Tema 3

Características de la respuesta en el tiempo

de sistemas

 After the engineer obtains a mathematical representation

of a system,
 the system is analyzed for its transient and steady-
state responses
 to see if these characteristics yield the desired behavior.
 Thus, the engineer usually selects standard test inputs.
 These inputs are impulses, steps, ramps, parabolas, and
sinusoids

Order system

The order refers to the order of the equivalent differential

equation representing the system.

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Input signals

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Input signals

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System Response

 The output response of a system is the sum of two

responses:
 The forced response
 Is also called the steady-state response or particular solution,
 The natural response
 Is also called the homogeneous solution.
 Use the technique of poles and zeros.

 Polos and Zeros

 Some techniques, such as solving a differential equation or
taking the inverse Laplace transform, enable us to evaluate
this output response
 The use of poles and zeros and their relationship to the
time response of a system is such an useful technique.

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Poles and zeros

 The poles of a transfer function are:

 The values of the Laplace transform variable, “s”, that
cause the transfer function to become infinite or
 Any roots of the denominator of the transfer function
that are common to roots of the numerator.

 The zeros of a transfer function are:

 The values of the Laplace transform variable, “s”, that
cause the transfer function to become zero, or
 Any roots of the numerator of the transfer function that
are common to roots of the denominator.

 These values are plotted on the complex s-plane using

an × for the pole and a 𝑂 for the zero.

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Poles and zeros
First order system

 Example:

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Poles and zeros

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Poles and zeros

 Exercise

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First-order system

1
If the input is a unit step, where 𝑅 𝑠 =
𝑠

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First-order system

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First-order system

 Time constant, 𝑻
1
 We call the time
𝑎
constant of the response.
 The time constant is the
time it takes for the step
response to rise to 63%
of its final value.
 It is related to the speed
at which the system
responds to a step input.
 The farther the pole from
the imaginary axis, the
faster the transient
response.

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First-order system

 Rise Time, 𝑻𝒓
 Rise time is defined as the time for the waveform to go
from 0.1 to 0.9 of its final value.
2.31 0.11 2.2
 𝑇𝑟 = − =
𝑎 𝑎 𝑎

 Settling Time, 𝑻𝒔
 Settling time is defined as the time for the response to
reach, and stay within, 2% of its final value.
4
 𝑇𝑠 =
𝑎

 Exercise
 Find the time constant, rise time and settling time of 𝐺 𝑠 =
15
𝑠+15

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Second Order Systems

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Second Order Systems

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Second Order Systems

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Second Order Systems

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Second Order Systems

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The general second-order transfer function

 Define two physically meaningful specifications for

second-order systems.

 These quantities can be used to describe the

characteristics of the second-order transient response.
 Just as time constants describe the first-order system
response.

 The two quantities are called:

 Natural frequency and
 Damping ratio

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The general second-order transfer function

 Natural frequency 𝝎𝒏
 The natural frequency of a second-order system is the
frequency of oscillation of the system without damping, in
𝑟𝑎𝑑/s𝑒𝑐𝑜𝑛𝑑.
 Damping, ratio 𝜹
 Define the damping ratio, 𝜹, to be:

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 The general second-order transfer function

Given the transfer function, find 𝛿 and 𝜔𝑛 :

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The general second-order transfer function

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The general second-order transfer function

 For each of the transfer functions, do the following:

 Find the values of 𝛿 and 𝜔𝑛
 Characterize the nature of the response.

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Underdamped second-order system

 A detailed description of the underdamped response is

necessary for both analysis and design for a step input.
 Our first objective is to define transient specifications
associated with underdamped responses.
 Next we relate these specifications to the pole location,
drawing an association between pole location and the form of
the underdamped second-order response.

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Second-order underdamped responses for
damping ratio values

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Second-order underdamped response
specifications

 We have defined two parameters associated with

second-order systems, 𝜁 and 𝜔𝑛
 Other parameters associated with the underdamped
response are:
1. Rise time 𝑻𝒓
 The time required for the waveform to go from 0.1 of the final
value to 0.9 of the final value
2. Peak time, 𝑻𝒑
 The time required to reach the first, or maximum, peak
3. Percent overshoot, %OS
 The amount that the waveform overshoots the steady state, or
final, value at the peak time, expressed as a percentage of the
steady-state value
4. Settling time, 𝑻𝒔
 The time required for the transient’s damped oscillations to
reach and stay within ±2% of the steady-state value
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Second-order underdamped response
specifications

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Second-order underdamped response
specifications

 We now evaluate 𝑇𝑝 , % 𝑂𝑆 , and 𝑇𝑠 as functions of 𝜁 and

𝜔𝑛

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Location of the poles that generate these
characteristics

 We now have expressions that relate peak time, percent

overshoot, and settling time to the natural frequency and the
damping ratio.
 Now let us relate these quantities to the location of the poles
that generate these characteristics.

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Location of the poles that generate these
characteristics

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Location of the poles that generate these
characteristics

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Location of the poles that generate these
characteristics

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Location of the poles that generate these
characteristics

Finding 𝑇𝑃 , %𝑂𝑆 and 𝑇𝑆 from pole location

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MATLAB code

 p1=[1 3+7*i];
 p2=[1 3-7*i];
 deng=conv(p1,p2);
 omegan=sqrt (deng(3)/deng(1))
 zeta=(deng(2)/deng(1))/(2*omegan)
 Ts=4/(zeta*omegan)
 Tp=pi/(omegan*sqrt(1-zeta^2))
 pos=100*exp(-zeta*pi/sqrt(1-zeta^2))

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Location of the poles that generate these
characteristics

 Given the system shown in the Figure, find 𝐽 and 𝐷 to

yield 20% overshoot and a settling time of 2 seconds for
a step input of torque 𝑇 𝑡

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System Response with Additional Poles

nondominant pole
dominant pole

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System Response with Additional Poles

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System Response with Additional Poles

 Find the step response of each of the transfer functions:

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Desempeño de los sistemas de control

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Steady-state error

 Steady-state error is the difference between the input

and the output for a prescribed test input as 𝑡 → ∞.

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Steady-state error

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Steady-state error in terms of T(s)

For finite steady-state errors, the

final value theorem is valid only if
𝐹(𝑠) has poles only in the left half-
plane and, at most, one pole at the
origin.

Find the steady-state error for the

5
system of 𝑇 𝑠 = 2
𝑠 +7𝑠+10

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Steady-state error in terms of G(s)

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Steady-state error in terms of G(s) for
several inputs

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Example

 Find the steady-state errors for inputs of 5𝑢 𝑡 , 5𝑡𝑢 𝑡 ,

and 5𝑡 2 𝑢 𝑡 to the system shown in the Figure. The
function 𝑢 𝑡 is the unit step.

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Static error constants

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Example

 For each system of the Figure, evaluate the static error

constants and find the expected error for the standard
step, ramp, and parabolic inputs.

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System type

 Steady-state errors are dependent upon the number of

integrations in the forward path, we give a name to this
system attribute
 We define system type to be the value of n in the
denominator or, equivalently, the number of pure
integrations in the forward path

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System type

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Performance Indexes

 We have already found the conditions for meeting the

performance specification on steady state error of a
closed loop system subjected to some typical test inputs.
 We shall now consider some mathematical functions to
satisfy the performance of a closed loop system with
respect to its error in the transient state.

 A performance index is a quantitative measure of

the performance of a system and is chosen so that
emphasis is given to the important system
specifications.

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Performance Indexes

 A system is considered an optimum control system

when the system parameters are adjusted so that the
index reaches an extremum, commonly a minimum
value.

 To be useful, a performance index must be a number

that is always positive or zero.

 Then the best system is defined as the system that

minimizes this index.

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Performance Indexes

 The commonly used performance Indexes (PI) are:

 Integral of squared error (ISE)
∞
 𝐼𝑆𝐸 = ‫׬‬0 𝑒 2 𝑡 𝑑𝑡
 Integral of time multiplied squared error (ITSE)
∞
 𝐼𝑇𝑆𝐸 = ‫׬‬0 𝑡𝑒 2 𝑡 𝑑𝑡
 Integral of absolute error (IAE)
∞
 𝐼𝐴𝐸 = ‫׬‬0 𝑒 𝑡 𝑑𝑡
 Integral of time multiplied absolute error( ITAE)
∞
 𝐼𝑇𝐴𝐸 = ‫׬‬0 𝑡 𝑒 𝑡 𝑑𝑡

 Where the error 𝑒(𝑡) between the output 𝑦(𝑡) and the input
𝑟(𝑡) is defined as:
 𝑒 𝑡 = 𝑟 𝑡 − 𝑦(𝑡)

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Performance Indexes

 Integral of squared error (ISE)

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Performance Indexes

Performance Characteristics
Indexes
∞
Gives more importance to large errors and less
𝐼𝑆𝐸 = න 𝑒2 𝑡 𝑑𝑡 importance to small errors.
0
Discriminate between excessively overdamped and
excessively underdamped systems.
∞
In the step response of the system a large
𝐼𝑇𝑆𝐸 = න 𝑡𝑒 2 𝑡 𝑑𝑡 initial error is weighed lightly because of small value of
0
t, while errors occurring late in the
transient response are penalized heavily.
∞
The resulting optimal system that minimizes IAE has
𝐼𝐴𝐸 = න 𝑒 𝑡 𝑑𝑡 reasonable damping and an acceptable transient-
0
response behavior.
∞
An optimal system designed based on ITAE criteria
𝐼𝑇𝐴𝐸 = න 𝑡 𝑒 𝑡 𝑑𝑡 exhibits small overshoot to step response with well
0
damped oscillations.

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