Control Systems

Dr.D.Subbulekshmi
 Outline
➢Characteristic equation
➢Effect of adding Poles and Zeros
– Addition of poles to the forward path transfer
function
– Addition of poles to the closed loop transfer
function
– Addition of zeros to the closed loop transfer
function
– Addition of zeros to the forward path transfer
function
 Characteristic equation
The closed loop transfer function of a system is
C(s) G(s)
=
R(s) 1 + G(s)H(s)
The equation gives poles of system is called
characteristic equation

1 + G(s)H(s) = 0
Roots of the numerator polynomial are Zeros of
the system.
Roots of the denominator polynomial are Poles
of the system.

N(s) b m s m + b m −1s m −1 + b1s + b 0

G(s) = =
D(s) a n s n + a n −1s n −1 + a 1s + a 0

This system has ‘m’ zeros ‘n’ poles.

Effect of adding Poles and Zeros
Addition of poles to the forward path transfer
function:
➢Increase order of the system
➢Increase overshoot
➢Reduce stability
➢Increase rise time
Addition of poles to the closed loop transfer
function:
➢Decrease overshoot
➢Increase rise time

Addition of zeros to the closed loop transfer

function:
➢Decrease rise time
➢Increase maximum overshoot
Addition of zeros to the forward path transfer
function:
➢Increase overshoot
➢Poor damping