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Lab#9: Steady State Error Analysis and Design

This document describes a lab experiment involving steady state error analysis and design. The lab contains 3 parts: 1) Analyzing step, ramp, and parabolic inputs using MATLAB, 2) Calculating steady state error by varying the value of k, and 3) Examining different system configurations including normal input, reference input, disturbance input, and combined reference and disturbance input. MATLAB code is provided for each experimental part or task.

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Hammad Satti
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© © All Rights Reserved
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59 views

Lab#9: Steady State Error Analysis and Design

This document describes a lab experiment involving steady state error analysis and design. The lab contains 3 parts: 1) Analyzing step, ramp, and parabolic inputs using MATLAB, 2) Calculating steady state error by varying the value of k, and 3) Examining different system configurations including normal input, reference input, disturbance input, and combined reference and disturbance input. MATLAB code is provided for each experimental part or task.

Uploaded by

Hammad Satti
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Lab#9 : Steady State Error Analysis and Design

In Lab Tasks

Task 1:
PART 1
clc
num = [0 500 3500 5000];
denum = [1 30 296 960];
s= tf(num,denum);
s=feedback(s,1,-1);

t = 0:0.1:10;
u = heaviside(t);
subplot(3,1,1)
step(s,t) %for step function
title("STEP FUNCTION")
p = 20.*t.*u;
subplot(3,1,2)
lsim(s,p,t);
title("RAMP FUNCTION")
z = 5.*t.^2.*u;
subplot(3,1,3)
lsim(s,z,t);
title("PARABOLIC FUNCTION")

OUTPUT:
PART 2
clc
num = [0 500 6500 26000 30000];
denum = [1 30 296 960 0];

s= tf(num,denum);
s=feedback(s,1,-1);

t = 0:0.1:10;
u = heaviside(t);
subplot(3,1,1)
step(s,t) %for step function
title("STEP FUNCTION")
p = 20.*t.*u;
subplot(3,1,2)
lsim(s,p,t);
title("RAMP FUNCTION")
z = 5.*t.^2.*u;
subplot(3,1,3)
lsim(s,z,t);
title("PARABOLIC FUNCTION")

OUTPUT:
PART 3
clc
num = [500 12000 111500 498000 1058000 840000];
denum = [1 30 296 960 0 0];

s= tf(num,denum);
s=feedback(s,1,-1);

t = 0:0.1:10;
u = heaviside(t);
subplot(3,1,1)
step(s,t) %for step function
title("STEP FUNCTION")
p = 20.*t.*u;
subplot(3,1,2)
lsim(s,p,t);
title("RAMP FUNCTION")
z = 5.*t.^2.*u;
subplot(3,1,3)
lsim(s,z,t);
title("PARABOLIC FUNCTION")

OUTPUT:
Lab Task 2:

PART 1
num = [672 3360]; % The value of k is 672
denum = [1 21 146 336];
s= tf(num,denum)
s=feedback(s,1,-1);
step(s)

steadystaterror=abs(1-1.26)

OUTPUT

COMMENTS

Steady state error = 0.2600

Comments: When the ’k’ is increased, then increase in the overshoot is seen and by decreasing
the value of ‘k’ increases the steady state time and decreases the overshoot.
PART 2

num = [189 2268]; %The value of k is 189.


denum = [1 32 252];
s = tf(num,denum)
y = feedback (s,1,-1);
step(y);
steadystateerror=abs(1-0.902)

OUTPUT
Lab Task 3:

 Normal Input

MATLAB Code
num = [1];
denum = [1 1 0];
sys = tf(num,denum);
t = 0:0.1:10;
u = heaviside(t);
k = 70;
f = feedback(k*sys, 1, -1)
step(f)
Results
 Reference Input

MATLAB Code
k = 70;
num = k*[1];
denum = [1 1 0];
sys = tf(num,denum);
t = 0:0.1:10;
u = heaviside(t);
f = feedback(1, sys, -1)
step(f)
Results
 Disturbance Input

MATLAB Code
k = 70;
num = [1];
denum = [1 1 0];
sys = tf(num,denum);
t = 0:0.1:10;
u = heaviside(t);
f = feedback(-sys, k, 1)
step(f)

Results

 Reference + Disturbance Input

MATLAB Code
k = 70;
num1 = k*[1];
denum1 = [1 1 0];
sys1 = tf(num1,denum1);
t = 0:0.1:10;
u = heaviside(t);
f1 = feedback(1, sys1, -1)

num2 = [1];
denum2 = [1 1 0];
sys2 = tf(num2,denum2);
f2 = feedback(-sys2, k, 1)
lsim(f1,f2,u,t);
Results

Critical Analysis / Conclusion

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