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Lecture09 - The s-plane

Lecture 9 focuses on the 's' plane and its role in analyzing system performance through transfer functions. It explains how poles and zeros, derived from the transfer function's numerator and denominator, influence the dynamic behavior of single input/single output systems. Graphical representation of these poles and zeros on the 's' plane aids in understanding system behavior and design.

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10 views

Lecture09 - The s-plane

Lecture 9 focuses on the 's' plane and its role in analyzing system performance through transfer functions. It explains how poles and zeros, derived from the transfer function's numerator and denominator, influence the dynamic behavior of single input/single output systems. Graphical representation of these poles and zeros on the 's' plane aids in understanding system behavior and design.

Uploaded by

pluemlxd
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lecture 9:

The “s” plane


Lecture Topics
Lets look again at what determines the performance of a
system and how it is reflected in the transfer function.
Using graphical techniques, let’s present that performance
in an user-friendly way.
Performance expressed on the “s” plane
Transfer Functions
For single input/single output systems, we have developed
models expressed as Transfer Functions, using the Laplace
operator “s”
Such transfer functions take the form

𝐶 𝑠 𝑜𝑢𝑡𝑝𝑢𝑡
𝐺 𝑠 = =
𝑅 𝑠 𝑖𝑛𝑝𝑢𝑡
Transfer Functions
The dynamic behaviour of such systems may be
determined directly from the transfer function
For example, for simple systems, the dynamic behaviour
may be described terms of Time Constants, or Natural
Frequencies and damping ratios.
Note that much of this information is held in the
DENOMINATOR of the transfer function.
Transfer Functions and Behaviour
Considering the denominator of the TF, it can be seen that
particular values of “s” render the transfer function either
infinity.
These values of “s” are referred to as “poles”.
Transfer Functions and Behaviour
Considering the denominator of the TF, it can be seen that
particular values of “s” make the denominator zero, and
hence render the transfer function infinity.
These values of “s” are referred to as “poles”.
In the same way, particular values of “s” can be found that
make the NUMERATOR equal to zero, and hence the whole
transfer function.
These values of “s” are referred to as “zeros” (surprise
surprise!)
Example
Assuming an example transfer function

1 + 3𝑠
𝐺 𝑠 =
1 + 0.1𝑠 1 + 5𝑠

It can be seen that making 𝑠 = −10 or 𝑠 = −0.2 would


make the denominator zero, and hence the overall TF infinite.
These are the system poles
Note – they are strongly related to the system time constants
Example
Assuming an example transfer function

1 + 3𝑠
𝐺 𝑠 =
1 + 0.1𝑠 1 + 5𝑠

Similarly making 𝑠 = −0.333 would make the numerator zero,


and hence the overall TF also zero.
This is a system zero.
Showing poles and zeros graphically
We can portray the position of the poles and zeros
graphically, on what is called the “s” plane. The “s” plane is
a complex plane, because “s” can take complex values 𝑠 =
𝜎 + 𝑗𝜔
Because the pole positions are related to behaviour, this
gives us visual tool that helps us understand the system
behaviour.
Transfer Functions and Behaviour
Note that these Poles and Zeros are related to the terms
previously mentioned – example – a first order system has
1
one pole, which happens to be at 𝑠 = −
𝜏
A second order system has two poles, the position of
which may be on the real axis, or as a complex conjugate
pair if 𝜁 < 1.0
A system with “s” terms in the numerator gives rise to
“zeros” as well as poles, these are normally shown as circles
rather than crosses (poles) on the plane.
What does a first order system do on the
“s” plane?
Imaginary j
1
1 𝐺 𝑠 =
𝐺 𝑠 = 1 + 0.5𝑠
1 + 0.2𝑠
Real 
X X

Pole position is dependent on Time Constant


Design on the “s” plane
Design on the “s” plane
j
Pole
X 𝜔𝑑 = 𝜔𝑛 1 − 𝜁 2


−𝜁𝜔𝑛

Where 𝜔𝑑 is the damped natural


frequency and cos 𝜙 = 𝜁
What’s going on?
We know that information about the dynamic behaviour
of a system is contained in the form of polynomial
equations in “s” arranged in a transfer function.
By plotting the poles and zeros of such systems graphically,
we can determine the system behaviour easily.
We can do much more with this technique – see next
week’s instalment!

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