Pole Locations/Transient

Response Relationship

Nader Sadegh

George .W. Woodruff School of Mechanical Engineering

Georgia Institute of technology

Under Damped 2nd System

2 2
Diff Eq. y&& + 2ζωn y& + ωn y = ωn u(t ), 0 ≤ ζ < 1
TF. U 2 Y
ωn
2
s 2 + 2ζωn s + ωn

Unit step response: u(t)=1(t), zero initial conditions

ζ
y(t ) = 1 − e− σt (cos ωd t + sin ωd t )
1 − ζ2
where σ = ζω n and ωd = ωn 1 − ζ 2 (damped frequency)

1
Step Response Characteristics

Mp

Td= Period of oscillations= 2π/ωd tp= Peak Time=π/ωd

− ζπ
ts= Settling Time= 4/σ Mp=Maximum Overshoot= 2
1− ζ
e

Relationship between Mp and ζ

• Maximum overshoot is directly related to the
damping ratio:

−ζπ
1−ζ2
Mp = e
c
| ln(Mp ) |
ζ=
π2 + ln(Mp )2

2
 Poles of a 2nd Order SystemIm
x ωd
ωn
2
ωn
G(s) = 2 β Re
s2 + 2ζωns + ωn
-ζωn
poles= −ζωn ± jωd , ωd = ωn 1− ζ2 β = cos−1 ζ

Conclusions:
• Damping ratio depends only on angle β
• Settling time (4/ζωn) depends on the real part of the pole
• The damped frequency depends only on the imaginary part of the pole

Constant ts, ζ, and frequency

constant t lines
s
contours
Im Im
More damping
faster

Re Re

constant damping lines

Im
Im
Higer natural frequency
Higer damped frquency

Re
Re

constant ωd lines
constant ωn circles

3
 Pole Location-Step Response
Illustration S te p R e s po ns e
From: U(1)
2

1.8

1.6

1.4

1.2

Amplitude

To: Y(1)
1

0.8

0.6

0.4
Step Res ponse
Step Response 0.2 From: U(1)
From: U(1) 120

x
0
1.4 0 5 10 15

Tim e (s e c .) 100

1.2
80

1
60

Amplitude
To: Y(1)
Amplitude

0.8 40
To: Y(1)

0.6 20

0
0.4

-20
0.2

x
-40
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

x
0
0 1 2 3 4 5 6 Time (sec.)
Time (sec.)

Step Response
Step Response From: U(1)
Step Res pons e 600
From: U(1) From: U(1)
1 1

0.9 0.9 500

0.8 0.8

0.7 400
0.7

Amplitude
0.6 0.6

To: Y(1)
Amplitude

Amplitude

300
To: Y(1)

To: Y(1)

0.5 0.5

0.4 0.4
200

0.3 0.3

0.2 0.2 100

0.1 0.1

x x
0
0 0 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

x
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
Time (sec.)
Time (sec.) Time (s ec.)

Higher order systems

• Higher order systems can be expressed as
superposition of 1st and 2nd order systems
• They can often be approximated by a dominant 2nd
order subsystem
• Example:

1 a bs + c b′s + c ′
= + ≅
(
(s + 10 ) s 2 + 2s + 5 s + 10 s 2 + 2s + 5 s 2 + 2s + 5 )