CONTROL SYSTEM TECHNOLOGY

Vietnam National University - HCM

Ho Chi Minh City University of Technolog
Faculty of Mechanical Engineerin

RESPONSE OF THE COMPONENT / SYSTEM

Augie Widyotriatmo, Ph.D.

Head of Autonomous Systems Laboratory
Instrumentation and Control Research Group
Institut Teknologi Bandung, Indonesia
https://www.itb.ac.id/staf/profil/augie-widyotriatmo
SECTION LEARNING OUTCOMES
• Describe quantitatively the transient response of first-order systems
• Write the general response of second-order systems given the pole location
• Find the damping ratio and natural frequency of a second-order system
• Find the settling time, peak time, percent overshoot, and rise time for an under-
damped second-order system

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TIME-RESPONSE OF A COMPONENT
• A pole of the input function
generates the form of the forced
response (that is, the pole at the
origin generated a step function at
the output).
• A pole of the transfer function
generates the form of the natural
response (that is, the pole at 5
generated e-5t ).
• A pole on the real axis generates
an exponential response of the
form e-αt, where α is the pole
location on the real axis. The
farther to the left a pole is on the
negative real axis, the faster the
exponential transient response
will decay to zero.
• The zeros and poles generate the
amplitudes for both the forced
and natural responses
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FIRST-ORDER SYSTEMS
• First-order systems without zeros • 1/a is the time constant of
the response

• a describes the transient response

• When

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TRANSIENT RESPONSE SPEC. FIRST-ORDER SYST.
• Rise Time, Tr.
• the time for the waveform to go from 0.1 to 0.9 of its
final value
• Difference in time at c(t) = 0.9 and c(t) = 0.1.
c(t) = 0.9 = 1 – e-at → t = 2.31/a
c(t) = 0.1 = 1 – e-at → t = 0.11/a

• Settling Time, Ts.

• the time for the response to reach, and stay within,
2% (or 5%) of its final value
• For 2% criteria, c(t) = 0:98
c(t) = 0.98 = 1 – e-at

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FIRST ORDER TRANSFER FUNCTION VIA TESTING
• Consider a simple first-order system, G(s) = K/(s + a)
𝐾 𝐾/𝑎 𝐾/𝑎
• Step Response: 𝐶 𝑠 = = − → 𝑐 𝑡 = 𝐾/𝑎(1 − 𝑒 −𝑎𝑡 )
𝑠 𝑠+𝑎 𝑠 𝑠+𝑎
• Laboratory results:
0.72
0.63 × 0.72 = 0.45 → t =0.13
𝑎=(1/0.13)=7.7
0.45 𝐾/𝑎=0.72 𝐾=5.54
G(s) = 5.54/(s + 7.7)

The truth model: G(s) = 5/(s + 7)

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TIME RESPONSE OF SECOND-ORDER SYSTEMS

does not decay

an exponential natural response

the fastest possible without the overshoot

the fastest possible with the overshoot

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SECOND ORDER SYSTEMS - POLES

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THE GENERAL SECOND-ORDER SYSTEM
• Establish quantitative specifications defined in such a way that the response of a
second-order system can be described to a designer without the need for
sketching the response
• the poles of this system are on
• Natural Frequency, ωn
the jω -axis at 𝑗 𝑏
• the frequency of oscillation of the system
without damping
• Damping Ratio, ζ
• the complex poles have a real
part, σ, equal to –a/2.

• General
•a=0→
• ωn is the frequency of oscillation of this system
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FINDING ζ AND ωn FOR A SECOND-ORDER SYSTEM

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POLES OF THE SECOND ORDER TRANSFER FUNC.
POLES

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UNDERDAMPED SECOND-ORDER SYSTEMS
• Step input to the second order system

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VARIOUS VALUES OF ζ OF SECOND ORDER
• Second-order
underdamped responses
for damping ratio values

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PARAMETERS FOR UNDERDAMPED RESPONSE
• 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.
• Peak time, TP.
• The time required to reach the first, or
maximum, peak.
• 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.

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EVALUATION OF TP
• Tp is found by dc(t)/dt=0
• Simplified by differentiating C(s)

=0

First Peak (n=1)

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EVALUATION OF %OS

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EVALUATION OF TS

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EVALUATION OF Tr
• A precise analytical relationship
between rise time and damping ratio,
ζ, cannot be found.
• Use a computer!

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FINDING TP, %OS, TS, AND TR FROM TRANSFER FUNC.
• Given the transfer function
100
𝐺 𝑠 = 2
𝑠 + 15𝑠 + 100
• Find Tp, %OS, Ts, and Tr

• ωn = 10, • Tp = 0,475 second

• ζ = 0.75 • %OS = 2.838
• Ts = 0.533
• Tr = 0.23 seconds

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RELATION OF PEAK TIME, PERCENT OVERSHOOT,
AND SETTLING TIME TO THE NATURAL FREQUENCY
AND THE DAMPING RATIO

ωd: damped frequency of

oscillation constant real part
Pole plot for an underdamped
second-order system σd: exponential damping frequency.
Lines of constant peak time, Tp;
Lines of constant settling time, Ts;
Percent overshoot, %OS;
Ts2 < Ts1 ; constant imaginary part
Tp2 < Tp1;
%OS1 < %OS2.

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constant damping ratio
STEP RESPONSE SIMULATION

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UNMANNED FREE-SWIMMING SUBMERSIBLE (UFSS)

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SIMULATING FEEDBACK SYSTEM

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SIMULATING DIGITAL SYSTEMS

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THE CONCEPT OF FREQUENCY RESPONSE
• In the steady state, sinusoidal inputs to a linear system
generate sinusoidal responses of the same frequency.
• Even though these responses are of the same frequency
as the input, they differ in amplitude and phase angle
from the input.
• These differences are functions of frequency.
magnitude phase
frequency frequency
response response

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FREQUENCY RESPONSE

Steady State Condition

K1* is the complex conjugate of K1 Control Systems Technology: Augie Widyotriatmo, Ph.D. 26
PLOTTING FREQUENCY RESPONSE
1
•𝐺 𝑠 =
𝑠+2

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ASYMPTOTIC APPROXIMATIONS: BODE PLOTS
• The log-magnitude and phase frequency response curves as functions of log ω
are called Bode plots or Bode diagrams.
• Sketching Bode plots can be simplified because they can be approximated as a
sequence of straight lines.

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BODE PLOTS FOR G(s) = (s + a)

At low frequencies when ω approaches zero

At high frequencies where ω >> a

If we plot dB, 20 log M, against log ω

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BODE PLOTS FOR G(s) = 1/(s+a)

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BODE PLOTS FOR G(S) ¼ S2 Þ 2ZVNS Þ V2

• At low frequencies

• At high frequencies

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CORRECTIONS TO SECOND-ORDER BODE PLOTS

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BODE PLOT MATLAB CODE

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PID CONTROLLER

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PID FOR VELOCITY CONTROL OF DC MOTOR

PID Control on torque

 1 de(t ) 
 j (t ) = K p  e(t ) +  e(n)dn + Td 
 Ti dt 
where e(t ) = r (t ) −  j (t )

 j = I j j + c j
by subtitution yields
 1 d (r −  j ) 
I j j + c j = K p  r −  j +  (r −  j )d + Td 
 Ti dt 
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 Laplace Transformed:
 j (s) K pTd s 2 + K p s + K p / Ti
=
 r (s) ( I j + K pTd ) s 2 + ( K p + c) s + K p / Ti
with
E ( s) =  r ( s) −  j ( s)
I j s 2 + cs
E (s) =  r (s)
( I j + K pTd ) s + ( K p + c) s + K p / Ti
2

Ess = lim sE ( s ) e( ) = 0

s →0

I j s 2 + cs
= lim
s →0 ( I j + K pTd ) s 2 + ( K p + c) s + K p / Ti
=0 39
Control Systems Technology: Augie Widyotriatmo, Ph.D.
VELOCITY CONTROL SIMULATION

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POSITION CONTROL SIMULATION

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ZIEGLER NICHOLS TUNING

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