Chapter 3_Time domain analysis_Hoa
Chapter 3_Time domain analysis_Hoa
s
=
Ramp-function input r(t ) = Rus (t ) t)
R r(
▪ r (t ) Rtus (t ) δ(t)
▪ Has the ability to test how the us (t)
system would response to a signal 1
Rt 2
r (t ) = u s (t )
that changes linearly with time 2
0 t 0 t
Amplitude
0.1
G=feedback(Go,K); 0.08
step(G); 0.06
xlabel('Time'); 0.04
ylabel('Amplitude'); 0.02
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
final value
▪ Rise time, tr : The time required for the step response to rise from 10 to 90% of
its final value
▪ Settling time, ts : The time required for the step response to decrease and stay
with ± ε% (ε = 2 or 5) of its final value.
▪ Steady-state error, ess : ess = limr (t ) − y (t ) = lim e(t )
t → t →
H(s)
▪ If H(s) = 1 (unity feedback):
E ( s ) = R( s ) − Y ( s ) = R( s )1 − M ( s ) M(s): closed-loop transfer function
G(s) R( s)
= R( s) − R( s) =
1 + G ( s) 1 + G(s)
H(s)-1
H(s)
G( s) 1 + G( s)H ( s) − 1
E ( s ) = R( s ) − Y ( s ) = R( s ) − R( s ) = R( s )
1 + G( s) H ( s) 1 + G( s) H ( s)
Important notes!
▪ In practice, the input signal r(t) is usually a typical test signal (i.e., step-, ramp-,
parabolic-unit function), but may not the actual reference signal. In this case, the
system error E(s) obtained above cannot be applied.
R(s)
▪ If lim H ( s) H (0) K H , the reference signal can be defined as
s 0 KH
R( s)
▪ If H(s) has Nth-order zero at s = 0, the reference signal can be defined as
KH sN
Nguyen Le Hoa, Ph.D., DUT-UD 9/27
3.3 Steady-state error
3.3.2 Steady-state error of a system with unity feedback
sR( s)
ess = lim sE ( s) = lim R(s) E(s) Y(s)
s →0 s →0 1 + G ( s ) G(s)
-
ess depends on the characteristics of G(s) and the type R(s)
▪ System type
In general, the system’s transfer function can be expressed as
M
K (s − si )
G(s) = i =1
e −Td s , M N + P; si , s j 0; K , Td R
s N (s − s j )
P
j =1
K (1 + 2s)
G( s) = Type 3
s 3 (1 + s)
Nguyen Le Hoa, Ph.D., DUT-UD 10/27
3.3 Steady-state error
3.3.2 Steady-state error of a system with unity feedback
R R R
▪ r(t) = Rus(t): R ( s ) = ess = = Kp - step-error constant
s 1 + lim G ( s ) 1 + K p
s →0
r(t),
- N = 0 (type 0): Kp = const. ess = const. y(t) Ref. input,
Rus(t)
- N ≥ 1: Kp = ∞ ess = 0. R
R
e ss =
1+ K p
R
▪ r(t) = Rtus(t) R( s) = output, y(t)
s2
R R R
ess = lim = = 0 t
s →0 s + sG ( s ) lim sG ( s) K v
s →0
r(t),
Kv - ramp-error constant y(t)
R
- N = 0 (type 0): Kv = 0, ess = ∞ ess =
Ref. input, Kv
Rtus(t)
- N = 1 (type 1): Kv = const. ess = const.
output, y(t)
- N ≥ 2: Kv = ∞ ess = 0.
0 t
t=0:0.1:100; [y,t]=lsim(G,parabol,t); 1
e(t)=r(t)-y(t)
step=R*ones(size(t)); figure(3) 0.5
ramp=R*t; plot(t,parabol'-y); 0
parabol=R*t.^2/2; xlabel('Time'); -0.5
Go=tf(K*[1 3.15],[1 2 0.75 0]); ylabel('e(t)=r(t)-y(t)');
G=feedback(Go,1); -1
grid on
% Step response -1.5
0 20 40 60 80 100
[y,t]=lsim(G,step,t); Time
figure(1) Ramp response error Parabolic response error
plot(t,step'-y); 3 100
xlabel('Time'); 2.5
80
ylabel('e(t)=r(t)-y(t)'); 2
grid on
e(t)=r(t)-y(t)
e(t)=r(t)-y(t)
1.5 60
% Ramp response
1
[y,t]=lsim(G,ramp,t); 40
figure(2) 0.5
20
plot(t,ramp'-y); 0
xlabel('Time'); -0.5 0
0 20 40 60 80 100 0 20 40 60 80 100
ylabel('e(t)=r(t)-y(t)') Time Time
grid on
Nguyen Le Hoa, Ph.D., DUT-UD 13/27
3.4 Time response of a first-order system
dy(t ) 1 K Y (s) K
▪ Model description + y (t ) = r (t ) G ( s) = =
dt R( s ) s + 1
K – steady-state gain, τ – time constant.
▪ Steady-state gain, K
1 K K K
If r(t) = us(t) (unit-step), then R( s) = Y ( s) = = −
s s(s + 1 ) s s + 1
y (t ) = K ( )
− Ke −t / = K 1 − e −t / , t 0
yss yt
y(t)
▪ Time constant, τ
K
- If K = 1, then initial response rate
of the system is 0.63K
dy(t )
dt
|t =0 =
d
dt
(−e −t /
)|t =0 =
1
- At t = τ, y(τ) = 0,63K = 63% of yss 0 τ t
- If τ > 0, G(s) has a only positive pose at s = - 1/τ => the system is always
stable
Nguyen Le Hoa, Ph.D., DUT-UD 14/27
3.5 Time response of a second-order system
d 2 y (t ) dy(t )
▪ Model description T 2
2
+ 2 T + y (t ) = r (t )
dt dt R(s) E(s) n2 Y(s)
Y ( s) n 2
s (s + 2 n )
G(s) = = 2 r(t) - e(t) y(t)
R( s) s + 2n s + n 2
1.8
ζ – damping ratio ζ=0.1
0.6
2
−1 G ( s ) −1
y (t ) = L =L 2
y (t )
0.7
2
( )
n 1.0
s s s + 2 n s + n
0.8
1.0
( )
0.8
e − nt
1.2
1− 2
0.4
▪ ζ ≥ 1, there is no overshoot
▪ ωn has a effect on tr, ts, and td but does not 0.2
1 0
1, 2 = 0 t
n jn 1 − 2 jw y (t )
• ζ = 1 (critically damped) ζ=1 1
s1 = s2 = −n
σ
y (t ) = 1 + (k1 + k2t )e −tn
0
0
• 0 < ζ <1 (underdamped) t
jw
s1, 2 = −n jn 1 − 2 y (t )
e − nt
sin (n t + )
1
y (t ) = 1 − 0<ζ<1
0 σ
= 1 − 2 ; = cos−1
0 t
ζ < -1
y (t ) = 1 + k1e t /1 + k 2 et / 2
1
1 0 σ
1, 2 = 0
− n jn 1 − 2 0 t
dy n e −nt n e − n t
= sin (n t + )cos − cos(n t + )sin = sin n t
dt y(t)
dy n
=0t = , n = 0, 1, 2, m
dt n
The maximum overshoot appears at 1
the first peak of y(t), i.e., at t = =
n n 1 − 2
m = y (t ) | −1 = e − 1− 2
t=
n
Percent maximum overshoot
2 3 4
PO = e − 1− 2
100 0
n 1− 2
n 1 − 2
n 1 − 2
n 1 − 2
t
0.6 30
PO = e− 1− 2
100
20
10
ζ
0.0 0.2 0.4 0.6 0.8 1.0
Note: The above approximations of ts are applied for systems with 0 < ζ < 0.69
Nguyen Le Hoa, Ph.D., DUT-UD 21/27
3.6 Effects of adding poles and zeros to the TFs
3.6.1 Adding a pole to the forward-path transfer function
Consider a unity-feedback system with the transfer function as follows
n2
Go ( s ) = where the pole at s = -1/Tp is considered to be
s (s + 2n )(1 + T p s ) added to the second-order transfer function
Go ( s ) n2
The closed-loop TF: Gc ( s ) = =
1 + Go ( s ) T p s 3 + (1 + 2nTp )s 2 + 2n s + n2
Effects of the adding pole:
y(t) Step response
• Increase the maximum
2.0
overshoot of the closed-loop ζ = 1, ωn = 1
system’s response Tp = 5
• Increase the rise time of Tp = 2
Tp = 1
the closed-loop system’s 1.0
Tp = 0
response
Note: If Tp is too large, the
t
closed-loop system becomes 0 5 10 15 20
unstable
Nguyen Le Hoa, Ph.D., DUT-UD 22/27
3.6 Effects of adding poles and zeros to the TFs
3.6.2 Adding a pole to the closed-loop transfer function
Consider a closed-loop transfer function as follows
n2
Gc ( s ) = 2 where the pole at s = -1/Tp is considered to be
(s + 2n s + n )(1 + Tp s ) added to the second-order transfer function
2
system’s response 3
Tz = 3
2
Tz = 1
1
Tz = 0
t
0 3 6 9 12
transient response
•Locate close to the imaginary axis in the
Region of Region of
left-half s-plane insignificant dominant
unstable
Insignificant poles: region
poles poles
•Contribute fast decay terms to the transient
0 σ
response
D
•Locate far away from the imaginary axis in
the left-half s-plane
s-plane
Zeros that are close to imaginary axis in the left-half s-plane affect significantly
the transient response (dominant zeros)
(s + p ) s 2 + 12s + 100 80
Amplitude
s1 = − p; s2,3 = −6 j8
approximate first-order system
• If p = 0.6 Res2,3 10 s1
40
20
G( s) Time (seconds)
s+ p Step Response
1.4
The system exhibits dominant first- 1.2
order behavior
• If p = 65 s1 10 Res2,3
1
Amplitude
0.8
third-order system
0.6
s2,3 are considered to be dominant approximate second-order system
0.4
poles
6000 p 0.2
G(s) 2
s + 12s + 100
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Time (seconds)