IntroCtrlSys Chapter5

Lecture Notes
Introduction to Control Systems

Instructor: Dr. Huynh Thai Hoang
Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
11 October 2011
H. T. Hoang - www4.hcmut.edu.vn/~hthoang/
Chapter 5
ANALYSIS OF CONTROL SYSTEM

PERFORMANCE
11 October 2011
H. T. Hong - www4.hcmut.edu.vn/~hthoang/
Content
Performance criteria
Steady state error
Transient response
p
The optimal performance index
Relationship between frequency domain performances and time
domain performances.
11 October 2011
Performance criteria
11 October 2011
Performance criteria: Steady state error

yfb(t)
R(s)
+_
E(s)
Yfb(s)
Y(s)
G(s)
ess
r(t)
e(t)
H(s)
ess
Error: is the difference between the set

set-point
point (input) and the feedback
signal.
e(t ) = r (t ) y fb (t )
E ( s ) = R ( s ) Y fb ( s )
Steady-state error: is the error when time approaching infinity.
ess = lim
li e(t )
t
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ess = lim
li sE
E ( s)
s 0
Performance criteria Percent of Overshoot (POT)
Overshoot: refers to an output exceeding its steady-state

steady state value.
value
y(t)
y(t)
overshoot
ymax
yss
yss
ymax yss
yss
No overshoot
Percent of Overshoot (POT) is an index to quantify the overshoot of

a system,
t
POT is
i calculated
l l t d as:
ymax yss
100%
POT =
yss
11 October 2011
Performance criteria Settling time and rise time
Settling
S
ttli time
ti (ts):
) is
i the
th time
ti required
i d for
f the
th response off a system
t to
t
reach and stay within a range about the steady-state value of size
specified by absolute percentage of the steady-state value (usually
2% or 5%)
Rise time (tr): is the time required for the response of a system to
rise from 10% to 90% of its steady
steady-state
state value.
value
y(t)
y(t)
(1+)yss
yss
(1)yss
yss
0.9yss
t
0
ts
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0.1yss
0
t
tr
Steady--state error
Steady
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Steady--state error
Steady
R( )
R(s)
+_
E( )
E(s)
Yfb(s)
G(s)
Y( )
Y(s)
H(s)
Error expression:
R( s)
E (s) =
1 + G (s) H (s)
Steady-state error:
sR ( s )
ess = lim sE ( s ) = lim
s 0
s 0 1 + G ( s ) H ( s )
Remark: Steady-state error not only depends on the structure and

parameters
t off the
th system
t but
b t also
l depends
d
d on the
th input
i t signal.
i l
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Steady--state error to step input

Steady
Step input: R( s ) = 1 / s
Steady-state error:
with
1
ess =
1+ Kp
K p = lim G ( s ) H ( s )
s 0
(position constant)
yfb(t)
yfb(t)
1
G(s)H(s) does not have

deal integral factor
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G(s)H(s) has at least 1

ideal integral factor
10
Steady--state error to ramp input

Steady
Ramp input: R( s ) = 1 / s 2
1
Kv
ess =
K v = lim sG ( s ) H ( s ) (velocity constant)

s 0
s
with
yfb(t)
yfb(t)
r(t)
yfb(t)
r(t)
r(t)
ess 0
ess = 0
e(t)
t
G(s)H(s) does not have

deal integral factor
11 October 2011
G(s)H(s) has 1 ideal

integral factor
G(s)H(s) has at least 2

ideal integral factors
11
Steady--state error to parabolic input

Steady
P b li input:
Parabolic
i
R( s) = 1 / s 3
ess =
1
Ka
K a = lim s 2G ( s ) H ( s )
with
(acceleration
constant )
s 0
yfb(t)
yfb(t)
r(t)
r(t)
G(s)H(s) has less than 2

r(t)
ess0
e(t)
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yfb(t)
ess= 0
G(s)H(s) has 2 ideal

integral factors
G(s)H(s) has more than 2

12
Transient response
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13
First--order system
First
R(s)
Transfer function:
K
Ts + 1
G (s) =
Y(s)
K
T +1
Ts
1
First order system has 1 real pole:
p1 =
T
1 K
Transient response: Y ( s ) = R ( s )G ( s ) = .
s Ts + 1
11 October 2011
y (t ) = K (1 e t /T )
14
First--order system (cont)

First
y(t)
Im s
Re s
1/T
(1+).K
K
(1).K
0.63K
Pole zero plot

of a first order system
t
T
ts
Transient response
of the first order
y (t ) = K (1 e t /T )
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15
First--order system Remarks

First
First order system has only one real pole at (1/T), its transient
response doesnt have overshoot.
Time constant T:
Ti
T is
i the
h time
i
required
i d for
f the
h step response off the
h
system to reach 63% its steady-state value.
The further the pole (1/T)

( 1/T) of the system is from the imaginary
axis, the smaller the time constant and the faster the time response
of the system.
Settling time of the first order system is:

1
ts = T ln
l

where = 0.02
0 02 (2% criterion) or = 0.05
0 05 (5% criterion)
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16
First--order system
First
The relationship between the pole and the time response
The further the pole of the system is from the imaginary axis, the
smaller the time constant and the faster the time response of the
system.
Im s
y(t)
K
Re s
0
Pole zero plot

of a first order system
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Transient response
of the first order
17
Second--order oscillating system

Second
R(s)
K
T 2 s 2 + 2Ts + 1
Y(s)
The transfer function of the second-order oscillating system:

1
K
Kn2
(n = , 0 < < 1)
G( s) = 2 2
= 2
2
T
T s + 2Ts + 1 s + 2n s + n
The system has two complex conjugate poles:

p1, 2 = n jn 1 2
1
Kn2
Transient response: Y ( s ) = R ( s )G ( s ) = . 2
s s + 2n s + n2
11 October 2011
e nt
y (t ) = K 1
sin (n 1 2 )t +
1 2
(cos = )
18
Second--order oscillating system (cont)

Second
Im s
cos =
j n 1 2
n
n
y(t)
Re s
(1+).K
K
((1)).K
0
j n 1 2
Pole zero plot of a second

order oscillating system
11 October 2011
t
tq
Transient response of a second

19
Second--order oscillating system Remark

Second
A second order oscillation system has two conjugated complex

poles, its transient response is a oscillation signal.
If = 0,
0 transient
i
response is
i
a stable oscillation signal at
the frequency n n is
called natural oscillation
frequency.
If 0<<1,, transient response
p
is a decaying oscillation
signal is called damping
g the value
constant,, the larger
, (the closer the poles are to
the real axis) the faster the
response decays.
11 October 2011
=0
= 0.2
= 0.4
= 0.6
20
Second--order oscillating system Overshoot

Second
Transient response of the second order oscillating system has

overshoot.
The percentage of overshoot:
o ershoot:
POT = exp
2
.100%
larger the value , (the

closer the poles are to the
real
ea axis)
a s) thee smaller
s a e thee
POT.
The smaller the value ,
(the closer the poles are to
the imaginary axis) the
larger the POT
The
POT ((%)
The relationship
between POT and
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21
Second--order oscillating system Settling time

Second
Settling time:
5% criterion:
2% criterion:
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ts =
ts =
n
4
22

Second
Relationship between pole location and transient response

The second order systems that have the poles located in the same
rays starting from the origin have the same damping constant, then
the
h percentage off overshoots
h
are the
h same. The
h further
f h the
h poles
l
from the origin, the shorter the settling time.
Im s
cos =
y(t)
K
R s
Re
0

11 October 2011

23

Second
Relationship between pole location and transient response (cont
(cont))
distance from the origin have the same natural oscillation
frequency. The closer the poles to the imaginary axis, the smaller the
damping constant, then the higher the percentage of overshoot.
y(t)
Im s
R s
Re
0
t
0

11 October 2011

24

Second
Relationship between pole location and transient response (cont
(cont))
distance from the imaginary axis have the same n, then the settling
time are the same. The further the poles from the real axis, the smaller
the damping constant, then the higher the percentage of overshoot.
Im s
y(t)
Re s
0
t
0

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25
Transient response of high order system
High-order
High
order systems are the system that have more than 2 poles.
poles
If a high order system have a pair of poles located closer to the
imaginary axis than the others then the high order system can be
approximated to a second order system. The pair of poles nearest to
the imaginary axis are called the dominated poles.
y(t)
Im s
Response off hi
highh
order system
Re s
0
Response of second
order system with the
dominated poles
0
High order systems

have more than 2 poles
11 October 2011
A high order system can be approximated

by a dominated-pole second order systems
26
Performance indices
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27
Integral performance indices
IAE criterion
(Integral of the Absolute Magnitude of the Error )
J IAE =
e(t ) dt
0
ISE criterion
(Integral of the Square of the Error)
+
J ISE = e 2 (t )dt
d
0
ITAE criterion
(Integral of Time multiplied by the Absolute Value of the Error)
J ITAE = t e(t ) dt
0
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28
Optimum systems
A control system is optimum when the selected performance index is

minimized
J IAE min when 0.707
Second order system:
J ISE min
i
when 0.5
J ITAE min when 0.707
y(t)
=0.3
=0.5
=0.707
=0.9
0
Transient response of second order systems

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29
ITAE optimal control
ITAE is usually used in design of control system
An n-order system is optimal according to ITAE criterion if the

denominator of its transfer function has the form:
11 October 2011
30
ITAE optimal control (cont)
Optimal response according to ITAE criterion

y(t)
1st order
d system
2nd order system
3rd order system

4th order system
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31
Relationship
p between frequency
q
y domain
performances and time domain performances
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32
Relationship between frequency response and steady state error

R(s)
G(s)
Y(s)
K p = lim G ( s ) H ( s ) = lim G ( j ) H ( j )
0
s 0
K v = lim s G ( s ) H ( s ) = lim jG ( j ) H ( j )
0
s 0
K a = lim s G ( s ) H ( s ) = lim( j ) 2 G ( j ) H ( j )
2
s 0
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33
Relationship between frequency response and steady state error

R( )
R(s)
G(s)
Y( )
Y(s)
Steady state error of the closed-loop

closed loop system depends on the
magnitude response of the open-loop system at low frequencies but
not at high frequencies.
The higher the magnitude response of the open-loop system at low

frequencies, the smaller the steady-state error of the closed-loop
s stem
system.
In particular, if the magnitude response of the open-loop system is

infinityy as frequency
q
y approaching
pp
g zero,, then the steady-state
y
error of
the closed-loop system to step input is zero.
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34
Relationship between frequency response and transient response
R(s)
G(s)
Y(s)
In the frequency range <c , because G ( j ) > 1 then:
G ( j )
G ( j )
Gcl ( j ) =
=1
1 + G ( j ) G ( j )
In the frequency range >c , because G ( j ) < 1 then:

G ( j )
G ( j )
Gcl ( j ) =
= G ( j )
1 + G ( j )
1
Bandwidth of the closed-loop

closed loop system is approximate the gain
crossover frequency of the open-loop system.
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35
Bode plot of a open-loop system
11 October 2011
Bode plot of the corresponding

closed-loop system
36
R(s)
G(s)
Y(s)
The higher the gain crossover frequency of open-loop

open loop system,
system the
wider the bandwidth of closed-loop system the faster the
response of close-loop system, the shorter the settling time.
4
< tqd <
c
c
The higher the phase margin of the open-loop system, the smaller
the POT of closed-loop system. In most of the cases, if the phase
margin of the open-loop
open loop system is larger than 600 then the POT of
the closed-loop system is smaller than 10%.
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37
Example of relationship between gain crossover frequency and settling time
R(s)
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G(s)
Y(s)
10
G (s) =
s(0.1s + 1)(0.08s + 1)
38
Example of relationship between gain crossover frequency and settling time
R(s)
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G(s)
Y(s)
G ( s) =
50
s(0.1s + 1)
39
Example of relationship between phase margin and POT

R(s)
11 October 2011
G(s)
Y(s)
G (s) =
6
s(0.1s + 1)(0.08s + 1)
40
Example of relationship between phase margin and POT (cont)

R(s)
11 October 2011
G(s)
Y(s)
6
G ( s) =
s (0.1s + 1)
41

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Lecture Notes

Introduction to Control Systems

ANALYSIS OF CONTROL SYSTEM

Performance criteria: Steady state error

Error: is the difference between the set

Steady-state error: is the error when time approaching infinity.

Performance criteria Percent of Overshoot (POT)

Overshoot: refers to an output exceeding its steady-state

Percent of Overshoot (POT) is an index to quantify the overshoot of

Performance criteria Settling time and rise time

Remark: Steady-state error not only depends on the structure and

Steady--state error to step input

G(s)H(s) does not have

G(s)H(s) has at least 1

Steady--state error to ramp input

K v = lim sG ( s ) H ( s ) (velocity constant)

G(s)H(s) does not have

G(s)H(s) has 1 ideal

G(s)H(s) has at least 2

Steady--state error to parabolic input

G(s)H(s) has less than 2

G(s)H(s) has 2 ideal

G(s)H(s) has more than 2

First--order system (cont)

Pole zero plot

First--order system Remarks

The further the pole (1/T)

Settling time of the first order system is:

Pole zero plot

Second--order oscillating system

The transfer function of the second-order oscillating system:

The system has two complex conjugate poles:

Second--order oscillating system (cont)

Pole zero plot of a second

Transient response of a second

Second--order oscillating system Remark

A second order oscillation system has two conjugated complex

Second--order oscillating system Overshoot

Transient response of the second order oscillating system has

larger the value , (the

Second--order oscillating system Settling time

Second--order oscillating system

Relationship between pole location and transient response

Pole zero plot of a second

Transient response of a second

Second--order oscillating system

Pole zero plot of a second

Transient response of a second

Second--order oscillating system

Pole zero plot of a second

Transient response of a second

Transient response of high order system

High order systems

A high order system can be approximated

Integral performance indices

A control system is optimum when the selected performance index is

Transient response of second order systems

ITAE optimal control

ITAE is usually used in design of control system

An n-order system is optimal according to ITAE criterion if the

ITAE optimal control (cont)

Optimal response according to ITAE criterion

2nd order system