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EEE 417 (Lecture 03) ?

The document provides an overview of control system engineering, focusing on the concepts of poles and zeros of transfer functions, particularly in second-order systems. It explains the significance of natural frequency and damping ratio in characterizing system responses, including underdamped, overdamped, and critically damped systems. Additionally, it outlines methods for calculating rise time, peak time, percent overshoot, and settling time for various transfer functions.

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15 views12 pages

EEE 417 (Lecture 03) ?

The document provides an overview of control system engineering, focusing on the concepts of poles and zeros of transfer functions, particularly in second-order systems. It explains the significance of natural frequency and damping ratio in characterizing system responses, including underdamped, overdamped, and critically damped systems. Additionally, it outlines methods for calculating rise time, peak time, percent overshoot, and settling time for various transfer functions.

Uploaded by

blueland247
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Prime University

Course Code: EEE-417


Course Title: Control System Engineering
Course Teacher: Tahmida Tabassum
Batch: 50E, Group-A+B & C+D
48 Day
Slide: 03
Dept. of EEE, Prime University
Chapter-04
Time Response

Poles of a Transfer Function

The poles of a transfer function are (1) the values of the Laplace transform variable, s,
that cause the transfer function to become infinite or (2) any roots of the denominator of
the transfer function that are common to roots of the numerator.

Zeros of a Transfer Function


The zeros of a transfer function are (1) the values of the Laplace transform variable, s,
that cause the transfer function to become zero, or (2) any roots of the numerator of the
transfer function that are common to roots of the denominator.
Second-Order Systems
A second-order system exhibits a wide range of
responses. A second-order system can display
characteristics depending on component
values, display damped or pure oscillations for General form of a second order system
its transient response.
Our general second-order transfer function two
physically meaningful specifications. These
quantities can be used to describe the characteristics
of the second-order transient response .
The two quantities are called natural frequency and damping ratio.
𝜔𝑛 2 = 𝑏 2𝜉𝜔𝑛 = 𝑎
∴ 𝜔𝑛 = 𝑏 𝑎 𝑎
=> 𝜉 = => 𝜉 =
2𝜔𝑛 2 𝑏
Natural Frequency, 𝝎𝒏
The natural frequency of a second-order system is the frequency of oscillation of the
system without damping.
Damping Ratio, ξ
The damping ratio is a dimensionless measure describing how oscillations in a
system decay after a disturbance.

Given the following transfer function, find 𝝃 and 𝝎𝒏


Comparing with this equation

2𝜉𝜔𝑛 = 4.2
𝜔𝑛 2 = 36 4.2 4.2
=> 𝜉 = = = 0.35
∴ 𝜔𝑛 = 36 = 6 2𝜔𝑛 2×6
the various cases of second-order response
System Pole-zero Value ξ Ploe-zero Plot Step response
G 𝑠
1
𝑅 𝑠 = 9 C 𝑠
𝑠 𝑠 = ±𝑗3
𝑠2 + 9 0
Two imaginary roots
Undamped

G 𝑠
1
𝑅 𝑠 =
9 C 𝑠 𝑠 = −1 ± 𝑗 8
𝑠 0<𝜉<1
𝑠 2 + 2𝑠 + 9 Two complex roots
Under damped
G 𝑠
1
𝑅 𝑠 =
𝑠 9 C 𝑠 𝑠 = −1.146, −7.854
𝑠 2 + 9𝑠 + 9
𝜉>1
Two real roots
Overdamped

G 𝑠
𝑅 𝑠 =
1 𝑠 = −3, −3
𝑠 9 C 𝑠
Two roots at same 𝜉=1
𝑠 2 + 6𝑠 + 9
points
Critically damped
For each of the systems shown in following figure, find the value of ξ and report the kind
of response expected.

2
𝜔𝑛 = 12
2
𝜔𝑛 = 16 𝜔𝑛 2 = 20
∴ 𝜔𝑛 = 12 = 3.464 ∴ 𝜔𝑛 = 16 = 4 ∴ 𝜔𝑛 = 20 = 4.47

2𝜉𝜔𝑛 = 8 2𝜉𝜔𝑛 = 8 2𝜉𝜔𝑛 = 8


8 8 8 8 8 8
=> 𝜉 = = => 𝜉 = = => 𝜉 = =
2𝜔𝑛 2 × 3.464 2𝜔𝑛 2×4 2𝜔𝑛 4.47 × 2

= 1.154 =1 = 0.894

Since 𝜉 > 1, Since 𝜉 = 1, Since 𝜉 < 1,

so the system is overdamped so the system is critically so the system is under


damped damped
PROBLEM: For each of the following transfer functions, do the following: (1) Find
the values of 𝝃 and 𝝎𝒏 ; (2) characterize the nature of the response.
Second-order underdamped response specifications
Rise time, 𝑻𝒓 . The time required for the waveform to go from 0.1 of the final value to 0.9 of the
final value is called rise time.
Peak time, 𝑻𝒑 . The time required to reach the first, or maximum, peak is known as Peak time.

Percent overshoot, %OS. The amount


that the waveform overshoots the steady
state, or final, value at the peak time,
expressed as a percentage of the steady-
state value.

Settling time, 𝑻𝒔 . The time required for


the transient’s damped oscillations to
reach and stay within 2% of the steady-
state value.
Given the transfer function find 𝑻𝒑 , %OS, 𝑻𝒔 , and 𝑻𝒓 .Where
normalize rise time is 2.3 sec.
𝜔𝑛 2 = 100 ∴ 𝜔𝑛 = 10 4
𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒, 𝑇𝑠 =
2𝜉𝜔𝑛 = 15 𝜉𝜔𝑛
=> 𝜉 = 0.75 4
=
𝜋 0.75 × 10
𝑃𝑒𝑎𝑘 𝑡𝑖𝑚𝑒, 𝑇𝑝 = = 0.533 𝑠𝑒𝑐
𝜔𝑛 1 − 𝜉 2
3.14 Normalize rise time=𝑇𝑟 × 𝜔𝑛
=
10 × 1 − 0.752 ∴ 2.3=𝑇𝑟 × 𝜔𝑛
= 0.475 𝑠𝑒𝑐 => 2.3=𝑇𝑟 × 10
2.3
− 𝜉 𝜋ൗ => 𝑇𝑟 =
𝑃𝑒𝑟𝑐𝑒𝑛𝑡 𝑂𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡, %𝑂𝑆 = 𝑒 1−𝜉 2 × 100% 10
02.355ൗ => 𝑇𝑟 =0.23 sec
− 0.75×3.14ൗ = 𝑒 − 0.66 × 100%
=𝑒 1−0.752 × 100%
= 𝑒 −3.568 × 100% = 0.0282 × 100%= 2.82%
Pole plot for an underdamped second-order system

𝜔𝑛 → 𝑁𝑎𝑡𝑢𝑟𝑎𝑙 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
𝑠𝑛 = 𝜎𝑛 ± 𝑗𝜔𝑛 → 𝐹𝑜𝑟 𝑎𝑛 𝑢𝑛𝑑𝑎𝑚𝑝𝑒𝑑 𝑠𝑦𝑠𝑡𝑒𝑚

𝐹𝑜𝑟 𝑎 𝑑𝑎𝑚𝑝𝑒𝑑 𝑠𝑦𝑠𝑡𝑒𝑚


𝑠 = ±𝜎𝑑 ± 𝑗𝜔𝑑
𝑠 = ±𝜉𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜉 2

Radial distance from the origin to the pole


2
= ±𝜉𝜔𝑛 2 + ±𝜔𝑛 1 − 𝜉2

= 𝜔𝑛 2 𝜉2 + 1− 𝜉2 = 𝜔𝑛 𝜉2 + 1 − 𝜉2

= 𝜔𝑛
𝐵𝑎𝑠𝑒 𝜉𝜔𝑛
𝑐𝑜𝑠𝜃 = ∴ 𝑐𝑜𝑠𝜃 = =𝜉
𝐻𝑦𝑝𝑜𝑡𝑒𝑛𝑢𝑠𝑒 𝜔𝑛
Given the pole 𝒔 = −𝟑 ± 𝒋𝟕 , find 𝝃, 𝝎𝒏 , 𝑻𝒑 , %OS and 𝑻𝒔 .

𝑁𝑎𝑡𝑢𝑟𝑎𝑙 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦, 𝜔𝑛 = 32 + 72 = 7.616


3
𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝑅𝑎𝑡𝑖𝑜, 𝜉 = 𝑐𝑜𝑠𝜃 = = 0.394
7.616
𝜋 3.14
𝑃𝑒𝑎𝑘 𝑡𝑖𝑚𝑒, 𝑇𝑝 = =
𝜔𝑛 1 − 𝜉 2 7.616 × 1 − 0.3942
= 0.449 𝑠𝑒𝑐
− 𝜉 𝜋ൗ
𝑃𝑒𝑟𝑐𝑒𝑛𝑡 𝑂𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡, %𝑂𝑆 = 𝑒 1−𝜉 2 × 100%
− 0.394×3.14ൗ − 1.237ൗ
=𝑒 1−0.394 2 × 100% = 𝑒 0.919 × 100%

= 𝑒 −1.346 × 100% = 0.2602 × 100% = 26.02%

4 4
𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒, 𝑇𝑠 = = = 1.33 𝑠𝑒𝑐
𝜉𝜔𝑛 0.394 × 7.616
Dept. of EEE, Prime University

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