5 (Control System Performance 2)
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Michael3 SECOND-ORDER SYSTEM
ELEC207 - Control Theory [Lecture 5: Control System
Performance 2]
Prof Simon Maskell, <[email protected]>
February 3, 2024
1 Lecture Learning Objectives
First-order system and second-order system
Generalized second-order system
2 First-Order System
Step-response is
Z
1 1
L−1
s × s + a =
e−at u(t)dt (1)
|{z} | {z }
Step System
Response is heavily dependent on position of the pole in the complex s-plane. There are three
scenarios
Stable. a > 0, as shown in figure 1(a). Response is similar to that shown in figure 2(a).
Unstable. a < 0, as shown in figure 1(b). Response is similar to that shown in figure 2(b).
Zero. a = 0, as shown in figure 1(c). Response is similar to that shown in figure 2(c).
Changing the parameter of a first-order system (without changing the sign of a) just changes
the speed of response.
3 Second-Order System
A second order system, in general is:
c
(2)
s2 + bs + c
ELEC207 Lecture Notes: Lecture 5 (Control Systems Performance 2), Page 1
3.1 Generalised Second Order System 3 SECOND-ORDER SYSTEM
with roots at:
√
−b ± b2 − 4c
s= (3)
2
Response (to unit step) is again heavily dependent on position of the (two) poles in the complex
s-plane. There are now four scenarios:
Over-damped. Two real poles, as shown in figure 3(a). Response is similar to that shown in
figure 4(a).
Under-damped. Complex conjugate poles, as shown in figure 3(b). Response is similar to
that shown in figure 4(b).
Undamped. Imaginary poles, as shown in figure 3(c). Response is similar to that shown in
figure 4(c).
Critically-damped. Repeated real poles, as shown in figure 3(d). Response is similar to that
shown in figure 4(d).
Changing the parameters of a second-order system can change the type of response.
3.1 Generalised Second Order System
A generalised second order system is where we consider real ω (such that ω 2 > 0):
ω2 ω2
G(s) = = 2 (4)
s2 + 2ζωs + ω 2
(s + ζω) + (1 − ζ 2 )ω 2
The poles are at:
p p
s = −ζω ± ζ 2 − 1ω = −ζω ± 1 − ζ 2 ωj (5)
Remember that e−at f (t) = L−1 [F (s + a)]. Using that relationship, we can work out the impulse
response (assuming 0 ≤ ζ < 1 such that we are considering an under-damped response):
ω p
g(t) = L−1 [G(s)] = p e−ζωt sin 1 − ζ 2 ωt (6)
1 − ζ2
Note the annotations on the axes in figure 3, in terms of the frequency, ω, and damping ratio,
ζ.
Figure 5 illustrates the effect on an under-damped response of varying the free parameter while
each of ω, ζ and ζ × ω are kept constant.
ELEC207 Lecture Notes: Lecture 5 (Control Systems Performance 2), Page 2
3.1 Generalised Second Order System 3 SECOND-ORDER SYSTEM
(a) a > 0 (b) a < 0
(c) a = 0
Figure 1: Roots on complex s-plane for single pole.
ELEC207 Lecture Notes: Lecture 5 (Control Systems Performance 2), Page 3
3.1 Generalised Second Order System 3 SECOND-ORDER SYSTEM
1.4 160
1.2 140
120
1
100
0.8
response
response
80
0.6
60
0.4
40
0.2
20
0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
time time
(a) a > 0 (b) a < 0
60
50
40
response
30
20
10
0
0 5 10 15 20 25 30 35 40 45 50
time
(c) a = 0
Figure 2: Response for single pole.
ELEC207 Lecture Notes: Lecture 5 (Control Systems Performance 2), Page 4
3.1 Generalised Second Order System 3 SECOND-ORDER SYSTEM
(a) Over-damped (b) Under-damped
(c) Undamped (d) Critically-damped
Figure 3: Roots on complex s-plane for pair of poles.
ELEC207 Lecture Notes: Lecture 5 (Control Systems Performance 2), Page 5
3.1 Generalised Second Order System 3 SECOND-ORDER SYSTEM
1 1.8
0.9 1.6
0.8
1.4
0.7
1.2
0.6
1
response
response
0.5
0.8
0.4
0.6
0.3
0.4
0.2
0.1 0.2
0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
time time
(a) Over-damped (b) Under-damped
2.5 1
0.9
2
0.8
0.7
1.5
0.6
response
response
1 0.5
0.4
0.5
0.3
0.2
0
0.1
−0.5 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
time time
(c) Undamped (d) Critically-damped
Figure 4: Prototypical response for pair of poles.
ELEC207 Lecture Notes: Lecture 5 (Control Systems Performance 2), Page 6
3.1 Generalised Second Order System 3 SECOND-ORDER SYSTEM
1.6 1.6
high ζ low ω
medium ζ medium ω
1.4 low ζ 1.4 high ω
1.2 1.2
1 1
response
response
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
time time
(a) Same ω (b) Same ζ
1.8
low ω, high ζ
medium ω, medium ζ
1.6 high ω, low ζ
1.4
1.2
1
response
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35 40 45 50
time
