Second Order 2
Second Order 2
Second Order 2
Transfer function:
T represents the time required for the system response to reach 63.2% of the
final value. T is referred to as the Time Constant of the system
The time response of a control system consists of two parts: the transient and the
steady-state response. Transient response corresponds to the behavior of the system
from the initial state to the final state. By steady state, we mean the manner in which
the system output behaves as time approaches infinity.
Settling time ts: time required for the response curve to reach and stay within 2% or
5% of the final value. Is a function of the largest time constant of the control system.
Transient Response
Transient Response
For a step input, the transient response can be characterized by:
Rise time tr: time required for the response to rise from 10% to 90% for overdamped
systems, and from 0% to 100& for underdamped systems
Since
2% Settling time:
2 % Settling Time
5% Settling time:
5 % Settling Time
Transient Response
zetavec = linspace(0.3,1,501);
tvec = linspace(0,30,1001);
ind = 1;
for zeta = zetavec,
sys = tf([1],[1 2*zeta 1]);
[y,t] = step(sys,tvec);
err = 1-y;
ii = find(abs(err) > 0.02);
tind(ind) = t(max(ii))*zeta;
ind = ind+1;
end;
plot(zetavec,tind);
Routh Stability Criterion
Consider the closed loop transfer function of the form:
If any of the coefficients are zero or negative in the presence of at least one positive
coefficient, there is a root or roots which are imaginary or which have positive real
parts.
If all the coefficients are positive, arrange the coefficients of the polynomial in rows and
columns according to the pattern:
Routh Stability Criterion
sn a0 a2 a4 a6
sn-1 a1 a3 a5 a7
sn-2 b1 b2 b3 b4
sn-3 c1 c2 c3 c4
sn-4 d1 d2 d3 d4
s2 e1 e2
s1 f1
s0 g1
Routh Stability Criterion
Rouths stability criterion states that the number of roots of the system G(s) with
positive real parts is equal to the number of changes in the sign of the coefficients of
the first column of the array.
The necessary and sufficient condition that all poles of G(s) lie in the left half plane is
that all the coefficient of the denominator of G(s) be positive and all terms in the first
column of the array have positive signs.
Special Case:
If a first-column term in any row is zero, but the remaining terms are
not zero or there is no remaining term, then the zero term is replaced by a
very small positive number and the rest of the array is evaluated.
If the sign of the coefficient above the zero is the same as that below it, it indicates
that there are a pair of poles on the imaginary axis.
Routh Stability Criterion
Special Case:
If all the coefficients in any derived row are zero, it indicates that
there are roots of equal magnitude lying radially opposite in the s-plane, eg.
two real roots with equal magnitudes and opposite signs and/or two
conjugate imaginary roots
In such a case, the evaluation of the rest of the array can be continued by forming an
auxiliary polynomial with the coefficient of the last row and the coefficients of the
derivative of this polynomial in the next row
Routh Stability Criterion
One change in sign, implying one pole with a positive real part. Solving the
characteristic equation, we have:
Assuming m = k =1, the transfer function relating the input u to the output x1 is:
Assuming a PD controller:
Routh Stability Criterion
The closed loop system can be represented as:
The requirement:
Results in a stable controller for all gains which satisfy the inequality constraints:
Routh Stability Criterion
Consider the flow control problem, with a transfer function:
H(s)
Static Error Coefficients
For a type 1 or higher system, the static position error coefficient Kp is:
The steady state error is finite for a type 0 system and is zero for system of type 1 or
higher.
Static Velocity Error Coefficients Kv
For a type 2 or higher system, the static velocity error coefficient Kv is:
The steady state error is infinite for a type 0 system, finite for a type 1 system and is
zero for system of type 2 or higher.
Static Acceleration Error Coefficients Ka
The steady state error is infinite for a type 0 & 1 system, finite for a type 2 system and
is zero for system of type 3 or higher.
Static Error Coefficients