Automatic Control Theory
Tutorial 3
Laplace Transform
Dr. Abusabah I. A. Ahmed
[email protected] Poles and Zeros of Transfer Function
❑ A transfer function is defined as the ratio of the Laplace
transform of the output to the input with all initial conditions
equal to zero. Transfer functions are defined only for linear
time invariant systems.
❑Transfer functions can usually be expressed as the ratio of two
polynomials in the complex variable, s.
K ( s + z )( s + z ) ... ( s + z )
G(s) = 1 2 m
( s + p )( s + p ) ... ( s + p )
1 2 n
The roots of the numerator polynomial are called zeros.
The roots of the denominator polynomial are called poles.
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Poles and Zeros of Transfer Function
You are given the following transfer function. Show the
poles and zeros in the s-plane.
( s + 8)( s + 14)
G( s) =
s( s + 4)( s + 10)
j axis
S - plane
origin
o x o x x
-14 -10 -8 -4 0 axis
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Poles and Zeros of Transfer Function
𝑌 (𝑠)
Obtain the transfer function for the differential equation
𝑈(𝑠)
below.
We take the Laplace transform of the differential equation.
This leads to
setting the initial conditions to zero, shows that the transfer function is
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Steady State Error
❑ The steady state error is a measure of system accuracy. These
errors arise from the nature of the inputs, system type and
from nonlinearities of system components such as static
friction, backlash, etc.
❑ These are generally aggravated by amplifiers drifts, aging or
deterioration.
❑ The steady state performance of a stable control system is
generally judged by its steady state error to step, ramp and
parabolic inputs.
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Steady State Error
Find the steady-state errors for inputs of 5u(t), 5tu(t), and 5t2u(t)
to the system shown below. The function u(t) is the unit step.
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Steady State Error
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Steady State Error
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Steady State Error
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PID controller
❑ Increasing the proportional feedback gain reduces
steady state errors, but high gains almost always
destabilize the system.
❑ Integral control provides robust reduction in steady-
state errors, but often makes the system less stable.
❑ Derivative control usually increases damping and
improves stability, but has almost no effect on the
steady state error
❑ These 3 kinds of control combined from the classical
PID controller
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Systems Response
❑ A first-order dynamic system is one whose behavior can be
described with a first-order ordinary differential equation
(ODE). A first-order ODE is one in which the highest-order
derivative is a first derivative. This type of problem includes
tank-filling and mass-dashpot problems
❑ Many practical systems are first order; for example, the mass-
damper system and the mass heating system are both first
order systems.
❑ There are two main differences between first- and second-
order responses. The first difference is obviously that a
second-order response can oscillate, whereas a first- order
response cannot. The second difference is the steepness of the
slope for the two responses.
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Systems Response
Stable System Step Response
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Systems Response
Unstable System Step Response
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Systems Response
Consider a control system with transfer function:
1. Determine the steady-state error for a unit step input.
2. Assume that the complex poles are dominant. Determine the
percent overshoot and the settling time to within 2% of the
steady-state value.
3. Plot the actual system response and compare it with the
estimates of part (2).
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Systems Response
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Systems Response
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Thank You
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