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Control Optimo
Control Optimo
The ability to adjust the transient and steady-state response of a feedback control
system is a beneficial outcome of the design of control systems.
One of the first steps in the design process is to specify the measures of
performance.
In this chapter we introduce the common time-domain specifications such as
percent overshoot, settling time, time to peak, time to rise, and steady-state tracking
error.
We will use selected input signals such as the step and ramp to test the response of
the control system.
The correlation between the system performance and the location of the system
transfer function poles and zeros in the s-plane is discussed.
We will develop valuable relationships between the performance specifications and
the natural frequency and damping ratio for second-order systems.
Relying on the notion of dominant poles, we can extrapolate the ideas associated
with second-order systems to those of higher order.
Illustrations
Introduction
Steady-State: exists a long time following any input signal initiation
Transient Response: disappears with time
Design Specifications: normally include several time-response indices
for a specified input command as well as a desired steady-state
accuracy.
Illustrations
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R( s )
s p s K
n
Y( s )
s 2 n s n
Y( s )
y( t)
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cos
s 2 2 s 2 s
n
n
n t
sin n t
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Rise Time, Tr
Peak Time, To
Percentage Overshoot, P.O.
Settling Time, Ts
Normalized Rise Time Tr1
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PO
Ts
M pv fv
fv
100
4
n
Tp
n
M pv
1 e
PO
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100 e
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T( s )
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s 2 2 s 1 s 1
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4
n
4sec
n 1
When the clos ed-loop roots are chosen as:
r1 1 j 1
r2 1 j 1
We have Ts
Theref ore,
and n
2
T( s )
Illustrations
G( s )
1 G( s )
s p s K
s 2 n s n
2 n
n
Y( s )
R( s )
For n
T( s )
Illustrations
T( s )
3,
a
2
( s a)
0.16 , and
62.5( s 2.5)
1 s
2 n s n
a
s 2 6 s 25( s 6.25)
2.5:
s 6 s 25 ( s 6.25)
10( s 2.5)
s 2 6s 25
We now have
0.6 and n
0.833
n
Using the previously mentioned charts (Figure 5.13a), w e f ind that the
percent overshoot is 55%. We expect the setting time to w ithin 2% of the
f inal value to be:
T( s )
0.6 5
1.33sec
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For
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T( s )
E( s )
E( s )
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K1 G( s )
1 K1 G( s )
R( s ) Y( s )
1
1 K1 G( s )
( 1 T( s ) ) R( s )
R( s )
es s
lim s E( s )
s0
1
1 K1 G( 0)
Performance Indices
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.
Illustrations
Performance Indices
There are several performance indices:
(1) Integral of the square of the error, ISE
T
ISE
2
e ( t) dt
0
IAE
e( t) dt
ITAE t e( t) dt
0
2
ITSE t e ( t) dt
0
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