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Step response
Tohid Alizadeh
1 / 43
Part I
Basic concepts
2 / 43
1
Y (s) =??
s
G(s)
1
U (s) =
Y (s) =??
Example: change the torque sgiven toG(s)
an electric motor, and see how the velocity
U (s) =
varies.
R(s) =
1
s
C(s) =??
T (s)
3 / 43
s +2
3
, G2 (s ) = 2
s +5
s + 2s + 5
However, we would like to know intuitively what happens to the step response if
we change some parameters of the system
Next, we analyze step response of rst-order and second-order systems without
zeros
Tohid Alizadeh (NU)
4 / 43
Part II
First order systems
5 / 43
a
1
1
=
= c (t ) = 1 e at , t 0
s (s + a)
s s +a
Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright 2004 by John Wiley & Sons. All rights reserved.
1 + sT
c (t ) = 1 e t / T , t 0
6 / 43
= 1)
7 / 43
ant of the response. From Eq. (4.7), the time constant can
r e~al to decay to 37% of its initial value. Alternately, from
is the time it takes for the step response to rise to 63% of
4.5).
Initial slope =
time constant
63% offinalvalue
at t = one time constant
Ts ,2% = 4T
Example 2
Given G (s ) = s100
+50 , nd T , and Tr , Ts ,5% , and Ts ,2% for the unit step response.
8 / 43
Part III
Second order systems
9 / 43
Second-order systems exhibit a wider range of responses w.r.t. rst order systems
Changing the parameters will change also the shape of the response, in addition
to the speed of response
System
Pole-zero plot
G(s)
(a)
R(s)= |
b
P'+as + b
C(s)
General
We consider now the (bounded) step response of second-order systems with unit
DC gain and no zeros
J0>
For all values of a and b, the derivative of the output for t = 0+ can be obtained
s-plane
G(s)
as follows
C(5)
9
d ib) RU)= j
1
sb
c (0+ ) = lim
c (t ) = lim s sC (s2) = lim s 2 (G (s ) ) = lim 2X
X=- 0 -*~<7
+
s
s
s
t 0
dt
s +9s
+9
s + as -1.146
+b
-7.854
Overdamped
Tohid Alizadeh (NU)
10 / 43
System
G(s)
System
Pole-zero plot
Pole-zero plot
Response
Response
= 1-1.06e"' cos(/8i-l 9.47)
5-plane
5-plane X
X
c(t) c(i) = l+0.nie-7S54'
,4
1.171e-'-146'
c(t) c(i) = l+0.nie-7S54'
,4
1.171e-'-146'
J0>
s-plane
G(s)
ib)
ib)
id)
RU)= j
RU)= j
id)
m>
9
G(s)
s2+9s G(s)
+9
9
\sOverdamped
2u
+9s
G(s)+ 9
m> \u Overdamped
Undamped
C(5)
C(5)
C(s)
J0>
-*~<7
0.5 -
-*~<7
0.5 0
C(s)
Undamped
(c)
(e)
1 2
G(s)
R(s)= I
9
R(s)= I+2 G(s) 2
s +2s + 9
(e)
s2+6s + 9
R(s)= I Underdamped
G(s)
9
R(s)= I+
C(s)
C(s)
C(s)
5-plane
0 c{t)
3 4 5+ ^ sin\/80
.1 2
c(f)
=t \-eT'(cosf%t
= 1-1.06e"' cos(/8i-l 9.47)
c(f) c{t) = \-eT'(cosf%t + ^ sin\/80
= 1-1.06e"' cos(/8i-l 9.47)
FIGURE 4.7
systems, po
responses
2Critically
s +2s + 9damped
C(s)
Underdamped
s2+6s + 9
FIGURE
system
respon
Critically damped
G(s)
id)
m> \u
id) m> \u
Tohid Alizadeh (NU)
A
A
C(s)c
(t ) = 1 3te 3t e 3t
G(s)
Undamped
C(s)
11 / 43
ib)
General
9
Overdamped
s2+9s + 9
RU)= j
-7.854 -1.146
X
X-7.854 -1.146
C(5)
-*~<7
J0>
J0>
s-plane
s-plane
0 c{t)
1 2= \-eT'(cosf%t
3 4systems
5+ ^ sin\/80
G(s)
c(f)
Complex conjugateG(s)roots
with negative
real part: underdamped
C(5)
C(5)
RU)=RU)=
j j
9 9
s2+9s
s2+9s
+ 9+ 9
G(s)
ib) ib)
(c)
(c)
Overdamped
R(s)= IOverdamped
9
C(s)
G(s)
s2+2s + 9
9
Underdamped
s2+2s + 9
R(s)= I
-*~<7
X -- -*~<7
XX
5-plane
-7.854
-1.146
-7.854
-1.146
X
5-plane
C(s)
0 1 12 2 3 34 45
Underdamped
5-plane
G(s)
5-plane X
R(s)= I G(s) 9 p C(s) p
p
8 p X
(c)
R(s)=
I1 e ts29+2s
c
(
t
)
=
8t +
sin 8t = 1 1.06e t cos 8t 19.47
cos+ 9 C(s)
G(s)
(c)
2
+9
Underdamped
m> \su+2s
Aundamped systems
Pure imaginary roots:
id) m> \
A
id)
C(s)
G(s)
Underdamped
C(s)
Undamped
Undamped
G(s)
id)
id)
m> \u
u
(e)
C(s)
G(s)
R(s)= I+
(e)
m>
\
G(s)
C(s)
2 G(s)
sUndamped
+6s + 9
C(s)
FIGURE
systems
respons
FIGURE
system
respon
Critically damped
c (t ) = 1 cos 3t
G(s)
Tohid Alizadeh (NU)
12 / 43
since, for an underdamped system, the real part of the poles is = a/2
The new form is then
2
n
G (s ) = 2
s + 2n s + 2n
13 / 43
(0, 1) underdamped
= 1 critically damped
> 1 overdamped
Example 3
G1 (s ) = 2
,
s + 8s + 12
16
G2 (s ) = 2
,
s + 8s + 16
20
G3 (s ) = 2
s + 8s + 20
14 / 43
2 1
re 4.11
nd-order
onse as a
ion of
ping ratio
15 / 43
T1
T2
e t / T1 +
e t / T2 , t 0
T1 T2
T1 T2
16 / 43
Step Response
0.9
0.9
0.8
0.8
0.7
0.7
Amplitude
Amplitude
0.6
0.6
0.5
0.5
0.4
0.4
0.3
0.3
0.2
0.1
0
0.2
Exact
10
Time 15
(sec)
20
25
Exact
Approximate
0.1
Approximate
30
10
Time 15
(sec)
20
25
30
17 / 43
t t /T
e
,t 0
T
18 / 43
0.9
0.9
0.8
0.8
0.7
0.7
0.6
0.6
Amplitude
Amplitude
Step Response
1
0.5
0.4
0.4
0.3
0.3
0.2
0.2
Exact
0.1
0
0.5
Exact
Approximate
10
Time (sec)
12
14
16
18
0.1
20
Approximate
8
10
Time (sec)
12
14
16
18
19 / 43
s (s 2 + 2n s + 2n )
a1
a s + a3
+ 2 2
s
s + 2n s + 2n
1
s
(s + n ) + p
(s
1 2
12 n
2
+ n ) + 2n (1 2 )
n t
cos n
1 2 t
+p
1 2
sin n
1 2 t
,t 0
20 / 43
4.13
order
mped
es for
g ratio
with = tan1
1 2
e n t cos n 1 2 t , t 0
p
/ 1 2
21 / 43
Settling time Ts : time required for c (t ) to reach and stay within a given
Control Systems Engineering, Fourth Edition by Norman S. Nise
percentage
of the
Copyright
2004 bysteady-state
John Wiley & Sons. All value
rights reserved.
Rise time Tr : time for c (t ) to go from 10% to 90% of the steady-state value
22 / 43
2n
12
1 2
e n t sin n
1 2 t
Setting c (t ) = 0, we obtain n 1 2 t = n, or
p
t=
Tp =
p
p
2
n 1
n 1 2
since the rst peak occurs for n = 1 (for every value of n we have local minima
or maxima)
Tohid Alizadeh (NU)
23 / 43
cmax cfinal
cfinal
Since the DC gain of the system is 1, and we have a unit step input, then
cfinal = 1
The term cmax is found at the peak time t = Tp . We remember that the general
expression of the step response for underdamped system can be expressed as
c (t ) = 1 e
n t
cos n
1 2 t
+p
1 2
sin n
1 2 t
12
cos + p
sin = 1 + e /
2
12
24 / 43
1 + e /
1
12 1
= 100 e /
12
Note that Mp is a function of the damping ratio only, and the inverse relation
is given by
ln(Mp /100)
= q
ROBT303
Modern Control Engineering,
Fifth Edition
2 + ln (Mp /100)
25 / 43
1
c (t ) = 1 p
e n t cos n 1 2 t
2
1
We can approximately determine Ts by looking at the envelope curves, looking
at what would happen for a rst-order system with time constant T = 1/(n )
e 5-10 Pair of envelope curves for the unit-step response curve of the system shown in Figure 56.
3
n
4
n
26 / 43
Summing up. . .
For an underdamped second-order system, we have that
Tp =
1 2
p
2
Mp = 100 e / 1 ,
Ts ,5% '
3
n
Ts ,2% ' 4T =
4
n
1.8
n
G (s ) = 2
s + 15s + 100
27 / 43
2 2n + 2n (1 2 ) = n
As a consequence,
cos =
Tohid Alizadeh (NU)
n
=
n
28 / 43
gure 4.18
nes of constant
ak time,Tp , settling
me,Ts , and percent
ershoot, %OS
ote: Ts < Ts ;
< Tp ; %OS1 <
OS2
2
Since Mp = 100 e / 12 only depends on = cos , then for the same angle
we obtain the same percent overshoot (%OS in the gure)
Also, Tp = p12 = d isControl
constant
alongFourthhorizontal
Systems Engineering,
Edition by Normanlines
S. Nise (poles with same
Copyright 2004 by John Wiley & Sons. All rights reserved.
n
imaginary part)
Finally, Ts ,2% ' 4 n = 4d is constant along vertical lines (poles with same real
part), and the same holds for Ts ,5%
Tohid Alizadeh (NU)
29 / 43
s
r
30 / 43
Some examples
Example 5
Example 6
Figure 4.21
Rotational
J
mechanical
system for
Example 4.7
31 / 43