CONTROL SYSTEM I LAB.
MANUAL EE 593
EXPERIMENT NO : CS I/433
TILLE : DETERMINATION OF STEP & IMPULSE RESPONSE FOR A TYPE ‘0’, TYPE ‘1’,
TYPE ‘2’ SYSTEMS
OBJECTIVE : To determine
I. Step response of Type ‘0’ system
II. Impulse response of Type ‘0’ system
III. Step response of Type ‘1’ system
IV. Impulse response of Type ‘1’ system
V. Step response of Type ‘2’ system
VI. Impulse response of Type ‘2’ system
THEORY:
A real time system can be expressed by its transfer function. Based on presence of poles at origin of s
plane , transfer functions can be classified as Type ‘0’, Type ‘1’, Type ‘2’ ….. Systems. Let open loop
transfer function a system is expressed as:
𝐾𝐾(1+𝑠𝑠𝑇𝑇 )(1+𝑠𝑠𝑇𝑇 )……
G(s)H(s) = 𝑁𝑁 (1+𝑠𝑠𝑇𝑇𝑎𝑎 )(1+𝑠𝑠𝑇𝑇𝑏𝑏 )…… ………………………….. (i)
𝑠𝑠 1 2
From equation (i) it is clear that ‘N’ determines the number of poles at origin.
For a Type ‘0’ system, N = 0
For a Type ‘1’ system, N = 1
For a Type ‘2’ system, N = 2
.
.
.
.
For a Type ‘N’ system, N = N
The steady state error can be found out by the following equation
𝑠𝑠𝑠𝑠(𝑠𝑠)
𝑒𝑒𝑠𝑠𝑠𝑠 = lim
𝑠𝑠→0 1 + 𝐺𝐺(𝑠𝑠)𝐻𝐻(𝑠𝑠)
Ramp input Parabolic input
Type Step Input
KV ESS Ka ESS
KP ESS
0 1 0 ∞ 0 ∞
K 1 + 𝐾𝐾
1 0 K 1 0 ∞
∞ 𝐾𝐾
2 0 ∞ 0 K 1
∞ 𝐾𝐾
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EE 593 CONTROL SYSTEM I LAB. MANUAL
Example 1: Obtain step response of a Type ‘0’ system having forward path transfer function of G(s) =
1
𝑠𝑠 2 +𝑠𝑠+4
Matlab Code :
num = [1];
den = [1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')
Output:
Graph is print by printer, not
by hand
Example 2: Obtain impulse response of a Type ‘0’ system having forward path transfer function of G(s)
1
=
𝑠𝑠 2 +𝑠𝑠+4
Matlab Code :
num = [1];
den = [1 1 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output:
Page | 13
CONTROL SYSTEM I LAB. MANUAL EE 593
Graph is print by printer, not
by hand
Example 3: Obtain step response of a Type ‘1’ system having forward path transfer function of G(s) =
1
𝑠𝑠(𝑠𝑠 2 +𝑠𝑠+4)
Matlab Code :
num = [1];
den = [0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')
Output:
Graph is print by printer,
not by hand
Example 4: Obtain Impulse response of a Type ‘1’ system having forward path transfer function of G(s)
1
=
𝑠𝑠(𝑠𝑠 2 +𝑠𝑠+4)
Page | 14
EE 593 CONTROL SYSTEM I LAB. MANUAL
Matlab Code :
num = [1];
den = [0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output:
Graph is print by printer, not by
hand
Example 5: Obtain Step response of a Type ‘2’ system having forward path transfer function of G(s) =
1
𝑠𝑠 2 (𝑠𝑠 2 +𝑠𝑠+4)
Matlab Code :
num = [1];
den = [0 0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')
Output:
Page | 15
CONTROL SYSTEM I LAB. MANUAL EE 593
Graph is print by printer, not by
hand
Example 6: Obtain Impulse response of a Type ‘2’ system having forward path transfer function of G(s)
1
=
𝑠𝑠 2 (𝑠𝑠 2 +𝑠𝑠+4)
Matlab Code :
num = [1];
den = [0 0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output :
DISCUSSION:
1. What would be steady state error for a type 1 system if unit ramp input is applied?
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