College of Electrical and Mechanical

Engineering
Department of Electrical Engineering
EE-371 : Control Systems
Week 3 Lecture 1
(Transfer Functions of Rotational Systems)
Chapter #01
Text Book: Design of Feedback Control System by R. T. Stefani
4th Edition

Instructor: Dr. Sarmad Majeed Malik

1
Transfer Functions for Rotational
Mechanical Systems

2
 Mechanical Rotational Systems
The mechanical rotational systems are treated in the same way as the
mechanical translational systems with the following changes:
•Mass (M) is replaced by moment of inertia (J)
•Force (F) is replaced by Torque (T)
•Displacement ‘X’ by angular displacement ‘θ’

3
 Examples
Mechanical Rotational Systems -
Applications

4
Steam Turbine Blades
6
Summary of elements involved in linear mechanical systems

7
8
 
τ
J
d 2 (t ) d (t )
T (t )  J 2
B  K time domain
B dt dt

K T (s)  Js 2  Bs  K s  domain

9
Example

Physical system

Schematic

Block diagram

10
 Final free-body
diagram for J1

Torques on J1 due only Torques on J1 due only

to the motion of J1 to the motion of J2

 1  D1s  K 1 (s)  K2 (s)  T (s)

J s 2

11
 Final free-body
diagram for J2
Torques on J2 due only Torques on J due only
2
to the motion of J2 to the motion of J1

 K1 (s)   J 2 s  D2 s  K 2 (s)  0

2

12
  1  D1s  K 1 (s)  K2 (s)  T (s)
J s 2

 K1 (s)   J 2 s 2  D2 s  K 2 ( s)  0



 J1s 2  D1s  K  K   ( s)  T ( s) 
 1    

 K  2
 
J 2 s  D2 s  K   2  
( s ) 0 

13
 

 J1s 2  D1s  K  K   ( s)  T ( s) 
 1    

 K  2
 
J 2 s  D2 s  K   2  
( s ) 0 


 J1s 2  D1s  K  K 
A 

 K  
J 2 s  D2 s  K 
2
AB  C
 ( s )  T ( s ) 
1
B   1 ;
 2 ( s) 
C
 0 

BA C

syms s J1 D1 K T J2 D2 theta1 theta2;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0];

14
%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0]; G1 =

B=inv(A)*C; K/(D1*K*s + D2*K*s + D1*D2*s^2 + D1*J2*s^3 + D2*J1*s^3 +

theta1=B(1); J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)
theta2=B(2);

G1 = theta2/T; G2 =
G2 = theta1/T;
(J2*s^2 + D2*s + K)/(D1*K*s + D2*K*s + D1*D2*s^2 +
D1*J2*s^3 + D2*J1*s^3 + J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)

K
G1 

s J1 J 2 s 3  ( D1 J 2  D2 J1 )s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K ) 
J 2 s 2  D2 s  K
G2 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K )  15
%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

J1=1; J2=1, D1=1; D2=1;K=1;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];

B=[theta1; theta2];
C=[T; 0];

B=inv(A)*C;
theta1=B(1);
theta2=B(2);
G1 =
1/(s^4 + 2*s^3 + 3*s^2 + 2*s)
G1 = theta2/T;
G2 = theta1/T;
G2 =
(s^2 + s + 1)/(s^4 + 2*s^3 + 3*s^2 + 2*s)

16
Generalized Expressions

17
19
 From lecture 01
Control Systems (Example)
Consider an elevator. When the fourth-floor button is pressed,
the elevator rises to the fourth floor with a speed and floor-
leveling accuracy designed for passenger comfort.

Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.

Passenger comfort and passenger patience are dependent

upon the transient response

20
Transfer functions represent linear, time-invariant systems

After obtaining a mathematical representation of a subsystem,

the subsystem is analyzed for

transient and steady-state responses

to find out
if these characteristics yield the desired behavior.

This chapter is devoted to the analysis of system transient

response
21
 Analysis of models to find

the step response of

first- order and second-order systems.

(order refers to the order of the differential equation

representing the system)

22
Standard test inputs used in Control Systems

23
Laplace transform
table for the standard
test inputs

24
Poles of a Transfer Function

The poles of a transfer function are the values of the Laplace

transform variable, s, that cause the transfer function to
become infinite.

Zeros of a Transfer Function

The zeros of a transfer function are the values of the

Laplace transform variable, s, that cause the transfer
function to become zero.

25
Poles and Zeros of a First-Order System:
C (s) s  2
G (s)  
R( s) s  5
1
R( s) 
s
1  s  2 A B
C (s)   
s  s  5 s s  5 1
Step Response

A
 s  2  2 ; B
 s  2 
3
 s  5  s 0 5
0.9
s s 5
5
0.8

2 3
C ( s)  
Amplitude
5 5 0.7

s s5 0.6

2 3 5t
c(t )   e
0.5

5 5 0.4
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)
26
27
If the input is a unit step,
R(s) = 1/s
Laplace transform of the step response is C(s)
a A B
C ( s)  R( s)G( s)   
s s  a s s  a
a
A 1
 s  a  s 0
1  1 B
a
 1
C ( s)   s s  a

s sa
Step response in time domain is:

c(t )  c f (t )  cn (t )  1  e at
28
 Impulse Response
1

 at
c(t )  c f (t )  cn (t )  1  e 0.9

0.8
a=5;
num =[0 1];
0.7 den=[1 a];

‘a’ is the only parameter

0.6 G=tf(num,den);

Amplitude
0.5 impulse(G)
needed to describe the transient 0.4 grid
0.3

response of first order system 0.2

with unity gain. 0.1

When t → 1/a
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)

Step Response
 at 1
 e  0.37
1

e 0.9
t 1/ a 0.8

0.7

0.6 a=5;
Amplitude
0.5 num =[0 a];
 at
c(t ) t 1/ a  1  e den=[1 a];
0.4

0.3 G=tf(num,den);
0.2 step(G)
 1  0.37  0.63 0.1 grid
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds) 29
 VC ( s) 1 1
  RC
V ( s) RCs  1 s  1 RC
L

V ( s )  LsI ( s )  RI ( s ) VR ( s) 1 R

R   L

L  V (s) L
s  1 s  R
V ( s )   s  1 VR ( s ) R L

R 

x(t)
X ( s) 1 1
f(t)   B

F ( s) B s  K s  K B
B
b0
G( s) 
s  a0 30
 Step Response
2
b0
G (s) 
s  a0 1.8

1.6
b0

a0
1.4
1
a0 s 1 1.2
Amplitude
k

1

 s 1 0.8
G1=?
0.6
figure(1)
k=2; 0.4 G2=?
tc=[0.1 0.5 1];
for n=1:3
0.2
G3=?
0
num=[0 k]; 0 1 2 3 4 5 6
den=[tc(n) 1]; Time (seconds)
  0.1
sys=tf(num,den);  1
step(sys);   0.5
hold on
end
31
grid
 b0 Step Response
G (s)  2

s  a0 1.8

b0 G1=?
1.6

a0
1
a0 s 1 1.4 G2=?
1.2
k G3=?
 Amplitude

 s 1
1

0.8
figure(2)
tc=1; 0.6

k=[.5 1 2]; 0.4

for n=1:3
0.2
num=[0 k(n)];
den=[tc 1]; 0
0 1 2 3 4 5 6
sys=tf(num,den); Time (seconds)
step(sys);
hold on
end
grid 32
Time response of first-order systems without zero
• First-order systems - Example

Pole =1/=-a0
X
S = -a0

1
Vc ( s ) Cs 1
 
V ( s) R  1 RCs  1
Cs
 = RC (sec); K=1 33
Transient Response Specifications

Time Constant, Tc

Rise Time, Tr

Settling Time, Ts

http://www.facstaff.bucknell.edu/mastascu/econtrolhtml/S
ysDyn/SysDyn2.html
34
 t e-t/
0 1
 0.3679
2 0.1353
3 0.0498
4 0.0183
5 0.0067

c(t )  1  e  at
dc(t )  at
 ae  a
dt t 0 35
 C(s) b 1
G(s)   a
Time Constant, Tc R (s) s  a 

The time constant can be

described as the time for e-at
to decay to 37% of its initial
value

OR

The time it takes for the step

response to rise to 63% of
its final value

36
Rise Time, Tr
The time for the response
to go from 0.1 to 0.9 of its
final value

Settling Time, Ts
The time for the response
to reach, and stay within,
2% of its final value

37
 Transient Response Specifications
• Time constant, 
– The time for e-at to decay 37% of its initial value. 1

• Rise time, tr a
– The time for the response to go from 0.1 to 0.9 of its final value.

c(t )  1  e at c(t )  .1 Calculate for 2.2

difference in time
tr 
c(t )  .9 a

• Settling time, ts
– The time for the response to reach, 4
Let c(t) = .98 and ts 
and stay within 5% of its final value. solve for time t a

38
First-Order Transfer Functions via Testing
b0
G( s) 
s  a0

Final value  0.72

63% of 0.72  .45

  0.14
a0  1  7.14

b0 / a0  0.72
b0  7.14  0.72  5.14

39
First order system response
Im(s)

Re(s)
First order system response
Im(s)

Unstable

Re(s)
First order system response
Im(s)

Unstable

Re(s)
-1
First order system response
Im(s)

Unstable

Re(s)
-2
First order system response Im(s)

Unstable
faster response slower response

Re(s)

constant
45