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ELEN90055 Control Systems: Worksheet 4 - Solutions To Starred Problems

This document provides solutions to starred problems from a control systems worksheet. It discusses second order system transfer functions and calculating pole locations to satisfy requirements on settling time, rise time and overshoot. Figures are included to illustrate the pole regions that satisfy different problem conditions.

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Mingyue Wang
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45 views

ELEN90055 Control Systems: Worksheet 4 - Solutions To Starred Problems

This document provides solutions to starred problems from a control systems worksheet. It discusses second order system transfer functions and calculating pole locations to satisfy requirements on settling time, rise time and overshoot. Figures are included to illustrate the pole regions that satisfy different problem conditions.

Uploaded by

Mingyue Wang
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ELEN90055 Control Systems

Worksheet 4 - Solutions to Starred Problems


Semester 2, 2021

1. The transfer function of the second order system is usually written as


ωn2 ωn2
H(s) = =
s2 + 2ζ ωn s + ωn2 (s + ζ ωs )2 + ωn2 (1 − ζ 2 )
So the characteristic equation is
(s + ζ ωn )2 + ωn2 (1 − ζ 2 ) = 0
and for 0 ≤ ζ < 1, the root of the characteristic equation are
q
s = − ζ ωn ± j ωn 1 − ζ 2 .
|{z} | {z }
σ ωd

× 𝑗𝜔𝑑
𝜔𝑛 𝜃 sin 𝜃 = 𝜁

−𝜁𝜔𝑛

× −𝑗𝜔𝑑

(a)
4.6
ts = ≤ 9.2 ⇒ ζ ωn ≥ 0.5
ζ ωn

−0.5

Figure 1: σ

1
If the overshoot is less than or equal to 0.17 then ζ ≥ 0.5 and θ = sin−1 ζ = 30◦).

30°

−0.5

Figure 2: ζ

From Franklin, Powel &


1.8 Emami-Naeini“Feedback
tr ≈ ≤ 0.6 ⇒ ωn ≥ 3 control of dynamic systems
ωn
(slide 7, L7-21.pdf).

𝑗3 See also Goodwin, Graebe


and Salgado eq. (4.8.15) in
30° sec. 4.8 for the exact formula
relating overshoot to
−0.5 damping coefficient.

−𝑗3

Figure 3: ωn

So the region in the complex s-plane for which the poles could be placed are shown
below

𝑗3

30°

−0.5

−𝑗3

Figure 4:

2
(b) • If the settling time is 9.2sec, then ζ ωn = 0.5 and therefore the poles should be
exactly on the line ζ ωn = 0.5.
• To make the rise time small, we need to make ωn large as tr = 1.8ωn .
• The overshoot condition is satisfied if the poles are located in the highlighted
area in Figure 2.
The location of the poles that satisfy the above conditions are shown in Figure 5.

𝑗3

× 30°

−0.5
×

−𝑗3

Figure 5: Problem 1(b).

2.
1.8
tr = ≤2 ⇒ ωn ≥ 0.9.
ωn

M p ≤ 10% ⇒ ζ ≥ 0.6 ⇒ θ ≥ 36.8◦

The region of the complex plane where all the dominant poles of the closed-loop transfer
function should be located is highlighted in Figure 6

0.9𝑗

36.8°

−0.9𝑗

Figure 6: Problem 2.

3. Rise time is a measure of how fast the system reacts to a change in its input, and settling
time is a measure of how fast the system can settle down to steady state with a desired miss

3
ratio (that is, how fast the system’s transient decays). So depending on the application,
both rise time and settling time can be used as measures of how fast the response is. In
other words, depending on how we define a faster response, the controller can be designed
such that we have a lower rise time or a lower settling time.
In this specific problem, we have two responses in which the rise times are close to each
other (0.5sec and 1sec) while the settling times are very different (4sec and 10sec). Because
of this big difference in the settling times, we say that the response with tr = 1sec and
ts = 4sec is faster. See the following step responses to compare the responses of these two
systems.

Step Response
2

1.5
Amplitude

0.5

0
0 2 4 6 8 10 12
Time (seconds)

Figure 7: Problem 3a.

Step Response
2

1.5
Amplitude

0.5

0
0 2 4 6 8 10 12
Time (seconds)

Figure 8: Problem 3b.

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