional feedback gain reduces steady-
state errors, but high gains almost always destabilize the
system.
• Integral control provides robust reduction in steady-state
errors, but often makes the system less stable.
• Derivative control usually increases damping and
improves stability, but has almost no effect on the steady
state error
• These 3 kinds of control combined from the classical PID
controller
MCEN 467 – Control Systems
Conclusion - PID
Ki
U (s) = K p + + K d s E (s)
s
1
or U ( s ) = K p 1 + s + Td s E ( s )
Ti
MCEN 467 – Control Systems