Contents

1 Modeling of first order systems and response analysis 2

1
Experiment 1
Modeling of first order systems and
response analysis

Objectives
The objective of this lab is to grasp the important role of mathematical
models of physical systems in the design and analysis of control systems. We
will learn how MATLAB helps in solving such models.

Introduction
The system whose input-output equation is a first order differential equation
is called first order system. First order systems are mass-less systems, which
means that they do not exhibit the property of inertia. First order systems
by themselves do not overshoot or oscillate. Example of fist order system
include

• RC or RL electrical network

• Thermometer

• Radioactive decay

• Mixing process

• Pressure system

• Filling tank with level control response to set-point changes

2
 Let the the output of the system is y(t) related to the input r(t) by a
differential equation of the form
dy
+ ay = br (1.1)
dt
Where the input term forms the driving function of the equation, a and b are
the constants of the equation. The corresponding transfer function becomes
b
G(s) =
s+a
Laplace transforming the Eq.1.1, we have

sY (s) − y(0−) + aY (s) = bR(s)

bR(s) y(0−)
Y (s) = +
|s {z
+ a} |s {z
+ a}
Zero−state−component Zero−input−component

The zero-state component is the result of a driving function R(s) with

zero initial conditions where as zero-input component is the result of only
non zero initial conditions with no driving function or input.
For a step input r(t) = u(t) or we can say R(s) = 1/s Output

b
Y (s) = (1.2)
s(s + a)

Taking the inverse Laplace transform of Eq. 1.2 and assuming b = a, the
step response is given by

y(t) = cf (t) + cn (t) = 1 − e−at (1.3)

The forced response cf (t) = 1 is generated by the Input pole at the origin
while the System pole at a generates the natural response cn (t) = −e−at .
The plot of Eq. 1.3 is shown in Fig.1.1
The significance of the parameter a is that it is the only parameter which
is required to describe the Transient response which is defined as
A transient response or natural response is the response of a
system to a change from an equilibrium. . It is illustrated in Fig. 1.2
When t = 1/a in Eq. 1.3 it becomes

c(t) = 1 − 0.37 = 0.63 (1.4)

3
 Figure 1.1: First-order system

Figure 1.2: Step response consisting of transient and steady state response

Time Constant
It can be described as the time for e−at to decay to 37% of its initial value.
Referring to Eq. it can also be defines as the time taken by the step response
to rise to 63% of its final value as shown in in Fig. 1.1. Hence l/a is the time
constant of the step response. The reciprocal of the time constant a has units
of (1/s) or frequency. Thus we can call the parameter a is the exponential
frequency
Since the derivative of e−at is a when t = 0, a is the initial rate of change
of the exponential at t = 0. Thus, the time constant can be considered a
transient response specification for a first order system, since it is related to
the speed at which the system responds to a step input.

4
Rise Time, Tr
Rise time is defined as the time for the waveform to go from 0.1 to 0.9 of its
final value.

Settling Time, Ts
Settling time is defined as the time for the response to reach, and stay within,
2% of its final value.

Lab Tasks
1. For a series RC circuit with E(t) as a DC source applied to this circuit

• Drive its transfer function.

• Compute the unit step response for R = 2K and C = 0.01F
• Now take C = 0.01F and R = 5K

5
2. Construct a first order transfer function in Matlab, i.e.,

K/τ
G(s) =
s + 1/τ

• Take your Roll number as the value of both k and τ and obtain
the step response.
• Now apply ramp as an input to the same system and see what
happens?
• Why it is not following the ramp exactly
• Apply sinusoid as an input and observe the response

6
 3. Consider a simple first-order system, G(s) = K/(s + a), whose step
response is
K K/a K/a
C(s) = = −
s(s + a) s s+a
Compute the transfer function by finding the values of K and a from
figure 1.3. (Hint: You can Use the equation and definitions given in
the lab manual )

Step Response
0.9

0.8

0.7

0.6
max value=0.82;
Amplitude

0.5
0.63*0.82=0.5166

at Amplitude=0.5166,t=0.098, 0.4

a=1/t=1/0.098=10.204
0.3

at steady state
K/a=max value=0.82 0.2

=> K=a*0.82=8.3673
0.1
so a=10.204
K=8.3673 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Time (seconds)

Figure 1.3: Step response for Lab Task No.3

7
Conclusion
Student’s Comments

Lesson Learnt