Control Systems

A. Saksena

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Poles & Zeros

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Poles

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Zeros

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 Effect of Poles and Zeros
● As s approaches a zero, the numerator of the transfer function and therefore
the transfer function itself approaches the value 0.
● When s approaches a pole, the denominator of the transfer function
approaches zero, and the value of the transfer function approaches infinity.
● An output value of infinity should raise an alarm for system stability.
● Physically realizable control systems must have a number of poles greater
than the number of zeros. Systems that satisfy this relationship are called
Proper.
● In a transfer function representation, the order is the highest exponent in the
transfer function. In a proper system, the system order is defined as the
degree of the denominator polynomial.

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 Effect of Poles and Zeros
● The locations of the poles, and the values of the real and imaginary parts of
the pole determine the response of the system.
● Real parts correspond to exponentials, and imaginary parts correspond to
sinusoidal values.
● Addition of poles to the transfer function has the effect of making the system
less stable.
● Addition of zeros to the transfer function has the effect of making the system
more stable.
● Control systems, in the most simple sense, can be designed simply by
assigning specific values to the poles and zeros of the system.

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Poles and Zeros of Transfer Function on S plane

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 Order of System
The order of control system is defined as the highest power of s present in
denominator of closed loop transfer function G(s) of unity feedback system

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 Order of System
Type of a system is defined to be the power of s (pole at origin).

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Order & Type of System

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 First Order System
● First-order systems are the simplest systems, and they make a good place to
begin a study of system dynamics.
● First-order system concepts form the foundation for understanding more
complex systems.

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 Steady State Value and Time Constant
● Time constants are everywhere. Since (almost) nothing happens
instantaneously, but rather with a delay, processes are said to have time
constants associated with them.
● Time constant is defined as the time elapsed for a signal to reach its 63.2% of
steady state value.
● Steady state value is value of a system which is achieved by system after
considerable time has elapsed (t →∞).

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 Rise Time & Settling Time
● Rise time is defined as the time for the waveform to go from 10% to 90% of its
steady state value.
● Settling time is defined as the time for the response to reach, and stay within,
2% of its steady state value.

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Example of First Order System

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Time Response of First Order System: Step Input

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Time Response of First Order System: Time Constant

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Time Response of First Order System: Rise Time

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Time Response of First Order System: Settling Time

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Time Response of First Order System

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First-Order Transfer Functions via Testing

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Prolem

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Prolem

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Problem

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Solution

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Second Order System

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Example of Second Order System

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General Second-Order System

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Second-Order System: Over Damped

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Second-Order System: Over Damped

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Second-Order System: Under Damped

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Second-Order System: Under Damped

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Second-Order System: Under Damped

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Second-Order System: Critically Damped

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Second-Order System: Critically Damped

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Problems

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Problems

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Problems

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Damping Status of a System

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Time Response of Under Damped System

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Problems

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Problem

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