Feedback Control Systems

Fall 2020

November 11, 2020

In This Lecture

Disturbances

r e u y
Controller System
−

ym

Measurements

Objective
I Develop the concept of block diagrams
System Modeling Diagrams

I We have seen the input-output relation for a single system

I In complex mechatronic systems, there are many interacting
subsystems such that the output of a subsystem enters another
subsystem as an input
I Such a representation is called block diagram
I We will see linear analysis techniques
System Modeling Diagrams

I (a) Series connection G1 G2

I (b) Parallel connection G1 + G2
I (c) (Negative) feedback connection:
I Input to the upper system:
U1 (s) = R(s) − Y2 (s)
I Output of the lower system:
Y2 (s) = G2 (s)G1 (s)U1 (s)
I Output of the upper system:
G1 G2
Y1 (s) = G1 (s)U1 (s) =
1 + G1 G2
System Modeling Diagrams

I (a) & (b) shows mathematically equivalent systems

I (c) Conversion to unity feedback system
Block Diagrams: Example

I First, focus on the dashed region:

G1 (s)
T1 (s) =
1 − G1 (s)G3 (s)
Block Diagrams: Example

I First, focus on the dashed region:

G1 (s)
T1 (s) =
1 − G1 (s)G3 (s)
I which yields:
Block Diagrams: Example

I Continue with simplifying the diagram focusing on the dashed

region:

G1 (s)
T1 (s) =
1 − G1 (s)G3 (s)
Block Diagrams: Example

I Continue with simplifying the diagram focusing on the dashed

region:

G1 (s)
T1 (s) =
1 − G1 (s)G3 (s)
I which yields:
Block Diagrams: Example

I Overall transfer function:

Y (s)
T (s) =
R(s)
G1 G2  
1−G1 G3 G6
= G1 G2 G4
G5 +
1 + 1−G G2
1 G3

G1 G2 G5 + G1 G6
=
1 − G1 G3 + G1 G2 G4
Block Diagram Reduction with MATLAB

Reading assignment: Sec. 3.2.2

Pole-Zero Locations

u y
H(s)

I We can identify the time response of a system by analyzing its

transfer function.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )
b(s)
=
a(s)
Pole-Zero Locations

u y
H(s)

I We can identify the time response of a system by analyzing its

transfer function.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )
b(s)
=
a(s)
I Poles and zeros have unique effects on the system behavior
Pole-Zero Locations

u y
H(s)

I We can identify the time response of a system by analyzing its

transfer function.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )
b(s)
=
a(s)
I Poles and zeros have unique effects on the system behavior
I Poles and zeros can be complex numbers
Pole-Zero Locations
I Example response of
1
H(s) = → h(t) = e−at 1(t)
s+a
Pole-Zero Locations
I Example response of
1
H(s) = → h(t) = e−at 1(t)
s+a
I If a > 0, then the pole is located at s < 0 and the system is
stable:
Pole-Zero Locations
I Example response of
1
H(s) = → h(t) = e−at 1(t)
s+a
I If a > 0, then the pole is located at s < 0 and the system is
stable:

I The time constant τ = 1/a defines the time when y(t) = 1/e.
Pole-Zero Locations

I Example response of
1
H(s) = → h(t) = e−at 1(t)
s+1
to the step input u(t) = 1(t).
Pole-Zero Locations: Example
I Example response of
2s + 1
H(s) =
s2 + 3s + 2
Pole-Zero Locations: Example
I Example response of
2s + 1
H(s) =
s2 + 3s + 2
I Find the partial fraction expansion of H(s)
Pole-Zero Locations: Example
I Example response of
2s + 1
H(s) =
s2 + 3s + 2
I Find the partial fraction expansion of H(s)
I

1 3
H(s) = − +
s+1 s+2
Pole-Zero Locations: Example
I Example response of
2s + 1
H(s) =
s2 + 3s + 2
I Find the partial fraction expansion of H(s)
I

1 3
H(s) = − +
s+1 s+2
I Poles: {−1, −2}; zeroes: {−0.5}
Pole-Zero Locations: Example
I Example response of
2s + 1
H(s) =
s2 + 3s + 2
I Find the partial fraction expansion of H(s)
I

1 3
H(s) = − +
s+1 s+2
I Poles: {−1, −2}; zeroes: {−0.5}
I Pole-zero map
Pole-Zero Locations: Example

2s + 1
H(s) =
s2 + 3s + 2

I Inverse LT:

h(t) = −e−t + 3e−2t

when t ≥ 0, and 0 when t < 0.

Pole-Zero Locations: Example

2s + 1
H(s) =
s2 + 3s + 2

I Inverse LT:

h(t) = −e−t + 3e−2t

when t ≥ 0, and 0 when t < 0.

I The time response of the system is determined by the poles at
s = −1 and s = −2
Pole-Zero Locations: General picture
Pole-Zero Locations: Example

Let’s return to the question:

2s + 1
H(s) =
s2 + 3s + 2

I The pole at s = −2 corresponds to e−2t and decays faster than

the pole at s = −1 which corresponds to e−t
Pole-Zero Locations: Example

Let’s return to the question:

2s + 1
H(s) =
s2 + 3s + 2

I The pole at s = −2 corresponds to e−2t and decays faster than

the pole at s = −1 which corresponds to e−t
I Generalization: Poles that are farther away from the origin are
faster then the ones that are closer
Pole-Zero Locations: Example

Let’s return to the question:

2s + 1
H(s) =
s2 + 3s + 2

I The pole at s = −2 corresponds to e−2t and decays faster than

the pole at s = −1 which corresponds to e−t
I Generalization: Poles that are farther away from the origin are
faster then the ones that are closer
I Impulse response can be simulated on MATLAB
Complex Poles
I We saw that s can be a complex number. In that case, we denote
s = −σ ± jωd
Complex Poles
I We saw that s can be a complex number. In that case, we denote
s = −σ ± jωd
I If complex, it comes with its conjugate so the pole is given by
a(s) = (s + σ − jωd )(s + σ + jωd )
= (s + σ)2 + ωd2
which corresponds to:
1
(s + σ)2 + ωd2
Complex Poles
I We saw that s can be a complex number. In that case, we denote
s = −σ ± jωd
I If complex, it comes with its conjugate so the pole is given by
a(s) = (s + σ − jωd )(s + σ + jωd )
= (s + σ)2 + ωd2
which corresponds to:
1
(s + σ)2 + ωd2
I Usually, the transfer function for a second order system is
represented as
ωn2
H(s) =
s2 + 2ζωn s + ωn2
ζ: Damping ratio
ωn : Undamped natural frequency
Complex Poles
I We saw that s can be a complex number. In that case, we denote
s = −σ ± jωd
I If complex, it comes with its conjugate so the pole is given by
a(s) = (s + σ − jωd )(s + σ + jωd )
= (s + σ)2 + ωd2
which corresponds to:
1
(s + σ)2 + ωd2
I Usually, the transfer function for a second order system is
represented as
ωn2
H(s) =
s2 + 2ζωn s + ωn2
ζ: Damping ratio
ωn : Undamped natural frequency
I Relations:
p
σ = ζωn , ωd = ωn 1 − ζ2
Complex Poles: Geometrical Interpretation

ωn2
H(s) =
s2 + 2ζωn s + ωn2
Complex Poles: Geometrical Interpretation

ωn2
H(s) =
s2 + 2ζωn s + ωn2

I Poles are located at a radius ωn and at an angle θ = sin−1 (ζ)

Complex Poles: Geometrical Interpretation

ωn2
H(s) =
s2 + 2ζωn s + ωn2

I Poles are located at a radius ωn and at an angle θ = sin−1 (ζ)

I If θ = π/2, poles become real

Complex Poles: Geometrical Interpretation

ωn2
H(s) =
s2 + 2ζωn s + ωn2

I Poles are located at a radius ωn and at an angle θ = sin−1 (ζ)

I If θ = π/2, poles become real

I If θ = 0, ωn = ωd
Complex Poles: Response
Rewrite the transfer function
ωn2
H(s) =
s2 + 2ζωn s + ωn2
ωn2
=
(sζωn )2 + ωn2 (1 − ζ 2 )
Complex Poles: Response
Rewrite the transfer function
ωn2
H(s) =
s2 + 2ζωn s + ωn2
ωn2
=
(sζωn )2 + ωn2 (1 − ζ 2 )

I Using the table:

ωn
h(t) = p e−σt sin(ωd t)1(t)
1 − ζ2
Complex Poles: Response
Rewrite the transfer function
ωn2
H(s) =
s2 + 2ζωn s + ωn2
ωn2
=
(sζωn )2 + ωn2 (1 − ζ 2 )

I Using the table:

ωn
h(t) = p e−σt sin(ωd t)1(t)
1 − ζ2
I Actual frequency ωd decreases
as the damping ratio ζ
increases
Complex Poles: Response
Rewrite the transfer function
ωn2
H(s) =
s2 + 2ζωn s + ωn2
ωn2
=
(sζωn )2 + ωn2 (1 − ζ 2 )

I Using the table:

ωn
h(t) = p e−σt sin(ωd t)1(t)
1 − ζ2
I Actual frequency ωd decreases
as the damping ratio ζ
increases
I For low ζ we get oscillatory
behavior. As ζ increases,
oscillation reduces
Pole Locations

I As ζ decreases, the poles get closer to the imaginary plane, and

the system shows oscillatory behavior
Pole Locations: Unit Step Response

ωn2 ωn2 1
H(s) = = , U (s) =
s2 + 2ζωn s + ωn2 (sζωn )2 + ωn2 (1 − ζ 2 ) s

I The only difference between the impulse response and unit-step

response is the magnitude of the steady-state value of the
unit-step response
Pole Locations: Example

2s + 1 ωn2 1
H(s) = = , U (s) =
s2 + 2s + 5 (sζωn ) + ωn2 (1 − ζ 2 )
2 s

√ √
I Analyze the poles: ωn = 5 = 2.24 rad/s, ζ = 1/ 5 = 0.447
Pole Locations: Example

2s + 1 ωn2 1
H(s) = = , U (s) =
s2 + 2s + 5 (sζωn ) + ωn2 (1 − ζ 2 )
2 s

√ √
I Analyze the poles: ωn = 5 = 2.24 rad/s, ζ = 1/ 5 = 0.447
I What should we expect by just looking at the poles?
Pole Locations: Example

2s + 1 ωn2 1
H(s) = = , U (s) =
s2 + 2s + 5 (sζωn ) + ωn2 (1 − ζ 2 )
2 s

√ √
I Analyze the poles: ωn = 5 = 2.24 rad/s, ζ = 1/ 5 = 0.447
I What should we expect by just looking at the poles?
I Frequency: 2.24 rad/s. Oscillatory motion. . .
Pole Locations: Example
Let’s analyze the impulse response. We must resemble the
denominator to the expressions in the table
2s + 1 ωn2
H(s) = =
s2 + 2s + 5 (s + ζωn )2 + ωn2 (1 − ζ 2 )
Pole Locations: Example
Let’s analyze the impulse response. We must resemble the
denominator to the expressions in the table
2s + 1 ωn2
H(s) = =
s2 + 2s + 5 (s + ζωn )2 + ωn2 (1 − ζ 2 )

I By partial fraction expansion:

2s + 1 s+1 1 2
H(s) = 2 =2 −
s + 2s + 5 (s + 1)2 + 22 2 (s + 1)2 + 22
Pole Locations: Example
Let’s analyze the impulse response. We must resemble the
denominator to the expressions in the table
2s + 1 ωn2
H(s) = =
s2 + 2s + 5 (s + ζωn )2 + ωn2 (1 − ζ 2 )

I By partial fraction expansion:

2s + 1 s+1 1 2
H(s) = 2 =2 −
s + 2s + 5 (s + 1)2 + 22 2 (s + 1)2 + 22
I Then, from the table:
h(t) = 2e−t cos(2t) − f rac12e−t sin(2t) 1(t)


Pole Locations: Example
Let’s analyze the impulse response. We must resemble the
denominator to the expressions in the table
2s + 1 ωn2
H(s) = =
s2 + 2s + 5 (s + ζωn )2 + ωn2 (1 − ζ 2 )

I By partial fraction expansion:

2s + 1 s+1 1 2
H(s) = 2 =2 −
s + 2s + 5 (s + 1)2 + 22 2 (s + 1)2 + 22
I Then, from the table:
h(t) = 2e−t cos(2t) − f rac12e−t sin(2t) 1(t)

I Impulse response
Pole Locations: Example

Write MATLAB code

Time Domain Specifications
Generally, a mechatronic system output is desired to satisfy some
criteria expressed in the time domain
Time Domain Specifications
Generally, a mechatronic system output is desired to satisfy some
criteria expressed in the time domain

I Rise time tr : The time it takes for the output to reach the
vicinity of the set point
Time Domain Specifications
Generally, a mechatronic system output is desired to satisfy some
criteria expressed in the time domain

I Rise time tr : The time it takes for the output to reach the
vicinity of the set point
I Settling time ts : The time it takes for the transient to decay
Time Domain Specifications
Generally, a mechatronic system output is desired to satisfy some
criteria expressed in the time domain

I Rise time tr : The time it takes for the output to reach the
vicinity of the set point
I Settling time ts : The time it takes for the transient to decay
I Overshoot Mp : The maximum value the output overshoots the
set point (given in percentage)
Time Domain Specifications
Generally, a mechatronic system output is desired to satisfy some
criteria expressed in the time domain

I Rise time tr : The time it takes for the output to reach the
vicinity of the set point
I Settling time ts : The time it takes for the transient to decay
I Overshoot Mp : The maximum value the output overshoots the
set point (given in percentage)
I Peak time tp : The time it takes for the output to reach the
overshoot (peak) value
Rise Time
For the second-order system
ωn2
H(s) = ,
(s + ζωn )2 + ωn2 (1 − ζ 2 )
with ζ = 0.5 under the step input, almost all curves rise at the same
time from y(t) = 0.1 to y(t) = 0.9:
1.8
tr u ,
ωn
Overshoot
Let’s calculate the unit-step response in time domain:

ωn2 1
H(s) = , U (s) =
(s + ζωn )2 + ωn2 (1 − ζ 2 ) s
Overshoot
Let’s calculate the unit-step response in time domain:

ωn2 1
H(s) = , U (s) =
(s + ζωn )2 + ωn2 (1 − ζ 2 ) s

I Partial fraction expansion yields:

ωn2
 
H(s) −σt σ
= → y(t) = 1 − e cos(ωd t) + (sin(ωd t)
s s(s2 + 2ζωn + ωn2 ) ωd
p
ωd = ωn 1 − ζ 2 , σ = ζωn
Overshoot
Let’s calculate the unit-step response in time domain:

ωn2 1
H(s) = , U (s) =
(s + ζωn )2 + ωn2 (1 − ζ 2 ) s

I Partial fraction expansion yields:

ωn2
 
H(s) −σt σ
= → y(t) = 1 − e cos(ωd t) + (sin(ωd t)
s s(s2 + 2ζωn + ωn2 ) ωd
p
ωd = ωn 1 − ζ 2 , σ = ζωn
I Using trigonometric identities, we obtain

e−σt
y(t) = 1 − p cos(ωd t − sin−1 (ζ))
1 − ζ2
I At the overshoot value, the derivative will be zero:

ẏ(t) = 0
Overshoot
I At the overshoot value, the derivative will be zero:
 
−σt σ
ẏ(t) = σe cos(ωd t) + sin(ωd t) − e−σt (−ωd sin(ωd t) + σ cos(ωd t)
ωd
Overshoot
I At the overshoot value, the derivative will be zero:
 
−σt σ
ẏ(t) = σe cos(ωd t) + sin(ωd t) − e−σt (−ωd sin(ωd t) + σ cos(ωd t)
ωd
I This happens when tp = π/ωd . This called the peak time
Overshoot
I At the overshoot value, the derivative will be zero:
 
−σt σ
ẏ(t) = σe cos(ωd t) + sin(ωd t) − e−σt (−ωd sin(ωd t) + σ cos(ωd t)
ωd
I This happens when tp = π/ωd . This called the peak time
I At that instant:

y(tp ) = 1 + Mp
 
σ
= 1 − e−σπ/ωd cos(π) + sin(π)
ωd
= 1 + e−σπ/ωd
Overshoot
I At the overshoot value, the derivative will be zero:
 
−σt σ
ẏ(t) = σe cos(ωd t) + sin(ωd t) − e−σt (−ωd sin(ωd t) + σ cos(ωd t)
ωd
I This happens when tp = π/ωd . This called the peak time
I At that instant:

y(tp ) = 1 + Mp
 
σ
= 1 − e−σπ/ωd cos(π) + sin(π)
ωd
= 1 + e−σπ/ωd

I Thus,
√ 2
Mp = e−πζ/ 1−ζ

for 0 ≤ ζ < 1
Overshoot

√ 2
Mp = e−πζ/ 1−ζ

for 0 ≤ ζ < 1
Time Domain Design Characteristics
I All the characteristics described thus far, i.e., rise time,
overshoot, peak time, and settling time, can be used in the design
process of a second order system without zeros
Time Domain Design Characteristics
I All the characteristics described thus far, i.e., rise time,
overshoot, peak time, and settling time, can be used in the design
process of a second order system without zeros
I In the design process, the designer determines the certain
characteristics and then places the poles (and hence ζ, ωn ) of the
system based on these characteristics
Time Domain Design Characteristics
I All the characteristics described thus far, i.e., rise time,
overshoot, peak time, and settling time, can be used in the design
process of a second order system without zeros
I In the design process, the designer determines the certain
characteristics and then places the poles (and hence ζ, ωn ) of the
system based on these characteristics
I Combination of these specifications can be used as a design guide
1.8 4.6
ωn ≥ ζ ≥ ζ(Mp ) σ ≥
tr ts
First-Order Systems

σ 1
H(s) = , U (s) =
s+σ s
σ
Y (s) =
s(s + σ)

From the table:

y(t) = 1 − e−σt 1(t)

First-Order Systems

σ 1
H(s) = , U (s) =
s+σ s
σ
Y (s) =
s(s + σ)

From the table:

y(t) = 1 − e−σt 1(t)

I Settling time: ts = 4.6/σ

First-Order Systems

σ 1
H(s) = , U (s) =
s+σ s
σ
Y (s) =
s(s + σ)

From the table:

y(t) = 1 − e−σt 1(t)

I Settling time: ts = 4.6/σ

I No overshoot is possible
First-Order Systems

σ 1
H(s) = , U (s) =
s+σ s
σ
Y (s) =
s(s + σ)

From the table:

y(t) = 1 − e−σt 1(t)

I Settling time: ts = 4.6/σ

I No overshoot is possible
I Rise time:
ln 0.9 − ln 0.1 2.2
tr = =
σ σ
Effects of Zeros and Additional Poles
If the system has zero(s), the transient response changes.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )
Effects of Zeros and Additional Poles
If the system has zero(s), the transient response changes.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )

I Zeros modify the coefficients of the exponential terms

Effects of Zeros and Additional Poles
If the system has zero(s), the transient response changes.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )

I Zeros modify the coefficients of the exponential terms

I As the location of a zero approaches a pole, the zero reduces the
effect of that pole
Effects of Zeros and Additional Poles
If the system has zero(s), the transient response changes.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )

I Zeros modify the coefficients of the exponential terms

I As the location of a zero approaches a pole, the zero reduces the
effect of that pole
I Consider:
2 2 2
H1 (s) = = − ,
(s + 1)(s + 2) s+1 s+2
2(s + 1.1) 0.18 1.64
H2 (s) = = −
1.1(s + 1)(s + 2) s+1 s+2
Effects of Zeros and Additional Poles
If the system has zero(s), the transient response changes.
Qm
(s − zi )
H(s) = K Qni=1
i=1 (s − pi )

I Zeros modify the coefficients of the exponential terms

I As the location of a zero approaches a pole, the zero reduces the
effect of that pole
I Consider:
2 2 2
H1 (s) = = − ,
(s + 1)(s + 2) s+1 s+2
2(s + 1.1) 0.18 1.64
H2 (s) = = −
1.1(s + 1)(s + 2) s+1 s+2
I Both systems have the same DC gain. However, the effect of
p1 = −1 is dramatically reduced by the zero located at z1 = −1.1
in H2 (s).
Effects of Zeros and Additional Poles

Note the partial fraction expansion:

Ci = (s − pi )F (s)|s=pi
Effects of Zeros and Additional Poles

Note the partial fraction expansion:

Ci = (s − pi )F (s)|s=pi

I Therefore, if a zero is close to a pole, it will shadow the effect of

that pole by reducing its coefficient
Effects of Zeros and Additional Poles

Note the partial fraction expansion:

Ci = (s − pi )F (s)|s=pi

I Therefore, if a zero is close to a pole, it will shadow the effect of

that pole by reducing its coefficient
I Consider:
(s/αζωn + 1)
H(s) =
(s/ωn )2 + 2ζ(s/ωn ) + 1
Effects of Zeros and Additional Poles

Note the partial fraction expansion:

Ci = (s − pi )F (s)|s=pi

I Therefore, if a zero is close to a pole, it will shadow the effect of

that pole by reducing its coefficient
I Consider:
(s/αζωn + 1)
H(s) =
(s/ωn )2 + 2ζ(s/ωn ) + 1
I Zero: s = −αζωn = −ασ
Effects of Zeros and Additional Poles

(s/αζωn + 1)
H(s) =
(s/ωn )2 + 2ζ(s/ωn ) + 1
Effects of Zeros and Additional Poles

(s/αζωn + 1)
H(s) =
(s/ωn )2 + 2ζ(s/ωn ) + 1

I As α approaches one, i.e., the zero gets closer to the pole, then
the overshoot increases and it shows more oscillatory transient
behavior
Effects of Zeros and Additional Poles
What if zeros are close to poles?
24 s+z
H(s) =
z (s + 4)(s + 6)
Analyze the effect of z when z = {1, 2, 3, 4, 5, 6}
Effects of Zeros and Additional Poles
What if zeros are close to poles?
24 s+z
H(s) =
z (s + 4)(s + 6)
Analyze the effect of z when z = {1, 2, 3, 4, 5, 6}
I First, derive the step response:

H(s) 24 s+z
H̄(s) = =
s z s(s + 4)(s + 6)
24 s 24
= +
z s(s + 4)(s + 6) s(s + 4)(s + 6)
Effects of Zeros and Additional Poles
What if zeros are close to poles?
24 s+z
H(s) =
z (s + 4)(s + 6)
Analyze the effect of z when z = {1, 2, 3, 4, 5, 6}
I First, derive the step response:

H(s) 24 s+z
H̄(s) = =
s z s(s + 4)(s + 6)
24 s 24
= +
z s(s + 4)(s + 6) s(s + 4)(s + 6)
I Then,
y(t) = y1 (t) + y2 (t)
12 −4t
+ e−6t


y1 (t) = e
z
Effects of Zeros and Additional Poles
What if zeros are close to poles?
24 s+z
H(s) =
z (s + 4)(s + 6)
Analyze the effect of z when z = {1, 2, 3, 4, 5, 6}
I First, derive the step response:

H(s) 24 s+z
H̄(s) = =
s z s(s + 4)(s + 6)
24 s 24
= +
z s(s + 4)(s + 6) s(s + 4)(s + 6)
I Then,
y(t) = y1 (t) + y2 (t)
12 −4t
+ e−6t


y1 (t) = e
z
I Recall that the term s stands for the derivative operator, so
Z t
y2 (t) = z y1 (τ )dτ
0
= −3e−4t + 2e−6t + 1
Effects of Zeros and Additional Poles
What if zeros are close to poles?
24 s+z
H(s) =
z (s + 4)(s + 6)
Analyze the effect of z when z = {1, 2, 3, 4, 5, 6}
I First, derive the step response:

H(s) 24 s+z
H̄(s) = =
s z s(s + 4)(s + 6)
24 s 24
= +
z s(s + 4)(s + 6) s(s + 4)(s + 6)
I Then,
y(t) = y1 (t) + y2 (t)
12 −4t
+ e−6t


y1 (t) = e
z
I Recall that the term s stands for the derivative operator, so
Z t
y2 (t) = z y1 (τ )dτ
0
= −3e−4t + 2e−6t + 1
Effects of Zeros and Additional Poles
Overall response is governed by
   
12 −4t 12 −6t
y(t) = 1 + −3 e + 2− e
z z
Effects of Zeros and Additional Poles
Overall response is governed by
   
12 −4t 12 −6t
y(t) = 1 + −3 e + 2− e
z z

I For z = 1, there is huge overshoot because. . .

Effects of Zeros and Additional Poles
Overall response is governed by
   
12 −4t 12 −6t
y(t) = 1 + −3 e + 2− e
z z

I For z = 1, there is huge overshoot because. . .

I For z = 2, 3, there is overshoot because. . .
Effects of Zeros and Additional Poles
Overall response is governed by
   
12 −4t 12 −6t
y(t) = 1 + −3 e + 2− e
z z

I For z = 1, there is huge overshoot because. . .

I For z = 2, 3, there is overshoot because. . .
I For z = 4, 6, the system behaves as . . .-order
Effects of Zeros and Additional Poles
Overall response is governed by
   
12 −4t 12 −6t
y(t) = 1 + −3 e + 2− e
z z

I For z = 1, there is huge overshoot because. . .

I For z = 2, 3, there is overshoot because. . .
I For z = 4, 6, the system behaves as . . .-order
I For z = 5, no overshoot because zero is located between the two
poles (will be covered in detail later)
Effects of Zeros and Additional Poles

Summary
I For a second-order system with no finite zeros, the transient
system parameters are:
1.8
I Rise time: tr u
ωn √
2
I Overshoot: Mp = e−πζ/ 1−ζ
4.6
I Settling time: ts u
σ
I A zero in the LHP will cause an increase in the overshoot
I A zero in the RHP will suppress the overshoot, or even cause to
start the response in the opposite direction
I An additional pole in the LHP will increase the rise time if the
extra pole is within a factor of 4 of the real part of the complex
poles
Effects of Zeros and Additional Poles

I Reading assignment: Sec. 3, Example 3.29

I Implement Example 3.30 (Aircraft response using MATLAB).
Will discuss in the class
Stability

Stability is a huge field. Stability of nonlinear, time-varying systems is

an open research field. We will consider LTI systems.
An LTI system is said to be stable if all roots of the transfer function
denominator polynomial have negative real parts and is unstable
otherwise.

I That is, a system is stable if all the poles have negative real parts
s = −σ ± jω, σ > 0
I A system is unstable if any of its poles has positive real part
s = −σ ± jω, σ < 0.
I If there is a single pole on the imaginary axis (s = 0), small
initial conditions will persist
I If there are multiple poles on the imaginary axis (s = ±jω),
oscillatory motion will persist
I The last two cases are also called marginally stable
Stability

Stability is a huge field. Stability of nonlinear, time-varying systems is

an open research field. We will consider LTI systems.
An LTI system is said to be stable if all roots of the transfer function
denominator polynomial have negative real parts and is unstable
otherwise.

I That is, a system is stable if all the poles have negative real parts
s = −σ ± jω, σ > 0
I A system is unstable if any of its poles has positive real part
s = −σ ± jω, σ < 0.
I If there is a single pole on the imaginary axis (s = 0), small
initial conditions will persist
I If there are multiple poles on the imaginary axis (s = ±jω),
oscillatory motion will persist
I The last two cases are also called marginally stable
BIBO Stability
Bounded input-bounded output (BIBO) stability analyzes whether a
system produces bounded output for bounded input signals
BIBO Stability
Bounded input-bounded output (BIBO) stability analyzes whether a
system produces bounded output for bounded input signals
Z ∞
I Consider y(t) = h(τ )u(t − τ )dτ
−∞
BIBO Stability
Bounded input-bounded output (BIBO) stability analyzes whether a
system produces bounded output for bounded input signals
Z ∞
I Consider y(t) = h(τ )u(t − τ )dτ
−∞
I Assume the input is bounded: |u| ≤ M < ∞
BIBO Stability
Bounded input-bounded output (BIBO) stability analyzes whether a
system produces bounded output for bounded input signals
Z ∞
I Consider y(t) = h(τ )u(t − τ )dτ
−∞
I Assume the input is bounded: |u| ≤ M < ∞
I Then:
Z ∞
|y| = | h(τ )u(t − τ )dτ |
−∞
Z ∞
≤ |h||u|dτ
−∞
Z ∞
≤M |h(τ )|dτ
−∞
BIBO Stability
Bounded input-bounded output (BIBO) stability analyzes whether a
system produces bounded output for bounded input signals
Z ∞
I Consider y(t) = h(τ )u(t − τ )dτ
−∞
I Assume the input is bounded: |u| ≤ M < ∞
I Then:
Z ∞
|y| = | h(τ )u(t − τ )dτ |
−∞
Z ∞
≤ |h||u|dτ
−∞
Z ∞
≤M |h(τ )|dτ
−∞
Z ∞
I So if |h|dτ is bounded, the output will be bounded
−∞
Stability of LTI Systems
General LTI system:
Qm
Y (s) (s − zi )
H(s) = = K Qni=1
R(s) i=1 (s − pi )

The output can be written as:

n
X
y(t) = Ki epi t
i=1
Stability of LTI Systems
General LTI system:
Qm
Y (s) (s − zi )
H(s) = = K Qni=1
R(s) i=1 (s − pi )

The output can be written as:

n
X
y(t) = Ki epi t
i=1

I Thus, the system is stable if and only if all epi t terms go to zero
as t → ∞
Stability of LTI Systems
General LTI system:
Qm
Y (s) (s − zi )
H(s) = = K Qni=1
R(s) i=1 (s − pi )

The output can be written as:

n
X
y(t) = Ki epi t
i=1

I Thus, the system is stable if and only if all epi t terms go to zero
as t → ∞
I This happens when the poles are in the. . .
Stability of LTI Systems
General LTI system:
Qm
Y (s) (s − zi )
H(s) = = K Qni=1
R(s) i=1 (s − pi )

The output can be written as:

n
X
y(t) = Ki epi t
i=1

I Thus, the system is stable if and only if all epi t terms go to zero
as t → ∞
I This happens when the poles are in the. . .
I This concept is called internal stability
Stability of LTI Systems
General LTI system:
Qm
Y (s) (s − zi )
H(s) = = K Qni=1
R(s) i=1 (s − pi )

The output can be written as:

n
X
y(t) = Ki epi t
i=1

I Thus, the system is stable if and only if all epi t terms go to zero
as t → ∞
I This happens when the poles are in the. . .
I This concept is called internal stability
I If the system has any pole on the RHP, it is unstable
Stability of LTI Systems
General LTI system:
Qm
Y (s) (s − zi )
H(s) = = K Qni=1
R(s) i=1 (s − pi )

The output can be written as:

n
X
y(t) = Ki epi t
i=1

I Thus, the system is stable if and only if all epi t terms go to zero
as t → ∞
I This happens when the poles are in the. . .
I This concept is called internal stability
I If the system has any pole on the RHP, it is unstable
I If the system has non-repeated pole on the jω axis, it is neutrally
stable
Routh’s Stability Criterion

Consider the polynomial:

a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

We would like to check the stability by analyzing the roots

Routh’s Stability Criterion

Consider the polynomial:

a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

We would like to check the stability by analyzing the roots

I We can solve for the roots and check if they are all on the LHP.
However, there are some easier methods
Routh’s Stability Criterion

Consider the polynomial:

a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

We would like to check the stability by analyzing the roots

I We can solve for the roots and check if they are all on the LHP.
However, there are some easier methods
I A necessary condition:
All coefficients are positive.
Routh’s Stability Criterion

Consider the polynomial:

a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

We would like to check the stability by analyzing the roots

I We can solve for the roots and check if they are all on the LHP.
However, there are some easier methods
I A necessary condition:
All coefficients are positive.
I Alternatively, we will use a simpler test by using the Routh array
Routh’s Stability Criterion
a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

I Define the Routh array:

Routh’s Stability Criterion
a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

I Define the Routh array:

I If all elements in the first column are

positive, then all roots are on the
LHP
Routh’s Stability Criterion
a(s) = sn + a1 sn−1 + a2 sn−2 + . . . + an−1 s + an

I Define the Routh array:

I If all elements in the first column are

positive, then all roots are on the
LHP
I Otherwise, the number of the poles
on the RHP equals the number of
sign changes in the first column
Routh’s Stability Criterion: Example

Consider

a(s) = s6 + 4s5 + 3s4 + 2s3 + s2 + 4s + 4

Routh’s Stability Criterion: Example

Consider

a(s) = s6 + 4s5 + 3s4 + 2s3 + s2 + 4s + 4

I Write the Routh array:

s6 : 1 3 1 4
5
s : 4 2 4 0
s4 : 5/2 0 4 0
s3 : 2 −12/5 0 0
s2 : 3 4 0 0
s : −76/15 8 0 0
s0 : 4 8 0 0

I There are two poles on the RHP because the number of sign
changes in the first column is two
Routh’s Stability Criterion: Example

For the system above, calculate the transfer function from r to y, and
find the range for K that makes the feedback system stable
Routh’s Stability Criterion: Example

For the system above, calculate the transfer function from r to y, and
find the range for K that makes the feedback system stable
I Write the Routh array:

KG(s)
T (s) =
1 + KG(s)
Routh’s Stability Criterion: Example

For the system above, calculate the transfer function from r to y, and
find the range for K that makes the feedback system stable
I Write the Routh array:

KG(s)
T (s) =
1 + KG(s)
I Characteristic polynomial:
s+1
1 + KG(s) = 1 + K =0
s(s − 1)(s + 6)
s3 + 5s2 + (K − 6)s + K = 0
Routh’s Stability Criterion: Example

For the system above, calculate the transfer function from r to y, and
find the range for K that makes the feedback system stable
I Write the Routh array:

KG(s)
T (s) =
1 + KG(s)
I Characteristic polynomial:
s+1
1 + KG(s) = 1 + K =0
s(s − 1)(s + 6)
s3 + 5s2 + (K − 6)s + K = 0
I Routh array:
s3 : 1 K −6
s2 : 5 K
s : (4K − 30)/5 0
s0 : K 0
Routh’s Stability Criterion: Example

I Routh array:

s3 : 1 K −6
s2 : 5 K
s : (4K − 30)/5 0
s0 : K 0
Routh’s Stability Criterion: Example

I Routh array:

s3 : 1 K −6
s2 : 5 K
s : (4K − 30)/5 0
s0 : K 0

I Conditions for stability:

4K − 30
> 0, K > 0 ⇒ K > 7.5
5
Routh’s Stability Criterion: Example

I Routh array:

s3 : 1 K −6
s2 : 5 K
s : (4K − 30)/5 0
s0 : K 0

I Conditions for stability:

4K − 30
> 0, K > 0 ⇒ K > 7.5
5
I So, if K > 7.5, then the system is stable. But, of course, the
system response will differ for different choices of K
Summary

We have seen:
I Block diagrams
I Time-domain specifications for design purposes
I Effects of pole-zero locations on time response
I Stability and Routh-Hurwitz test