Control System Engineering Lab 1

ISLAMIC UNIVERSITY OF TECHNOLOGY (IUT)

ELECTRICAL AND ELECTRONIC ENGINEERING (EEE)
CONTROL SYSTEM ENGINEERING LAB

Experiment Name
MATLAB/Simulink Implementation for Modelling and Response Analysis of LTI Systems

1 Objectives
• To develop analytical and simulation models of systems using MATLAB and Simulink,
and compare their step responses through both mathematical derivation and computa-
tional techniques.
• To understand and implement transfer function representations of LTI systems through
various MATLAB commands, and to analyze their pole-zero configurations.
• To investigate system responses (step, impulse, ramp) for different types of feedback
control systems.

2 PART A: Modelling using MATLAB and Simulink

2.1 MATLAB Code

Figure 1: Series RL circuit

The RL circuit under consideration is shown in Figure 4.7, consisting of a voltage source Vin (t),
a resistor R, and an inductor L, with the current i(t) as the output.

Derivation of the Differential Equation

Applying Kirchhoff’s Voltage Law (KVL) around the loop:

Vin (t) = VR (t) + VL (t)

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 Control System Engineering Lab 2

where VR (t) = Ri(t) and VL (t) = L di(t)

dt
. Substituting these into the equation:

di(t)
Vin (t) = Ri(t) + L
dt
Rearranging, the first-order differential equation is:
di(t)
L + Ri(t) = Vin (t)
dt

Laplace Transform and Transfer Function

Assume zero initial conditions (i(0) = 0). Taking the Laplace transform of the differential
equation:
LsI(s) + RI(s) = Vin (s)
Factoring out I(s):
I(s)(Ls + R) = Vin (s)
I(s)
The transfer function H(s) = Vin (s)
is:

I(s) 1
H(s) = =
Vin (s) Ls + R

The following MATLAB code defines the transfer function for the RL circuit with L = 1 H
and R = 2 Ω, and plots its step response:
1 L = 1;
2 R = 2;
3 num = 1;
4 den = [ L R ];
5 h = tf ( num , den ) ;
6 step ( h ) ;

Analytical Solution for Step Input

Consider a step input Vin (t) = V0 u(t), where V0 = 1 V and u(t) is the unit step function.
Substituting into the differential equation:
di(t)
L + Ri(t) = 1 for t ≥ 0
dt
Divide through by L:
di(t) R 1
+ i(t) =
dt L L
The homogeneous solution is found by solving:
dih (t) R R
+ ih (t) = 0 =⇒ ih (t) = Ae− L t
dt L
The particular solution for a constant input is:
1
ip (t) =
R

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 Control System Engineering Lab 3

This is determined using the method of undetermined coefficients. Since the forcing term is
a constant ( L1 ), we assume a constant particular solution ip (t) = K. Substituting into the
differential equation:
d R 1
(K) + K =
dt L L
Since K is a constant, its derivative is zero:
R 1 R 1 1
0+ K= =⇒ K= =⇒ K =
L L L L R

The total solution is the sum of the homogeneous and particular solutions:
R 1
i(t) = ih (t) + ip (t) = Ae− L t +
R
Using the initial condition i(0) = 0 (assuming the inductor current starts at zero):
1 1 1
i(0) = Ae0 + = A + = 0 =⇒ A = −
R R R

Thus, the final analytical solution for the current i(t) is:
1 R 1 1 R

i(t) = − e− L t + = 1 − e− L t for t ≥ 0
R R R

The following MATLAB code plots both the simulated step response and the analytical solution
of the RL circuit for L = 1 H and R = 2 Ω, using subplots for comparison:
1 L = 1;
2 R = 2;
3 num = 1;
4 den = [ L R ];
5 h = tf ( num , den ) ;
6 [y , time ] = step ( h ) ;
7

8 % Analytical solution function

9 math_function = @ ( t ) (1/ R ) *(1 - exp ( - R * t / L ) ) ;
10 math_solution = math_function ( time ) ;
11

12 % Create subplots for comparison

13 subplot (2 ,1 ,1) ;
14 plot ( time , y , ’b - ’ , ’ LineWidth ’ , 1.5) ;
15 grid on ;
16 title ( ’ Simulated Step Response ( MATLAB ) ’) ;
17 xlabel ( ’ Time ( s ) ’) ;
18 ylabel ( ’ Current i ( t ) ( A ) ’) ;
19 set ( gca , ’ FontSize ’ , 10 , ’ GridColor ’ , ’k ’ , ’ GridAlpha ’ , 0.3) ;
20

21 subplot (2 ,1 ,2) ;
22 plot ( time , math_solution , ’r - - ’ , ’ LineWidth ’ , 1.5) ;
23 grid on ;
24 title ( ’ Analytical Step Response ’) ;

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 Control System Engineering Lab 4

25 xlabel ( ’ Time ( s ) ’) ;
26 ylabel ( ’ Current i ( t ) ( A ) ’) ;
27 set ( gca , ’ FontSize ’ , 10 , ’ GridColor ’ , ’k ’ , ’ GridAlpha ’ , 0.3) ;
28

29 % Adjust layout for better spacing

30 set ( gcf , ’ Color ’ , ’w ’) ;
31 sgtitle ( ’ Comparison of RL Circuit Step Response ( R =2\ Omega , L =1 H ) ’ ,
’ FontSize ’ , 12) ;

2.2 Simulink
2.2.1 S Domain
1
The Simulink model for the RL circuit uses the transfer function H(s) = Ls+R
, with R = 2 Ω
and L = 1 H, so:
1
H(s) =
s+2
The model includes:

• Step Block: Step input.

1
• LTI System Block: Transfer function s+2
.
• Scope Blocks: Scope and Scope1 for output visualization.
• To Workspace Block (simout): Exports data in array or structure format.

Block diagram: Step → LTI System → Scope/Scope1 → To Workspace (simout).

Data export and plotting:

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 Control System Engineering Lab 5

1 t = out . simout . Time ; % Extract time from timeseries

2 y = out . simout . Data ; % Extract data from timeseries
3

4 plot (t , y ) ;
5 xlabel ( ’ Time ( s ) ’) ;
6 ylabel ( ’ Current i ( t ) ( A ) ’) ;
7 title ( ’ RL Circuit Step Response ( Structure Format ) ’) ;
8 grid on ;

2.2.2 Time Domain

The time-domain Simulink model for the RL circuit uses the governing equation:

di(t) di(t) 1
L + Ri(t) = Vin (t) or = (Vin (t) − Ri(t))
dt dt L
Steps to build the model:

1. Compute Vin (t) − Ri(t):

Block diagram: Step (Vinput) → Subtract (Vinput - R*i) ← i(t)

1
2. Multiply by L
using a Gain block:

Subtract → Gain (K = 1/L) → Output

di(t)
3. The output of the Gain is dt
. Integrate to get i(t):

Gain → Integrator (1/s) → i(t)

4. Connect the integrator output back to the subtract block:

Integrator → Subtract

5. Add a Scope to observe i(t):

Integrator → Scope
1
For R = 2 Ω, L = 1 H, set Gain K = L
= 1, and multiply i(t) by R = 2 in the feedback path
if needed.

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 Control System Engineering Lab 6

3 PART B: Representation of Linear Time-Invariant Systems using

Matlab
3.1 Representing Transfer Functions
Example 1: Basic Transfer Function Representation
For the transfer function:
s
G(s) =
s2+s+4
Use the tf function, including coefficients for all powers of s, even if zero:
1 num = [1 , 0];
2 den = [1 , 1 , 4];
3 G = tf ( num , den ) ;

Example 2: Higher-Order Denominator

For:
4
G(s) =
s5 +7
Include zero coefficients for missing powers:
1 num = [4];
2 den = [1 , 0 , 0 , 0 , 0 , 7];
3 G = tf ( num , den ) ;

Example 3: Direct Polynomial Representation

For:
4s
G(s) =
s3 +s+5
Define s as a transfer function variable:
1 s = tf ( ’s ’) ;
2 G = 4 * s / ( s ^3 + s + 5) ;

Example 4: Zero-Pole-Gain Representation

For:
4s(s + 1)
G(s) =
(s + 5)(s − 4)
Use the zpk function (zeros, poles, gain):
1 G = zpk ([0 , -1] , [ -5 , 4] , 4) ;

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 Control System Engineering Lab 7

Example 5: Polynomial Multiplication

For:
s2 + 5s + 9
G(s) =
(s3 + 7s2 + s)(s − 4)
Use conv to multiply denominator polynomials:
1 num = [1 , 5 , 9];
2 den = conv ([1 , 7 , 1 , 0] , [1 , -4]) ;
3 G = tf ( num , den ) ;

3.2 Analyzing Transfer Functions

Example 6: Extracting Poles, Zeros, and Gain
For the transfer function from Example 5:
s2 + 5s + 9
G(s) =
(s3 + 7s2 + s)(s − 4)
Extract zeros, poles, and gain using tf2zp:
1 num = [1 , 5 , 9];
2 den = conv ([1 , 7 , 1 , 0] , [1 , -4]) ;
3 G = tf ( num , den ) ;
4 [z , p , k ] = tf2zp ( num , den ) ;

Example 7: Transfer Function from Poles, Zeros, and Gain

Given poles at −3, 1, zero at −1, and gain 10:
1 P = [ -3 , 1];
2 Z = [ -1];
3 K = 10;
4 [ num , den ] = zp2tf (Z , P , K ) ;
5 G = tf ( num , den ) ;

Note: Use column vectors for Z and P.

Plotting Poles and Zeros

To plot poles (marked as ’x’) and zeros (marked as ’o’), use pzmap:
1 pzmap ( G ) ;

3.3 System Responses

Example 8: Pole-Zero Map with Complex Poles
For:
s2 + 7s + 10
G(s) = 3
s + 6s2 + 10s + 8
Plot the pole-zero map (complex poles appear as conjugates):

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 Control System Engineering Lab 8

1 G = tf ([1 , 7 , 10] , [1 , 6 , 10 , 8]) ;

2 sgrid ;
3 pzmap ( G ) ;

Impulse Response
For the system in Example 8:
1 impulse ( G ) ;

Step Response
For the same system:
1 step ( G ) ;

Ramp Response
1
MATLAB lacks a direct ramp response command. Multiply the transfer function by s
and
take the step response. For Example 9:
s2 + 7s + 10 s2 + 7s + 10
G(s) = , H(s) =
s3 + 6s2 + 10s + 8 s(s3 + 6s2 + 10s + 8)
1 H = tf ([1 , 7 , 10] , [1 , 6 , 10 , 8 , 0]) ;
2 pzmap ( H ) ;
3 figure (2) ;
4 step ( H ) ;

Arbitrary Response
Use lsim for arbitrary inputs (e.g., exponential input):
1 num = [1 , 5];
2 den = [1 , 4];
3 t = 0:0.1:5;
4 r = exp ( t ) ;
5 y = lsim ( num , den , r , t ) ;
6 plot (t , y ) ;

3.4 Feedback Control Systems

For:
2s2 + 5s + 1 5(s + 2)
G(s) = , H(s) =
s2 + 2s + 3 s + 10
Apply negative feedback (default in feedback):
1 G = tf ([2 , 5 , 1] , [1 , 2 , 3]) ;
2 H = zpk ( -2 , -10 , 5) ;
3 Cloop = feedback (G , H ) ;
4 step ( Cloop ) ;

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Control System Engineering Lab 9

For positive feedback, use feedback(G, H, +1).

4 Assignment
4.1 RC Circuit – Step Response Analysis
• Derive the differential equation and transfer function of a series RC circuit (with R = 1 Ω,
C = 1 F).
• Use MATLAB to plot the step response using the tf and step functions.
• Implement the same circuit in Simulink using both the S-domain and time domain ap-
proach.
• Compare both responses and explain your observation.

4.2 Transfer Function Representation and Pole-Zero Mapping

5(s+3)
• Consider the system G(s) = s3 +4s2 +6s+2
.
• Represent it using:
– Coefficient vectors with tf
– Zero-pole-gain with zpk
– Symbolic transfer function with s = tf(’s’)
• Plot the pole-zero map.
• Identify stability and transient behavior based on the pole positions.

4.3 RLC Circuit – Multi-Method Step Response

• Consider a second-order RLC circuit with a time-varying input voltage source. The
output voltage is observed across the capacitor.
• Use the following values: R = 40 Ω, C = 0.25 F, L = 4 H.
Vout (s)
• Derive the transfer function Vin (s)
, where the output is across the capacitor.
• Plot the step response using:
– MATLAB coding
– Simulink LTI block
– Simulink time-domain implementation
• Compare and explain the differences in responses.

4.4 Impulse and Ramp Response for a Second-Order System

1
• Given G(s) = s2 +3s+2

• Plot the impulse response using impulse(G).

G(s)
• Plot the ramp response by taking the step response of s
.

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Control System Engineering Lab 10

• Explain the system behavior under both inputs.

• Determine the damping ratio and natural frequency from the denominator.

4.5 Stability Comparison – Feedback Systems

2s+5 1
• Given open-loop transfer function: G(s) = s2 +3s+4
, and feedback path H(s) = s+2

• Implement closed-loop systems with:

– Negative feedback
– Positive feedback
• Plot step responses and compare overshoot, settling time, and stability.
• Analyze the effect of feedback polarity on pole locations.

4.6 Arbitrary Input and Realistic Modeling

• Define the input: vin (t) = 5e−0.5t sin(3t)
1
• Use an RC circuit with transfer function G(s) = RCs+1
, where R = 1 Ω, C = 0.1 F.
• Plot the response using:
– lsim in MATLAB
– Simulink with signal builder or function generator
• Discuss how the circuit behaves as a filter.
• Comment on practical implications in signal processing or audio systems.

4.7 Op-Amp 1st Order Circuit Modeling

Find the step response vo (t) for t > 0 in the op amp circuit . Let vi = 2u(t) V, R1 = 20 kΩ,
Rf = 50 kΩ, R2 = R3 = 10 kΩ, C = 2 µF.
Vout (s)
• Derive the transfer function Vin (s)
, where the output is across the capacitor.
• Plot the step response using:

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Control System Engineering Lab 11

– MATLAB coding
– Simulink LTI block
– Simulink time-domain implementation

Mohammad Abrar Kabir, IUT, EEE