Recoivections = Gls) Order ef GG? “Highest order of s in the Pedominarer of Gt) QC) = a order = 18 Gls) = GR order = a G6) = xtiesrec , orders 1 Recollechions Poles and Zeres of a transfer Function Consider: Gar= #8 set NG)=0 € Salve the values of S obtained from A6s)=6 ae called zeroes of GG) Recotleckions: : Peles @ Zeros of kransfer function | fe NG)=0 and selve Consider The values of s obtained from NG) =o are called the Qeres of GG), vst BG) =o sole bo obtain the poles of ac) Example Gis) = oes NG) =) bts) = St NG) =o —> 2eres equate 1000 & ears] Bs) = State —> Poles Cauate acs) to een] NOs) = 1 bE) =o Now NGY ds a centtontGo) has no fiatke zeros (0% Algernatively ek As) E541 Via Ee emesany Bere: -2 Pole -4 p< 5 5-10 Example @e) * moter aero - Pole + 2-45 8 ides bshasteaicae de Exam ple Go aio Zero + -> ole = 4-2 preys fe Complex Faramettr Plone S= G4 jw The poles and eres kronsfer funckion con be fa on the S- plane © — symbol fer Zero # — Symbel £ poleGets) Oo the 5-Flane 4) Ail poles by the right hand side ‘of s-plane are ’ unstable 2) Ab Les to the lefé hal plone, ore stable et 3) RY pelts on the \maginary 36" \nai cake if Raby a morg vail S plone gets he ideo of how shakle 0 gle is et _performan Fuet order system Consiaer [ay = ha] the’ pole 2ere fore Go) -E-t Ke bine consent Ts aT foe Foc the step _respense uGye 3 K Yor= He 8 + sae Sek 2s &.4-*. 2 £4-%. ste eR Aes oe FT reoveced sane dee bivcee Bleesytare; yd = oreo LO) = Ky yee) che large Hime constant makes eygstem slow Fer respense to rise ere fo 63.7% of final cvet from response from tole + Te = + Time for system be reach and remain with 2% of final velue Ter ote Six sktady state error > The Ble) Error? that femaing ence syste hos settled =~ pen leop Clesed Leop 2” order system Vs) = gaia Wn 7? Natural frequency ¢ System f i 4 ; € -> damping factor sek STH EWS 4 Wet = (6-50-52) Fackorise Si=- Ey + Ware Sa > €vdn~ yoo Ve Wo Ire ad (eteted twee TH) we = NE FD 2 = BEWs @ dvr B= k tes -EWn ean Hee reelz)+ 2 Alrese Sees yyrsey Sart pytsat am ple 20) > oats Step Response yi a SS soln tse)sin (Wate) eres) *¥%6)= sri Wn => & =os Ewn =I ws Skee Response ye & Ui pin titszt 9) } © = cos Cos) Sketch ol ical__2° order Skip Teens. ~ Tae Response Second Order closed loop system We Maximum oversheot => measured as a percentage (He) Tes Rise Time => Time dake fer 4 response ke © Om loll. we ade ge ren Te Peak Time =7 Lime required be reach peak overshoot Tes Settling Time => bine Laken for systeny to ceadh and remain within the talerance bond Tee Sy CIE. ert et at 088 411) Te= wa TR Wa = Wa TeeTe lo 05 = ¢7 FE) mice Ss, » Gm = 22 EW, r WN my Note: % 0S = 100. eR € Sometimes, the at) Vi 24 ty? RB) tolerance band of “FS% is used =e VG) = ereests— abtain 0 2 2) a 5) 6) 7” Q ) wa & Wd Dominant Pole Pair 1 _ 1% of. 0s sketch skep cespense System 2Ey & -03s cers of the ee Ts = Vegosssee Dominant pales © ~2-1 Ej s- bres Seto ole yO = l= 10brs oF Eoin (eros e+ EtSI24) cy Te Werentacs ee The Dominant Poles, S-Plane ond ime indices Recall Dominant Poles - Ewa t Wa fire Vs = SCR Pe Wr REP = eae Ae Dre = Alwat = Wy8 ue" Ce) @ = Coste) Sisu have tue real roots. Ts € Te > meaning less on thy 5-Plane sy at “fae ae . 6 cos") cos6 > SPE * For each saond-erder pole S = f LE. ,Wn wa) 5 $C, Wn ats (€, 489) Nso: Ts, Te, Te => f CE, uh) %/e OS = Ce) The 5-1 E Vines lone Consist of constant Constant We ciceles NEa = Coser smaller angle fo reduce Keonping, Gector bose @ trgte) of Time _fespense untae ~ under damped - when underdamped , they are characterised by E, Wa Which gives us, Te, Te, Ts ~ We can in essence medi de “Ene response by changing 2, WaBest Damping = x & oe Ol, — May be system dependant Everything Before was Transcieat Response STEAby STATE ERROR Errar ect) = ¥(t)-gtt) TLE) is the reference input Recall te) = rh Ercor e@ = WHASy Note = Ets) = f OR, GG) pols * 8G) => S step ~ position + ramp © de =8) —> velocity exror due te ramp function Tepresents your velocity errer * RG = BH > Parabelic Os acceleration STEABY STATE ERROR eceoy = Cy = Hel ect) = lin, secs) eco = ES RBs = 8. aeh Tage of & system GQ) = anit 6.6 = wes Gsts) =el) 2 RG) = $ > position | Exomele ecoy = fim, | Gwe) = san = 53, reer | Ket Uptmy 2 = reper : Re se eo) = ej Me ES, 6) pte) © ais =0 where (Kp) —> positional error “ ® pee: ERROR Bue to A RAMP FAPUT teers ich Fada tse ere ae BF of a Preaeea cP ‘dt Ue) = IM gay ~ she eae) ~ a = ar ce : te SESE sty GE) = ° i i : 1 ote Freer = WK S60) Sites see i) fora type 0 system GG) = Gaxnay g=0 | We Piece =i 26 fame Input by Cy = ee Ke Velccity error constantType-6 Kyz0; Cos = Type t Kv Teonstant | ess #6 Type Kv =e? 7 ey m6 croc due to parabolic _tapat AG) = ety = Vt. pg = > lia L Lo. Fey G) for a typere system GG) = Tangoar- koe {s+ ueara 70 farabolic Tnoeut OO) = eG Ke s acceleration constant Type-e Ex (or) = 00 Tes Gar) Fo" are constand vy Fs See Typers Kare; eae) 20 Qe tt Kontrotlec Design Contereiiee aay Frequency Response ~indites “ef performance Go) = cys) =? Complex 1G Ga) Loge) t — different Frequencyg é v @e)> $8 = wire lake =e pobre, Ree Go) = 2Sscr 6Qe) = eeps \eqa)\ > aeSasee QC§O) = ao" ~ tan CE Bu Vaget | LOcja) dey mee oot S6-5s° 0.0% oor 2716s" 0.08 p.oeas Butts" oN 0-094 16-57 08 | wets (eee He Os oO” re Ot 0 eon 20 | 0.0484 Veo | or