EE30EE(2018)-Feedback and Control System

Lecture No. 3 : Time Response

S.R.

POLES OF A TRANSFER FUNCTION

The poles of a transfer function are the values of the Laplace transform variable, s, that
cause the transfer function to become infinite. Assuming a transfer function T (s):

Numerator as a function of s N (s)

T (s) = =
Denominator as a function of s D(s)

Therefore to cause the transfer function to become infinite, equate the denominator to
zero, D(s) = 0

ZEROS OF A TRANSFER FUNCTION

The zeros of a transfer function are the values of the Laplace transform variable, s, that
cause the transfer function to become zero.

Therefore to cause the transfer function to become zero, equate the numerator to zero,
N (s) = 0

Example: Find the pole and zero given block diagram below.

Answer:

D(s) = s − 2 = 0
s−2=0
s=2

N (s) = s − 1 = 0
s−1=0
s=1
THE S-PLANE

The s-plane is a complex plane with an imaginary component plotted along the vertical
axis and real component plotted along the horizontal axis.

Generally s can be represented as

s = σ + jω

When mapping/plotting poles and zeros onto the plane, poles are denoted by an ”x”
and zeros by an ”o”.

Example: Plot the poles and zeros of the following transfer functions. Show your
solutions.
2
1. G(s) =
s+2
 5s
2. G(s) =
s2 − 3s + 2

10s + 70
3. G(s) =
(s + 5)(s − 10)

20
4. G(s) =
s2 + 6s + 144
 s+2
5. G(s) =
s2 + 9

s+1
6. G(s) =
(s + 1 + j)(s + 1 − j)
SECOND-ORDER SYSTEMS : Introduction

The Heaviside step function u(t), also denoted as H(t), is defined as:
(
0, if t < 0
u(t) =
1, if t ≥ 0

In s-domain

R(s) = L{r(t)}
= L{u(t)}
1
=
s
The unit step response in s-domain is

C(s) = R(s)G(s)
1
= [G(s)]
s

The unit step response in t-domain is

c(t) = L−1 {C(s)}

1
= [G(s)]
s
Example of Systems, Pole-Zero Plot of the System and System Response
GENERAL SECOND ORDER UNDERDAMPED SYSTEMS

Consider the General Second-Order System below:

For Underdamped responses, there are two complex poles located at σd ± jωd . The
natural response is a damped sinusoid with an exponential envelope. The response can
be described using the system response c(t).

c(t) = 1 − Ae−σd t cos(ωt − ϕ)

The two quantities that are used to describe the characteristics of the second-order
transient response are called natural frequency and damping ratio. Let us formally
define them.

Natural Frequency, ωn

The natural frequency of a second-order system is the frequency of oscillation of the

system without damping.

Damping Ratio, ζ

Exponential Decay Frequency

ζ=
Natural Frequency ( rad/sec)
 C(s)
G(s) =
R(s)
C(s) = R(s)G(s)
ωn2
  
1
C(s) =
s s2 + 2ζωn s + ωn2

Taking the Inverse Laplace Transform of C(s):

c(t) = L−1 {C(s)}

!
p ζ p
c(t) = 1 − e−ζωn t cos ωn 1 − ζ 2t + p sin ωn 1 − ζ 2t
1 − ζ2

Second-Order Underdamped Responses for damping ratio values 0 < ζ < 1 :

General Second-Order System Parameters

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. The formula for Tr can be approximated using the
formula:

(a) For maximum error less than 21 % for 0 < ζ < 0.9.

ωn Tr = 1.76ζ 3 − 0.417ζ 2 + 1.039ζ + 1

(b) For maximum error less than 5% for 0 < ζ < 0.9.

ζ = 0.115 (ωn Tr )3 − 0.883 (ωn Tr )2 + 2.504 (ωn Tr ) − 1.738

2. Peak Time, Tp . The time required to reach the first, or maximum peak.

π
Tp = p
ωn 1 − ζ 2

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.

− √ ζπ
%OS = e 1−ζ 2 × 100%

4. Settling time, Ts . The time required for the transient’s damped oscillations to
reach and stay within ±2% of the steady-state value.

4
Ts =
ζωn
Pole plot for an underdamped second-order system

For the given General Second Order System, the poles can be determined by equating
the denominator of the transfer function to zero and solving for s.

Using Quadratic Formula:

s2 + 2ζωn s + ωn2 = 0
p
−2ζωn ± (2ζωn )2 − 4(1)(ωn2 )
s=
2(1)
p
−2ζωn ± 2ωn ζ 2 − 1
s=
2p
s = −ζωn ± ωn ζ 2 − 1
p
s = −ζωn ± ωn (1 − ζ 2 )(−1)
p
s = −ζωn ± jωn (1 − ζ 2 )
therefore
p
s1 = −ζωn + jωn (1 − ζ 2 )
p
s2 = −ζωn − jωn (1 − ζ 2 )
EXAMPLE:

1. For each of the systems shown in , find the value of ζ and ωn What kind of response
are to be expected.

2. Given the transfer function

100
G(s) =
s2 + 15s + 100

find Tp , %OS, Ts , and Tr .

3. Given the pole plot shown in the figure below. Find ζ, ωn , Tp , %OS, and Ts .