Control Systems: First-order Systems
Step response sTEP RESPONSE
y y K xiu (t )
Step input of
level xi
Kxi Kxi Kxi Output in the Laplace
Y (s) domain
s (1 s ) s s
1
t
y (t ) Kxi 1 e
Output in the
time-domain
k DEPENDS UPON THE SYSTEM
k TRIES TO MAP INPUT TO OUTPUT
K REMAINS THE SAME WETHER YOU APPLY STEP IMPULSE
INPUT ETC. 10
Control Systems: First-order Systems
Normalized step response
STATIC
SENSITIVITY
y(t )
Kxi
95% OF
INPUT AFTER
3 TIME
CONSTANT
t / 5 TIME
CONSTANT
11
Control Systems: First-order Systems
Ramp response
x(t)=t (input)
LAPLACE TRANSFORM OF
y y K t
RAMP IS 1/S2
K 1
Y (s) 2 2 Laplace of
s (1 s ) s s s 1 the output
t
y (t )
t e Time-domain response
K TRAINSIENT RESPONSE IT
yss GONA DIE OUT AFTER
t
SOME TIME TIME
Steady-state response
K
12
Control Systems: First-order Systems
Normalized ramp response
STEADY STATE
TIME LAG
t
y (t )
x(t ) t e
y(t ) K
K Steady state error
WHEN TRANSIENT
y (t ) RESPONSE DIES OUTPUT
CURVE WILL BE PARALLEL
TO INPUT
K
t / in case of ramp response there will always be
steady state error
13
Control Systems: First-order Systems
Frequency response
Sinusoidal response bode plot
y y KA sin t Sinusoidal excitation of amplitude A
and frequency
First order system
K A s 1
Y (s) 2
2 2 2
(1 s ) s 2 2 1 s 1 / s s
2
Output in the Laplace domain
Time-domain
y (t ) t / 1
e cos t sin t output
KA 1 2
14
transient response Steady state
response
Control Systems: First-order Systems
y (t ) t / 1
e cos t sin t
KA 1 2
Sinusoidal response
amplitude will be different
frequency will same in both
response and input excitation
15
Control Systems: First-order Systems
Sinusoidal response
yss (t ) 1
2
cos t sin t
KA 1
y ss (t ) 1 Normalized steady-state
sin( t ) response
KA 1 ( ) 2
tan 1 Phase angle between input and output
16
Control Systems: First-order Systems
Sinusoidal response
Steady-state response
Output frequency same as
Input frequency
17
Control Systems: First-order Systems
Steady-state sinusoidal response from
system transfer function
Y (s) 1
Normalized system transfer function
X ( s ) KA 1 s of a first-order system
in order to get steady state response of dynamic
system we dont have to get laplace transform
every time
By replacing s=j
Y ( j ) 1 Magnitude
In case of sinusoidal input we
can put s=iw and than we can
X ( j ) KA
get Amplitude and phase
1 ( ) 2 differrence
Y ( j ) Angle
tan 1 ( )
X ( j ) KA
18
Control Systems: First-order Systems
Frequency response (magnitude) in decibels
Plot of magnitude in terms of
decibles
Low pass filter allows only lower
Bandwith tells that this is the frequency frequency it filters out higher
reason in which system order frequency
response to sinusoidal
excitation
FIRST ORDER SYSTEM IS
LOW PASS FILTER
AMPLITUDE VS FREQUENCY
1
20log10 dB magnitude in terms
of decibles
1 ( ) 2 19
Control Systems: First-order Systems
Frequency response: phase
tan ( )
1
PHASE ANGLE IS VERY
LARGE IT MEANS THAT INPUT
IS NOT ABLE TO EXCITE
BEYOND CERTAIN
FREQUENCY
IMP FOR BODE PLOT
20
PHASE ANGLE VS FREQUENCY
ME 779 Control Systems
Topic # 3
Second-order Systems
Reference textbook:
Control Systems, Dhanesh N. Manik,
Cengage Publishing, 2012
1
Control Systems: Second-order Systems
Learning Objectives
Differential equations
Normalized form of differential equations
System transfer function
Pole-zero map
Overdamping
Critical damping
Underdamping
Undamped
Impulse, step, sinusoidal repsonse
Frequency response: magnitude and phase
2
Control Systems: Second-order Systems
Differential equation
m y c y k y K x (t )
INPUT
STATIC
SENSTIVITY
y(t) response
Mass, m (kg)
Damping coefficient, c (N-s/m)
Stiffness, k (N/m)
K static sensitivity
x(t) input
3
Control Systems: Second-order Systems
Differential equation: Normalized form
c k K x (t )
y y y By dividing throughout by m
m m m
Undamped natural frequency, rad/s
k
n
m
c Damping factor
2 km
Kx (t )
y 2 n y y
2
n
m 4
Control Systems: Second-order Systems
System transfer function
Kx (t )
y 2 n y y 2
n
m
Y (s) K
X ( s ) m s 2n s n
2 2
5
TRANSFER FUNCTION OF SECOND
ORDER SYSTEM
Control Systems: Second-order Systems
Classification of damping factors
Damping Type Property
factor
1 Overdamped Exponential decay
1 Critically damped Exponential decay
1 Underdamped Oscillatory decay
WE EXPECT OSCILLATORY DECAY
0
IN FEEDBACK SYSTEM
Undamped Oscillatory
6
Control Systems: Second-order Systems
Pole-zero map Y (s) K
>1 overdamped
X ( s ) m s 2 2n s n2
Poles
2n n
2
2 4 2
s1,2
n
IF POLES ARE ON THE
NEGATIVE REAL AXIS IT WILL
BE DECAYING TYPE OF
s1,2 n 2 1
7
RESPONSE
Control Systems: Second-order Systems
Pole-zero map Y (s) K
=1 critically damped
X ( s ) m s 2 2n s n2
Poles
2n 2n 4
2 2
s1,2
n
2
s1,2 n BOTH POLE AT SAME
PLACE
8
Control Systems: Second-order Systems
Pole-zero map Y (s) K
<1 underdamped
X ( s ) m s 2 2n s n2
2n j 4 2n
2 2
This lines get fixed
s1,2
n
2 Damped natural
d n 1 2 frequency
tan
s1,2 n j d
1 2
Poles
9
Phi =90-beta
Control Systems: Second-order Systems
Pole-zero map Y (s) K
=0 undamped
X ( s) m s 2 n2
j
jn x
It acts as transition
between unstable ans
stable system
s-plane
s1,2 jn
Poles
Undamped system is imp because it demarcates the
diff in unstable and stable system if any system
becomes unstable it have to cross the imaginary axis
jn x Oscillatory behaviour is also imp
10
Control Systems: Second-order Systems
Impulse response Overdamped case (>1)
K
y 2n y y xi (t )
2
n
Differential equation
m
Kxi 1
Y (s) 2 2
Laplacian of the output
m s 2n s n
Kxi 1 1
2mn 1 ( s n n 1) ( s n n 1
2 2 2
11
Control Systems: Second-order Systems
Impulse response Overdamped case (>1)
after taking inverse laplace transform we will get time domain response
Kxi 1 1
Y (s)
2mn 1 ( s n n 1) ( s n n 1
2 2 2
t
y (t )
Kxi
e n sinh n 2 1 t
mn 2 1
Time-domain response
12
Control Systems: Second-order Systems
Impulse response Critically damped case (=1)
Kxi 1 Kxi 1
Y (s) 2 2
m s 2n s n m s n
2
Kxi nt
y (t ) n te
m n
13
Control Systems: Second-order Systems
Impulse response Undamped case (<1)
s12 n jd Poles
Laplace
output
Kxi 1
Y (s)
m ( s n jd )( s n jd )
Kxi nt Time-domain
y (t ) e sin d t output
md
normalized response always vary between 0 to 1
14
Control Systems: Second-order Systems
Impulse response Undamped case (<1)
Kxi nt
y (t ) e sin d t In State space response
everything will be in terms
md
of time
K n t
h (t ) sin d t
Impulse response
e function
m d
t
K
y (t ) e n
sin d F (t )d
md 0
Duhamels integral 15
Control Systems: Second-order Systems
Impulse response
we want underdamped
response because it respons
much faster in compare to
other response
16
Control Systems: Second-order Systems
Step response Overdamped case (>1)
Laplace of the
Kxi 1 1
Y (s)
output
m s s 2 1) s 2 1
n n n n
y (t )
Kxi
mn2
1 e n t
cosh n 2
1 t
1
2
sinh n 2
1 t
Time-domain output
Hyperbolic terms
overdamped system will be exponwntial
decay type
17
Control Systems: Second-order Systems
Step response Underdamped case (<1)
Kxi 1 1 Laplace of the
Y (s) output
m s ( s n jd )( s n jd )
Kxi
n t
y (t ) 1 e cos t sin d
t
mn2
d
1 2
Time-domain of the output
This term will
contribute in overall
static sensitivity
18
Control Systems: Second-order Systems
Step response Underdamped case (<1)
peak vlue
We have to restric the amount of
overshoot
rise time means first time it
crosses the normalized
response
19
Control Systems: Second-order Systems
Step response Underdamped case (<1)
Kxi
e n t
y (t ) 1 sin(d t ) j
mn2
1 2
x
s-plane
1 2
tan 1
tan
1 2
x 20
Control Systems: Second-order Systems
Step response Underdamped case (<1)
n tr
y (tr )m
2
e
n
1 1 sin(d tr )
Kxi 1 2
Equate to1 the normalized
response we can get the rise
tr Rise time time
21
Control Systems: Second-order Systems
Step response Underdamped case (<1)
tp Peak time
d
Kxi
1 2
y (t p ) 2
1 e Peak response
mn
22
Control Systems: Second-order Systems
Step response Underdamped case (<1)
Percentage overshoot Mp
y (t p ) y
1 2
Mp e %
y
23
Control Systems: Second-order Systems
Step response Underdamped case (<1)
Settling time
4
ts 2% criterion
n
3
ts 5% criterion
n
24
Control Systems: Second-order Systems
Step response Comparison of damping factors
Second-order
systems
25
Control Systems: Second-order Systems
Sinusoidal response
K Differential equation
y 2n y y A sin t
2
n
m
KA 1
Y ( s) 2 2 2 2
Laplacian of the
m s s 2n s n output
26
Control Systems: Second-order Systems
Sinusoidal response
Y ( s ) KA 1
2 2
X ( s ) m s 2n s n
Y ( j ) KA
X ( j ) m n2 2 2 jn Putting s=j
Y ( j )m2
1 r Frequency ratio
n
n
X ( j ) KA (1 r 2 2 jr )
Frequency response function forcing frequency
27
Control Systems: Second-order Systems
Sinusoidal response
Y ( j )mn2 1 Magnitude
M 20 log dB
X ( j ) K
1 r 2r
2 2
2
2r
tan 1
2 Phase
1 r
28
Control Systems: Second-order Systems
Sinusoidal response Magnitude
29
Control Systems: Second-order Systems
Sinusoidal response Phase
30
ME 779 Control Systems
Topic # 4
Practical systems
Reference textbook:
Control Systems, Dhanesh N. Manik,
Cengage Publishing, 2012
1
Control Systems: Practical Systems
Learning Objectives
Electric circuits: RC, RL, RLC
-Voltage and current sources
Filling systems: incompressible and compressible
-Pressure-voltage and pressure-current analogies
Thermal systems
- Temperature-voltage and temperature-current
analogies
Mechanical systems: spring-mass-damper system
-Force-voltage and force-current analogies
2
Control Systems: Practical Systems
ELECTRIC CIRCUITS RC circuit (voltage source)
eR (t ) i(t ) R Voltage across
resistance
Voltage across
1
eC (t ) i(t )dt capacitance
C
ei eR eC Total voltage drop
3
Control Systems: Practical Systems
ELECTRIC CIRCUITS RC circuit (voltage source)
1 Laplace transform
Ei ( s) I ( s) R
Cs
EC ( s) 1 1 System transfer function between
voltage drop across the capacitance
Ei ( s) RCs 1 s 1 and input voltage
RC= is the time-constant Static sensitivity K=1
4
Control Systems: Practical Systems
ELECTRIC CIRCUITS RL circuit (current source)
e(t ) iR R Voltage across the
resistance
diL Voltage across the
e(t ) L inductance
dt
ia iR iL Total current
5
Control Systems: Practical Systems
ELECTRIC CIRCUITS RL circuit (current source)
1 1 Laplace transform of the current source
I a (s) E (s)
R Ls
E
I L ( s) Laplace transform of the current through the inductance
Ls
I L ( s) 1 1 Transfer function between the inductance current
I a ( s) L s 1 s 1 to the source current
L/R= is the time-constant K=1
6
Control Systems: Practical Systems
ELECTRIC CIRCUITS RLC circuit (voltage source)
eR (t ) i(t ) R Voltage across
resistance
di (t ) Voltage across
eL (t ) L inductance
dt
1
Voltage across
eC (t ) i(t )dt
C capacitance
7
Control Systems: Practical Systems
ELECTRIC CIRCUITS RLC circuit (voltage source)
1 Laplace transform of voltage and
E ( s) I ( s) R Ls current
Cs
EC ( s ) 1
Transfer function between
E (s) 1
Cs R Ls capacitance voltage and source
Cs voltage
n2
2
s 2n s n2
1 R K
n n2
LC L m
2
C
8
Control Systems: Practical Systems
ELECTRIC CIRCUITS RLC circuit (current source)
e(t )
iR (t ) Current through
R resistor
1
iL (t ) e(t )dt Current through
L inductance
Current through
de(t )
iC (t ) C capacitance
dt
i(t ) iR (t ) iL (t ) iC (t ) Total current
9
Control Systems: Practical Systems
ELECTRIC CIRCUITS RLC circuit (current source)
E ( s) 1 Laplace transform of voltage and current
I ( s) Cs 1 1
R Ls
I L (s) 1 n2 System transfer function
2 between inductance
I ( s) 2 s 1 ( s 2n n2 )
LC s current and source
RC LC current
1 L K
n 1 C n2
LC m
2 R
10
Control Systems: Practical Systems
FILLING SYSTEMS Incompressible fluids
pi (t ) p(t )
q(t )
RF
q(t): flow rate
pi(t): inlet pressure
p(t): pressure in the tank
RF: flow resistance
11
Control Systems: Practical Systems
FILLING SYSTEMS Incompressible fluids
dh(t ) A dp dp A
q(t ) A CF CF equivalent fluid
dt g dt dt g capacitance
dp Governing differential equation
p(t ) RF CF pi (t )
dt
System transfer function
12
Control Systems: Practical Systems
FILLING SYSTEMS Incompressible fluids Pressure-voltage analogy
Tank-filling Electrical
system
Pressure, p(t) Voltage, e(t)
flow rate, q(t) Current, i(t)
Fluid Electrical resistance, R
resistance, RF
Fluid Electrical capacitance,
capacitance, C
P ( s) 1 CF
Pi ( s) 1 RF CF s
13
Control Systems: Practical Systems
FILLING SYSTEMS Incompressible fluids Pressure-current analogy
Fluid Electrical
Pressure, p Current, I
flow rate, Q Voltage, E
Fluid Electrical compliance,
resistance, RF 1/R
Fluid Electrical inductance,
capacitance, CF L
P ( s) 1
Pi ( s) 1 RF CF s
14
Control Systems: Practical Systems
FILLING SYSTEMS Compressible fluids
pi (t ) p(t )
m
RF
m : flow rate
pi(t): inlet pressure
p(t): pressure in the tank
RF: flow resistance
CF is the equivalent fluid capacitance
15
Control Systems: Practical Systems
FILLING SYSTEMS Compressible fluids
V dp dp
m CF Mass flow rate equation from perfect
gas equation
RT dt dt
dp
p(t ) RF CF pi (t ) Governing differential equation
dt
16
Control Systems: Practical Systems
FILLING SYSTEMS Compressible fluids Pressure-voltage analogy
,
Fluid Electrical
Pressure, p Voltage, E
Mass flow rate, m Current, I
Fluid resistance, RF Electrical
resistance, R
Fluid capacitance, CF Electrical
capacitance, C
17
Control Systems: Practical Systems
FILLING SYSTEMS Compressible fluids Pressure-current analogy
Fluid Electrical
Pressure, p Current, I
Mass flow rate, m Voltage, E
Fluid resistance, RF Electrical
compliance,
1/R
Fluid capacitance, CF Electrical
inductance,
L
18
