Electronic Engineering
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Time and frequency domain
specification
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Time domain specification parameters
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Definitions of transient-response
specification
• In specifying the transient-response
characteristics of control system to unit step
response , it is common to specify the
following
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• Peak time, tp : The time required to
reach the first peak of the overshoot.
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Settling time, ts : The time required for
response to reach and stay within a
range about the final value ( Usually
about 2% or 5%)
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• Peak Time
tp
d n 1 2
• Maximum overshoot
2
Mp e d *100 % e 1
*100 %
0.8 2.5
tr
n
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• Settling time
• For 2 % criterion
4
ts
n
• For 5 % criterion
3
ts
n
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Second order response
• The general form of second order system can be written as
C ( s) 2n 2n
R( s) s 2 2 n s 2 n s 2 2 s 2 n
• The dynamic behavior of the second – order system can be described in terms of two parameters
and ωn
• There are four cases
• No damped system ( = 0) the response is sinusoidal .
• Under damped ( if 0 < < 1) the transient response is oscillatory
• Critical damped if ( = 1 ) the transient response does not oscillate
• Overdamped ( If > 1) the transient response does not oscillate
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C ( s) n2
n2
2 2
R(s) s 2 n s n s 2 s n
2 2
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C ( s) n2
n2
2 2
R(s) s 2 n s n s 2 s n
2 2
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Maximum overshoot
Settling time 2
n
Rise Time
s 2 n s
2 2
n
Peak
Time
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First-Order Systems
td s
ke
G(s)
s 1
First-Order
Systems
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First-Order Systems
First-Order
Systems
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First-Order Systems
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First-Order Systems
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First-Order Systems
First-Order
Systems
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Tr 2.2 Tr / 2.2
Ts 4 4 Ts
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Frequency domain specifications
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GM and PM via Bode
Plot
gain crossover frequency
Gain margin
Phase margin
Gain crossover
Phase crossover
Phase margin
• For a stable minimum-phase system, GM/PM indicates
how much gain/phase can be increased before the
system becomes unstable
• For an unstable system, GM/PM is indicative of how
much gain/phase must be decreased to make the
system stable.
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• Gain Margin GM : is the inverse of the magnitude at ω= ω1, where ω1is the
frequency at which the phase of the open loop T.F with unity feedback = -180
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GM
G ( j )
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• Gain crossover frequency ωc : it is the frequency at which the magnitude of
the open-loop T.F =1
G( j) c 1
• Phase margin m : is that amount of additional phase at the gain crossover
frequency required to bring the system phase = -180
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• Bandwidth BW :
is the frequency at which the magnitude drops
to 70.7 % of or 3 dB down from , its zero-
frequency value.
BW n 1 2 2
4 2
4 2
1
2
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2
n
s 2 n s
2 2
n
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Maximum overshoot
n
Settling time
2
Rise Time
Peak
Time
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First order systems with time delay
Pade' approximation
where
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First rder Pade Approximation
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3First order systems with time delay
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