REPORT

CONTROL SYSTEMS
EEN-210

Submitted by: NAMAN CHHABRA

SID:17104005
Branch: ELECTRICAL
Submitted to: Prof. ABHINASH SINGH
 EXPERIMENT 1

AIM : To plot graph of first order transfer functions using

three Matlab simulink modelling coding.

SOFTWARE USED: MATLAB 2017

Theory:

The transfer function is defined as the ratio of the

output and the input in the Laplace domain. It
describes the dynamic characteristics of the
system.
𝐺(𝐺) = 𝐺𝐺𝐺𝐺𝐺𝐺/𝐺𝐺𝐺𝐺𝐺
General rules to develop a transfer function
1. Make unsteady state balance.
2. Make steady state balance 2.
3. Subtract the steady state equation from the
unsteady state equation.
4. Transform the resulting equation into the
Laplace domain.
5. Rearrange the equation to get the ratio of the
(out/in) in one side and the other parameters in
the other side (the resulting is the transfer
function).
PROCEDURE:

These ways were used to plot graph of various transfer

function.

1. Writing program in MATLAB script.

2. Writing program using different code.

3. By using MATLAB simulink.

RESULTS:

1. g = tf([1 ],[1 2]) step(g);

 2.

3. S=tf('s');
G=1/(S+2);
step(G);

Conclusion:
In first order transfer function the maximum
value of power of ‘s’ is 1 in numerator as well as
denominator. The plot of step response is
observed as shown above.
 EXPERIMENT 2
Aim: To simulate time response of second order transfer function using Matlab
Software required: Matlab
Procedure: 1. Open Matlab on your PC and load the Simulink Library
2. Create a model for first order function using the following elements from the Library: Step,
Transfer Fcn, Scope and Powergui
3. Run the model and copy the resultant graph
4. Use the Matlab editor to write codes and compile them by using Matlab command
window.
5. Copy all observations into a document.

Theory:

The transfer function is defined as the ratio of the output and the input in the
Laplace domain. It describes the dynamic characteristics of the system.

𝐺(𝐺) = 𝐺𝐺𝐺𝐺𝐺𝐺/𝐺𝐺𝐺𝐺𝐺

General rules to develop a transfer function

1. Make unsteady state balance.

2. Make steady state balance 2.

3. Subtract the steady state equation from the unsteady state equation.

4. Transform the resulting equation into the Laplace domain.

5. Rearrange the equation to get the ratio of the (out/in) in one side and th

e other parameters in the other side (the resulting is the transfer function).

Observations:

a. Second order function using Simulink

Diagram:
Graph:
b. Second order function using Matlab code 1
Code:
g=tf([4],[1,2,3]);
step(g);
stepinfo(g)
Results:

Graph:

c. Second order function using Matlab code 2

Code:
 s=tf('s');
g= (2*s+1)/(2*s*s+4*s+3);
step(g);
stepinfo(g)
Graph:

Result: We have successfully simulated time-response of second order transfer function

using Matlab.
 EXPERIMENT - 3

Aim
To study what is stepinfo command and observe
its effect on the plot.
Software Required:
MATLAB 2017
Theory :
S = stepinfo(sys)computes the step-response
characteristics for a dynamic system model sys.
The function returns the characteristics in a
structure containing the fields:
Rise Time:
Time it takes for the response to rise from 10% to
90% of the steady-state response.
Settling Time:
Time it takes for the error |y(t) - yfinal| between the
response y(t) and the steady-state response yfinal to
fall to within 2% of yfinal.
Settling Min:
Minimum value of y(t) once the response has
risen.
Settling Max:
Maximum value of y(t) once the response has
risen.
Overshoot:
Percentage overshoot, relative to yfinal .
Undershoot:
Percentage undershoot.
Peak:
Peak absolute value of y(t).
Peak Time:
Time at which the peak value occurs.
Procedure:
1) Open the MATLAB window.
2) Open a blank script.
3) Write the code as written below in script.
4) Run the script and observe the results.

Code:

s=tf('s');
g= (2*s+1)/(2*s*s+4*s+3);
step(g);
stepinfo(g)
Graph:
Parameters:
RiseTime: 0.3753
SettlingTime: 4.2420
SettlingMin: 0.3024
SettlingMax: 0.4828
Overshoot: 44.8477
Undershoot: 0
Peak: 0.4828
PeakTime: 1.3355

Conclusion:
This function is very useful as it gives various
parameters of the given transfer function directly
through simulation in a very short period of time,
giving an advantage of saving of time that we will
spend on finding the parameters by calculations.
Moreover it gives us the peak points and the time
at which the function is achieving that value. So
this command is very useful.
EXPERIMENT - 4

Aim:

To study the effect of damping factor in second

order transfer function using MATLAB
Software Required:
MATLAB
Theory:
The damping ratio is a system parameter, denoted
by ζ (zeta), that can vary from undamped (ζ = 0),
underdamped (ζ < 1), Critically damped (ζ = 1)
to overdamped (ζ > 1).
The different cases depending upon the value of
damping ratio are:
Undamped
Is the case where corresponds to the undamped
simple harmonic oscillator, and in that case the
solution looks like , as expected.
Underdamped
If s is a pair of complex values, then each
complex solution term is a decaying exponential
combined with an oscillatory portion that looks
like. This case occurs for, and is referred to as
underdamped.
Overdamped
If s is a pair of real values, then the solution is
simply a sum of two decaying exponentials with
no oscillation. This case occurs for, and is
referred to as overdamped.
Critically damped
The case where is the border between the
overdamped and Under damped cases, and is
referred to as critically damped. This turns out to
be a desirable outcome in many cases where
engineering design of a damped oscillator is
required.
Procedure:
1. Open the MATLAB window.
2. Open a blank script.
3. Write the code as written below in script 1 to 5.
4. Make the block diagram to simulate the results.
5. Run the scripts and observe the results.

A. Overdamped response

k=1;
zeta1=1.2;
wn=5;
s=tf('s');
P1=(k*wn^2)/(s^2+2*(zeta1)*wn*s+(wn)^2);
step(P1);
B. Critically Damped Response
k=1;
zeta2=1;
wn=5;
s=tf('s');
P2=(k*wn^2)/(s^2+2*(zeta2)*wn*s+(wn)^2);
step(P2);
C. Underdamped Response

k=1;
zeta3=0.1;
wn=5;
s=tf('s');
P3=(k*wn^2)/(s^2+2*(zeta3)*wn*s+(wn)^2);
step(P3);

D. Undamped Response:
k=1;
zeta4=0;
wn=1000;
s=tf('s');
P4=(k*wn^2)/(s^2+2*(zeta4)*wn*s+(wn)^2);
step(P4);

E. Comparing different response

k=1;
zeta1=0.4;
zeta3=1;
zeta4=1.4;
wn=1000;
s=tf('s');
P1=(k*wn^2)/(s^2+2*(zeta1)*wn*s+(wn)^2);
P3=(k*wn^2)/(s^2+2*(zeta3)*wn*s+(wn)^2);
P4=(k*wn^2)/(s^2+2*(zeta4)*wn*s+(wn)^2);
step(P1,P3,P4);

Conclusion:
There are two important observations that we
make through this experiment:
1) When we decrease the value of zeta in
overdamped response the peak value of the
response is attained faster as compare to the
case when the value of zeta is more.

2) When we keep value of zeta as small as

possible in case of critically damped function
 we observe more & more oscillations in the
response rather than we keep the value of zeta
larger.

EXPERIMENT - 5

Aim:
To plot the poles and zeroes of a given transfer
function.
Software Required:
MATLAB
Theory:

Poles and Zeros of a transfer function are the

frequencies for which the value of the
denominator and numerator of transfer function
becomes zero respectively. The values of the
poles and the zeros of a system determine
whether the system is stable, and how well the
system performs. Control systems, in the most
simple sense, can be designed simply by
assigning specific values to the poles and zeros of
the system.
Let us have a look at the differences between
Poles and Zeros and their effects for a given
function:

1. Definition:

• Poles are the roots of the denominator of a transfer function.

• Zeros are the roots of the nominator of a transfer function.

2. Determination:

• Poles are determined by equating D(s) with 0 and solving for

s.

• Zeros are determined by equating N(s) with 0 and solving for

s.

3. Amount:

• The number of poles is always greater or equal to the

Zeros.

• The numbers of Zeros are lesser or equal to Poles.

4. Determination of output:

• Poles in a transfer function explain that the output has reached

to infinity.

• Whereas, the zeros in a transfer function indicate that the

output has reached to zero.

5. Effect of Additional Poles and Zeros In first order systems:

• Additional Poles delay the response of a system.

• Left half-plane zeros speed up the response of a system and
the right half-plane cause the response to go in the opposite
direction.

6. Effect of Additional Poles and Zeros in Second order systems:

• Additional Poles in a dominantly second order system

decrease the number of oscillations.

• Additional Zeros in a dominantly second order system

increases the number of oscillations.

Code:
s=tf('s');
G=(s^2+4*s+8)/(s^2+22*s+14);
step(G);
pzmap(G);
stepinfo(G);
Graph:

Procedure:
1. Open the MATLAB window.
2. Open a blank script.
3. Write the code as written below in script.
4. Run the script and observe the results

Conclusion:
Poles and Zeroes decide the stability of a given
transfer function, so study of poles and zeroes are
important.
In this experiment we have successfully observed
the nature of poles and zeroes & plotted them.