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Zeros and Poles of A Transfer Function

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Maame Durowaa
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7 views10 pages

Zeros and Poles of A Transfer Function

Uploaded by

Maame Durowaa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Pole and Zeros of a Transfer Function

Definition of a T.F is given by:


Y 𝑠
𝐺 𝑠 =
𝐹(𝑠
In general, the T.F is a ratio of two polynomials
𝑄 𝑠
𝐺 𝑠 =
𝑃(𝑠
Exceptions: Systems with time delays ( introduce exponential terms)
• For systems that are physically realizable, the order Q(s) is lower than P(s).
• The roots of the polynomial Q(s) are referred to as the zeroes of the T.F or the
zeroes of a system whose dynamics are denoted by the T.F G(s)

Zeroes: Values where Q(s) = 0


• The roots of the characteristic polynomial is referred to as the poles of the
T.F or the poles of the system.

• As the poles of the T.F is infinity.


Poles: the values where P(s) = 0

Examples: The poles and zeroes of the Stirred Tank Heater


ത
𝑇’(s) = G1(s)𝜏ഥ1 ’(s) + G2(s)𝑇𝑠𝑡 ’(s)
1Τ 𝑘
𝜏
T.F: G1 = 𝑠 = −𝑎, G2= 𝑠 = −𝑎
𝑠+𝑎 𝑠+𝑎
No zeroes and one pole at 𝑠 = −𝑎
T.F has the same transfer function with a common pole.
Qualitative Analysis of the Response of a System
Zero-Pole Map
Recall the T.F is a ratio of two polynomial
𝑄 𝑠
𝐺 𝑠 =
𝑃(𝑠 a4
a4
a4
P(s) is referred to as the characteristic polynomial
P(s) = 0 → characteristic equation (a3) (a3)
a5
𝑄 𝑠 𝑄(𝑠)
𝐺 𝑠 = = ---------(1)
𝑃(𝑠 (s−𝑎1)(s−𝑎2)(s−𝑎3)m(s−𝑎4)(s−𝑎4∗)(s−𝑎5) aa11 a2
Where 𝑎1, 𝑎2, 𝑎3, 𝑎4, 𝑎4∗ and 𝑎5 are the roots of P(s)
If we know the poles of the T.F, we can analyse the a4 *
a4* a4*
1. Stability of the system
2. Form of the output response to a particular input. Stable Region unstable Region

To solve (1), we apply partial fraction expansion:


We have
C1 C2 C31 C32 C3m
𝐺 𝑠 = + + + + ⋯+ +
(s−𝑎∗1) (s−𝑎2) (s−𝑎3) (s−𝑎3)2 (s−𝑎3)m
C4 C4 C5
+ +
(s−𝑎4) (s−𝑎4∗) (s−𝑎5)

Poles can be: 𝑎1 and 𝑎2


1. Real, distinct poles:
𝑎1 is negative 𝑎2 is positive
𝑎1 < 0 𝑎2 > 0
Inverse laplace gives C1𝑒 𝑎1t Inverse laplace gives C2𝑒 𝑎1t

Exponential decay
Exponential growth
As t→∞, As t→∞,
Response decays to zero Response of the system grows
making the system stable making it unstable

2. Repeated, real poles: 𝑎3 repeated m times


Inverse laplace transform gives rise to
C32 C33 2 C3m m−1 𝑎3t
[C + 𝑡 +
31 t +…+ t ]𝑒
1! 2! 𝑚−1 !

If 𝑎3 > 0 then 𝑒 𝑎3t →∞ as t →∞


𝑎3 < 0 then 𝑒 𝑎3t →0 as t →∞
𝑎3 = 0 then 𝑒 𝑎3t →1 for all times
3. Complex conjugate poles (𝑎4 and 𝑎4∗)
Complex poles always appear as conjugate pairs
𝑎4 = 𝛼 + 𝑗𝛽 𝑎4∗ = 𝛼 + 𝑗𝛽
Conjugate pairs of complex roots give rise to terms such as 𝑒 αt sin(𝛽𝑡 + Φ).
sin(𝛽𝑡 + Φ) is a periodic function.
While the behaviour of 𝑒 αt depends on the value of the real part 𝛼. Thus:
• If 𝛼 > 0, then 𝑒 αt →∞ as t →∞ and 𝑒 αt sin(𝛽𝑡 + Φ) grows to infinity in an
oscillating manner.
• If 𝛼 < 0, then 𝑒 αt →0 as t →∞ and 𝑒 αt sin(𝛽𝑡 + Φ) decays to zero in an oscillating
manner with ever-decreasing amplitude.

• If 𝛼 = 0, then 𝑒 αt =1 for all times. 𝑒 αt sin(𝛽𝑡 + Φ) = sin(𝛽𝑡 + Φ) which oscillates


continuously with a constant amplitude
A pair of complex conjugates gives rise to oscillatory behaviour.

4. Poles at the origin: 𝑎5 = 0 + 𝑗. 0


C5 C5 -1 C5
= ℒ = = C5
𝑠−𝑎5 𝑠 𝑠
• If 𝛼 = 0, then 𝑒 αt =1 for all times. 𝑒 αt sin(𝛽𝑡 + Φ) = sin(𝛽𝑡 + Φ) which
oscillates continuously with a constant amplitude.

4. Poles at the origin: 𝑎5 = 0 + 𝑗. 0


C5 C5 -1 C5
= ℒ = = C5
𝑠−𝑎5 𝑠 𝑠
Effect of Zeros
• The roots of the polynomial Q(s) are referred to as the zeroes of the T.F
or the zeroes of a system whose dynamics are denoted by the T.F G(s)
Zeroes: Values where Q(s) = 0

• Zeros arise mainly from


• Two first order processes in parallel
• Interacting processes in series (Recycle)

• Zeros exert profound effect on the coefficients of the system response.


• Zeros that are positive and located in the right half plane of the zero-pole
map give rise to an inverse response.
Example: Zero-Pole Map of a TF
Discuss the stability and predict nature of the response
of the TF.

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