Control Systems

Dynamic Response
Transfer function: Whats for?
In control design, the transfer function is
used for:

analyzing the dynamic response of
the system to different inputs.

defining the dynamic model of the
system in block diagram
Introduction to Block Diagram
It represents the mathematical
relationships between the elements of the
system.
The transfer function of each component
is placed in box, and the input-output
relationships between components are
indicated by lines and arrows.
) ( ) ( ) (
1 1 1
s Y s G s U =
Transfer function
Block Diagram Reduction
An overall input/output transfer function can be
obtained from the block diagram by applying
some block diagram reduction rules.
Series rule:


Feedback rule:
G
1
(s) G
2
(s)
G
1
(s) G
2
(s)

G(s)
H(s)
) ( 1
) (
s GH
s G
+

+ _
Block Diagram Reduction
Feedback rule derivation:
G(s)
H(s)
+ _
R(s)
E(s)
C(s)
) ( ) ( 1
) (
) (
) (
)] ( ) ( ) ( )[ ( ) (
) ( ) ( ) (
) ( ) ( ) ( ) (
s H s G
s G
s R
s C
s C s H s R s G s C
s E s G s C
s C s H s R s E
+
=
=
=
=
This is a rule
that is used
extensively.
then
and
Stability

The most important characteristic of
the dynamic response is absolute
stability, that is, whether the system is
stable or unstable.

A system is:
stable if its transient response decays
&
- unstable if it does not decay.
Stable and Unstable Systems
Stable
t = 0 t
Dynamic Response of a Stable System
It consists in two parts:

the transient response
&
the steady-state response

(also called final state or final value)

By transient response, we mean that which goes
from the initial state to the final state.

By steady-state response, we mean the manner in
which the system output behaves as t
approaches infinity.

Dynamic Response Analysis
Initial value can be
determined from the
Initial Value Theorem

Final value can be
determined from the
Final Value Theorem
Stable
It can be analyzed using
the poles and zeros of the
output in the s-domain

) ( lim ) ( lim
0
s sF t f
s t
=
) ( f ) s ( sF lim
s
0 =

Initial state
If Final state exits
Transient response
Pole and Zero Definitions
In an input-output system from x(t) to y(t)
whose transform function has the form:



The poles are the values of s for which
a(s) = 0,
and
the zeros are the values of s for which
b(s) = 0.

) s ( a
) s ( b
) s ( X ) s ( G ) s ( Y ) s ( G
) s ( X
) s ( Y
= = =
Connection between the t- and s-
domains
Consider an input-output system from x(t) from y(t) whose the
dynamic model has the form:



The transfer function is defined by:


) t ( x b ... ) t ( x
dt
d
b ) t ( y a ... ) t ( y
dt
d
a ) t ( y
dt
d
m
m
m
n
n
n
n
n
+ + = + + +

0
1
1
1
) s ( X b ... ) s ( X s b ) s ( Y a ... ) s ( Y s a ) s ( Y s
m
m
n
n n
+ + = + + +

0
1
1
n
n n
m
m
a ... s a s
b ... s b
) s ( X
) s ( Y
) s ( G
+ + +
+ +
= =
1
1
0
0
1
1
= + + +

n
n n
a ... s a s
Characteristic Equation
Poles of G(s) Roots of the Characteristic Eq
Significance of poles
Each of the pole values can be identified with a
particular type of response. For instance:

A simple real pole p = 2 for Y(s) [i.e. Y(s)=1/(s - 2) + ]
produces a growing y(t) = C e
2t
+
A simple pair of imaginary poles p = 4j produces a
sinusoidal response y(t) = K
1
cos(4t) + K
2
sin (4t)
A simple pair of complex poles p = -
0
j
0
(1 -
2
)
1/2

[that is p= - j
d
with =
0
and
d
=
0
(1 -
2
)
1/2
]
produces a decaying response of the form:

( )
( ) t sin A t cos A e ) t ( y
t sin A t cos A e ) t ( y
d d
t
t
e e
, e , e
o
,e
2 1
2
0 2
2
0 1
1 1
0
+ =
+ =

Significance of poles (contd)

The nature and value of the poles determine whether
the system is stable or instable, and the type of
response

The nature and value of any pole is classified as a
function of its location in the plan defined by:
the Real part and Imaginary part of the pole
[or in other words the s-domain]
Im(s)
Re(s)
Representation of a pole p
i

in s-domain.
In rectangular coordinates,
the poles are at (-,
d
)
e o j p =
Consider a linear system
having 2 poles:
Significance of a zero
Consider an input system from x(t) from y(t) whose
the dynamic model has the form:




The transfer function is defined by:



) s ( X b ) s ( sX b ) s ( Y a ... ) s ( Y s a ) s ( Y s
n
n n
1 0
1
1
+ = + + +

n
n n
a ... s a s
b s b
) s ( X
) s ( Y
) s ( G
+ + +
+
= =
1
1
1 0
) t ( x b ) t ( x
dt
d
b ) t ( y a ... ) t ( y
dt
d
a ) t ( y
dt
d
n
n
n
n
n
1 0
1
1
1
+ = + + +

Input defined by a
first order diff eq
Zero modifies the coefficients of the exponential terms whose
shape is governed by the poles.
Dynamic Response versus Pole
Locations
The dynamic response of a system to an impulse input is
the natural response

Consider a linear system whose the transfer function has
n poles:

The general form of the natural response varies as a
function of the pole locations (i.e., the values of
i
and
di
)

| | ) t sin( B ) t cos( A e ) t ( y
i
d i
i
d i
n
i
t
i
e e
o
=

1
. j p
i
d i i
e o + =
Simple Real Pole p = -o
The natural response is
of the form:

K is given by the
initial condition
Assuming K > 0:


Location in s-domain:







t
e K ) t ( y
o
=
0 > o if 0 < o if
) (s Re
) (s Im
0 < o if
0 > o if
) (t y
t
Note: since e = 0, y(t) is located on
the real axis.
Simple Real Pole
Assuming K >0, if o >0:







Location in s-domain:








Note: Since e = 0, y(t) are
located on the real axis.
t
Ke ) t ( y
o
=
) (s Re
) (s Im
) (t y
t
) (t y
t
stable stable
o
y(t) decays
Effect of the value of o >0:
y(t) decay
Simple Real Pole
Assuming K >0, if o <0:







Location in s-domain:








Note: Since e = 0, y(t) are
located on the real axis.
t
Ke ) t ( y
o
=
) (s Re
) (s Im
) (t y
t
) (t y
t
unstable unstable
o
y(t) grows
Effect of the value of o <0:
y(t) grow
Simple Real Pole p = 0
The natural response is
of the form:

B is given by the
initial condition
Assuming B > 0:


Location in s-domain:







B t y = ) (
) (s Re
) (s Im
) (t y
t
Note: since o = 0 and e = 0, y(t) is
located on the origin.
unstable
Simple Pair of Imaginary Poles
p = je
d
The natural response is
of the form:

A and B are given by
the initial conditions
Assuming A > 0, B > 0:


Location in s-
domain:







) t sin( B ) t cos( A ) t ( y
d d
e e =
) (s Re
) (s Im
) (t y
t
Note: since o = 0, y(t) is located on
the imaginary axis.
0 = o
Simple Pair of Imaginary Poles
Assuming A > 0, B >0:







Location in s-domain:









) (s Re
) (s Im
) (t y
t
) (t y
t
unstable
e
y(t) oscillates
forever
Effect of the value of o < 0:
) t sin( B ) t cos( A ) t ( y
d d
e e =
y(t) oscillate
unstable
unstable
e
t 2
Note: In the case o = 0, the system is
said unstable or critically stable.
unstable
Simple Pair of Complex Poles p = -o je
d
The natural response is
of the form:

A and B are given by
the initial conditions
Assuming A >0, B > 0:


Location in s-
domain:







| | ) t sin( B ) t cos( A e ) t ( y
d d
t
e e
o
=

0 > o if 0 < o if
) (s Re
) (s Im
0 < o if
0 > o if
) (t y
t
stable unstable
stable unstable
Summary
Transient Response vs Simple Pole
Locations
) (s Re
) (s Im
) (t y
) (t y
) (t y
t
t
t
) (t y
t
) (t y
t
) (t y
t
Stability Criterion vs Pole
Locations
) (s Im
Unstable
Stable
) (s Re
The locations of poles in s-domain determine
whether the system is stable or unstable.
Stability Criterion based on
the Pole Locations

A system is stable if all its poles have
negative real parts
(i.e., they are all strictly inside the left-side
s-plane)
and unstable otherwise

1. Determine which of the following open loop systems are stable:

a.
) 2 )( 1 (
1
) (
+ +
=
s s
s G

b.
1
1
) (

=
s
s G

c.
) 4 )( 1 (
) 1 )( 2 (
) (
+ +
+
=
s s
s s
s G

d.
4 3
1
) (
2
+
+
=
s s
s
s G



2. A system has an open loop transfer function given by
4 4
) (
2
+
=
s s
K
s G

Determine the closed loop transfer function if the feedback transfer function is unity.

For a gain value of 1 is the system stable or unstable?

Examples
1.
a.
) 2 )( 1 (
1
) (
+ +
=
s s
s G

Comparison with the standard form of transfer function in pole format:
) )( (
1
) (
2 1
p s p s
s G

=

gives
2 , 1
2 1
= = p p
, i.e.
2 , 1
2 1
= = p p
.
Both these poles have negative real parts, hence the system is stable

b. Unstable
c. Stable (ignore numerator terms)
d. Factorisation of the denominator gives one unstable pole


2. A system has an open loop transfer function given by
4 4
) (
2
+
=
s s
K
s G

Determine the closed loop transfer function if the feedback transfer function is unity.

For a gain value of 1 is the system stable or unstable?

Solutions
Stability Determination
Example
3. A simple positional control system is required for the
mass spring damper system is shown in figure 1.

a. Obtain a time domain model for the open loop
system from first principles, relating the system
output (x) to the system input (F)

b. Using Laplace Transforms, convert your time
domain model in to a frequency domain model
(transfer function)

c. If m = 1 kg, c = 4 Ns/m and k = -2 N/m, determine
whether the open loop transfer function is stable or
unstable.

d. Obtain the closed loop transfer function x/x
d
from
first principles (using symbols)

e. Calculate the value of gain required to ensure
stability. H=1.

f. At what value of gain will the system start to show
oscillatory behaviour?

K
H
F
x
x
c
k
m
x
d
control
system
gain
+
-
E
x
f
Figure 1
Damping Ratio & Undamped
Natural Frequency
0
Consider a 2
nd
-order system whose the transfer function is:



We wish to study the dynamic response to an unit-step input
(that said an input x(t)=u(t) such as L{x(t)}=X(s)=1/s).
Note: a response to an unit-step input is called unit-step
response.
a response to an impulse input is called impulse
response, etc
.
s s
) s ( H
2
0 0
2
2
0
2 e ,e
e
+ +
=
Damping Ratio & Undamped
Frequency
0
(contd)
1. If 0 < , <1 (complex poles):
The system is underdamped.

2. If , = 1 (equal real poles): the system is critically damped

3. If , > 1 (negative real and unequal poles) : the system is
overdamped.


The character of the transient unit-step response depends on
the pole locations.
Unit-Step Response vs. ,
Note that two 2
nd
-order
systems having the
same , but different e
0

will exhibit the same
overshoot and the same
oscillatory pattern.
An underdamped system
with 0.5 < <0.8 gets
close to the final value
more rapidly than a
critically damped or
overdamped system.
Time Constant
The time constant is the time when
the response is 1/e times the initial
value:

o t
o
/ 1
1
= =
t
e
e
Hence, is a measure
of the rate of decay.
t
e
o
t
1
1/e

Block Diagram Reduction
An overall input/output transfer function can be
obtained from the block diagram by applying
some block diagram reduction rules.
Series rule:


Feedback rule:
G
1
(s) G
2
(s)
G
1
(s) G
2
(s)

G(s)
H(s)
) ( 1
) (
s GH
s G
+

+ _
Block Diagram Reduction
Feedback rule derivation:
G(s)
H(s)
+ _
R(s)
E(s)
C(s)
) ( ) ( 1
) (
) (
) (
)] ( ) ( ) ( )[ ( ) (
) ( ) ( ) (
) ( ) ( ) ( ) (
s H s G
s G
s R
s C
s C s H s R s G s C
s E s G s C
s C s H s R s E
+
=
=
=
=
This is a rule
that is used
extensively.
then
and