System Classification

Are you able to appreciate the importance of modeling?

C=21uF -4.462 s j 594.96 -4.727 s j159.12 -1.06 s j9.19

Generator

-0.131 s j99.41
Infinite bus

-0 .646 s j127.07 1.02 s j160.16 -0.034 s j202.74 -0.182 s j 298.18

Transfer function of position control system

Armature Controlled DC servo motor

A gear system

Transfer functions for a. angular displacement in lossless gears and b. torque in lossless gears

K 0 K1 K 2 n G(s) ! s?( La s  Ra )( J 0 s  f 0 )  K 2 K 3 A
n Ra K 0 K1 K 2 n G (s) ! ! K K s?Ra ( J 0 s  f 0 )  K 2 K 3 A J 0 s 2  ( f 0  2 3 )s Ra K 0 K1 K 2

J!

J0 n
2

, F ! [ f0  (

3 a

)] / n 2 ,

/n

C (s) K ! 2 R ( s) Js  s  K

Unit step response of second order systems

(s) ! (s) (s)

(s) !

D ( s ) ! ( s  ^[ n  j[ d )( s  ^[ n  j[ d ) [d ! [n 1  ^ 2

[n

s ( s 2  2^[ n s  [ n 2 )

s  2^[ n 1 !  s s 2  2^[ n s  [ n 2

^[ n s  ^[ n 1 !   2 2 s ( s  ^[ n )  [ d ( s  ^[ n ) 2  [ d 2

c (t ) ! 1  e

 ^[ n t

(cos [d t 

^
1^
2

sin [d t )

1^ 2 tan F ! ^ sin F ! 1  ^ 2 cos F ! ^ c (t ) ! 1  e ^[ n t 1^

cos [ d t r 
2
[n
j[ d

sin([d t  F )
2

^[

1 ^

sin [ d t r ! 0

1 ^ 2 [ 1 tan [ d t r !  , tr ! tan 1 ( d ) ^ [d W
W ! [ n^

Time Domain Specifications

S te p R e s p o n s e
1 .4

1 .2

Mp
1

A m p lit u d e

0 .8

0 .6

0 .4

0 .2

tr

tp

T im et s( s e c )

dc(t ) e ^[ n t e ^[ n t ! ^[ n [d cos([d t  F ) sin([d t  F )  2 2 dt 1 ^ 1^ ! [n 1^ 2 [n 1^ 2 T tp ! [d

 ^[ n ( T [d

e ^[ n t [ cos F sin([d t  F )  sin F cos([d t  F )]

e ^[ n t sin [d t p ! 0

[d t p ! nT , n ! 0,1,2

( ^

Mp ! c(t p )  1 ! e
c (g )
1

!e

1 ^

)T

Time constant of a second order system

S te p R e s p o n s e 1 .6

1 .4

1 .2

1 A m p litu d e

1
0 .6

1^

e ^

0 .4

0 .2

0 .8

nt

3 T im e ( s e c )

Time Constant=

1 ^[ n

Location of Poles and Responses

Im(s)

Marginally Stable

Stable

Unstable

Re(s)

Can the system follow a step change accurately?

Can the system follow a ramp input accurately?

Steady-state errors
R (s)

E (s)

(s)

(s)

H(s)

Open loop transfer function

G( s) H ( s) !

K (Ta s  1)(Tb s  1)........... s N ((T1s  1)(T2 s  1)........

N determines the type of the system Closed loop transfer function

C (s) G( s) ! R( s) 1  G ( s) H ( s)

R (s)

E (s)

(s)

(s)

(s) (s) ! R(s) 1  (s)

(s) ! R (s)  (s) 1 (s) ! R (s)  R (s) R (s) ! 1  (s) 1  (s)
final value theorem?

sR ( s ) e ss ! lim e ( t ) ! lim s ( s ) ! lim sp g sp0 sp 0 1  (s)

static position error constant Kp

The steady-state error of the system for a unit-step input is

1 1 sR ( s ) s e ss ! lim ! lim ! sp 0 1  G ( s) sp 0 1  G ( s) s 1  G (0)

The static position error constant Kp is defined by

K p ! lim G ( s ) ! G ( 0 )
sp 0

e ss !

1 1
p

For a type 0 system

K  a s  1  b s  1 ... K p ! lim !K sp 0  1 s  1  2 s  1 ...

For a type 1 or higher system

1 e ss ! 1 K

K T a s  1 Tb s  1 ... K p ! lim N !g s p 0 s  s  1  s  1 T1 T2 ...

e ss ! 0

static velocity error constant Kv

The steady-state error of the system for a unit-ramp input is

1 1 sR ( s ) s e ss ! lim ! lim ! lim 2 sp0 1  G (s) sp0 1  G (s) s s p 0 sG ( s )

The static velocity error constant Kv is defined by

K p ! lim sG ( s )
sp 0

e ss

1 ! Kv

static acceleration error constant Ka

t2 r (t ) ! 2
The steady-state error of the system for a unit-parabolic input is

1 1 sR ( s ) s e ss ! lim ! lim ! lim 2 3 sp 0 1  G (s) sp 0 1  G (s) s sp 0 s G (s)

The static acceleration error constant Ka is defined by

K a ! lim s 2 G ( s )
sp 0

e ss

1 ! Ka

Steady-state errors
G (s) (s) ! K(
as

 1)( b s  1)...........
K ! Lt G ( s ) ( s)
s p0

s N (( 1 s  1)( 2 s  1)........

N determines the type of the system.

Steady- State error (

K ! K !

t s G ( s) ( s )
s p0 2 t s G (s) ( s) s p0

e ss )
Ramp Input

Step Input Type 0 System Type 1 System Type 2 System

Acceleration Input

1 1 K

e ss

g
1 K

g g
1 K

1 ! 1 KP 1 KV

e ss ! e ss

1 ! KA