SYSTEM DYNAMICS & CONTROL

CHAPTER 7
SYSTEM RESPONSE

Assoc. Prof. Dr Vo Tuong Quan

HCMUT - 2017
 System Response

2
 2011 – Vo Tuong Quan
 System Response

3
 2011 – Vo Tuong Quan
 System Response

4
 2011 – Vo Tuong Quan
 System Response

5
 2011 – Vo Tuong Quan
 System Response

6
 2011 – Vo Tuong Quan
 System Response

7
 2011 – Vo Tuong Quan
 System Response
Bode diagram

 Quantify the stability of a feedback system via Gain margin

and Phase margin
8
 2011 – Vo Tuong Quan
 System Response

9
 2011 – Vo Tuong Quan
 System Response
Bode diagram
Phase margin is measured at the frequency where gain equals 0
dB. This is commonly referred to as the “crossover frequency”.
Phase margin is a measure of the distance from the measured
phase to a phase shift of -180°. In other words, how many degrees
the phase must be decreased in order to reach -180°.
Gain margin, on the other hand, is measured at the frequency
where the phase shift equals -180°. Gain margin indicates the
distance, in dB, from the measured gain to a gain of 0 dB. These
values, 0 dB and -180° are important because system instability
occurs if these two values meet

 Gain and phase margins represent the distance from the points at
which instability could occur. The greater the distance or margin the
better, because higher gain and phase margins mean greater
stability 10
 2011 – Vo Tuong Quan
 System Response

11
 2011 – Vo Tuong Quan
 System Response
Bode diagram

The measured phase at 0 dB is The measured gain is +13 dB

-135°, so the phase margin is when phase is -180°, so the gain
45°. The gain at -180° degrees margin is -13 dB. At a gain of 0 dB,
is -9 dB, so the gain margin is 9 the measured phase is minus 215°,
dB. Since phase margin is so the phase margin is -35° at the
positive, this system is stable. gain crossover point. This system
12
 2011 – Vo Tuong Quan is unstable.
 System Response

Weighting function Transient function

13
 2011 – Vo Tuong Quan
 System Response
Proportional gain: Frequency Response

Bode diagram Nyquist plot 14

 2011 – Vo Tuong Quan
 System Response
Integral gain: Time Response

Weighting function Transient function

15
 2011 – Vo Tuong Quan
 System Response
Integral gain: Frequency Response

16
 2011 – Vo Tuong Quan
Bode diagram Nyquist plot
 System Response
Derivation gain: Time Response

Transient function

17
 2011 – Vo Tuong Quan
 System Response
Derivation gain: Frequency Response

Bode diagram Nyquist plot 18

 2011 – Vo Tuong Quan
 System Response
Lead – Lag compensation
A Pole - Zero Compensator is of the form

19
 2011 – Vo Tuong Quan
 System Response
Lead – Lag compensation

20
 2011 – Vo Tuong Quan
 System Response
Lead – Lag compensation
We will consider first order compensators of the form:

The pole -p in the left half plane

The zero, -z in the left half plane

21
 2011 – Vo Tuong Quan
 System Response
Lead compensation

22
 2011 – Vo Tuong Quan
 System Response
Lead compensation

23
 2011 – Vo Tuong Quan
 System Response
Lag compensation

24
 2011 – Vo Tuong Quan
 System Response
Lag compensation – Frequency response

25
 2011 – Vo Tuong Quan
 System Response
First order lag factor: Time Response

26
 2011 – Vo Tuong Quan
 System Response

27
 2011 – Vo Tuong Quan
 System Response
First order lag factor: Frequency Response

28
 2011 – Vo Tuong Quan
 System Response

29
 2011 – Vo Tuong Quan
 System Response
First order lead factor: Time Response

Transient function
30
 2011 – Vo Tuong Quan
 System Response
First order lead factor: Frequency Response

31
 2011 – Vo Tuong Quan
 System Response

32
 2011 – Vo Tuong Quan
 System Response
Second order oscillating factor: Time Response

Weighting function Transient function 33

 2011 – Vo Tuong Quan
 System Response
Second order oscillating factor:Frequency Response

34
 2011 – Vo Tuong Quan
 System Response

Bode diagram Nyquist plot

35
 2011 – Vo Tuong Quan
 System Response
Time delay factor: Time Response

Weighting function Transient function

36
 2011 – Vo Tuong Quan
 System Response
Time delay factor: Frequency Response

Bode diagram Nyquist plot

37
 2011 – Vo Tuong Quan
 System Response
Control system

38
 2011 – Vo Tuong Quan
 System Response
Control system

39
 2011 – Vo Tuong Quan
 System Response
Control system

40
 2011 – Vo Tuong Quan
 System Response
Control system

41
 2011 – Vo Tuong Quan
 System Response
Control system

42
 2011 – Vo Tuong Quan
 System Response
Control system

43
 2011 – Vo Tuong Quan
 System Response
Control system – Example 1

44
 2011 – Vo Tuong Quan
 System Response
Control system

45
 2011 – Vo Tuong Quan
 System Response
Control system – Example 2
Determine the transfer function of the system which has the approximation
Bode diagram as below:

46
 2011 – Vo Tuong Quan
 System Response
Control system

47
 2011 – Vo Tuong Quan
 Analyze the System Response

48
 2011 – Vo Tuong Quan
 Analyze the System Response
Controller Design Criteria

49
 2011 – Vo Tuong Quan
 Analyze the System Response
Controller Design Criteria

50
 2011 – Vo Tuong Quan
 Analyze the System Response
Controller Design Criteria

51
 2011 – Vo Tuong Quan
 Analyze the System Response
Analyze the first order system

52
 2011 – Vo Tuong Quan
 Analyze the System Response
Analyze the first order system

53
 2011 – Vo Tuong Quan
 Analyze the System Response
Analyze the second order system

54
 2011 – Vo Tuong Quan
 Analyze the System Response
Analyze the second order system

55
 2011 – Vo Tuong Quan
 Analyze the System Response
Analyze the second order system

56
 2011 – Vo Tuong Quan
 Analyze the System Response
Analyze the second order system

57
 2011 – Vo Tuong Quan