Dynamic Systems and Control Theory

Lecture 5 : Time Response

[Chapter 4 Nise, Chapter 5 Ogata]

Instructor: Dr. Ayse Tekes

Email: [email protected]
Learning Outcomes
• Use poles and zeros of transfer functions to determine
the time response of a control system
• Describe quantitatively the transient response of first
order systems
• Write the general response of second order systems
given the pole location
• Find the damping ratio, and natural frequency of a
second order system
• Find the settling time, peak time, percent overshoot,
and rise time for an underdamped second order system
 What is Time Response Behavior?
• Since time is used as an independent variable in most
control system, it is usually of interest to evaluate the
output response with respect to time, or simply, the time
response.
• When you design a system, the time response behavior may
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well be the most important aspect of its' behavior.

• How fast the system

is?
• How quickly the
oscillations die out?
• Steady state behavior
?
Points you might worry about include
• How quickly a system responds is important.
• If you have a control system that's controlling a temperature, how long it
takes the temperature to reach a new steady state is important.

• Overshoot and how close a system comes to instability.

- Say you're trying to control a temperature, and you want the
temperature to be 200o C. If the temperature goes to 250o C before it
settles out, you'll want to know that.

• Oscillations in a system are not usually desirable

- If you're trying to control speed of an automobile at 55mph and the
speed keeps varying between 50mph and 60mph, your design isn't very
good.
Points you might worry about include
These are but a few of many different aspects of time
behavior of a system that are important in control system
design.

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The examples above really are talking about aspects like:
• Speed of response
• Relative stability of the system
• Stability of the system
In this chapter…
• we will begin to examine how it is possible to
predict aspects of the time behavior of a system.

• We'll do that by starting with a first order system

and examining the parameters of that kind of
system that control their time behavior.
Poles and Zeros of a Transfer
Function
 Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5 (s+2)/(s+5)

0.4

0.3
(s+2)/(s+10)
0.2

0.1 (s+2)/(s+50)

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (seconds)
 Step Response
10

9
(s+50)/(s+5)

6
Amplitude

3
(s+10)/(s+5)

1 (s+2)/(s+5)

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (seconds)
Conclusion
•
Conclusion : Once again
• The poles of the input give the forced response.
• The poles of the transfer function give the natural
response.
• Real-axis poles: Exponential decay (LHP) or increase
(RHP). Loading…
• Complex conjugate poles: oscillatory response.
• Zeros: Affect amplitudes of the different components
and therefore affect the overall shape of the response.
Example
• Write the output c(t) in general terms. Specify the
forced and natural parts of the solution.
• First Order Systems :

• https://www.facstaff.bucknell.edu/mastascu/eControlH
TML/SysDyn/SysDyn1.html
Time response of first-order systems
• What is a first-order system?
• First order systems are described by first order
differential equations.
Example

First-order differential equation:

dy (t )
τ + y (t ) = Ku (t )
dt
y(t)---output response of the system; u(t)---input to the system

Using Laplace transform and assuming zero initial conditions, we get:

τ sY ( s ) + Y ( s ) = KU ( s )
Y (s) K τ - time constant
Transfer function: G (s) = =
U (s) τ s + 1 K - DC gain
Why learn about first order systems?
– First-order systems are the simplest systems, and
they make a good place to begin a study of system
dynamics.

– First-order system concepts form the foundation

for understanding more complex systems.

– Everything starts here…

A number of goals
• First, if you have a first-order system, you need to
be able to predict and understand how it responds
to an input, so you need to be able to do this.

Given a first-order system

Determine the impulse and step response of the system.

A number of goals
• Secondly, you may go into a lab and measure a
system, and if it is first order, you need to be able
to do this.

Given the time response of a

first order system

Determine the parameters of the system

(time constant and DC gain)
Parameters of a 1-order system

Input u(t) K output y(t)

G (s) =
τ s +1

K, the DC gain of the system, will determine the size of steady

state response when the input settles out to a constant value.
Some example systems
A Resistor-Capacitor Circuit

Differential equation:

Transfer function:
Vout ( s ) 1
G (s) = =
Vin ( s ) RCs + 1
 Some example systems
A Simple Thermal System

In this system, heat flows into a heated space and the

temperature within the heated space follows a first order
linear differential equation.
Differential equation:
dTemp
τ = −Temp + K ⋅ Heatin
dt

Transfer function:
Temp ( s ) K
G (s) = =
Heatin ( s ) τ s + 1
• The systems above come from very diverse places,
including circuit theory, thermal dynamics, etc.
• However, there is a common mathematical description for
all of those systems.
• That's why you need to learn the properties of a general
first-order system.
• When you learn about first-order system dynamics
you are learning a topic that:
• Has applicability to a wide variety of areas
• Is a good introduction to more complex system dynamics,
like second-order systems and more complex systems of
higher order.

• We'll start by learning how a first order system

responds to two inputs:
• unit impulse input
• unit step input
Impulse Response of a 1-Order System
• The impulse response is the response to a unit impulse input .
δ (t )
u (t )
δ (t ) a very intense force
for a very short time

0− 0 0+
•
t
The unit impulse has a Laplace transform of unity (1).

L[δ (t )] = 1
• That gives the unit impulse a unique stature.
 For a first-order systems satisfy this generic differential
equation
dy (t ) τ - time constant
τ + y (t ) = Ku (t )
dt K - DC gain
For a unit impulse input δand (t ) assuming zero initial conditions,
could you calculate its output?
K −t τ
y (t ) = e
τ
The impulse response is the inverse transform of the transfer
function of the above system:
K
G (s) =
τ s +1
Now, we need to examine what the impulse response looks
like…
Example 1
Consider a first-order system with the following parameters.

Time constant τ = 0.1s ; DC gain K = 20

The problem is to determine the unit impulse response of a system that
has these parameters.

Solution. Using the general form of the impulse response of

first –order systems
K −t τ
y (t ) = e
τ
With the parameters above, the impulse response
is: K 20
y (t ) = e−t τ = e − t /0.1 = 200e −10t
τ 0.1
What value does the impulse response start from?
Example 1
Consider a first-order system with the following parameters.
Time constant τ = 0.1s ; DC gain K = 20
The problem is to determine the unit impulse response of a system that
has these parameters.
K − t τ 20 − t /0.1
Solution. y (t ) = e = e = 200e −10t
τ 0.1

Using MATLAB to get its

impulse response
K 20
G (s) = =
τ s + 1 0.1s + 1
>> num=20;
>> den=[0.1 1];
>>
impulse(num,den)
Example 2 Below is the impulse response of a system - i.e. the
response to a unit impulse.

The system starts with an

initial condition of zero just
before the impulse comes
along at t = 0, so y(0-) = 0.

Could you compute the parameters of the system?

 Solution. Transfer function:
The general time response K 44
of a first-order system is
G (s) = =
τ s + 1 2.2 s + 1
K −t τ
y (t ) = e (1) A
τ
From the right figure, we have

at t = 0, y (0) = 20
So we can get
K
= 20 (2) With (2) and (3), we have
τ y (2) = 20e −2/τ = 8
How to get K ?
Pick up a point on the response curve: e −2/τ = 0.4
Solving the equation yields:

A: at t = 2sec; y (2) = 8 −2 / τ = ln(0.4) = −0.9163

K −2 τ (3) τ ≈ 2.2sec K = 20τ = 44
y (2) = e = 8
τ
A few conclusions from examples
• Calculating the impulse response is straight-forward.
• Given the system parameters it is not difficult to calculate - predict -
the response of the system.
• The inverse problem is somewhat more difficult.
• Given a response, you will have to be more inventive to determine
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what the system was that produced the given response - the system
identification problem.
• The underlying theory is the same.
• You use the same general principles to solve both problems, but the
way you have to use the information makes the identification
problem more difficult.
 Step Response of a 1-Order System
• The step response is the response to a step input .
us (t ) ⎧A t≥0
us (t ) = ⎨
⎩0 t<0
us (t )
A When the magnitude of the
step input is 1, it is called a
unit-step input, denoted by
0 . 1(t )
t
• The Laplace transform of 1
1(ist ) L[1(t )] =
• the unit step s
 For a first-order systems satisfy this generic differential
equation
dy (t ) τ - time constant
τ + y (t ) = Ku (t )
dt K - DC gain
For a unit step input u (t ) =and
1(t )assuming zero initial
conditions, could you calculate its output?
τ sY ( s ) + Y ( s ) = KU ( s )
K
1 (τ s + 1)Y ( s ) =
U ( s ) = L[1(t )] = s
s

K ⎛1 τ ⎞
Y (s) = = K⎜ − ⎟ y (t ) = K (1 − e − t /τ )
s (τ s + 1) ⎝ s τ s + 1 ⎠
t =0 y (t ) = 0
Can you imagine what the response looks like?
t →∞ y (t ) → K
Example 3 Consider a first-order system with the following parameters.

Time constant τ = 0.1s ; DC gain K = 20

The problem is to determine the unit step response of a system that has
these parameters.

Solution.

Using the general form of the unit-step response of first –order

systems
y (t ) = K (1 − e − t /τ )

With the parameters above, the impulse response

is:
y (t ) = 20(1 − e − t /0.1 ) = 20(1 − e −10t )
Example 3 Time constant τ = 0.1s ; DC gain K = 20
Solution. Unit-step time y (t ) = 20(1 − e −10t )
response:
Transfer function of the K 20
first-order system: G (s) = =
τ s + 1 0.1s + 1
Using MATLAB to get its
step response
>> num=20;
>> den=[0.1 1];
>> step(num,den)

If we keep τ = 0.1s
but change K,
what will
happen?
Time constant τ = 0.1s ;
DC gain K = 20 → 16 → 10 → 4
 DC gain K = 20
Time constant τ = 0.1s → 0.2 s → 0.3s → 0.5s

Note: the time constant reflects the system inertia. The smaller is the system inertia, the
τ
shorter is and the quicker is the response, vice versa.
Two important properties of the unit-step response of a first-order
system:
a) The time constant canτ be used to calculate the system output
experiment methods
t = τ , y (τ ) = 0.632 y (∞) = 63.3% final value; -- estimate the
time constant
t = 2τ , y (2τ ) = 0.865 y (∞) = 86.5% final value;
--judge whether a
t = 3τ , y (3τ ) = 0.950 y (∞) = 95.0% final value; system is first-order or
not
t = 4τ , y (4τ ) = 0.982 y (∞) = 98.2% final value;

b) The initial slope of the response curve is 1/T and the slope
decreases with time
dy (t ) 1 dy (t ) 1 dy (t )
= , = 0.368 , = 0.
dt t =0 τ dt t =τ τ dt t =∞
It is also a common method to obtain the time constant though the initial
slope in control engineering.
 Unit-step response of a first-order system

y (t )
y (∞ )
y (t ) = K (1 − e − t /τ )
0.632 y (∞)
1
slope =
τ
0 t
τ
Encountering 1-order Systems

Unit-impulse
response:
K −t τ
y (t ) = e
τ
K
G (s) =
τ s +1

Unit-step
response:
y (t ) = K (1 − e − t /τ )
 Rise Time, Settling Time
Rise Time, Tr, is defined as the
waveform to go from 0.1 to 0.9 of
its final value.

Settling Time, Ts, is defined as the

time for the response to reach and
stay within 2% of its final value.
 Find the parameters of the system. Unit
Example
step response is provided !

0.72

• No overshoot

• Nonzero initial slope

First Order System

~ 0.13 sec
 Time response of 2-order systems
• What is a second-order system?
• Second-order systems are described by second-order
differential equations.

Example
A prototype second-order differential equation:
d2 d 2 2
2
y (t ) + 2ζω n y (t ) + ω n y (t ) = ω n u (t )
dt dt

y(t)---output response of the system;

u(t)---input to the system
Using Laplace transform and assuming zero initial conditions,
we get:
s 2Y ( s ) + 2ζωn sY ( s ) + ωn2Y ( s ) = ωn2U ( s )

Transfer function of a second-order system:

Y (s) ωn2
G (s) = = 2
U ( s ) s + 2ζωn s + ωn2
ζ - damping ratio , will determine how much the system oscillates as
the response decays toward steady state.

ωn - undamped natural frequency, will determine how fast the

system oscillates during any transient response
 u(t)
R(s) -t
ED- ((s)

C(s] = R(s) G(s)

Matlab Code:
.

Step Response
C(s) 1
=

1 . GCs)
0.9
H=zpk([],[-7.854 -1.146],9) 0.8

0.7
Step(H)
0.6

Amplitude
Gls]-9s9 +
0.5

0.4
?
Wa 0.3
G(st-
?
s2+ 29WnstWn 0.2

0.1
WhE9 = Wn= 3 radise
0
29wm = 9 = 3 == 0 1 2 3 4
Time (seconds)
5 6 7 8

E = 1 . 5) 1 = overdamped
=
 Step Response
1.4

>> g=tf(9,[1 2 9]); 1.2

>> step(g)
>> grid on 1

0.8

Amplitude 0.6

0.4

0.2

0
0 1 2 3 4 5 6 7
Time (seconds)
Nise, Ex 4.3 Find the damping ratio and natural frequency of the
system:
Pole locations
 For each of the system, find the damping ratio and
Example , Nise 4.4 report the kind of response expected.
 Transient and steady-state response
The time response of a y(t)
control system is
usually divided into
1
two parts:
y (t ) = yt (t ) + yss (t )

Transient response yt (t ) 0 t
-- defined as the part of the time yss (t )
Steady-state response
response that goes to zero as time -- the part of the time response
becomes very large. that remains after the transient has
lim yt (t ) = 0 died out.
t →∞
 Chapter 5: 2nd Order System Examples

100 100
𝐺(𝑠) = = 2
(𝑠 + 20)(𝑠 + 5) 𝑠 + 25𝑠 + 100

Poles:
=
Wn=
Type:

29
𝐻(𝑠) =
(𝑠 + (2 − 5𝑖))(𝑠 + (2 + 5𝑖))
29
= 2
𝑠 + 4𝑠 + 29

Poles:
=
Wn=
Type:
100
𝐿(𝑠) =
𝑠2 + 100

Poles:
=
Wn=
Type:

100 100
(𝑠) = = 2
(𝑠 + 20)(𝑠 + 20) 𝑠 + 40𝑠 + 400

Poles:
=
Wn=
Type:
 Match the following step responses with the possible transfer functions.
100 14 10 1 10
𝐺(𝑠) = 𝑠2 +300 H(𝑠) = 𝑠+25 M(𝑠) = 𝑠2 +30𝑠+225 T(𝑠) = (𝑠+3)(𝑠+10) Y(𝑠) = 𝑠2 +23𝑠+500)

Step Response
Step Response 0.045
0.035
0.04
0.03
0.035
0.025 0.03

Amplitude
Amplitude

0.02 0.025

0.02
0.015
0.015
0.01
0.01
0.005
0.005

0 0
0 0.5 1 1.5 2 2.5 0 0.1 0.2 0.3 0.4 0.5 0.6
Time (seconds) Time (seconds)

1 2

Step Response
0.7

Step Response
0.025 0.6

0.5
0.02
Amplitude

0.4
0.015
Amplitude

0.3

0.01
0.2

0.005 0.1

0 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)

3 4

Step Response
0.6

0.5

0.4
Amplitude

0.3

0.2

0.1

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time (seconds)

5
 Chapter 5: 2nd Order System Examples

100 100
𝐺(𝑠) = = 2
(𝑠 + 20)(𝑠 + 5) 𝑠 + 25𝑠 + 100

Poles:
=
Wn=
Type:

29
𝐻(𝑠) =
(𝑠 + (2 − 5𝑖))(𝑠 + (2 + 5𝑖))
29
= 2
𝑠 + 4𝑠 + 29

Poles:
=
Wn=
Type:
100
𝐿(𝑠) =
𝑠2 + 100

Poles:
=
Wn=
Type:

100 100
(𝑠) = = 2
(𝑠 + 20)(𝑠 + 20) 𝑠 + 40𝑠 + 400

Poles:
=
Wn=
Type:
 Match the following step responses with the possible transfer functions.
100 14 10 1 10
𝐺(𝑠) = 𝑠2 +300 H(𝑠) = 𝑠+25 M(𝑠) = 𝑠2 +30𝑠+225 T(𝑠) = (𝑠+3)(𝑠+10) Y(𝑠) = 𝑠2 +23𝑠+500)

Step Response
Step Response 0.045
0.035
0.04
0.03
0.035
0.025 0.03

Amplitude
Amplitude

0.02 0.025

0.02
0.015
0.015
0.01
0.01
0.005
0.005

0 0
0 0.5 1 1.5 2 2.5 0 0.1 0.2 0.3 0.4 0.5 0.6
Time (seconds) Time (seconds)

1 2

Step Response
0.7

Step Response
0.025 0.6

0.5
0.02
Amplitude

0.4
0.015
Amplitude

0.3

0.01
0.2

0.005 0.1

0 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)

3 4

Step Response
0.6

0.5

0.4
Amplitude

0.3

0.2

0.1

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time (seconds)

5
 Time-domain Specifications
1. Steady-state value: yss
Mp
2. Maximum overshoot: Percent overshoot = ×100%
yss
M p = ymax − yss ;
ymax
3. Peak time: t p Mp error band

How to calculate t?p

4. Rise time: tr 0.
9 yss
5. Settling time: ts

Is there overshoot in the

time response of a first- 0.
order system? 1
tr tp ts
In practical applications, the following criteria
are often used：
Rise time : evaluate the response speed of the system
（quickness)
Overshoot: evaluate the damping of the system
(smoothness)
Settling time: reflect both response speed and
damping
Relationship between the characteristic-equation roots and
the step response
ωn2
A second-order system: G (s) = 2
s + 2ζωn s + ωn2
Its characteristic equation: D ( s ) = s 2 + 2ζωn s + ωn2 = 0

The value of ζdetermines the location of the roots of D ( s ) = 0.

ζ > 1: s1,2 = −ζωn ± ωn ζ 2 − 1 overdamped

ζ = 1: s1,2 = −ωn critically damped

0 < ζ < 1: s1,2 = −ζωn ± jωn 1 − ζ 2 underdamped

ζ = 0: s1,2 = ± jωn undamped

ζ < 0: s1,2 = −ζωn ± jωn 1 − ζ 2 negatively damped

 ωn2
A second-order system: G (s) = 2
s + 2ζωn s + ωn2
j
ζ > 1:
s1,2 = −ζωn ± ωn ζ 2 − 1 overdamped
0

j
ζ = 1: s1,2 = −ωn
0 critically
damped
0 < ζ < 1: j

s1,2 = −ζωn ± jωn 1 − ζ 2

0 underdamped
j
ζ = 0 : s1,2 = ± jωn
0
undampe
 d

ωn2
A second-order system: G (s) = 2
s + 2ζωn s + ωn2
Effects of damping ratio ζ
(for a given ω)n
Overshoot M p
The oscillation is
ζ smaller

rise tr
time
The speed of
the response is
slower

We are confronted with a necessary compromise between the speed

of response and the allowable overshoot.
 Note: In control engineering, except those systems that do
not allow any oscillation, usually a control system is
desirable with
- moderate damping (allowing some overshoot)
- quick response speed
- short settling time

Therefore, a second-order control system is usually designed as an

underdamped system.
 Underdamped second-order system
2 Im
ω n
G( s) = 2 2
s1
s + 2ζωn + ωn ωn
ωd
β
ζ , damping ratio
−σ Re
ωn , natural undamped frequency
s1,2 = −ζωn ± jωn 1 − ζ 2 s2 −ωd

= −σ ± jωd β =?
β = arccos ζ
σ = ξωn , dampting factor
2
ωd = ωn 1 − ζ , damped frequency 1−ζ 2
β = arctan
ζ
 Performance analysis0 <
−ζωnt
Unit-step e
y (t ) = 1 − sin(ωd t + β )， ζ <1
response: 1− ζ 2

1. Rise Time
e wnnttrr
−−ξζω
e sin(ω
⋅sin( ttr + β )) == 0
y (tr ) = 1, that is, 1 − 2 ⋅ w d
d r + β 1
11−
−ζ2
ξ
e −ζ ⋅ωn ⋅tr
≠ 0, ⇒ ωd tr + β = nπ ( n = 0, ±1, ±2,!)
2
1− ζ
π −β π −β
tr = =
tr is the time needed for ωd ωn 1 − ζ 2

the response to reach the

steady-state value for For a given wn， ζ ↓ ，tr ↓ ；
the first time, so n=1. For a given ζ，wn↑，tr ↓ .
Rise Time
 0 <
−ζωnt
e dy (t )
y (t ) = 1 − sin(ωd t + β )， ζ <1 =0
1− ζ 2 dt
2
2 . Peak time dy (t ) ζ ωn
=( + ωn 1 − ζ 2 )e −ζ ⋅ωn ⋅t sin ωd t
dt 1− ζ 2
ωn
= e −ζ ⋅ωn ⋅t sin ωd t=
1− ζ 2
0
∴ sin ωd t p = 0 ⇒ ωd t p = nπ ( n = 0, ±1, ±2,!)

tp is the time needed for π π

ωd t p = π ⇒ t p = =
the response to reach the ωd ωn 1 − ζ 2
maximum value for the
first time, so n=1.
For a given wn， ζ ↓ ，tp ↓ ；
For a given ζ，wn↑，tp ↓ .
 0 <
−ζωnt π π
e t = =
y (t ) = 1 − sin(ωd t + β )， ζ < 1 p
wd wn 1 − ζ 2
2
1− ζ
y (t p ) − y (∞)
3. Overshoot σ% = × 100%
−ζ ⋅ wn ⋅t p y (∞ )
e
y (t p ) = 1 − sin(π + β ) Im
2
1− ζ
ωd
sin(π + β ) = − sin β = − 1 − ζ 2 ωn

−πζ / 1−ζ 2
−σ Re
∴ y (t p ) = 1 + e −ωd
Suppose that y (∞) = 1 1−ζ 2
β = arctan
−πζ / 1−ζ 2
ζ
Thus σ % = e ⋅100%

Overshoot is a function of damping ratio ζ , independent of wn.

 0 <
−ζωnt
e
y (t ) = 1 − sin(ωd t + β )， ζ <1
2
1− ζ
4 Settling Time

With the definition of error band

e −ζ ⋅ωn ⋅t 2
⋅ sin( 1 − ζ ⋅ ωnts + β ) ≤ 0.05 or 0.02
1− ζ 2

ts can not be obtained directly, but we can get the relationship

between wn,ts and ζ. 3
ts ≈ (Δ = 5%)
ζωn
4
ts ≈ (Δ = 2%)
ζωn
 Underdamped Second Order System
π π
tp = =
wd wn 1 − ζ 2

y (t p ) − y (∞)
σ% = × 100%
y (∞ )

π −β π −β 3
tr = = ts ≈ (Δ = 5%)
ωd 2 ζωn
ωn 1 − ζ
4
ts ≈ (Δ = 2%)
ζωn
Example Nise 4.5
Find Tp, Ts, Tr and % OS
Dynamic Systems and Control Theory

Lecture 5 : Time Response Problems

[Chapter 4 Nise, Chapter 5 Ogata]

Instructor: Dr. Ayse Tekes

Email: [email protected]
Example 1 -- > Ogata Ch. 5
• When the system shown in Figure is subjected to a
unit-step input, the system output responds as shown in
Figure (b). Determine the values of K and T from the
response curve.
 Neg Feedback

1) Find the
transfer function

G(s) =

:
Glsi-k =

+) + k

2nd

Ols
Order

?
G(s) =
G(s) =

Winston
Ole
14
Solution

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Example 2 --- > Ogata Ch.5
• Figure shows a mechanical vibratory system. When 2 lb of
force (step input) is applied to the system, the mass
oscillates, as shown in Figure (b). Determine m, b, and k of
the system from this response curve. The displacement x is
measured from the equilibrium position.
Solution

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 Example 3:Antenna Control : Designing a Closed
Loop Response, Nise Chapter 5
— Given the antenna azimuth position control
system, do the following:
A. Find the closed loop transfer function using block diagram
reduction

B. Find the state space representation of the closed loop

system

C. Replace the power amplifier with a transfer function of unity

and evaluate the closed loop peak time, percent overshoot, and
settling time for K=1000.

D. For system C, derive the expression for the closed loop step
response of the system.

E. For the simplified model of C, find the value of K that yields

a 10% overshoot.
 A. Find the closed loop transfer function using block diagram
reduction

The purpose of this system is to have the azimuth angle output of

the antenna follow the input angle of the potentiometer.
 A. Find the closed loop transfer function using block diagram
reduction

The purpose of this system is to have the azimuth angle output of

the antenna follow the input angle of the potentiometer.
 A. Find the closed loop transfer function using block diagram
reduction

The purpose of this system is to have the azimuth angle output of

the antennta follow the input angle of the potentiometer.
A. Find the closed loop transfer function using block diagram
reduction
B. Find the state space representation of the closed loop
system
C. Replace the power amplifier with a transfer function of unity
and evaluate the closed loop peak time, percent overshoot, and
settling time for K=1000.
# =
1

To
fol

Neg Feedback
· = N(s)

0 . 2083K 0 . 2083K

##
N(s) =

N(
= # s+ 1 . 71 is + 0 . 2003K

NCs) =
0 . 2083ki
-

#s2 + 1 71 . Ts + 0 .
2083K

208 3π
if K01000 = N(s)- .

-
Ts + 1 71iTs
. + 208 ,
3
E. For the simplified model of C, find the value of K that yields
a 10% overshoot for a step input.

1000 1
 Problem 74, Nise (Ch.4)

Consider the translational system below. 1 lb force, f(t), is applied at t=0. If fv=1, find K
and M such that the response is characterized by a 4 second settling time and a 1 sec peak
time. Also, what is the resulting percent overshoot?