Control System Toolbox (Part-II)

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 Outline

• Time Domain Analysis of 1st Order Systems

– Step Response

– Impulse Response

– Ramp Response

– Parabolic Response

• Time Domain Analysis of 2nd Order Systems

– Step Response, Impulse Response, Ramp Response and Parabolic
Response

– Time Domain Specifications

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 Introduction

• The first order system has only one pole.

C( s ) K

R( s ) Ts  1

• Where K is the D.C gain and T is the time constant of the system.

• Time constant is a measure of how quickly a 1st order system

responds to a unit step input.

• D.C Gain of the system is ratio between the input signal and the
steady state value of output.
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 Step Response
10
G( s ) 
3s  1
To obtain the step response of the system

num = 10;
den = [3 1];
step(num,den)
or

num = 10;
den = [3 1];
sys=tf(num, den)
step(sys)
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 Impulse Response

10
G( s ) 
3s  1

To find the step response of the system

num = 10;
den = [3 1];
impulse(num,den)

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 Ramp Response
10
G( s ) 
3s  1

To find the ramp response of the system

t = 0:0.01:10
r = t;
num = 10;
den = [2 1];
lsim(num,den,r,t)

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Exercise-1: Obtain the step and ramp responses
of the following 1st order system for T=1, 2, 3 5,
10 seconds.

2
G( s ) 
Ts  1

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Exercise-2: Obtain the step and ramp responses
of the following 1st order system for K=1, 5, 10
and 15.

K
G( s ) 
3s  1

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 1st Order System with a Zero

C ( s ) K (1  s )

R( s ) Ts  1

• Zero of the system lie at -1/α and pole at -1/T.

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Exercise-3: Obtain the step response of the
following 1st order system with zero for
(i) K=1, α=4 and T=3 sec
(ii) K=1, α=3 and T=4 sec
(iii) K=1, α=3 and T=3 sec

C ( s ) K (1  s )

R( s ) Ts  1
(iv) And compare the results with system w/o zero
C( s ) K

10/17/2018 Dept. of EEE, PUST R( s ) Ts 101
TIME RESPONSE OF 2ND ORDER
SYSTEMS
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 Introduction
• A general second-order system is characterized by the following
transfer function.

C( s ) n2
 2
R( s ) s  2 n s  n2
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 Undamped Natural Frequency &
Damping ratio
• Determine the un-damped natural frequency and damping ratio of
the following second order system.
C( s ) 4
 2
R( s ) s  2s  4
To find the undamped natural frequency and damping
ratio in matlab
num=4
den=[1 2 4]
sys=tf(num, den)
damp(sys)

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Exercise-4: Obtain the pole zero map and step response
of the 2nd order system and determine the mode of
damping in the system. If the system is underdamped
obtain the time domain specifications. On the pole zero
map show that corresponding damping ratio and natural
undamped frequency of the poles.
(i) ωn=3 r/s and ζ=1
(ii) ωn=3 r/s and ζ=2
C( s ) n2
(iii) ωn=3 r/s and ζ=0.1  2
R( s ) s  2 n s  n2
(iv) ωn=3 r/s and ζ=0.5
(v) ωn=3 r/s and ζ=0
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Exercise-5: Obtain the step response of the 2nd order
system if
(i) ωn=0.1 r/s and ζ=0.5
(ii) ωn=0.3 r/s and ζ=0.5
(iii) ωn=0.6 r/s and ζ=0.5
(iv) ωn=1 r/s and ζ=0.5
(v) ωn=1.5 r/s and ζ=0.5

C( s ) n2
 2
R( s ) s  2 n s  n2
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 Exercise#6

• Consider the system shown in following figure, where

damping ratio is 0.6 and natural undamped frequency is 5
rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when
the system is subjected to a unit-step input.

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 Exercise#6

Describe the nature of the second-order system response via the value
of the damping ratio for the systems with transfer function

12
1. G ( s )  2
s  8s  12

16
2. G ( s)  2
s  8s  16

20
3. G ( s )  2
s  8s  20
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 Study and Observation of System Behavior
Using Matlab Simulink Simulation

Objectives:
• Building simple Simulink simulations.
• Running Simulink simulation to predict a system's behaviour.

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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 Study and Observation of System Behavior
Using Matlab Simulink Simulation

The resistance of the motor armature (ohms) = 1.75

The inductance of the motor armature (H) = 2.83
The torque constant (Nm/A) = 0.0924
The back emf constant (V sec/rad) = 0.0924
The inertia seen by the motor (includes inertia of the load) J(kg-m2 ) = 30*10^(-10)
The mechanical damping coefficient associated with rotation B(Nm/(rad/sec))= 5.0
The applied voltage (volts) = 5 volts

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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 Study and Observation of System Behavior
Using Matlab Simulink Simulation
Ctrl + S to save the developed simulation diagram with the extension .mdl
armature_dcmotor.mdl
Press Ctrl + E to open the simulation parameter configuration
window. In the Solver submenu, enter the start and stop time of the
simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

Press icon to start the simulation. Note that the icon

changes to ;
Click the autoscale icon

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

D1(s) = 3; D2(s)=3+(15/ s ); and D3(s)=(3+(15/ s )+0.3 s )

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Study and Observation of System Behavior
Using Matlab Simulink Simulation

s = tf('s');
G = 59.292/(s^2+6.9779*s+15.12);
D1 = 3;
D2 = 3 + 15/s;
D3 = 3 + 15/s +0.3*s;
M1 = feedback(D1*G,1);
M2 = feedback(D2*G,1);
M3 = feedback(D3*G,1);
step(M1);
hold;
step(M2);
step(M3);
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 END OF TUTORIAL

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