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2.2. Introduction
The time response of a control system consists of two parts: the transient response and the steady‐
state response.
After an engineer obtains a mathematical representation of a subsystem, the subsystem is analyzed
for its transient and steady state responses to see if these characteristics yield the desired behavior.
The exact nature of the various inputs to which a control system is subjected to in an actual working
environment, is not always known beforehand. Therefore, the performance of a control system is
evaluated in the laboratory by using some typical input signals, especially for comparing alternative
controller designs and verifying design concepts.
The most commonly used test input signals are: Step, Ramp, Parabolic, Impulse and Sinusoidal
functions. In this laboratory, we will focus on a unit step response of first and second order control
systems.
a) b) c)
Figure 2‐1: First order system; a) Closed first order system, b) simplified (reduced ) first order transfer
function, and c) Pole plot of the system.
The first order system response in the s‐ domain can written as:
If you apply partial fractions and the inverse Laplace transformation, we obtain,
1
The input pole (at s = 0) generates the forced response cf(t) = 1 while the system pole yields the
natural response cn(t) = ‐eat .
Figure 2‐2: First‐order system response to a unit step
Figure 2‐3: Typical unit response of a second order system.
Definition of these parameters allows performance comparisons between different system designs to
be made with the objective of selecting a system with the desired performance specifications. The
system parameters damping ratio ( ) and undamped natural frequency ( ) are related to some
of the observed parameters shown in the figure above. Some relations are given below:
⁄ ⁄
; √ ; ; % and
ln % ⁄100
% ⁄100
In this experiment, the effect of changing the parameters damping ratio ( ) on the step response is
observed.
3. Experimental Analysis
3.1 System response plot using Matlab
1. Consider the system
2
25
4 25
Represent the numerator and denominator as s two arrays, each containing the coefficients
of the polynomials in decreasing powers of s as follows:
In Matlab command window:
>>num = [2 25]
>>den = [1 4 25]
An alternative representation is
>>num = [0 2 25]
>>den = [1 4 25]
If num and den (the numerator and denominator of the closed‐loop transfer function) are known,
command such as
>>step(num,den)
will generate a plot of unit‐step response.
Write the above Matlab command in m‐file, run and observe the plot provided by Matlab.
Add a ‘grid’ and title of the plot = Unit‐Step Response of G(s) = 25/(s^2+4s+25)
Your plot should look like as in figure 2-4. Please show your results for the Laboratory
instructor.
Unit-Step Response of G(s) = 25/(s 2 +4s+25)
1.4
1.2
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3
Time (seconds)
Figure 2‐4: Unit‐step response curve for the given system.
Now modify your code so that the plot will resemble as in figure 2‐5. This time use the Matlab
command:
>>step(num,den,t)
will generate a plot of unit‐step response (i.e t in the step command is the user‐specified time
and use help function to investigate how you can use this command ).
Add X‐axis and Y‐axis labels as
X‐axis = ‘t sec’ and Y‐axis = ‘Output’
Whatever code you use, put on m‐file.
Your plot should look like as in figure 2-5. Please show your results for the Laboratory
instructor.
Unit-Step Response of G(s)=25/(sˆ2+4s+25)
1.4
1.2
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3
t Sec
Figure 2‐5: Unit‐step response curve for the given system.
2. Effect of damping ratio ( ) variation on a second order system
Consider the closed‐loop system defined by
1
2 1
The undamped natural frequency is normalized to 1. Plot a unit‐step response curves
c(t) when assumes the following values:
0, 0.2, 0.4, 0.6. 0.8, 1.0
A sample Matlab code is given below: fill the ‘for loop body’ so that you can get the
same step response given on figure 2‐6.
% ------- Two-dimensional plot of unit-step
% response curves for the standard second-order system with wn = 1
% and zeta = 0, 0.2, 0.4, 0.6, 0.8, and 1. -------
t = 0:0.2:10;
zeta = [0 0.2 0.4 0.6 0.8 1];
%
for n = 1:6;
statement 1;
statement 2;
statement 3;
end
% To plot a two-dimensional diagram, enter the command plot(t,y).
plot(t,y)
grid
title('Plot of Unit-Step Response Curves with \omega_n = 1 and \zeta =
0, 0.2, 0.4, 0.6, 0.8, 1')
xlabel('t (sec)')
ylabel('Response')
text(4.1,1.86,'\zeta = 0')
text(3.5,1.5,'0.2')
text(3.5,1.24,'0.4')
text(3.5,1.08,'0.6')
text(3.5,0.95,'0.8')
text(3.5,0.86,'1.0')
Plot of Unit-Step Response Curves with n
= 1 and = 0, 0.2, 0.4, 0.6, 0.8, 1
2
=0
1.8
1.6
0.2
1.4
0.4
1.2
0.6
1
0.8
1.0
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
t (sec)
Figure 2.6: Two-dimensional plot of unit-step response curves for 0, 0.2, 0.4, 0.6, 0.8, and 1.0
3. Obtaining Peak Time, Maximum Overshoot, and Settling Time with MATLAB.
MATLAB can conveniently be used to calculate characteristics of a second‐order system
such as damping ratio, ; natural frequency, ; percent overshoot, %OS (pos); settling
time, Ts; and peak time, Tp.
Consider a transfer function
58
6 58
Use the following code to compute , , %OS,
% Use the following code to compute , , %OS,