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Chapter 5. Time-Domain Analysis of Control Systems

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1 Chapter 5. Time-Domain Analysis of Control Systems
Time response of continuous-data systems: Introduction Typical test signals for the time response of control systems The unit-step response and time domain specifications Steady-state error Time response of a first-order system Transient response of a prototype second-order system Chapter 5. Time-Domain Analysis of Control Systems

2 Chapter 5. Time-Domain Analysis of Control Systems
Time-domain analysis of a position-control system Effects of adding poles and zeros to transfer functions Dominant poles of transfer functions The approximation of high-order systems by low-order system: the formal approach MATLAB tools Summary Chapter 5. Time-Domain Analysis of Control Systems

3 Chapter 5. Time-Domain Analysis of Control Systems
5-1 Introduction Chapter 5. Time-Domain Analysis of Control Systems

4 5-2 Typical Test Signals for the Times Response of Control Systems
Chapter 5. Time-Domain Analysis of Control Systems

5 5-3 The Unit-Step Response and Time-Domain Specifications
Chapter 5. Time-Domain Analysis of Control Systems

6 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

7 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

8 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

9 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

10 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

11 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

12 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

13 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

14 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

15 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

16 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

17 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

18 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

19 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

20 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

21 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

22 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

23 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

24 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

25 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

26 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

27 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

28 Chapter 5. Time-Domain Analysis of Control Systems
5-4 Steady-State Error Chapter 5. Time-Domain Analysis of Control Systems

29 5-5 Time Response of a First-Order System
Chapter 5. Time-Domain Analysis of Control Systems

30 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

31 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

32 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

33 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

34 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

35 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

36 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

37 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

38 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

39 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

40 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

41 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

42 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

43 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

44 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

45 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

46 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

47 5-6 Transient Response of a Prototype Second-Order System
Chapter 5. Time-Domain Analysis of Control Systems

48 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

49 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

50 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

51 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

52 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

53 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

54 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

55 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

56 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

57 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

58 5-8 Time-Domain Analysis of a Position CS
Chapter 5. Time-Domain Analysis of Control Systems

59 5-10 Dominant Poles of Transfer Functions
Chapter 5. Time-Domain Analysis of Control Systems

60 5-10 Dominant Poles of Transfer Functions
Chapter 5. Time-Domain Analysis of Control Systems

61 5-10 Dominant Poles of Transfer Functions
Chapter 5. Time-Domain Analysis of Control Systems

62 5-10 Dominant Poles of Transfer Functions
Chapter 5. Time-Domain Analysis of Control Systems

63 5-10 Dominant Poles of Transfer Functions
Chapter 5. Time-Domain Analysis of Control Systems

64 5-11 PD controller and PI controller
Chapter 5. Time-Domain Analysis of Control Systems

65 5-11 PD controller and PI controller
Chapter 5. Time-Domain Analysis of Control Systems

66 5-11 PD controller and PI controller
Chapter 5. Time-Domain Analysis of Control Systems

67 5-11 PD controller and PI controller
Chapter 5. Time-Domain Analysis of Control Systems

68 5-12 MATLAB Tools clear all; close all; t= 0:0.1:10; for iter = 1 : 3
switch iter; case 1; KP=1; KD=0; case 2; KP=1; KD=0.414; case 3; KP=8; KD=3; end num=[2*KD 2*KP]; den=[1 2+2*KD 2*KP]; y=step(num,den,t); switch iter; case 1; plot(t,y,'r-'); case 2; plot(t,y,'b:'); case 3; plot(t,y,'k--'); end grid ; title('Step response with KP and KD'); hold on; end hold off; legend('KP=1 & KD=0','KP=1 & KD=0.414','KP=8 & KD=3') Chapter 5. Time-Domain Analysis of Control Systems

69 Chapter 5. Time-Domain Analysis of Control Systems
5-13 Summary Chapter 5. Time-Domain Analysis of Control Systems


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