Lecture 3 .

Understanding of First &

Second Order Systems

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 Outline

The Time-Domain Performance of Feedback Systems

❑ Test Input Signals

❑ Performance of Second-Order System

❑ Effects of a Third Pole and a Zero on the Second-Order System Response

❑ The s-Plane Root Location and the Transient Response

❑ The Steady-State Error of Feedback Control Systems

❑ System Simulation Using Matlab

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 Overview
❖ Easy control and adjustment of the transient and steady-state response of a control system is a distinct
advantage of feedback control systems;
❖ To analyze and design a control system, we must define and measure its performance, the controller
parameters may be adjusted to provide the desired response which is often described by design
specifications.
❖ Control systems are inherently dynamic, their performance is usually specified in terms of both the transient
response the steady-state response.
- Transient response is the response that disappears with time;
- Steady-state response is the response that exists for a long time following an input signal initiation.

Closed-loop System

𝒀(𝒔) 𝑮𝒄 𝑮
𝑻 𝒔 = =
𝑹(𝒔) 𝟏 + 𝑮𝒄 𝑮𝑯

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 Test Input Signals
Control systems are inherently time-domain systems, so the system transient or time
performance is the response of prime interest for control systems.
▪ Is the system stable? (will be discussed in the following lectures)
▪ If stable, how to measure and compare the performance of several competing designs?
- Provide several measures of performance (response time, percent overshoot etc.)
- Test the system by standard test input signals.

Three Standard Test Input Signals

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 Test Input Signal in Time and s-Domain
▪ There is a reasonable correlation between the response of a system to a standard test input and the
system’s ability to perform under normal operating conditions.

▪ Many control systems experience input signals that are very similar to the standard test signals.

Step Ramp Parabolic

Impulse

𝒓 𝒕 = 𝒕𝒏
𝒏!
𝑹 𝒔 =
𝒔𝒏+𝟏
except for impulse input:
𝑟 𝑡 = 𝛿 𝑡 ,𝑅 𝑠 = 1
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 Second-Order System
𝐺 𝑠
𝑌 𝑠 = 𝑅(𝑠)
1+𝐺 𝑠

𝝎𝒏 𝟐 𝜔𝑛 : Natural Frequency;
𝒀 𝒔 = 𝟐 𝑹(𝒔) 𝜁: Damping Ratio.
𝒔 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝒏 𝟐

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 Time Response to Impulse Input

𝑅 𝑠 =1

𝜔𝑛 2
𝑌 𝑠 = 2
𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

𝝎𝒏 −𝜻𝝎 𝒕
𝒚 𝒕 = 𝒆 𝒏 𝐬𝐢𝐧(𝝎𝒏 𝜷𝒕)
𝜷

where 𝛽= 1 − 𝜁2,

0 < 𝜁 < 1.

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 Time Response to Step Input

1
𝑅 𝑠 =
𝑠
𝜔𝑛 2 1
𝑌 𝑠 = 2
𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2 𝑠

𝟏 −𝜻𝝎 𝒕
𝒚 𝒕 = 𝟏− 𝒆 𝒏 𝐬𝐢𝐧(𝝎𝒏 𝜷𝒕 + 𝜽)
𝜷

where 𝛽= 1 − 𝜁2,

𝜃 = cos −1 𝜁

0 < 𝜁 < 1.

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 Standard Performance Measures
Standard performance measures are often defined in terms of the unit step response of the
closed-loop system.
Peak Value: 𝑀𝑝𝑡 Peak Time:
𝜋
Final Value: 𝑓𝑣 =1 𝑇𝑝 =
1 𝜔𝑛 1 − 𝜁 2
Time Constant: 𝜏=
𝜁𝜔𝑛 Rise Time:
2.16𝜁 + 0.60
𝑇𝑟1 =
𝜔𝑛
(0.3 < 𝜁 < 0.8)

2% Settling Time:
4
𝑇𝑠 ≅
𝜁𝜔𝑛

Percent Overshoot:
−𝜁𝜋
൘
𝑃. 𝑂. = 100𝑒 1−𝜁 2

𝑀𝑝𝑡−𝑓𝑣
𝑃. 𝑂. = × 100%
𝑓𝑣

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P.O. and Normalized Peak Time vs. 𝜻

Need
Compromise!

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Effects of 𝝎𝒏 and 𝜻 on The Step Response
with 𝜁 =0.2, different 𝜔𝑛 with 𝜔𝑛 = 5, different 𝜁

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 Example
Consider the following system, select gain K and the parameter p so that the time-domain specifications to a
unit step input are satisfied.
▪ Specifications: 2% settling time 𝑇𝑠 ≤ 4 𝑠; and percent overshoot 𝑃. 𝑂. ≤ 5%.

Step 1. Transfer function:

𝐾 𝜔𝑛 2
𝑇 𝑠 = 2 (= 2 )
𝑠 + 𝑝𝑠 + 𝐾 𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2
2𝜁𝜔𝑛 = 𝑝, 𝜔𝑛 2 = 𝐾
Step 2. To satisfy settling time requirement:
4
≤4 𝜁𝜔𝑛 ≥ 1
𝜁𝜔𝑛
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Step 3. To satisfy the P.O. requirement:

𝑃. 𝑂. ≤ 5% 𝜁 ≥ 0.69

Step 4. Choose suitable values:

Can choose 𝜁𝜔𝑛 = 1 𝑝=2

𝜔𝑛 = 2
1
𝜁 = 0.707 = 𝐾=2
2
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Specifications and Root Locations

𝐾
𝑇 𝑠 = 2
𝑠 + 2𝑠 + 2
Poles: −1 ± 𝑗1

𝜔𝑛 2
𝑇 𝑠 = 2
𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

Poles:
𝑝1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2

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 The s-Plane Location and The Transient Response
Transfer function for a closed-loop system can be written as:
𝑌(𝑠) σ 𝑃𝑖 (𝑠)∆𝑖 (𝑠)
𝑇 𝑠 = =
𝑅(𝑠) ∆(𝑠)

Characteristic equation of the system: ∆ 𝑠 = 0

For a unit feedback control system: ∆ 𝒔 = 𝟏 + 𝑮𝒄 𝒔 𝑮 𝒔 = 𝟎

Time response of a system depends on the poles and zeros of its transfer function 𝑇 𝑠 ; while
for a closed-loop system, the poles of are the roots of the characteristic equation: ∆ 𝑠 .

Transfer function:

𝑌(𝑠) 𝐺𝑐 𝑠 𝐺(𝑠)
𝑇 𝑠 = =
𝑅(𝑠) 1 + 𝐺𝑐 𝑠 𝐺 𝑠 𝐻(𝑠)

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 Time Response of System: General Form
If the system (with DC gain = 1) has no repeated roots, its unit step response can be
formulated as a partial fraction expansion as:
𝑀 𝑁
1 𝐴𝑖 𝐵𝑘 𝑠 + 𝐶𝑘
𝑌 𝑠 = +෍ +෍ 2
𝑠 𝑠 + 𝜎𝑖 𝑠 + 2𝛼𝑘 𝑠 + (𝛼𝑘 2 + 𝜔𝑘 2 )
𝑖=1 𝐾=1

where 𝐴𝑖 , 𝐵𝑘 and 𝐶𝑘 are constants; the roots of the system must be either
𝑠 = −𝜎𝑖 or 𝑠 = −𝛼𝑘 ± 𝑗𝜔𝑘
The transient response can be obtained by inverse Laplace transform:
𝑀 𝑁

𝑦 𝑡 = 1 + ෍ 𝐴𝑖 𝑒 −𝜎𝑖𝑡 + ෍ 𝐷𝑘 𝑒 −𝛼𝑘 𝑡 sin(𝜔𝑘 𝑡 + 𝜃𝑘 )

𝑖=1 𝑘=1

exponential
Steady-state terms Damped sinusoidal
output terms
where 𝐷𝑘 is a constant depends on 𝐵𝑘 , 𝐶𝑘 , 𝛼𝑘 and 𝜔𝑘 .

For the response to be stable (bounded for a step input) – the real part of the poles
must be in the left-hand portion of the s-plane.
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Step Response for Various Root Locations in the s-Plane

𝒚 𝒕 = 𝟏 + ෍ 𝑨𝒊 𝒆−𝝈𝒊 𝒕
𝒊=𝟏
𝑵

+ ෍ 𝑫𝒌 𝒆−𝜶𝒌 𝒕 𝐬𝐢𝐧(𝝎𝒌 𝒕 + 𝜽𝒌 )
𝒌=𝟏

(𝑠 = −𝜎𝑖 ) (𝑠 = −𝛼𝑘 ± 𝑗𝜔𝑘 )

(The conjugate root is not shown in

this figure.)

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 Root Location and System Design

▪ It is important for the control system designer to understand the complete relationship of the
frequency domain representation of a linear system, the poles and zeros of its transfer
function, and its time-domain response to step and other inputs;

▪ In such areas as signal processing and control, many analysis and design calculations are
done in the s-plane, where a system model is represented in terms of the poles and zeros of
its transfer function;

▪ The control system designer will envision the effects of the step and impulse response of
adding, deleting, or moving poles and zeros of 𝑇(𝑠) in the s-plane;

▪ An experienced designer is aware of the effects of zero locations on system response. For
example, moving a zero closer to a specific pole will reduce the relative contribution to the
output response. In other words, if there is a zero near the pole at 𝑠 = −𝜎𝑖 , then 𝐴𝑖 will be
much smaller in magnitude.

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The Steady-State Error of Feedback Control System

One of the fundamental reasons for using feedback, despite its cost and increased
complexity, is the attendant improvement in the reduction of the steady-state error of the
system. Consider a unit negative feedback system (𝐻(𝑠) = 1), in the absence of external
disturbances (𝑇𝑑 𝑠 = 0) and measurement noise (𝑁 𝑠 = 0), tracking error is:

1
𝐸 𝑠 =𝑅 𝑠 −𝑌 𝑠 = 𝑅(𝑠)
1 + 𝐺𝑐 𝑠 𝐺 𝑠

Using the final value theorem, the steady-state error is:

1
lim 𝑒 𝑡 = 𝑒𝑠𝑠 = lim 𝑠 𝑅(𝑠)
𝑡→∞ 𝑠→0 1 + 𝐺𝑐 𝑠 𝐺 𝑠

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 Steady-State Error to Step Inputs

❑ Step Input of magnitude 𝐴:

𝐴ൗ 𝐴
𝑠
𝑒𝑠𝑠 = lim 𝑠 =
𝑠→0 1 + 𝐺𝑐 𝑠 𝐺 𝑠 1 + lim 𝐺𝑐 𝑠 𝐺 𝑠
𝑠→0

The loop transfer function can be written in general form as

𝐾 ς𝑀
𝑖=1(𝑠 + 𝑧𝑖 )
𝐺𝑐 𝑠 𝐺 𝑠 = 𝑄 where 𝑧𝑖 ≠ 0, 𝑝𝑘 ≠ 0.
𝑠 𝑵 ς𝑘=1(𝑠 + 𝑝𝑘 )

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 Steady-State Error to Step Inputs
The number of integration indicates a system with type number that is equal to
𝑵, which determines the steady-state error of the system.

Given the position error constant: 𝐾𝑝 = lim 𝐺𝑐 𝑠 𝐺 𝑠

𝑠→0

𝐴
▪ For a type-zero system (𝑁 = 0): 𝑒𝑠𝑠 =
1 + 𝐾𝑝

𝐴 𝐴𝑠 𝑁
▪ For a type-N system with 𝑁 ≥ 1: 𝑒𝑠𝑠 = lim = lim = 0.
𝑠→0 ς 𝑧𝑖 𝑠→0 𝑁 ς 𝑧𝑖
1+𝐾 𝑁 𝑠 +𝐾
𝑠 ς 𝑝𝑘 ς 𝑝𝑘

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 Summary Table

❖ The control system error constants 𝑲𝒑 , 𝑲𝒗 and 𝑲𝒂 , describe the ability of a system to reduce or eliminate the
steady-state error. Therefore, they are utilized as numerical measure of the steady-state performance. The designer
determines the error constants for a given system and attempts to determine methods of increasing the error
constants while maintaining an acceptable transient response.
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 Exercise 1
A robotic arm and camera could be used to pick
fruit. The camera is used to close the feedback
loop to a microcomputer, which controls the arm.
The transfer function for the process is

𝐾
𝐺 𝑠 = 2
𝑠+4
(a) Calculate the expected steady-state error of the
gripper for a step command 𝐴 as a function of K.

(b) Name a possible disturbance signal for this

system.

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Exercise 1

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System Performance Simulation Using Matlab
The impulse and Step function.

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27
The lsim function.

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 Additional Exercise

Textbook (“Modern Control Systems” by Dorf & Bishop, 13th edition), chapter 5:
Skills check:
pg. 375-378, all
- answers in pg.395;
Additional:
E5.2, E5.3, E5.4, E5.7, E5.13, E5.18

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