Poles, Zeros and Systems Response
13
The poles of a transfer function are
the values of the Laplace transform variable s, that cause
the transfer function to become infinite
any roots of the denominator of the transfer function that
are common to roots of the numerator.
However, if a factor of the denominator can be canceled by
the same factor in the numerator, the root of this factor no
longer causes the transfer function to become infinite
Poles, Zeros and Systems Response
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The zeros of a transfer function are
the values of the Laplace transform variable s, that cause
the transfer function to become zero
any roots of the numerator of the transfer function that
are common to roots of the denominator.
The roots of the numerator are values of s that make the
transfer function zero and are thus zeros.
However, if a factor of the numerator can be canceled by
the same factor in the denominator, the root of this factor
no longer causes the transfer function to become zero
Poles, Zeros and Systems Response
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Poles and Zeros of a first order system: An example
Given the transfer function G(s), a pole exists at s =- 5 , and a zero
exists at -2. These values are plotted on the complex s-plane using
an ‘x’ for the pole and a ‘o’ for the zero. Let us find the unit step
response of the system.
𝑠+2 𝐴 𝐵 2ൗ 3ൗ
𝐶 𝑠 = = + = 5+ 5
𝑠(𝑠 + 5) 𝑠 𝑠 + 5 𝑠 𝑠+5
Thus
2 3 −5𝑡
𝑐 𝑡 = + 𝑒
5 5
Poles, Zeros and Systems Response
16
a. System showing
input and output;
b. pole-zero plot of
the system;
c. evolution of a
system response.
Poles, Zeros and Systems Response
17
A pole of the input
function generates the
form of the forced
response (that is, the
pole at the origin
generated a step
function at the output).
A pole of the transfer
function generates the
form of the natural
response (that is, the
pole at - 5 generated
𝑒 −5𝑡 .
First order system
18
Consider a unity feedback system with
1
𝐺 𝑠 =
𝜏𝑠
The closed loop transfer function of the system is given by
𝐶(𝑠) 1
𝑇 𝑠 = =
𝑅(𝑠) 1 + 𝜏𝑠
Second order system
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We shall undertake here the analysis of a
second-order system that will help to form a
basis for the understanding of analysis and
design of higher-order systems.
The open-loop transfer function of the
system is
𝐶(𝑠) 𝜔𝑛 2
𝐺 𝑠 = =
𝑅(𝑠) 𝑠(𝑠 + 2𝜉𝜔𝑛 )
Where
𝜔𝑛 =undamped natural frequency
𝜉=damping ratio
The closed-loop transfer function of the
system with H(s) = 1 is
𝐶(𝑠) 𝜔𝑛 2
= 2
𝑅 𝑠 𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2
Second order system
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The characteristic equation of the closed-loop system
is obtained by setting the denominator zero.
Δ 𝑠 = 𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
The roots of the characteristic equation are given by
𝑠1,2 = −𝜉𝜔𝑛 ± 𝜔𝑛 𝜉 2 − 1
The dynamic behavior of the second-order system can,
therefore, be described in terms of two parameters of
the roots of the characteristic equation, 𝜁 and 𝜔𝑛 ,
respectively.
Second order system
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From the point of view of transient response, four distinct
cases are of interest to us when 𝜔𝑛 is held constant and the
damping ratio 𝜉 takes on different values.
Underdamped Critically damped
case : 0 < 𝜉 < 1 case : 𝜉=1
Overdamped case Undamped case
𝜉>1 𝜉=0
Second order system
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Underdamped case: 𝟎 < 𝝃 < 𝟏
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1)
If 0 < 𝜉 < 1, then 𝜉 2 − 1 < 0 →two complex conjugate
roots
𝑠1,2 = −𝜉𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜉 2
𝑠1,2 = −𝜉𝜔𝑛 ± 𝑗𝜔𝑑
which are complex conjugates and lie on the semicircle in
the left-half s-plane
Second order system
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Critically damped case: 𝝃 = 𝟏
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1)
If 𝜉 = 1, then 𝜉 2 − 1 = 0 →two same roots
𝑠1,2 = −𝜔𝑛
The step response is monotonic without any
overshoots and undershoots.
Second order system
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Over damped case: 𝝃 > 𝟏
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1)
If 𝜉 > 1, then 𝜉 2 − 1 > 0 →two real and distinct roots
𝑠1,2 = −𝜉𝜔𝑛 ± 𝜔𝑛 𝜉 2 − 1
𝑠1 = −𝜉𝜔𝑛 + 𝜔𝑛 𝜉 2 − 1 , 𝑠2 = −𝜉𝜔𝑛 − 𝜔𝑛 𝜉 2 − 1
both the roots are lying on real axis
Second order system
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Undamped case: 𝝃 = 𝟎
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0
𝑎 = 1, 𝑏 = 2𝜉𝜔𝑛 , 𝑐 = 𝜔𝑛 2
Δ = 𝑏2 − 4𝑎𝑐 = 4𝜔𝑛 2 (𝜉 2 − 1)
If 𝜉 = 0, then 𝜉 2 − 1 < 0 →two pure imaginary roots
𝑠1,2 = ±𝑗𝜔𝑛
𝑠1 = +𝑗𝜔𝑛 ,𝑠2 = −𝑗𝜔𝑛
both the roots are lying on imaginary axis.
The transient response is oscillatory in nature and
does not die out
Second order system
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