Lecture - 6: Transient Response
Lecture - 6: Transient Response
Lecture - 6: Transient Response
Lecture 6
Lecture Objectives
To learn & study How to find the time response from the transfer function
Transient &
Steady-state
How to use poles and zeros to determine the response of a control system How to describe quantitatively the transient response of firstand second-order systems
Response
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The output response of a system is the sum of two responses: the forced response and the natural response.
s+2 C (s) = s ( s + 5) c(t ) = 2 3 5t + e 5 5
Many techniques, such as solving a differential equation or taking the inverse Laplace transform, to evaluate this output response, are laborious and time-consuming. If the technique is so rapid that we feel we derive the desired result by inspection, sometimes use the attribute qualitative to describe the method. The use of poles and zeros and their relationship to the time response of a system is such a technique, which gives us a qualitative "handle" on problems. The concept of poles and zeros simplifies the evaluation of a systems response.
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Poles of a transfer function: The poles of a transfer function are (1) the values of the Laplace transform variable, s that cause the transfer function to become infinite or (2) any roots of the denominator of the transfer function that are common to roots of the numerator. Zeros of a transfer function: The zeros of a transfer function are (1) the values of the Laplace transform variable, s causes the transfer function to become zero, or (2) any roots of the numerator of the transfer function that are common to roots of the denominator.
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C (s) =
s+2 A B = + s( s + 5) s s + 5
2 / 5 3/ 5 C ( s) = + s s+5
c (t ) =
2 3 5t + e 5 5
A pole of the input function generates the form of the forced response (that is, the pole at the origin generated a step function at the output). A pole of the transfer function generates the form of the natural response (that is, the pole at -5 generated e-5t) A pole on the real axis generates an exponential response of the form e-t, where - is the pole location on the real axis.
The zeros and poles generate the amplitudes for both the forced and natural responses
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forced response
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If the input is a unit step, where R(s) = 1/s, the Laplace transform of the step response is
a 1 1 C ( s) = = s( s + a) s s + a
Taking the inverse transform, the step response is given by
c(t ) = c f (t ) + cn (t ) =
forced response
1 {
natural response
e at {
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At time t = 1/a
c (t ) = 1 e 1 = 0.63
Time Constant, : Time it takes to rise 63% of final value. Rise time, Tr: Time to go from 10% to 90% of final value. Settling time, Ts: Time to reach within 2% of final value.
EEE312_L2
di 1 t Vs = L + Ri + idt dt C t0
d 2 i R di i + + =0 2 dt L dt LC
R 1 s + s+ = 0 L LC
2
s1, 2
R 1 R = 2L 2 L LC
2 s1, 2 = 2 0
=
0 =
R 2L
1 LC
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s1, 2
a a a 2 4b a = = 2 2 2
( b)
2 = + 2 n
a = = damping factor 2
n = b = natural frequency
Critically damped : Overdamped : Underdamped Undamped : :
a = = dampingratio = n 2 b
2 n G(s) = 2 2 s + 2 n s + n
=1 >1 <1 =0
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24 G ( s) = 2 s + 24
a 2 b
0 =0 2 24
Undamped
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Ans:
c(t ) = 1
1 1
2
e nt cos n 1 2 t
where
= tan
1 2
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References
1. Norman S Nise, Control System Engineering, John Wiley & Sons, 5th Ed., pp. 153221. 2. Katsuhiko Ogata, Modern Control Engineering, Prentice Hall, 5th Ed., pp. 158268.
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Next class
Transient Stability