Lecture No 6

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 4 (nn 6th Ed)
• Poles, Zeros, and System Response
• First & Second Order Systems

Instructor: Engr. Usman Nasim

1
 From lecture 01
Control Systems (Example)
Consider an elevator. When the fourth-floor button is pressed,
the elevator rises to the fourth floor with a speed and floor-
leveling accuracy designed for passenger comfort.

Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.

Passenger comfort and passenger patience are dependent

upon the transient response

2
 From lecture 01

Response of a position control system showing effect of

high and low controller gain on the output response

3
Transfer functions represent linear, time-invariant systems

After obtaining a mathematical representation of a subsystem,

the subsystem is analyzed for

transient and steady-state responses

to find out
if these characteristics yield the desired behavior.

This chapter is devoted to the analysis of system transient

response
4
 Analysis of models to find

the step response of

first- order and second-order systems.

(order refers to the order of the differential equation

representing the system)

5
Standard test inputs used in Control Systems

6
Laplace transform
table for the standard
test inputs

7
Poles of a Transfer Function

The poles of a transfer function are the values of the Laplace

transform variable, s, that cause the transfer function to
become infinite.

Zeros of a Transfer Function

The zeros of a transfer function are the values of the

Laplace transform variable, s, that cause the transfer
function to become zero.

8
Poles and Zeros of a First-Order System:
C (s) s  2
G( s)  
R( s) s  5
1
R( s) 
s
1  s  2 A B
C ( s)   
s  s  5 s s  5 1
Step Response

A
 s  2  2 ; B
 s  2 
3 0.9

 s  5 s0 5 s s 5
5
0.8

2 3 Amplitude

C (s)  5
 5 0.7

s s5 0.6

2 3 5t
c(t )   e
0.5

5 5 0.4
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)

9
 C (s) s  2
G (s)  
R( s) s  5
1
R( s) 
s
1  s  2
C (s) 
s  s  5
A B
 
s s5

A
 s  2  2
 s  5  s 0 5
B
 s  2

3
s s 5
5
10
 VC ( s) 1 1
  RC
V ( s) RCs  1 s  1 RC
L

V ( s )  LsI ( s )  RI ( s ) VR ( s ) 1 R
  L

R s 1 s  RL
R L
L  V (s)
V ( s )   s  1 VR ( s )
R 

x(t)
X (s) 1 1
f(t)   B

F ( s) B s  K s  K B
B
b0
G (s) 
s  a0 11
 Step Response
b0 2

G (s) 
s  a0 1.8

1.6
b0

a0
1.4
1
a0 s 1 1.2
Amplitude
k

1

 s 1 0.8
G1=?
0.6
figure(1)
k=2; 0.4 G2=?
tc=[0.1 0.5 1];
for n=1:3
0.2
G3=?
0
num=[0 k]; 0 1 2 3 4 5 6
den=[tc(n) 1]; Time (seconds)
  0.1
sys=tf(num,den);  1
step(sys);   0.5
hold on
end
grid 12
 b0 Step Response
G (s)  2

s  a0 1.8

b0 G1=?
1.6

a0
1
a0 s 1 1.4 G2=?
1.2
k G3=?
 Amplitude

 s 1
1

0.8
figure(2)
tc=1; 0.6

k=[.5 1 2]; 0.4

for n=1:3
0.2
num=[0 k(n)];
den=[tc 1]; 0
0 1 2 3 4 5 6
sys=tf(num,den); Time (seconds)
step(sys);
hold on
end
grid 13
Time response of first-order systems without zero
• First-order systems - Example

Pole =1/=-a0
X
S = -a0

1
Vc ( s ) Cs 1
 
V (s) R  1 RCs  1
Cs
 = RC (sec); K=1 14
If the input is a unit step,
R(s) = 1/s
Laplace transform of the step response is C(s)
a A B
C (s)  R( s)G( s)   
s s  a s s  a
1  1
a
A 1
   s 0
C ( s)  
s a

s sa B
a
 1
s s  a

Step response in time domain is:

c(t )  c f (t )  cn (t )  1  e at
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 Impulse Response
1

 at
c(t )  c f (t )  cn (t )  1  e 0.9

0.8
a=5;
num =[0 1];
0.7 den=[1 a];

‘a’ is the only parameter needed 0.6 G=tf(num,den);

Amplitude
0.5 impulse(G)
to describe the transient response 0.4 grid
0.3

of first order system with unity 0.2

gain. 0.1

When t → 1/a
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)

Step Response

e at  e1  0.37
1

0.9
t 1/ a 0.8

0.7

0.6 a=5;
Amplitude
0.5 num =[0 a];
 at
c(t ) t 1/ a  1  e den=[1 a];
0.4

0.3 G=tf(num,den);
0.2 step(G)
 1  0.37  0.63 0.1 grid
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)
16
Transient Response Specifications

Time Constant, Tc

Rise Time, Tr

Settling Time, Ts

17
 t e-t/
0 1
 0.3679
2 0.1353
3 0.0498
4 0.0183
5 0.0067

c(t )  1  e at
dc(t )  at
 ae  a
dt t 0 18
 C(s) b 1
G (s)   a
Time Constant, Tc R (s) s  a 
The time constant can be
described as the time for
e-at to decay to 37% of its
initial value
OR
The time it takes for the
step response to rise to
63% of its final value
Rise Time, Tr
The time for the response to
go from 0.1 to 0.9 of its
final value
Settling Time, Ts
The time for the response to reach, and stay within, 2%
of its final value 19
 Transient Response Specifications
• Time constant, 
– The time for e-at to decay 37% of its initial value. 
1
• Rise time, tr a
– The time for the response to go from 0.1 to 0.9 of its final value.

 at
c(t )  .1 Calculate for 2 .2
c(t )  1  e tr 
c(t )  .9 difference in time
a

• Settling time, ts
– The time for the response to reach, 4
Let c(t) = .98 and ts 
and stay within 2% of its final value. solve for time t a

20
First-Order Transfer Functions via Testing
b0
G (s) 
s  a0

Final value  0.72

63% of 0.72  .45

  0.14
a0  1  7.14

b0 / a0  0.72
b0  7.14  0.72  5.14

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Second-Order Systems

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Example: RLC Circuit with DC input

 1 
V ( s )   Ls  R   I (s)
 Cs 
Vs I (s)

1
 2 RL 1
s

V ( s ) Ls  R  1 s  L s  LC
Cs

I (s) s
 2 RL 1
V ( s ) s  L s  LC R  R  1
2

s1      
Characteristic polynomial
2L  2 L  LC
2
R  R  1
s  s
2 R
L
1
LC 0 s2  
2L
   
 2 L  LC
Characteristic equations 23
Mechanical Example of IInd order
B K
X ( s) 1

F ( s) MS 2  BS  K Mass (M)

1
X ( s) M
 x(t)
F ( s) S 2  B S  K f(t)

M M

B K
S2  S  0 characteristic equation
M M

2
B  B  K
s1,2     
2M  2M  M

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Case 1: Roots are Real and Distinct

s1,2  1.146,  7.854

Over damped response:

Poles: two real poles S1 and S2.
Natural response: two exponentials
25
Case 2: Roots are Real and repeated

s1,2  3,  3

Critically damped response:

Poles: two real poles at -3
Natural response: an exponential and product of time, t, and an
exponential
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Case 3: Roots are Complex
t
 8 
c(t )  1  e  cos 8 t  sin 8 t 
 8 
c(t )  1  1.06 e t cos  8 t  19.47o 

s1,2  1  j 8

s1,2  n  jn 1   2

Under damped response:
Poles: two complex poles at s1 and s2
Natural response: damped sinusoid
27
Case 4: Roots are Imaginary

s1,2   j 3

s1,2  n  jn 1   2

Undamped response:
Poles: two imaginary poles at s1, s2
Natural response: sustained oscillations at 3 rad/sec
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• The step responses for the four cases of damping
• The critically damped response is the division between the overdamped
and underdamped cases and is the fastest response without overshoot

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