CONTROL SYSTEM (WEEK 3)

SUBMITTED BY: SHWETA RAI (ME/19/01)

ZEROES OF TRANSFER FUNCTION:

Roots of n(s) i.e numerator polynomial is called zeroes of
a transfer function.
In the above example ,
m= 0 (order of numerator polynomial)
zeroes= none

Graphically, the poles and zeroes can be denoted on s

plane.

(imaginary parts)

-3 -2 -1 (real parts)
x axis represents real parts of poles and zeroes
y axis represents imaginary parts of poles and zeroes.

QUESTION:
Determine the plant transfer ,its poles and zero and
calculate its unit impulse response.
ÿ (t)+5 ẏ (t)+6y(t)=u(t)
Sol: Taking laplace on both sides-
s2 y(s)-sy(0)- ẏ (0)+5[s y(s)- y(0)]+ 6 y(s)= u(s)
( s +5s+6)y(s)= [y(0)+5y(0)+ ẏ (0)+ u(s)
2

˙
y ( 0 ) s+ s y ( 0 ) + y (0) 1
Y(s)=( s2 +5 s+6
)+ (s +5 s +6) u(s)
2

Take all initial conditions to be zero, i.e y(0)=0, ẏ (0)=0

1
Y(s)= (s +5 s +6) u(s)
2

y ( s)
u( s)
= s + 51s+ 6 plant transfer function
2

Here,
n=2
m=0
n¿m= strictly proper function
Poles: -2,-3
Zeroes: none
Unit step response-

1 1
Y(s)= p(s)u(s)= s + 5 s+ 6 ¿ ¿ × s
2

1 A B C
= s ( s+2 )( s+3 ) = S + S +2 + S +3

Solving using partial fraction method:

A=1/6
B=-1/2
C=1/3
1 1 1
Y(s)= 6 - 2(s +2) + 3(s+3)
1 1 −2 t 1 −3 t
Y(t)= 6 - 2 e + 3 e

OBSERVATIONS-
1
1) As t ∞ , y(t) 6 , this is called steady state value
2)In general, the real part of the poles would appear as
the exponents.
3) The magnitude of y(t) is bounded for all time.

DOMINANT POLES:
Dominant poles are those poles that are closer to the imaginary
❑
❑ axis and these are called dominant poles because these poles
are going to come as the exponents of the exponential function
and will have more lingering effect on y(t) than those which are
farther away into the left half plane.
Dominant pole is significantly required in stability analysis,
because it is that location which gives an idea where the root
locus is progressing- towards right or towards left. It is also
called near poles.

POLE ZERO CANCELLATION:

For example,
s+1 1
P(s)= =
( s+ 1 ) (s +10) (s +10)
If we shift the zero to -1, the term ( s+1) gets eliminated. This is
called pole zero cancellation.
The cancellation is usually done when designing a controller to
achieve some control goals (to increase the speed of the
system, to reduce the tracking error) A common goal is to
cancel slow poles (poles with negative real parts, thus stable,
but situated near to the imaginary axis).
But, it should not come in practice more often.
There is loss of information. That is done in algebraic problems
for making equation simpler, but here every factor carries an
information about system.

NON- MINIMUM PHASE ZERO:

A zero of a transfer function in the right half complex plane is
called a non – minimum phase zero.

FIRST ORDER SYSTEM:

1. Unit impulse input/ Dirac delta function:

An impulse input is a very high pulse applied to a
system over a very short time (i.e., it is not
 maintained). That is, the magnitude of the input
approaches infinity while the time approaches zero.

2. UNIT STEP INPUT:

When time (t) approaches zero, the magnitude of
the step input is 1, it is called a unit-step input.

3. UNIT RAMP INPUT:

The ramp is a signal which starts at a value of zero
and increases linearly with time. It is called unit
ramp input.

A first order linear time invariant system has one

pole in the left half of complex plane.