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EE302 Lecture 7

Lecture 7 of EE302 covers time domain analysis of feedback systems, focusing on first order systems and their responses to different inputs. It includes examples of calculating step-responses and unit-ramp responses for integrator systems, demonstrating the relationship between system parameters and output behavior. The lecture also discusses the implications of proportional controllers on steady-state errors and convergence speed.

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10 views

EE302 Lecture 7

Lecture 7 of EE302 covers time domain analysis of feedback systems, focusing on first order systems and their responses to different inputs. It includes examples of calculating step-responses and unit-ramp responses for integrator systems, demonstrating the relationship between system parameters and output behavior. The lecture also discusses the implications of proportional controllers on steady-state errors and convergence speed.

Uploaded by

oztrk487
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EE302 - Feedback Systems Spring 2019

Lecture 7
Lecturer: Asst. Prof. M. Mert Ankarali

7.1 Time Domain Analysis

Y (s) = G(s)U (s)


y(t) = L{G(s)U (s)}−1

Objective:

• Calculate y(t) for different u(t),

• Understand the relation between the parameters and output behavior.

7.1.1 First Order Systems

Simplest first order system is an integrator, which is also the fundamental block for higher order systems.

Ex 1: Compute the step-response of the integrator system, G(s) = 1s .


Solution: We assume that initial conditions are zero

7-1
7-2 Lecture 7

Input Output
1
U (s) =
u(t) s
y(t)
1
Y (s) = G(s)U (s) = 2
1   s
−1 1
y(t) = L
s2
= t , for t ≥ 0
t t

Ex 2: Compute the step-response of the following first order system

K
G(s) =
s+K
K K
Y (s) = =
s(s + K) s(s + K)
A B
= +
s s+K
We can compute A and B as

K
A = lim [sY (s)] = =1
s→0 K
K
B = lim [(s + K)Y (s)] = = −1
s→−K −K

Then, we can compute y(t) as

 
−1 1 1
y(t) = L −
s s+K
= 1 − e−Kt , for t ≥ 0
 

Proportional Controller
K
lim y(t) = 1
t→∞
y

lim e(t) = lim (y(t) − u(t)) = 0


t→∞ t→∞

Zero steady-state error ∀K > 0


“Convergence speed” % as K %

t
Lecture 7 7-3

Ex 2: Find the unit-ramp response for the same system


K
Y (s) =
s2 (s + K)
A B C
= + 2+
s s s+K
A, B, and C can be computed as
1
C = lim [(s + K)Y (s)] =
s→−K K
B = lim s2 Y (s) = 1
 
s→0
   
d  2  d K −K −1
A = lim s Y (s) = lim = lim =
s→0 ds s→0 ds (s + K) s→0 (s + K)2 K

Then, we can compute y(t) as


−1 1
y(t) = + t + e−Kt , for t ≥ 0
K  K 
−1 1
y(t) = t + 1 − e−Kt , for t ≥ 0
K K

Note that r(t) = t , for t ≥ 0.

r(t)

y(t)
Proportional Controller
 
1 1
e(t) = r(t) − y(t) = 1 − e−Kt
K K
1
lim e(t) =
t→∞ K
Non-zero steady-state error
Steady-state error & as K %

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