Kendali Digital

Pertemuan 5

Review of time response of a control

system
2

Gdcn
y(s)
A second - order system is expressed by :
2
r ( s ) s 2 n s n2

Parameters of the performance :

1. Maximum overshoot
2. Peak time
3. Rise time
3. Settling time
4. Steady - state error

Parameters of the system :

, the damping, will determine how much the system oscillates as the response decays toward steady state
n , the undamped natural frequency, will determine how fast the system oscillates during any transient response
G dc , the DC gain of the system, will determine the size of steady state response when the input settles out to a constant value
2

Review of mapping s into z-planes (1)

Position of system's poles (magnitude & phase) determines the performance of the system regarding to a change.
Position of the poles is determined by the value of and n
In the s - plane, the magnitude is a function of only the n , while the phase is a function only the
Magnitude f( n )
Phase f( )

S-plane
Definition of and n on s - plane

Variation of and n on s - plane

3

Physical meaning of and n

Gdc n2
y(s)
2
r ( s ) s 2 n s n2
Pole-Zero Map

zeta=0.7

zeta=0.1

zeta=0.1

zeta=0.3

1.5

Amplitude

Imaginary Axis

0.5

zeta=1.0
0

S-Plane
-0.5

-1
-1

Step Response

zeta=0.3
zeta=0.7

zeta=1.0
0.5

-0.9

-0.8

-0.7

-0.6

-0.5

-0.4

-0.3

-0.2

-0.1

Real Axis

10

12

14

16

18

20

Time (sec)

Step Response

1.4

Pole-Zero Map

1.5

1.2

Wn=1.5

Wn=1.5
Wn=1.0

Wn=0.3

0
-0.5
-1
-1.5
-0.16

Wn=0.3

Wn=0.5

Wn=0.5

0.5

Amplitude

Imaginary Axis

Wn=1

0.8

0.6

0.4
-0.14

-0.12

-0.1

-0.08
Real Axis

-0.06

-0.04

-0.02

0.2

10
Time (sec)

12

14

16

18

20

Review of mapping s into z-planes (2)

Relation between s and z : z e sT

s j d n j n 1 2

On the z - plane :
Magnitude e nT f ( , n , T )
2

Phase n 1 T f ( , n , T )

T : Sampling time

 and n on z - plane (2)

Example
Given a system with transfer function : G(s)
Show its and n on z - plane with T 1s!

1
s 2 0. 6 s 1

Answer :

Using some
approximation:
Pole-Zero Map

Analytically :

n2

zoh method

1 n 1

0.5

2 n 0.6 0.3
Magnitude (r ) e nT e 0.311 0.74

n 1 2 T 1 1 0.32 1 0.95 54.68o

Im
a
g
in
a
ryA
x
is

z re j

tustin method

-0.5

-1
-1

-0.8

-0.6

-0.4

-0.2

0.2

0.4

0.6

0.8

Real Axis

Influence of sampling time

1.4
T=1.5s

1.2

G(s)

1
2

s 0.6 s 1

G ( z ) f (T )

0.8
0.6
0.4

t=20 k=14

0.2
0

10

12

14

1.4

Pole-Zero Map

0.8

0.8

0.6

0.6

T=1.5s

0.4

T=1s

0.4

T=0.5s

0.2
Im
a
g
in
a
ryA
xis

T=1.0s

1.2

T=0.1s

0
-0.2

Z-Plane

-0.4

t=20 k=20

0.2

10

12

14

16

18

20

1.4

-0.6

1.2

-0.8

-1
-1

T=0.5s

0.8

-0.8

-0.6

-0.4

-0.2

0
Real Axis

0.2

0.4

0.6

0.8

1
0.6
0.4
0.2
0

t=20 k=40

Jury Stability Test

Characteristic equation is expressed as follows :
P ( z ) a0 z n a1 z n 1 ... an 1 z an
Jury Table:

bk
ck
qk

an

a n 1 k

a0

a k 1

bn 1

bn 2 k

b0

bk 1

p3

p2 k

p0

pk 1

k 0,1, 2, 3, ...., n 1
k 0,1, 2, 3, ..., n 2

The system will be stable if :

1. an a0
2. P ( z ) z 1 0
3. P( z ) z 1 0 for n even and P ( z ) | z 1 0 for n odd
4. bn 1 b0
c n 2 c0
.
.

.........
..........

q 2 q0
9

Example
Given the characteristic equation : P ( z ) z 4 1.2 z 3 0.07 z 2 0.3 z 0.08 0
Thus, a0 1 a1 1.2
a2 0.07
a3 0.3
a4 0.08
Checking the stability conditions :
1. an a4 0.08 a0 1 satisfied
2. P (1) 1 1.2 0.07 0.3 0.08 0.09 0 satisfied
3. P (1) 1 1.2 0.07 0.3 0.08 1.89 0 satisfied
bk

Jury table :
z0
- 0.08
1
b3

z1
0.3
-1.2
b2

z2
0.07
0.07
b1

z3
-1.2
0.3
b0

b0

b1

b2

b3

c2

c1

c0

z4
1
-0.08

an

an 1k

a0

ak 1

b0

0.08 0.3
0.096 0.3 0.204
1
1.2

b1

0.08 0.07
0.0056 0.07 0.0756
1
0.07

b2

0.08 1.2
0.024 1.2 1,176
1
0.3

b3

0.08 1
0.0064 1 0.9936
1
0.08

c2 0.946

c1 1.184

c0 0.315

b3 0.9936 b0 0.204 satisfied

c 2 0.946 c0 0.315 satisfied
All criteria are satisfied system is stable

10

Exercise1
Given the characteristic equation of a system :
P ( z ) z 3 1.3z 2 0.08 z 0.24 0
Check the stability by Jury test!

11

Exercise 2

Find out the range of K for which the system is stable!

12

Routh-Hurwitz Criterion
P ( z ) a0 z n a1 z n 1 ... an 1 z an w - transform
of bilinear
P ( w)
1 w
z
P ( w) bn w n bn 1wn 1 ... b1w b0 0
1 w
Routh - Hurwitz array :
c1

bn 1bn 2 bn bn 3
bn 1

c2

bn 1bn 4 bnbn 5
bn 1

c3

bn 1bn 6 bn bn 7
bn 1

d1

c1bn 3 bn 1c2
c1
....

Criterion of stability: System is stable if all coefficients in the first

column have the same sign.
13