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Control System Toolbox (Part-II) : 1 10/17/2018 Dept. of EEE, PUST

This document provides an overview of time domain analysis of first and second order control systems using MATLAB. It discusses step, impulse, ramp and parabolic responses of first order systems and introduces concepts of natural frequency and damping ratio for second order systems. The document contains examples of obtaining time responses for various systems and exercises involving modeling systems in Simulink. It demonstrates building Simulink models and simulations to study system behavior.

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Control System Toolbox (Part-II) : 1 10/17/2018 Dept. of EEE, PUST

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Control System Toolbox (Part-II)

10/17/2018 Dept. of EEE, PUST 1

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

10/17/2018 Dept. of EEE, PUST 2
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.
10/17/2018 Dept. of EEE, PUST 3
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)
10/17/2018 Dept. of EEE, PUST 4
Impulse Response

10
G( s ) 
3s  1

To find the step response of the system

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

10/17/2018 Dept. of EEE, PUST 5

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)

10/17/2018 Dept. of EEE, PUST 6

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

10/17/2018 Dept. of EEE, PUST 7

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

10/17/2018 Dept. of EEE, PUST 8

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.

10/17/2018 Dept. of EEE, PUST 9

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
10/17/2018 Dept. of EEE, PUST 11
Introduction
• A general second-order system is characterized by the following
transfer function.

C( s ) n2
 2
R( s ) s  2 n s  n2
10/17/2018 Dept. of EEE, PUST 12
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)

10/17/2018 Dept. of EEE, PUST 13

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
10/17/2018 Dept. of EEE, PUST 14
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
10/17/2018 Dept. of EEE, PUST 15
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.

10/17/2018 Dept. of EEE, PUST 16

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
10/17/2018 Dept. of EEE, PUST 17
Study and Observation of System Behavior
Using Matlab Simulink Simulation

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