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Expt 4 First Order System

This document provides an overview of analyzing a first order system using MATLAB. It describes the key characteristics of a first order system including its time constant, DC gain, pole, step response, and Bode plots. Procedures are outlined for using MATLAB commands to model a first order transfer function and generate its step response and Bode plots.

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Angelo Legarda De Castro
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39 views

Expt 4 First Order System

This document provides an overview of analyzing a first order system using MATLAB. It describes the key characteristics of a first order system including its time constant, DC gain, pole, step response, and Bode plots. Procedures are outlined for using MATLAB commands to model a first order transfer function and generate its step response and Bode plots.

Uploaded by

Angelo Legarda De Castro
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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1st Order System

(Analysis of Controlled Sytem 3)


Laboratory Experiment No. __

Performance Objective

To analyse a first order system using Matlab..

Materials and Equipment

MATLAB software with Tool Box

Personal Computer

Procedures

First order systems are the simplest dynamic systems to analyze. Some common examples include cruise
control systems and RC circuits.

The general form of the first order differential equation is as follows

(1)

The first order transfer function is

(2)

DC Gain

The DC gain, , is the ratio of the magnitude of the steady-state step response to the magnitude of the
step input. From the Final Value Theorem, for stable transfer functions the DC gain is the value of the
transfer function when s=0. For first order systems equal to .

Time Constant

The time constant is the time it takes for the system to reach 63% of the steady-state value
for a step response or to decrease to 37% of the inital value for an impulse response. More generally, it
represents the time scale for which the dynamics of the system are significant.

Poles/Zeros

There is a single real pole at . Therefore, the system is stable if is positive and unstable if is
negative. There are no zeros.

Step Response
We can calculate the system time response to a step input of magnitude u using the MATLAB following
commands:
k_dc = 5;
Tc = 10;
u = 2;

s = tf('s');
G = k_dc/(Tc*s+1)

step(u*G)
G=

5
--------
10 s + 1

Continuous-time transfer function.

Kindly draw the output graph below.


Note: MATLAB also provides a powerful GUI (LTI Viewer) for analyzing LTI systems which can be accessed
using, ltiview('step',G).

If you right click on the step response graph and select Characteristics, you can choose to have several
system metrics overlaid on the response: peak response, settling time, rise time, and steady-state.

Settling Time

The settling time, , is the time required for the system ouput to fall within a certain percentage (i.e. 2%)
of the steady state value for a step input or equivalently to decrease to a certain percentage of the initial
value for an impulse input. The settling times for first order system for the most common tolerances are
provided in the table below. Note that the tighter the tolerance, the longer the system response takes to
settle to within this tolerance, as expected.
10% 5% 2% 1%
Ts=2.3/a=2.3Tc Ts=3/a=3Tc Ts=3.9/a=3.9Tc Ts=4.6/a=4.6Tc

Rise Time

The rise time, , is the time required for the system output to rise from some lower level x% to some
higher level y% of the final steady-state value. For first order systems, the typical range is 10% - 90%.

Bode Plots

The Bode Plots show the magnitude and phase of the system frequency response, . We can
generate the Bode plots in MATLAB using the bode(G) command.
bode(G)

Kindly draw the magnitude and Phase output of the Bode below;
Again the same results could be obtained using the LTI viewer GUI, ltiview('bode',G)

The Bode plots use a logarithmic frequency scale, so that a larger range of frequencies are visible. Also,
the magnitude is represented using the logarithmic decibel unit (dB) defined as:

(3)

Like frequency, the decibel scale allows us to view a much larger range of magnitudes on a single plot.
Also, as we shall see in subsequent tutorials, when systems are combined or controllers are added,
transfer functions are often multiplied together. Using the dB scale, we may simply add the magnitudes
of the transfer functions. Note, we may also add the phase angles though these are not shown on a log
scale.

The low frequency magnitude of the first order bode plot is . The magnitude plot has a bend at
the frequency equal to the absolute value of the pole (ie. ), and then decreases at 20dB for every
factor of ten increase in frequency (-20dB/decade). The phase plot is asymptotic to 0 degrees at low
frequency, and asymptotic to -90 degrees at high frequency. Between frequency 0.1a and 10a, the phase
changes by approximately -45 degrees for every factor of ten increase in frequency (-45
degrees/decade).

We will see in the Frequency Methods for Controller Design Section how to use Bode Plots to calculate
closed loop stability and performance of feedback systems.

Conclusion

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