AME 455 Control Systems Design Lecture 7 Problem solving Partial fraction expansion Transient response sample problems

ms New Homework: 5.3a,c,d,f; 5.4; 5.5;

Instructional objectives: At the end of this lecture students should be able to apply the partial fraction expansion for arbitrary T.F. Predict overshoot, rise time and steady state error.

AME 455 Control Systems Design Partial fraction expansion rules

F (s) = B ( s ) K (s + z1 )(s + z 2 )...(s + z m ) = normally n > m A( s ) (s + p1 )(s + p2 )...(s + pn )

Case 1: pi p j there are only single poles (complex conjugates are OK)
an B(s) a1 a2 = + + ... (s + pn ) A( s ) (s + p1 ) (s + p2 )

B(s) (s + pi ) ai = A( s ) s= p

AME 455 Control Systems Design Example:

s+5 = ( s 1)( s + 3 j )( s 3 j ) 1+ 5 3j +5 3j +5 (1 + 3 j )(1 3 j ) (3 j 1)(3 j 3 j ) (3 j 1)(3 j + 3 j ) = + + = (s 1) (s + 3 j ) (s 3 j ) 3j +5 3j +5 6 ( 18 + 6 j ) ( 18 6 j ) = 10 + + = (s 1) (s + 3 j ) (s 3 j ) 0 .6 0.3 + 0.0667 j 0.3 0.0667 j = + + (s 1) (s + 3 j ) (s 3 j )

Complex conjugate poles have complex conjugate residuals

AME 455 Control Systems Design MATLAB command a=[1 -1 9 -9] b=[1 5] [R,P,k]=residue(b,a)

R = -0.3000 - 0.0667i -0.3000 + 0.0667i 0.6000 P= -0.0000 + 3.0000i -0.0000 - 3.0000i 1.0000

AME 455 Control Systems Design Case 2: there are multiple poles
F ( s) = = K (s + z1 )(s + z 2 )...(s + z m ) B( s) = = r A( s ) (s + p1 ) (s + pr +1 )...(s + pn )

an b1 b2 br ar +1 ar + 2 ... ... + + + + + + + s + p1 (s + p1 )2 s + pn (s + p1 )r s + pr +1 s + pr + 2

a-s are calculated the same way, for b-s we have

br j 1 d j B( s) r = + ( s p ) 1 j j! ds A( s ) j = 0,1,...r 1
s = p1

AME 455 Control Systems Design Example:

s+5 a1 b1 b2 c1 c2 = + + + + 2 2 2 s 1 ( s 1) 2 ( s 1) ( s + 3) ( s + 1) s + 1 s + 3 (s + 3) a1 = 4 1 1 + 5 = = (1 1) 2 ( 1 + 3) 2 4 * 4 4

s+5 1 d b1 = = -0.1563 2 1! ds ( s 1) ( s + 1) s = 3 s+5 b2 = = 0.1875 2 ( s 1) ( s + 1) s = 3 s+5 1 d c1 = = -0.0625 2 1! ds ( s + 3) ( s + 1) s =1 s+5 c2 = = -0.0938 2 ( s + 3) ( s + 1) s =1

AME 455 Control Systems Design R= -0.0938 -0.0625 -0.1563 0.1875 0.2500 P= -3.0000 -3.0000 1.0000 1.0000 -1.0000

MATLAB commands: a=[1 5 2 -14 -3 b=[1 5] [R,P,k]=residue(b,a)

9]

power 1 power 2 power 1 power 2 power 1

AME 455 Control Systems Design Now we can find the time response of any transfer function! Example:
b3 b1 b2 s 2 + 2s + 3 F ( s) = = + + s + 1 (s + 1)2 (s + 1)3 ( s + 1) 3

b3 = F ( s )( s + 1) 3

s = 1

=1 2 + 3 = 2 = 2 s + 2 s = 1 = 0 =
s = 1

d b2 = F ( s )( s + 1) 3 ds

s = 1

1 d2 3 b1 = F ( s )( s + 1 ) 2! ds 2

1 (2) = 1 2

1 t n 1e at = L n (n 1)! ( s + a)
1

f (t ) = e + t e

2 t

AME 455 Control Systems Design What about the complex conjugate roots?

That means that a = a1 + ja2 1 t n 1e at t n 1e a1t a2 jt = = e = L n (n 1)! (n 1)! ( s + a)

1

t n 1e a1t (cos(a2t ) + j sin (a2t )) = (n 1)!

AME 455 Control Systems Design Example:

0.3 + 0.0667 j 0.3 0.0667 j + (s + 3 j ) (s 3 j )

(0.3 + 0.0667 j )e 3 jt + (0.3 0.0667 j )e 3 jt = = 0.3(e 3 jt + e 3 jt ) + 0.0667 j (e 3 jt e 3 jt ) = = 0.3 * 2 * cos(3t ) + 0.0667 * 2 * sin(3t )

AME 455 Control Systems Design Transient response sample problems Problem 5.2:

10 C (s) = 2 R( s) s + 2s + 9

Find a. Damping ratio b. Damped and undamped nat. freq. c. Max. peak modulus d. The frequency at with the peak occurs e. The 3dB bandwidth f. s.s. output for unit step input g. location of the closed loop poles h. rise time i. 2% settling time

AME 455 Control Systems Design Problem 5.3 b,e: Sketch unit step response based on pole location

C (s) 6 = R ( s ) ( s + 1)( s + 2)( s + 3)

1 C (s) = R ( s ) ( s + 5)( s 2 + 2 s + 5)
End of this lecture