Powered by Toothless

Question
(Full Solution). Examine each one of the following response functions to see if it is possible to
cancel the zero with a pole. If it is, determine the approximate response, percent overshoot, settling
time, rise time, and peak time. 

Answer

Step 1
Four response functions are given.We need to examine that whether pole zero cancellation takes
place or not for each of the response function.

If pole zero cancellation occurs then we need to calculate the response,percent overshoot,peak
time,rise time and settling time.

For each response the input is a unit step,R(s) =

1
s
.
Step 2
The response function is given

.
(s+5)
C(s) = 2
s(s+1)(s +3s+10)

The close loop transfer function will be

C(s) (s+5)
= 2
.
R(s) (s+1)(s +3s+10)

Poles:

s = −1,s = −1. 5 ± j2. 78 .

Zeros:

s = −5 .

Pole zero plot is shown below.

Pole zero cancellation is not possible.

Step 3
The response function is given

.
(s+5)
C(s) = 2
s(s+2)(s +4s+15)

The close loop transfer function will be

.
C(s) (s+5)
= 2
R(s) (s+2)(s +4s+15)

Poles:
s = −2, s = −2 ± j3. 31 .

Zeros:

s = −5 .

Pole zero plot is shown below.

Pole zero cancellation is not possible.

Step 4
The response function is given

.
(s+5)
C(s) = 2
s(s+4.5)(s +2s+20)

The close loop transfer function will be

.
C(s) (s+5)
= 2
R(s) (s+4.5)(s +2s+20)

Poles:

s = −4. 5, s = −1 ± j4. 35 .

Zeros:

s = −5 .

Pole zero plot is shown below.

Pole zero cancellation is not possible.

Step 5
The response function is given

.
(s+5)
C(s) = 2
s(s+4.9)(s +5s+20)

The close loop transfer function will be

.
C(s) (s+5)
= 2
R(s) (s+4.9)(s +5s+20)

Poles:

s = −4. 9, s = −2. 5 ± j3. 70 .

Zero:

s = −5 .

Poles zero polt is shown below.

In this case if we approximate the zero at s = −4. 9 to s ≈ −5 then we can cancel this pole with the
zero at s = −5.

After poles zero cancellation the close loop transfer function will be

.
C(s) 1
= 2
R(s) s +5s+20

Step 6
The approximate response function will be

C(s) = 2
1

s(s +5s+20)
.

The output response in time domain will be

−1
c(t) = L [C(s)],

−1 1
c(t) = L [ 2
],
s(s +5s+20)

c(t) = [0. 05 − 0. 03 sin(3. 7t)e

−2.5t −2.5t
− 0. 05 cos(3. 7t)e ]u(t) .

Step 7
The general form of characteristics equation of a second order system

s
2
+ 2ζωns + ωn
2
= 0 ...(i)

The characteristics equation of the close loop transfer function after pole zero cancellation is
s
2
+ 5s + 20 = 0 ...(ii)

By comparing equation (i) and (ii) we get

2
ωn = 20,

ωn = √ 20,

ωn = 4. 47 rad/sec (natural frequency).

2ζωn = 5,

ζ = 0. 56 (damping ratio).

Step 8
So percent overshoot will be
πζ
−
√ 2
1−ζ
Mp = e × 100%,

Mp = 11. 96% .

Settling time will be

4
Ts = ,
ζωn

Ts = 1. 6 sec.

Step 9
Rise time will be
π−θ
Tr = ,
ωn√ 1−ζ
2

−1
π−[cos (ζ)]
Tr = ,
2
ωn√ 1−ζ

Tr = 0. 58 sec.

Peak time will be

π
Tp = ,
ωn√ 1−ζ
2

Tp = 0. 84 sec.