Advanced Linear Control Systems

Engr. Muhammad Aamir Aman

Lecturer
Department of Electrical Engineering

By: Muhammad Aamir Aman

 Design Aspects (Performance)
 System Response
Performance Indices
Time Response of 2nd Order System
 Effect of Poles and Zeros on System

By: Muhammad Aamir Aman

 System Responses
 Transient response
 Steady-state response

A distinct advantage of f/back control system is the

ability to adjust transient and steady-state response

By: Muhammad Aamir Aman

 Laplace Transforms of Test Inputs
n!
r (t )  t n
R( s )  n 1
s
Input Time domain Frequency domain
1
 Step: 1(t ), t0
s
 Ramp: t, t0
1
s2
 Parabolic: 1 2
t t0
1
2 s3
 Sinusoidal: A
A sin t
s2   2
By: Muhammad Aamir Aman
 Performance Indices
Transient Performance:
 Time delay (t d)
 Rise time (t r )
 Peak time (t p)
 Settling time (t s)
 Percent overshoot (σ%)
Steady-state Performance:
 Steady-state error

By: Muhammad Aamir Aman

 Transient Response Specifications
Controlled
variable
Overshoot
%
Steady state error
Reference

Transient State Steady State

Time
Settling time

By: Muhammad Aamir Aman

 Steady State Error

 Steady State Error (ess): The difference b/w

the steady state output value and the reference
input value at steady state
 Reflects the accuracy of the system

By: Muhammad Aamir Aman

Transient Performance

By: Muhammad Aamir Aman

 Transient Performance
 Time Constant (τ)
 The time for the waveform to go 63% of its final
value 1

a
 Rise Time (tr)
 The time for the waveform to go from 0.1 to 0.9
of its final value
2.2
tr 
a
 Settling Time (ts)
 The time for the response to reach and stay
within its final value
4
ts 
a
By: Muhammad Aamir Aman
 Solved Example
 For a system with the transfer function
shown below, find the relevant response
specifications
50
G( s) 
s  50

i. Time constant (τ)

ii. Settling time (ts)
iii. Rise time (tr)

By: Muhammad Aamir Aman

Time Response of 2nd
Order System

By: Muhammad Aamir Aman

 Preliminaries - Terminologies
 Natural frequency (n)
 Freq. of oscillation of the system without damping

Damping ratio
 Quantity that compares the exponential decay
frequency to the natural frequency
Exponential decay frequency

Natural frequency (rad/s)

By: Muhammad Aamir Aman

 Response of 2nd Order System
The model of a second-order system

Kn2
Gs   2
s  2n s  n2

Where,
K : Gain
ζ : Damping ratio
n : Undamped natural frequency

PROOF: Assignment

By: Muhammad Aamir Aman

 Response of 2nd Order System
Kn2
Gs   2
s  2n s  n2
Roots of characteristic equation (Poles)
s 2  2n s  n2  0

s1, 2  n  n  2  1

The response depends on ζ and ωn

By: Muhammad Aamir Aman

 Response of 2nd Order System
Unit Step Response
If Roots Response
ζ=0 two complex conjugate Undamped

s1, 2  n  n   1 2

By: Muhammad Aamir Aman

 Response of 2nd Order System
Unit Step Response
If Roots Response
0<ζ<1 two complex roots Underdamped

s1, 2  n  n   1 2

By: Muhammad Aamir Aman

 Response of 2nd Order System
Unit Step Response
If Roots Response
ζ=1 two equal –ive real Critically damped

s1, 2  n  n   1 2

By: Muhammad Aamir Aman

 Response of 2nd Order System
Unit Step Response
If Roots Response
ζ>1 two distinct –ive real Overdamped

s1, 2  n  n   1 2

By: Muhammad Aamir Aman

 Response of 2nd Order System

Unit Step Response

If Roots Response
ζ<0 two +ive real-part Unstable
0<ζ<1 two complex roots Underdamped
ζ=1 two equal –ive real Critically damped
ζ>1 two distinct –ive real Overdamped
ζ=0 two complex conjugate Undamped

By: Muhammad Aamir Aman

Response of 2nd Order System

By: Muhammad Aamir Aman

 Response of 2nd Order System
 Underdamped
 Oscillatory response
 No steady-state error

 Critically damped
 Mono-incremental response
 No oscillation
 No steady-state error

 Overdamped
 Mono-incremental response
 Slower than critically damped
 No oscillation
 No steady-state error
By: Muhammad Aamir Aman
 Solved Example
 For the Control system represented with
following Transfer function,
Gs   2
225
s  30s  225
i. Characterize the nature of response
ii. Compute the step response

Assignment

By: Muhammad Aamir Aman

 Assignment
Find the values of ς and ωn, as well as
characterize the nature of the response

By: Muhammad Aamir Aman

 Transient Response Specifications
 Rise Time (Tr)
 The time for the waveform to go from 0.1 to 0.9
of its final value

 Peak Time (Tp)

 The time required to reach the first or maximum
peak 
Tp  2
n 1  
 Settling Time (Ts)
 The time required for the transient’s damped
oscillation to reach and stay within steady-state
value 4
T 
 n
s

By: Muhammad Aamir Aman

 Transient Response Specifications
 Percent Overshoot (%OS)
 The amount that the waveform overshoots the
steady-state, or final value at peak time,
expressed as a percentage of the steady-state
value
( / 1 2 )
%OS  e 100%

 ln(%OS / 100)
 
 2  ln 2 (%OS / 100)

By: Muhammad Aamir Aman

Effect of Poles & Zeros on
System's Response

By: Muhammad Aamir Aman

 Concept of Pole-Zero
 The concept of poles and zeros is
fundamental to the analysis and design of
control system
 Simplifies the evaluation of system
response
The poles of a transfer function are
 Values of the Laplace Transform variables s,
that cause the transfer function to become
infinite. Decide the system behavior.
The zeros of a transfer function are
 Values of the Laplace Transform variable s, that
cause the transfer function to become zero
By: Muhammad Aamir Aman
 Concept of Pole-Zero
 Example
G(s) = (s+2)/(s+5)

Pole at s=-5
Zero at s=-2

By: Muhammad Aamir Aman

 Response of 2nd Order System
Kn2
Gs   2
s  2n s  n2
Roots of characteristic equation (Poles)
s 2  2n s  n2  0

s1, 2  n  n  2  1

The response depends on ζ and ωn

By: Muhammad Aamir Aman

Roots vs System Response

No sinusoidal (oscillatory) behaviour

By: Muhammad Aamir Aman
Roots vs System Response

No smoothing (decaying) behaviour

By: Muhammad Aamir Aman
Roots vs System Response

By: Muhammad Aamir Aman

Roots vs System Response

By: Muhammad Aamir Aman

Roots vs System Response

By: Muhammad Aamir Aman

Roots vs System Response

By: Muhammad Aamir Aman

Effect of Poles on System Response
 If ALL poles lies in LHP, System is Stable
Example
G(s) = (s+2)/(s+5)

By: Muhammad Aamir Aman

Effect of Poles on System Response
 If ANY pole lies in RHP, System is Unstable
Example
G(s) = (s+2)/(s+5)(s-2)

By: Muhammad Aamir Aman