CH 7 PDF

Automatic Control Systems 10e
CHAPTER 7 Time-Domain Performance of Control Systems
Learning Outcomes
After successful completion of this chapter, you will be able to
1. Analyze transient and steady-state time response of a simple control system.
2. Develop simple design criteria for manipulating the time response.
3. Determine speed and position time response of dc motors.
4. Apply basic control techniques and look at the effects of adding a simple gain or
poles and zeros to the system transfer function.
5. Use MATLAB to study the time response of simple control system.
Figure 7-1. Basic time-domain test signals for

control systems. (a) Step function. (b) Ramp
function. (c) Parabolic function.
Figure 7-2. Typical unit-step response of a

control system illustrating the time-domain
specifications.
Figure 7-3. Unit-step response of a prototype

first-order system.
Figure 7-4. Pole position of the transfer

function, in Eq. (7-12), of a prototype first-order
system as the system time constant decreases.
Table 7-1. Motor Mechanical Time Constant
and Final Speed for Three Different Damping
Values
Figure 7-7. Speed response of dc motor in

Example 7-4-1 to a unit step input. (a) Solid line
Figure 7-8. Prototype second-order control

system.
Figure 7-9. Relationship's among the

characteristic-equation roots of the prototype
second-order system and σ, ζ, ωn, and ω.
Table 7-2. Classification of

Prototype Second-Order
System Based on
Damping Ratio
Figure 7-10. Step-response comparison for

various characteristic equation root locations in
the s-plane.
Figure 7-11. Unit-step responses of the

prototype second-order system with various
damping ratios.
Figure 7-12. (a) Constant-

natural frequency loci. (b)
Constant-damping-ratio loci. (c)
Constant-damping-factor loci.
(d) Constant-conditional-
frequency loci.
Figure 7-13. Unit-step response illustrating that

the maxima and minima occur at periodic
intervals.
Figure 7-14. Percent overshoot as a function of

damping ratio for the step response of the
prototype second-order system.
Figure 7-15. Normalized delay time versus ζ for

the prototype second-order system.
Figure 7-16. Normalized rise time versus ζ for

the prototype second-order system.
Figure
7-18. Relationship's
among the pole
location and ζ, ωn,
PO, tr, and ts.
Figure 7-19. Block diagram of a position-control,

armature-controlled dc motor.
Figure 7-21. Position control response of dc

motor in Example 7-5-1 to a unit-step input for
three controller gain K values.
Table 7-4. Motor

Performance for Three
Values of Controller Gain K
Figure 7-5 System Time Constant and Steady-

State Speed Error for Three Different Controller
Gain Values – Given a Unit-Step Input
Figure 7-27. System time response for three

different controller gain values when Kt = 1.
Figure 7-28. Block diagram of a system

undergoing disturbance.
Table 7-6. Summary of the Steady-State Errors

Due to Step-, Ramp-, and Parabolic-Function
Inputs for Unity-Feedback Systems
Figure 7-34. Typical input-output characteristics

of an amplifier with dead zone and saturation.
Figure 7-35. Typical input-

output characteristics of a
quantizer.
Figure 7-36. Torque-angle curve of a motor or

closed-loop system with Coulomb friction.
Table 7-7. The Poles of the Closed-Loop System

in Eq. (7-129) when ωn = 1, ζ = 1 and Tp = 0, 1, 2,
and 5
Figure 7-37. Unit-step responses of the system

with the closed-loop transfer function in Eq. (7-
129): ζ = 1, ωn = 1 and Tp = 0, 1, 2, and 5.
Figure 7-38. Unit-step responses of the system with

the closed-loop transfer function in Eq. (7-129): ζ =
0.25, ωn = 1 and Tp = 0, 0.2, 0.667, and 1.0.
Table 7-8. The Poles of the Closed-Loop System in

Eq. (7-130) when ωn = 1, ζ = 1 and Tp = 0, 0.5, 1, 2,
and 5

the closed-loop transfer function in Eq. (7-130): ζ =
0.5, ωn = 1 and Tp = 0, 0.5, 1.0, 2.0, and 4.0.
Table 7-9. he Roots of the Closed-Loop System in Eq.

(7-131) when ωn = 1, ζ = 0.5 and Tz = 0, 1, 2, 3, 6, and
10
Figure 7-40. Unit-step responses of the system

with the closed-loop transfer function in Eq.
(7-131): Tz = 0, 1, 2, 3, 6, and 10.
Figure 7-41. Unit-step responses showing the

effect of adding a zero to the closed-loop
transfer function.

the closed-loop transfer function in Eq. (7-135): Tz =
0, 0.2, 0.5, 2.0, 5.0, and 10.0.
Figure 7-43. Control system with PD controller.

Table 7-10. The Roots of the Closed-Loop

System in Eq. (7-142) when Tz = 0.4 and KP
varies from 0 to 7
Figure 7-44. The root locus representing the

zero and poles of Eq. (7-142) for KP varying from
0 to ∞ and Tz = 0.4.
Figure 7-45. Unit-step response of Eq. (7-142)

for Tz = 0.4 and three Kp values.
Figure 7-46. Control system with PI controller.

Figure 7-47. Pole-zero configuration of a PI

controller.
Figure 7-48. Unit-step response of Eq. (7-149)

for three KI values, when KP = 1.25.
Figure 7-49. Regions of dominant and

insignificant poles in the s-plane.
Figure 7-50. Regions of dominant and

insignificant poles in the s-plane for design
purposes.
Figure 7-52. Transfer-function block diagram of

the system shown in Fig. 7-51.
Figure 7-53. Root loci of the characteristic

equation in Eq. (7-162) as K varies.
Table 7-11. Comparison of the Performance

of the Second-Order Position-Control System
with the Gain K Values
Figure 7-55. Root loci of the

third-order attitude-control
system.
Figure 7-56. Unit-step responses of the third-

order attitude-control system.
Figure 7-57. Simulated no-load closed-loop

position response results for multiple KP gains.
Figure 7-58. NXT motor no-load closed-loop

position response results for multiple KP gains.
Table 7-12. No-Load Closed-Loop Position

Response Performance Specifications
Comparison
Figure 7-59. Robotic arm with payload closed-

loop position response results for multiple KP
gains.
Table 7-13. Robotic Arm and Payload

Experimental Parameters
Figure 7-61. Simulated robotic arm with

payload closed-loop position response results
for multiple Kp gains.
Table 7-14. Robotic Arm Closed-Loop Position

Response Performance Specification
Comparison
Table 7-15. Fine-Tuned Robotic Arm and

Payload Experimental Parameters

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Automatic Control Systems 10e

CHAPTER 7 Time-Domain Performance of Control Systems

Figure 7-1. Basic time-domain test signals for

Figure 7-2. Typical unit-step response of a

Figure 7-3. Unit-step response of a prototype

Figure 7-4. Pole position of the transfer

Figure 7-7. Speed response of dc motor in

Figure 7-8. Prototype second-order control

Figure 7-9. Relationship's among the

Table 7-2. Classification of

Figure 7-10. Step-response comparison for

Figure 7-11. Unit-step responses of the

Figure 7-12. (a) Constant-

Figure 7-13. Unit-step response illustrating that

Figure 7-14. Percent overshoot as a function of

Figure 7-15. Normalized delay time versus ζ for

Figure 7-16. Normalized rise time versus ζ for

Figure 7-19. Block diagram of a position-control,

Figure 7-21. Position control response of dc

Table 7-4. Motor

Figure 7-5 System Time Constant and Steady-

Figure 7-27. System time response for three

Figure 7-28. Block diagram of a system

Table 7-6. Summary of the Steady-State Errors

Figure 7-34. Typical input-output characteristics

Figure 7-35. Typical input-

Figure 7-36. Torque-angle curve of a motor or

Table 7-7. The Poles of the Closed-Loop System

Figure 7-37. Unit-step responses of the system

Figure 7-38. Unit-step responses of the system with

Table 7-8. The Poles of the Closed-Loop System in

Figure 7-39. Unit-step responses of the system with

Table 7-9. he Roots of the Closed-Loop System in Eq.

Figure 7-40. Unit-step responses of the system

Figure 7-41. Unit-step responses showing the

Figure 7-42. Unit-step responses of the system with

Figure 7-43. Control system with PD controller.

Table 7-10. The Roots of the Closed-Loop

Figure 7-44. The root locus representing the

Figure 7-45. Unit-step response of Eq. (7-142)

Figure 7-46. Control system with PI controller.

Figure 7-47. Pole-zero configuration of a PI

Figure 7-48. Unit-step response of Eq. (7-149)

Figure 7-49. Regions of dominant and

Figure 7-50. Regions of dominant and

Figure 7-52. Transfer-function block diagram of

Figure 7-53. Root loci of the characteristic

Table 7-11. Comparison of the Performance

Figure 7-55. Root loci of the

Figure 7-56. Unit-step responses of the third-

Figure 7-57. Simulated no-load closed-loop

Figure 7-58. NXT motor no-load closed-loop

Table 7-12. No-Load Closed-Loop Position

Figure 7-59. Robotic arm with payload closed-

Table 7-13. Robotic Arm and Payload

Figure 7-61. Simulated robotic arm with

Table 7-14. Robotic Arm Closed-Loop Position

Table 7-15. Fine-Tuned Robotic Arm and

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