19/03/2014

1
Mechanical Engineering Science 8
Dr. Daniil Yurchenko
Response of a second
order system
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2
Remote position controller
A device which is used to position an
inertia load according to a desired angular
position from a remote point.
Input, u
i

Angular
position,
Output, u
o

Position
transducer
Error unit
c Electric
Motor
Inertia, J
Viscous friction, F
Torque, m
u
o





motor
Inertial load
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3
Remote position controller
Desired angular position input to error unit
Error unit subtracts actual angular position to
give error signal
Error signal passed to electric motor which
generates a torque directly proportional to error
voltage applied to it
Such a system is known as a proportional action
controller since the controlling action (motor
torque in this case) is directly proportional to
system error
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4
Remote position controller
Open loop descriptions of system elements
Motor

Where K is a constant of proportionality & m is
the motor torque
Thus motor torque is proportional to error.
Leads to

c K m=
K
m
=
c
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Remote position controller
Applying Newtons second law to inertial
load

Where F is viscous friction constant and J
is mass moment of inertia of load
Re-arranging

2
2
dt
d
J
dt
d
F m
O O
u u
=
m
dt
d
F
dt
d
J
O O
= +
u u
2
2
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6
Remote position controller
Applying L-transform and assuming zero ICs






This may be represented by the system block
diagram in the next slide
( ) Fs Js M +
=
O
2
0
1
] [
2
2
m L
dt
d
F
dt
d
J L
O O
=
(

+
u u
) ( ) ( ) (
0 0
2
s M s Fs s Js = O + O
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Remote position controller
The system closed loop equation
GH 1
G
Function Transfer
+
=
is
K

+
-
uo
Proportional
Controller
( ) Fs Js +
2
1
M
ui
1 ;
2
=
+
= H
Fs Js
K
G
O i
u u c =
K Fs Js
K
Fs Js
K
Fs Js
K

i
+ +
=
+
+
+
=
2
2
2
0
1
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Remote position controller
The relationship between system output
and the error is

and

Re-arrange to give system characteristic
equation:


) ( ) ( ) ( s E s s
i O
O = O
( )
) ( ) (
2
s
Fs Js
K
s
O
E
+
= O
( ) ( ) ) ( ) (
2 2
s Fs Js s E K Fs Js
i
O + = + +
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Standard forms
Similar to the standard form concept we
studied when we worked with vibrating
systems. In this case system natural
frequencies and damping ratios will be
made up of a mixture of mechanical and
electronic components rather than springs,
masses & dampers
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Characteristic equation


Or



Leads to standard form



( ) ( )
i
Fs Js s E K Fs Js O + = + +
2 2
) (
) ( ) (
2 2
s s
J
F
s s E
J
K
s
J
F
s
i
O
|
.
|

\
|
+ =
|
.
|

\
|
+ +
( ) ( ) ) ( 2 ) ( 2
2 2 2
s s s s E s s
i n n n
O + = + + ,e e ,e
where
J
K
n
= e
and
KJ
F
J
F
n
2
2 = = , ,e
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Similarly the governing equation becomes


Or



Leading to the standard form
( ) ) ( ) (
2
s K s K Fs Js
i O
O = O + +
( ) ) ( ) ( 2
2 2 2
s s s s
i n O n n
O = O + + e e ,e
) ( ) (
2
s
J
K
s
J
K
s
J
F
s
i O
O = O
|
.
|

\
|
+ +
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12
Control system response
This can be defined using 2 parameters,
the error and the output
O
.
The error response can be obtained from
solving the characteristic equation for a
specified input and the output response
comes from solving the governing
equation for a specific input.
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Control system response
Both the error and the output can each be
considered to be the sum of two components:
a transient response and a steady state
response.
The transient response is the complementary
function solution to the describing equation
and the steady state response is the particular
integral solution (c.f. first order systems)
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Control system response
Thus for the error:

For a satisfactory control system we
should have:

And

state steady transient total _
c c c + =
0 =
state steady _
c
transient
c
Should be of minimum duration and
may need to have limited overshoot
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Control system response 1)unit step
As before the input is defined as:


We will use the remote position controller
as an example.
First we will investigate the error response
of this system.
( ) 0 0 < = t t
i
, u ( ) 0 1 > = t t
i
, u
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Control system response 1)unit step
Repeating the characteristic equation:


L-transform of the unit step response is:


Rearranging:
| |
s
t U L s
i
1
) ( ) ( = = O
( ) ( ) ) ( ) (
2 2
s Fs Js s E K Fs Js
i
O + = + +
( )
( ) s K Fs Js
Fs Js
s E
1
) (
2
2
+ +
+
=
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Control system response 1)unit step
Thus:


The steady-state error can be easily obtained
by using Theorem 3 (Lecture 3):





Thus,
( )
( ) s K Fs Js
Fs Js
s E
1
) (
2
2
+ +
+
=
) ( lim ) ( ) ( lim
0
s sQ q t q
s t
= =
( )
( )
0 lim ) ( lim ) (
2
2
0 0
=
+ +
+
= =

K Fs Js
Fs Js
s sE e
s s
st st
0 =
state steady
c
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Control system response 1)unit step
The system response will depend on the
value of
To show that lets get the characteristic
equation, which is obtained by assuming
zero input:


Thus:

0 2
2 2
= + +
n n
s s e ,e
( ) 0 ) ( 2
2 2
= O + + s s s
O n n
e ,e
,
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Control system response 1)unit step
This is a quadratic with solution:


Consider 3 cases:
1
2
= , e ,e
n n
s
1 0 < s,
1 = ,
Underdamped
Critical
1 > , Overdamped
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Control system response 1)unit step
Case
Both roots are real:


Then
1 , 1
2
2
2
1
= + = , e ,e , e ,e
n n n n
s s
1 > ,
( )
( )( ) 1 1
2 ) (
) (
2 2
2
2 2
2
+ + +
=
=
+ +
=
O
O
, e ,e , e ,e
e
e ,e
e
n n n n
n
n n
n
i
O
s s
s s s
s
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Control system response 1)unit step
For unit step response



Which can be written as


Using the table of inverse L-transform
1 > ,
( )( )
s
s s
s
n n n n
n
O
1
1 1
) (
2 2
2
+ + +
= O
, e ,e , e ,e
e
( )( ) b s a s s
s
n
O
+ +
= O
2
) (
e
| | ( )
(

+ = O =
bt at
n
O O
ae be
b a ab
s L t
1
1 ) ( ) (
2
1
e
u
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Control system response 1)unit step

Which after simplification gives:



Then the error is:



And the

1 > ,
|
|
.
|

\
|

+ =

2 1
2
2 1
1 2
1 ) (
s
e
s
e
t
t s t s
n
O
,
e
u
|
|
.
|

\
|

= =

2 1
2
0
2 1
1 2
) ( ) ( ) (
s
e
s
e
t t t
t s t s
n
i
,
e
u u c
0 ) ( lim = =

t
t
state steady
c c
No Vibrations
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Control system response 1)unit step
Then


Which leads to



And for unit step input

1 = ,
n n n
s e , e ,e = = 1
2
2 , 1
( )
( )
2
2
2 2
2
2 ) (
) (
n
n
n n
n
i
O
s
s s s
s
e
e
e ,e
e
+
=
+ +
=
O
O
( )
s
s
s
n
n
O
1
) (
2
2
e
e
+
= O
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Control system response 1)unit step
Then


Then the error is:



And

1 = ,
| | t e t t t
n
t
i
n
e u u c
e
+ = =

1 ) ( ) ( ) (
0
0 ) ( lim = =

t
t
state steady
c c
| | | | t e s L t
n
t
O O
n
e u
e
+ = O =

1 1 ) ( ) (
1
No Vibrations
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Control system response 1)unit step
Then we have two complex conjugate roots


Which leads to



And for unit step input

1 0 < s,
( )
2 2
2
2 ) (
) (
n n
n
i
O
s s s
s
e ,e
e
+ +
=
O
O
( ) s s s
s
n n
n
O
1
2
) (
2 2
2
e ,e
e
+ +
= O
( )( ) ( )
2 2
2 , 1
1 1 1 , e ,e , e ,e = =
n n n n
i s
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Control system response 1)unit step
Then



| | ( ) o e ,
,
u
,e
+

= O =

t
e
s L t
n
t
O O
n
2
2
1
1 sin
1
1 ) ( ) (
1 0 < <,
,
,
o
2
1
1
tan

=

2
1 , e e =
n d
The system response is oscillatory with
damped natural frequency and decays
exponentially
d
e
(
(

+ =

t t e t
d d
t
O
n
e
,
,
e u
,e
sin
1
cos 1 ) (
2
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Control system response 1)unit step
The error is




And



( ) o e ,
,
u u c
,e
+

= =

t
e
t t t
n
t
i
n
2
2
0
1 sin
1
) ( ) ( ) (
0 ) ( lim = =

t
t
state steady
c c
1 0 < <,
0 = ,
|
.
|

\
|
+ =
2
sin 1 ) (
t
e u t t
n O
|
.
|

\
|
+ =
2
sin ) (
t
e c t t
n
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Control system response 1)unit step
,
,
o
2
1
1
tan

=

o
,
e
,e
o = =
n
n
cos
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Control system response 1)unit step
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30
same the stays
s
t
same the stays
p
M
same the stays
n
e
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31
Control system response 1)unit step
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32
Control system response 1)unit step
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33
Control system response 1)unit step
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34
Control system response 1)unit step
Mp - maximum percent overshoot



where tp - peak time
td - delay time. The time required for the
response to reach half of the final value.
tr - raise time. The time required for the
response to rise from 10% to 90% or from
0 to 100% of its final value
% 100
) (
) ( ) (
0
0 0

=
u
u u
p
p
t
M
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Control system response 1)unit step
ts settling time. The time required for the
response curve to reach and stay within a
range about the final value
(usually 2% or 5%)

In control system design we are largely
interested in obtaining a rapid response
whilst minimising overshoot.



19/03/2014
36
Control system response 1)unit step
The peak time may be obtained by
differentiation











t e t e t e t e
t t e t t e
t t e
dt
d
dt
t d
d
n t
d d
t
d
t
n
d
t
n
d
d
d d
t
d d
t
n
d d
t
O
n n n n
n n
n
e
,
, ,e
e e e
,
e ,
e ,e
e
,
,e
e e e
,
,
e ,e
e
,
,
e
u
,e ,e ,e ,e
,e ,e
,e
cos
1
1
sin sin
1
cos
cos
1
sin sin
1
cos
sin
1
cos 1
) (
2
2
2
2
2 2
2

+ =
=
(
(

+
(
(

+ =
=
(
(

|
|
.
|

\
|

+ =

19/03/2014
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Control system response 1)unit step
Equating to zero yields







The first peak corresponds to











p
n n
t t
d d
t
d
t
n O
t e t e
dt
t d
=

+

= = e e e
,
e , u
,e ,e
sin sin
1
0
) (
2
2
0 sin
1
2
2
=
(
(

p d d
n
t e e
,
e ,
0 sin =
p d
t e ,... 2 , 1 , 0 , = = n n t
p d
t e
d
p
t
e
t
=
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Control system response 1)unit step
The first peak











d
p
t
e
t
=
,
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39
Control system response 1)unit step
The maximum overshoot occurs at tp=t/ed




( ) o
,
o t
,
o
e
t
e
,
u u
e
t
,e
e
t
,e
e
t
,e
sin
1
sin
1
1 sin
1
1 ) ( ) (
2 2
2

= +

=
=
|
|
.
|

\
|
+

d
n
d
n
d
n
e e
e
t
d
d O O
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40
Control system response 1)unit step




2
2
2
2 2
1
1
tan
1
tan
1
tan
,
,
o
,
,
o
,
,
o

=

=

2 2
2
2
2
2
2
2
2
1 sin 1
1
1
1
tan 1
tan
sin , o ,
,
,
,
,
o
o
o = =

=
+
=
d
n
d
n
e
e
t
O O
e
t
,e
e
t
,e
o
,
u u

= sin
1
) ( ) (
2
% 100
2
1 ,
t,

= e M
p
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41
Control system response 1)unit step









By increasing K we increase the overshoot


% 100
2
1 ,
t,

= e M
p
KJ
F
2
= ,
+ |, K
= K
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Control system response 1)unit step
The rise time tr ,




( ) o e
,
u
,e
+

=

r d
t
r O
t
e
t
r n
sin
1
1 1 ) (
2
1 ) ( =
r O
t u
( ) 0 sin
1
2
= +

o e
,
,e
r d
t
t
e
r n
( ) 0 sin = +o e
r d
t
,... 2 , 1 , 0 , = = + n n t
r d
t o e
2
1 , e
o t
e
o t

=
n
d
r
t
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43
Control system response 1)unit step







By increasing K we decrease the rise time
+ |, K
2
1 , e
o t
e
o t

=
n
d
r
t
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44
Control system response 1)unit step
The settling time ts is usually defined as







criterion % 5 ,
3
3
criterion % 2 ,
4
4
n
s
n
s
T t
T t
,e
,e
= =
= =
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45
Control system response 1)unit step
In MATLAB







( ) d cs bs
a
s
s
i
O
+ +
=
O
O
2
) (
) (
] [
] 0 0 [
d c b den
a num
=
=
) , ( den num step
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46
Unit ramp response of RPC
In this case we present the system with a
unit ramp input:

The L-transform



t t
i
= ) ( u
| |
2
1
) ( ) (
s
t L s
i i
= = O u
( )
( )
2 2
2
1
) (
s K Fs Js
Fs Js
s E
+ +
+
=
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47
Unit ramp response of RPC
( )
( )
2 2 2
2
1
2
2
) (
s s s
s s
s E
n n
n
e ,e
,e
+ +
+
=
J
K
n
= e
KJ
F
2
= ,
( )
( )
0
2
2
2
lim
) ( lim ) (
2 2 2
2
0
0
= =
+ +
+
=
= =

n n n
n
s
s
st st
s
s
s s
s s
s sE e
e
,
e ,e
,e
This is a
constant
steady
state error
) ( lim ) ( ) ( lim
0
s sQ q t q
s t
= =
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48
Unit ramp response of RPC
Transient error response.
To find this we need to examine the
complementary solution to the characteristic
equation. i.e. the solution to:


This is identical to the equation we used to find
the complementary function solution for the step
input. Therefore the complementary solution is
identical to that case
0 2
2 2
= + +
n n
s s e ,e
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49
Control system response 1)unit ramp
This is a quadratic with solution:


Consider 3 cases:
1
2
= , e ,e
n n
s
1 0 < s,
1 = ,
Underdamped
Critical
1 > , Overdamped
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50
Unit ramp response of RPC
For two real roots






No oscillatory response.


1 > ,
( )( )
2
2 2
2
1
1 1
) (
s
s s
s
n n n n
n
O
+ + +
= O
, e ,e , e ,e
e
( )
2 2
2
2 ) (
) (
n n
n
i
O
s s s
s
e ,e
e
+ +
=
O
O
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Unit ramp response of RPC
For two real roots



It results in



No oscillatory response



1 = ,
n n n
s e , e ,e = = 1
2
2 , 1
( )
2 2
2
1
) (
s
s
s
n
n
O
e
e
+
= O
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Unit ramp response of RPC
Then we have two complex conjugate roots


Which leads to



Partial fraction expansion




1 0 < s,
( )
2 2 2
2
1
2
) (
s s s
s
n n
n
O
e ,e
e
+ +
= O
( )( ) ( )
2 2
2 , 1
1 1 1 , e ,e , e ,e = =
n n n n
i s
( )
2 2 2 2 2 2
2
2
1
2
n n n n
n
s s
D Cs
s
B As
s s s e ,e e ,e
e
+ +
+
+
+
=
+ +
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Unit ramp response of RPC









1 0 < s,
( )
2 2 2
2 3 2 2
2 2 2
2
) 2 (
) 2 )( (
2 s s s
Ds Cs s s B As
s s s
n n
n n
n n
n
e ,e
e ,e
e ,e
e
+ +
+ + + + +
=
+ +
2 2 0
2 1
2
3
:
0 2 :
0 2 :
0 :
n n
n n
n
B s
B A s
D B A s
C A s
e e
,e e
,e
=
= +
= + +
= +
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54
Unit ramp response of RPC









1 0 < s,
2 2 0
2 1
2
3
:
0 2 :
0 2 :
0 :
n n
n n
n
B s
B A s
D B A s
C A s
e e
,e e
,e
=
= +
= + +
= +
1 4 2
/ 2
/ 2
1
2
= =
=
=
=
, ,e
e ,
e ,
B A D
C
A
B
n
n
n
( )
( )
2 2
2
2
2 2 2 2 2 2
2
2
2 4 2
2
1
2
n n n
n n
n
n
n n n n
n
s s
s
s
s
s s
D Cs
s
B As
s s s
e ,e e
, e e ,
e
, e
e ,e e ,e
e
+ +
+
+

=
=
+ +
+
+
+
=
+ +
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55
Unit ramp response of RPC









1 0 < s,
( )
2 2
2
2
2
2 4 2
) (
n n n
n n
n
n
O
s s
s
s
s
s
e ,e e
, e e ,
e
, e
+ +
+
+

= O
( )
( )
( )
,
,
o o , e
, e
,
, e
, e
,
e
,
e ,e e
,
e ,e
,
e
,
u
,e
,e
2
1 2
2
2
2
2
2 2 2 2
2
2
1
1
tan , 1 sin
1
2
1 sin
1
1 4 2
2
2
2
1 4 2 1
) (

+ =
=
(

+ +
+
+ +

+ =

t e
t e t
s s
s
s s s s
L t
n
t
n
n
t
n
n
n n n n n n
O
n
n
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56
Unit ramp response of RPC





When t goes to infinity the second term
vanishes







1 0 < s,
( )
( ) 1 2 cos
, 1 sin
1
2
) (
2 1
2
2
=
+

+ =

, |
| , e
, e
e
,
u
,e
t
e
t t
n
n
t
n
O
n
( ) | , e
, e
e
,
u u c
,e
+

= =

t
e
t t t
n
n
t
n
i
n
2
2
0
1 sin
1
2
) ( ) ( ) (
19/03/2014
57
Unit ramp response of RPC
The error is




And



n
t
state steady
t
e
,
c c
2
) ( lim = =

1 0 < <,
( ) | , e
, e
e
,
u u c
,e
+

= =

t
e
t t t
n
n
t
n
i
n
2
2
0
1 sin
1
2
) ( ) ( ) (
J
K
n
= e
KJ
F
2
= ,
K
F
K
J
KJ
F
n
st st
= = =

e
,
c
2
19/03/2014
58
Unit ramp response of RPC



At t=0



If then

( ) 0 sin
1
1 2
0
2
=

= |
, e
e
,
c
n
n
0 = ,
( ) 0 = t c
( ) | , e
, e
e
,
u u c
,e
+

= =

t
e
t t t
n
n
t
n
i
n
2
2
0
1 sin
1
2
) ( ) ( ) (
( ) ) 1 ( 4 sin , 1 2 cos
2 2 2
2
2 2
, , | , | = =
19/03/2014
59
Unit ramp response of RPC
Either the output response or the error
response may be plotted against time