:

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Response of Dynamics Systems
.


."
.
" ) "(Step Change .
" ) " " (Impulse ) " (Ramp "
) " (Sinusoid . " "
. ""
. " "
.
.

Page 1 of 27

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Response of a First Order System to an Impulse Change

) Y (s
K
=
U (s ) Ts + 1

1 :
:

= ) G (s

U (s ) = 1
) Y (s
K
=
1
Ts + 1
K
= ) Y (s
Ts + 1
= ) G (s

.
5
.
:

K t T
y (t ) = e
T
t . 0
) y(t K/T . ) y(t
. T 36.8% K/T ) K/T(100e-1 2T
13.5% 3T 5% K/T 4T 2% K/T . 4T"
.
:

Page 2 of 27

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)(
Response of First Order System to a Step Change

. :

1
s

= ) U (s

= ) Y (s

K
)s (Ts + 1
K
KT
Y (s ) =
s Ts + 1
:

y (t ) = K 1 e t T

0 ) y(t 0
K K . " " y(t) . T
63.2% ) 100 (1-e-1 K 86.5% K 2T 95%
K 3T 98% K 4T .
:

Page 3 of 27

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y u
) y(t"
. 5
K+5 .

First Order System Identification

) ( .
.
.
30% 50%
) ( 20% .

Page 4 of 27

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)( . ) (Gain
Change in output/change in input
.:

40 30
= 0.5
50 30

=K

63% .

10
6.3 " 10 .
10 :

0.5
10s + 1
)( 2
Dynamic Response of Second Order Systems

) (Damper
.
) ( n . )(
:

d2y
dy
2
2
+
2

y
=
K

u
n
n
n
2
dt
dt

) (damping ratio
K u y
. :

K n2
) Y (s
= ) G (s
= 2
U (s ) s + 2 n s + n2

Step Response

Page 5 of 27

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1
s

= ) U (s

K n2
= ) Y (s
s s 2 + 2 n s + n2

A1
A2
1
Y (s ) = +
+
s s p1 s p2
:

y (t ) = 1 + A1e p1t + A2 e p2t

p1 p2 ) (poles
2
2
s + 2 n s + n = 0 :

2 n 4 2 n2 4 n2
2

= p1 and p2

= n n 2 1
A1 A2 :

K
2

K
2

K
2 2 1

A1 =

K
2 2 1

= A2

) y(t 3 2 .
p1 p2 .

>1

. over damped

=1

. critically damped

< 1 . oscillatory or under damped

p1 p2 .

Page 6 of 27

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> 1 :

([

])

K
K
y (t ) = 1 +
exp n + n 2 1 t
2 2 1 2

([

])

K
K
+
exp n n 2 1 t
2 2 1 2

= 1 :

K n2
) y (t ) = K 1 e nt (1 + n t
= ) Y (s
2
) s (s + n

< 1 :

n t
y (t ) = K 1 e
cos d t +
sin d t
2

d = damped natural frequency = n 1 2

1
.
.

Page 7 of 27

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Impulse Response

U (s ) = 1
K n2
Y (s ) = 2
s + 2 n s + n2
:

A1
A2
+
s p1 s p2
:

= ) Y (s

y (t ) = A1e p1t + A2 e p2t

Root Locus

0 .

) p2 (p1
.

0 :

s + 2 n s + n = 0
2

Page 8 of 27

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p1 & p 2 = n n 2 1
0 p2 p1

j n

j 1 . 1 p2 p1

n ...

p1 & p2 = n n 2 1

= 0 p i = j n

0 < < 1 pi = n j n 1 2

.

1 p1 & p 2 0

p2 p1

1 2
= tan

) (Root Locus .
" " (Under damped-
) Second Order System .
:

0 < < 1 s = n j n 1 2
Page 9 of 27

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s = j d

" "

d = n 1 2

" .

" "

"

= cos 1

Relations Between Poles and System Response

. :
.
+ /
.
pt
pt
y (t ) = A1e 1 + A2 e 2
.

.
) (dominant poles .

:
Tutorial Questions

.1 R .

.2 .

2
10s + 1
Page 10 of 27

= )G(s

a.

_____________________________________________________________________________

5
G(s) = 2
s + 2s + 1
1
G(s) = 2
s + 2s + 8

b.

c.

.3
.

.4 :

)50(s + 1)(s + 2
s 2 + 5s + 40 s 2 + 0.03s + 0.06

()

= ) G (s

.
.5 :

) dy(t
) + y (t ) = Ku (t
dt

T K ) u(t ) y(t )
( . ) (t = 0 y(t) .
.

Page 11 of 27

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Determining Response Characteristics

. :
: Rise Time, tr 0
. over damped 10%
90% 5% 95% .
: Peak Time, tp
) ( overshoot.

) (

: Maximum Overshoot, Mp

1
1 :

) (c(t p ) c
100%
) (c

= MP%

: Settling Time, ts
) " 2% 5% ( .
:

.
2 :

Page 12 of 27

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Peak Time, tp :

dy dt = 0 ::

sin d t

cos d t

) dy (t

n t
= K n e
cos d t +

dt

sin t + d
d
d
1

n t

+e

n
) dy (t
t
) = K (sin d t p
e np =0
dt t =t p
1 2

sin d t p = 0 d t p = 0, ,2 ,3
) (Peak Time, tp ) ( overshoot :

= dt p = t p

: Maximum Overshoot, Mp
:

100%

y (t p ) K
K

= Mp

100%
sin

M p = e n ( d ) cos +
2

1 2

M p = 100e

n d = 1 1 2
: Rise Time, tr
.:

n t r

y (t r ) = K = K 1 e
cos d t r +
sin d t r
2

e ntr 0

:
Page 13 of 27

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sin d t r = 0

cos d t r +

cos d t r :

tan d t r = 0

1+

1
1 1
tan
=tr

10% 90%
.
: Settling Time, ts
.
" + / 2 to 5% .

%overshoot < x % :

y (t ) K
K

%overshoot = 100

cos t +
sin d t s 100
d s
2

d t s .:

nt s

x = e

x
= e d ts
100
) ln ( x 100
ts =

x = 2%

3.9

= ts

Summary

Page 14 of 27

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= Peak Time t p : t p

Maximum Overshoot M p :
1 2

for 0 0.6

M p = 100e

or M p 1

0.6
Rise Time t r :

1
1 1
or t
tan
= tr
r

d
2 d

) ln ( x 100
Settling Time t s : t s =

Tutorial Question

.6 ) (rise time
.

Page 15 of 27

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-1 :
(
.
(
) (Mason
.

G2

G1

+
+

H2
+
+

G3

H3

:
+

G2

G1

G2
1 G2 H 2

H2
+ Y
+

= G2

G3

G3
1 G3 H 3

H3

G2
1 G2 H 2

G1

G3
1 G3 H 3

Page 16 of 27

= G3

_____________________________________________________________________________

G2

G1 1 +
1 G2 H 2
Y

=
R

G2 G3

1 + G1 1 +
1 G2 H 2 1 G3 H 3

G2

G1 1 +
1
G
H

2
2

G3
1 G3 H 3

) G1 (1 G2 H 2 )(1 G3 H 3 ) + G1G2 (1 G3 H 3
Y
=
R (1 G2 H 2 )(1 G3 H 3 ) + G1G3 (1 G2 H 2 ) + G1G2 G3
4

12356 p1 = G1G2

+
5

G2
= G2
1 G2 H 2

12346 p2 = G1
:
L1 = G1G3

2347

L2 = G1G2 G3

2357

G2

G1
3

G3
1 G3 H 3

= G3

p + p2
) G1 (1 + G2
Y
= 1
=
) R 1 + L1 + L2 1 + G1G3 (1 + G2
G3 .

) G1 (1 + G2
Y
=
) R 1 + G1G3 (1 + G2

-2
) T (t
.:
( :

) G (s ) = 2 (s ) T (s
( ) (%Overshoot; Mp ) (settling time; ts
) (peak time; tp ) 2 (t

Page 17 of 27

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: .
. .
:
k

D
J

) T1 = Ds (1 2

T2 = k 2

T(s) T1 = Js 21

T1 T2 = 0
T = k
2
2

T(s) = Js 21 + Ds1 Ds 2

0 = Ds 2 Ds1 + k 2

T(s) Ds (1 2 ) = Js 21

Ds (1 2 ) = k 2

) T (s ) = Js 21 (s ) + Ds1 (s ) Ds 2 (s
) 0 = Ds 2 (s ) Ds1 (s ) + K 2 (s

) T (s ) = s 2 + s 1 (s ) s 2 (s

) (s + 1) (s
2
s

= ) 1 (s

) ) (s +s 1) (s ) s (s
2

1
s + s +1
2

T (s ) = s 2 + s

) 2 (s
)T (s

= )G (s

Page 18 of 27

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Kn2
= )G ( s
s + +2 n s + n2

n = 1 K = 1
= 0.5

:
:

100 = 16.3%

2
1

%OS = M P = e

=8
:

= 3.63
-
dc .
K1 K 2
0.5 sec ) ( P.O.

). ( 0.5 < P.O. < 2 %

= Ts

n 1

= TP

K1
)s (s + 1

)Y ( s

_+

)R( s

1 + K2s

: :

K1
K1
K1
)s (s + 1
= )T (s
=
= 2
K (1 + K 2 s ) s(s + 1) + K1 (1 + K 2 s ) s + (1 + K1 K 2 )s + K1
1+ 1
)s(s + 1
:

=
d n 1 2

) : ( PeakTime : TP

): (OverShoot : P.O.

Page 19 of 27

= TP

P .O . = 100exp
1 2

_____________________________________________________________________________

2:
s + 2 n s + = s + (1 + K1 K 2 )s + K1
2

) (1 + K1 K 2 ) = (1 + K1 K 2
2 K1

2 n

= 2 n = (1 + K1 K 2 )

TP 0.5 s : P.O. < 2%

2
n

n = K1

and

= 0.5

< 0.02

n 1

exp
1 2

0.5

K1 1

2 2

)< ln(0.02
< 3.912
< 15.304
2
2
2
1
1
1

)
MathCad Script( :

) n = K1 and 2n = (1 + K1 K 2

= 0.78
n = 10.313 rad / s
:
K 2 = 0.142

& K1 = 106.349

Page 20 of 27

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n := 2
:= 0.5
Given

0.5
2

n 1

) < ln( 0.02

2
1

n
) := Find( n ,

n 10.313
=

0.78

(2 n) 1
K1

=K2 :

K2 = 0.142

K1 := n

K1 = 106.349

- 2
K
Pr ocess
GC ( s ) = K s .
Control
n2

n = 24
= 0.919 .
:

) Y (s

s 2 + 2 n + n2

) GC ( s

_+

)R(s

( )T (s
( )(s
( o K

Page 21 of 27

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K n2
)K (24
=
)s ( s 2 + 2 n s + n2 ) + K n2 s ( s 2 + 9s + 24) + K (24

= )T ( s

( s ) = s ( s 2 + 9s + 24) + K (24) = s 3 + 9 s 2 + 24s + 24 K

24
)s ( s 2 + 9s + 24
n P = 3 and n Z = 0
0 = 1+ K

24
24 K

1
9
24 24 K 9

24 K
24 K
0 24
K 9
9
9s 2 + 9 24 = 0 s = j 24

s3
s2
s1
s0

p i = 0, 4.5 j 24 (4.5) 2
z i = , ,
4.5 4.5
= A
= 3
3
A = 60 ,180 ,300

) K ( s ( s 2 + 9s + 24) 24
=
=0
s
s
0 = 3s 2 + 18s + 24 = s 2 + 6s + 8 s1 , s2 = 2, 4
Break away :

Angle : n 2 = P1 P 2 P 3

P 2 5 6 2 n 2 = 3 = 60
P 2 = 0.87 2 + n 2 = 66.7

- .
.

Page 22 of 27

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: :

K
s 2 + 2 n s + n2

= )G(s

.
13.85 11
= OS %
100 = 25.9%
11

13.85

Td

:
:

2
1

OS % = 100 e

= OS

= Ts

100

13.85 11
11

Ts := 2.7s
OS

C final = 11
K:

=OS :

100

=
2

= n

Page 23 of 27

ln

4
Ts

= :

OS
+ ln

100

=n :

4
n

Ts

_____________________________________________________________________________

= 11 K = 11 3.82 = 154.8 s 2

K
2
n

154.8
s 2 + 3.04s + 14.44

= )G(s

:
. "

.
500 kW
12000 rpm 5%
. f = 0.1 J = 1 K1 = 0.5
:
(
(
(
) Td (s

) (s

1
Js + f

1
s

10
s + 10

) R (s
+

K1
:
( :

10 1 1

10
) (s
s + 10 s Js + f

Assume T d (s ) = 0
=
=
) R (s
10 1 1 s (s + 10)(Js + f ) + 10
1+

s + 10 s Js + f

Page 24 of 27

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) (s
)s (s + 10
Js + f

=
=
Assume R (s ) = 0
) T d (s
10 1 1 s (s + 10)(Js + f ) + 10
1+

s + 10 s Js + f
10
)s (s + 10
= ) (s
R (s ) +
) T d (s
s (s + 10)(Js + f ) + 10
s (s + 10)(Js + f ) + 10
: Td ( s ) = 0

10
s ( s + 10)( Js + f ) + 10

) (s
)R( s

xi

) (s

x1

1
Js + f

x2

1
s

x3

10
s + 10

x4

) R (s
_ +

K1
:

x1 =

f
1
1
= x1 x2 = Js x1 + f x1 = J x1 + f x1 x1 = x1 + x2
Js + f
J
J
1
x3 = x 2 x3 = s x 2 x3 = x 2 x 2 = x3
s
10
x4
= x3 10 x4 = s x3 + 10 x3 10 x4 = x3 + 10 x3 x3 = 10 x3 + 10 x4
s + 10
x4 = R K1 x1
x2

x3 = 10 x3 + 10 x4 x3 = 10 x3 + 10( R K1 x1 ) x3 = 10 K1 x1 10 x3 + 10 R
:

Page 25 of 27

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x1 =
f
1
x1 + x2
J
J

x1 =

x 2 = x3
x3 = 10 K1 x1 10 x3 + 10 R
:

0 x1 0
1 x2 + 0

10 x3 10 R

1
J
0
0

x1 J
x = 0
2
x3 10 K1

x1
= [1 0 0] x2
x3

: Mathlab

.
%State Space
;f=0.1;J=1.0;K1=0.5;R=1
;]A=[-f/J 1/J 0;0 0 1;-10*K1 0 -10
;]B=[0;0;10*R
;]C=[1 0 0
;]D=[0
;)sys=ss(A,B,C,D
)T=tf(sys
%Block Diagram
;)]G1=tf(10,[1 10
;)]G2=tf(1,[1 0
;)]G3=tf(1,[1 0.1
;)sys1=series(G1,G2
;)sys=series(sys1,G3
)Tb=feedback(sys,0.5
>>
Transfer function:
10
--------------------------s^3 + 10.1 s^2 + s + 5

Page 26 of 27

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Transfer function:
10
--------------------------s^3 + 10.1 s^2 + s + 5
.
( :
:Mathlab
%State Space
;f=0.1;J=1.0;K1=0.5;R=1
;]A=[-f/J 1/J 0;0 0 1;-10*K1 0 -10
;]B=[0;0;10*R
;]C=[1 0 0
;]D=[0
syms s
;))I=eye(size(A
G=inv(s*I-A)*B
:
=G
[
])100/(10*s^3+101*s^2+10*s+50
])[ 10*(10*s+1)/(10*s^3+101*s^2+10*s+50
])[ 10*(10*s+1)*s/(10*s^3+101*s^2+10*s+50
:
:

( s) = s + 10.1s + s + 5
2

Page 27 of 27