Time & Frequency Response of the System using MATLAB

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AIM

To simulate the time response characteristic of a given system.
To analysis the stability of the given linear system using Bode Plot, Nyquist Plot and
Root Locus.

SOFTWARE
MATLAB Version 7.6.0.324 (R2008a)
Theory
Time Domain Specification
The desired performance characteristics of control systems are specified in terms of
time domain specification. System with energy storage elements cannot respond
instantaneously and will exhibit transient responses, whenever they are subjected to inputs or
disturbances.
The desired performance characteristics of a system of any order may be specified in
terms of the transient response to a units step input signal.
The transient response of a system to a unit step input depends on the initial
conditions. Therefore to compare the time response of various systems it is necessary to start
with standard initial conditions. The most practical standard is to start with the system at rest
and output and all time derivatives there of zero. The transient response of a practical control
system often exhibits damped oscillation before reaching steady state.
The transient response characteristics of a control system to a unit step input are
specified in terms of the following time domain specifications.
1.
Delay time, t
d
2. Rise time, t
r

3. Peak time, t
p

4. Maximum overshoot, M
p

5. Setting time, t
s


F FO OR RM MU UL LA A: :





Damped frequency of oscillation,
F Fr re eq qu ue en nc cy y R Re es sp po on ns se e: :
The frequency response is the steady state response of a system when the input to the
system is a sinusoidal signal.
Frequency response analysis of control system can be carried either analytically or
graphically. The various graphical techniques available for frequency response analysis are
1. Bode Plot
2. Polar plot (Nyquist plot)
3. Nichols plot
4. M and N circles
5. Nichols chart
B Bo od de e p pl lo ot t: :
The bode plot is a frequency response plot of the transfer function of a system. A
bode plot consists of two graphs. One is plot of the magnitude of a sinusoidal transfer
function versus log e. The other is plot of the phase angle of a sinusoidal transfer function
versus loge.
The main advantage of the bode plot is that multiplication of magnitude can be
converted into addition. Also a simple method for sketching an approximate log magnitude
curve is available.
d
Risetime
e
u t
=
,
,
u
2
1
1
tan

=

where
2
1 , e e =
n d

P Po ol la ar r p pl lo ot t: :
The polar plot of a sinusoidal transfer function G (je) on polar coordinates as e is
varied from zero to infinity. Thus the polar plot is the locus of vectors |G (je) | Z G
(je) as e is varied from zero to infinity. The polar plot is also called Nyquist plot.
N Ny yq qu ui is st t S St ta ab bi il li it ty y C Cr ri it te er ri io on n: :
If G(s)H(s) contour in the G(s)H(s) plane corresponding to Nyquist contour in s-plane
encircles the point 1+j0 in the anti clockwise direction as many times as the number of
right half s-plain of G(s)H(s). Then the closed loop system is stable.
R Ro oo ot t L Lo oc cu us s: :
The root locus technique is a powerful tool for adjusting the location of closed loop
poles to achieve the desired system performance by varying one or more system parameters.
The path taken by the roots of the characteristics equation when open loop gain K is
varied from 0 to are called root loci (or the path taken by a root of characteristic equation
when open loop gain K is varied from 0 to is called root locus.)
F Fr re eq qu ue en nc cy y D Do om ma ai in n S Sp pe ec ci if fi ic ca at ti io on ns s: :
The performance and characteristics of a system in frequency domain are measured in
term of frequency domain specifications. The requirements of a system to be designed are
usually specified in terms of these specifications.
The frequency domain specifications are
1.
Resonant peak, M
r
2. Resonant Frequency, e
r.

3. Bandwidth.
4. Cut off rate
5. Gain margin
6. Phase margin
R Re es so on na an nt t P Pe ea ak k, , M M
r r

The maximum value of the magnitude of closed loop transfer function is called the
resonant peak, M
r
. A large resonant peak corresponds to a large over shoot in transient
response.
R Re es so on na an nt t F Fr re eq qu ue en nc cy y, , e e
r r

The bandwidth is the range of frequency for which the system gain is more than -3db.
The frequency at which the gain is -3db is called cut off frequency. Bandwidth is usually
defined for closed loop system and it transmits the signals whose frequencies are less than
cut-off frequency. The bandwidth is a measured of the ability of a feedback system to
produce the input signal, noise rejection characteristics and rise time. A large bandwidth
corresponds to a small rise time or fast response.
C Cu ut t- -O Of ff f R Ra at te e: :
The slope of the log-magnitude curve near the cut off frequency is called cut-off rate.
The cut-off rate indicates the ability of the system to distinguish the signal from noise.
G Ga ai in n M Ma ar rg gi in n, , K K
g g

The gain margin, K
g
is defined as the reciprocal of the magnitude of open loop
transfer function at phase cross over frequency. The frequency at witch the phase of open
loop transfer function is 180 is called the phase cross over frequency, e
pc
.
P Ph ha as se e M Ma ar rg gi in n, ,
The phase margin, is that amount of additional phase lag at the gain cross over
frequency required to bring the system to the verge of instability, the gain cross over
frequency e
gc
is the frequency at which the magnitude of open loop transfer function is unity
(or it is the frequency at which the db magnitude is zero).

P PR RO OC CE ED DU UR RE E: :
1. Enter the command window of the MATLAB.
2. Create a new M file by selecting File New M File.
3. Type and save the program.
4. Execute the program by either pressing F5 or Debug Run.
5. View the results.
6. Analysis the response of the system.

P PR RO OB BL LE EM M- -1 1: :
Obtain the step response of series RLC circuit with R = 1.3KO, L = 26mH and C=3.3f using
MATLAB M File.




Format long e
num = [ 0 0 1.6e10 ]
den = [ 1 50000 1.6e10 ]
step (num, den)
grid on
title (step response of series RLC circuit)
P PR RO OB BL LE EM M- -2 2: :
Figure 1 shows a mechanical vibratory system. When a force of 8.9N is applied to the
system, Find the step response of given mechanical system. Constants K=296.67N/m,
f
v
=180.863N-m/s, M=77.42kg.

Fig .1.mechanical system

P PR RO OB BL LE EM M- -3 3: :
Obtain the bode diagram for the following system








M MA AT TL LA AB B P Pr ro og gr ra am m
a = [0 1 ; -25 -4]
b = [1 1 ; 0 1]
(

=
(

+
(

=
(

2
1
2
1
2
1
2
1
2
1
4 25
1 0
1 0
1 1
4 25
1 0
x
x
y
y
y
y
x
x
x
x
c = [1 1 ; 1 1]
d = [0 0 ; 0 0]
bode (a, b, c, d)
grid
title (BODE DIAGRAM)
P PR RO OB BL LE EM M- -4 4: :
For the following T.F draw the Bode plot and obtain Gain cross over frequency (w
gc
) , Phase
cross over frequency , Gain Margin and Phase Margin.
G(s) = 20 / [s (1+3s) (1+4s)]

Using Bode Plot
num = [0 0 20]
den = [12 7 1 0]
sys = tf (num, den)
bode (sys)
Margin (sys)
[ gm, ph, wpc, wgc ] = margin (sys)

P Pr ro ob bl le em m- -5 5: :
Draw the Nyquist plot for G(s) =

M MA AT TL LA AB B P Pr ro og gr ra am m
num = [0 0 0]
den = [1 1 0]
nyquist (num,den)
v = [-2,2,-5,5]
axis (v)
grid
title (Nyquist Plot)

) 1 (
1
+ s s
P Pr ro ob bl le em m - -6 6: :
Obtain the root focus plot of the given open loop T.F is


G(s) H (s) =


M MA AT TL LA AB B P Pr ro og gr ra am m
num = [0 0 0 0 1]
den = [11.1 10.3 5 0]
rlocus (num,den)
grid
title [Root Locus Plot]

RESULT

Thus the time and frequency response of given linear system was verified using
MATLAB.
VIVA-VOCE QUESTIONS:
1. What is MATLAB?
2. What is the use of MATLAB Package?
3. What are the toolboxes available in MATLAB?
4. What is the use of a simulation?
5. Differentiate real time systems and simulated systems.
6. Give two examples for first order system.
7. Name the standard test signals used in control system.
8. What is time response?
9. Define stability of Linear Time Invariant System.
10. Give the stability conditions of system using Pole-Zero plot.
11. Define Bode Plot.
12. What is the use of Bode Plot?
13. What the conditions of stability are in Bode plot?
14. Define Stability criteria.
15. Define Limits of stability.
16. Define safe regions in stability criteria.
17. Define Phase margin and Gain margin.
) 10 6 . 0 )( 5 . 0 (
2
+ + + s s s s
K
18. What is polar plot?
19. What is Nyquist plot?
20. Define the conditions of stability in polar plot.
21. What is the use and advantage of polar plot?
22. State Nyquist stability criterion.