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