Experiment List

Sr.No Experiments Date of Date of Report

. Lab Submission
Conduct
1 Generating Frequency Domain Transforms and 2-4-2021 4-4-2021
Transfer Functions using Symbolic MATH and Control
Toolbox
2 Mathematical Modeling and System Reduction Using 9-4-2021 1-5-2021
SIMULINK and Control Toolbox
3 Time Response of First Order Systems Using Control 16-4-2021 1-5-2021
Toolbox and SIMULINK
4 Time Response of First Order Systems Using Control 23-4-2021 10-5-2021
Toolbox and SIMULINK
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Experiment 3
Time Response of First Order Systems Using Control Toolbox and
SIMULINK

Objective

1. To code/simulate in MATLAB to find system response of second order system using Control System
Toolbox.
2. To analyze the effects of zero and poles of higher order systems.

Theoretical Explanation
The general expression of the transfer function of a second order control system is given as

Here, ζ and ωn are the damping ratio and natural frequency of the system, respectively.
System Response of Types
The system response can be categorized into different types based on the value of zeta and pole locations.

Explanation of Procedure
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A. Tools/Commands
1. MATLAB
2. Control System Toolbox
3. SIMULINK
4. SIMULINK LTI Viewer
B. Codes

1. Take four different values of a and b and find the type of response on the basis of zeta and
pole plots and step responses:

%1
a=10;
b=16;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
disp (sys)
damp(sys)
pzmap(sys)
step(sys)

ζ = 1.25
System type: Overdamped

%2

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a=7;
b=54;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
disp (sys)
damp(sys)
pzmap(sys)
step(sys)

ζ = 0.47

System type: Underdamped

%3
a=8;
b=15;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
disp (sys)
damp(sys)
pzmap(sys)
step(sys)

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ζ = 1.003
System type: Critically damped

%4
a=11;
b=22;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
disp (sys)
damp(sys)
pzmap(sys)
step(sys)

ζ = 1.172
System type: Overdamped

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2. Compare the performance of the four responses and give your analysis. (Attach the
supporting graphs or code outputs if needed)

System 1 and 4 being overdamped systems moves slowly toward equilibrium. System 2 being
underdamped moves quickly to equilibrium, but will oscillate about the equilibrium point.
System 3 is critically damped so it moves as quickly as possible towards equilibrium without
oscillating about the equilibrium. Also, the closer the poles are to the real axis the lesser the
overshoot and
greater the damping ratio.

3. Add zeros to one of the transfer function you defined at x2, x4, x10 distance from
dominant pole and show their responses on a single graph to give your observations.
(Attach the supporting graphs or code outputs if needed)
%3
a=8;
b=15;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
g = tf([1,3],[0,1])
s1=g*sys
disp(s1)
damp(s1)
step(s1)
hold on
g = tf([1,5],[0,1])
s2=g*sys
disp(s2)
damp(s2)
step(s2)
hold on
g = tf([1,11],[0,1])
s3=g*sys
disp(s3)
damp(s3)

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The additional zero in the left half-plane speeds up transients, making rises and falls sharper.
Smaller values of zeros make this effect more prominent. As a result, an additional zero in the left
half-plane makes the system faster and more oscillatory. This can be seen from the plots. As the
zero moves along the negative real axis toward the origin, the time to the peak of the step
response decreases monotonically while the percent overshoot increases monotonically. Also, it
takes longer for the system to settle to the final value of the response. In case of zero added at x10
distance, second order approximation is valid as system behaves as original system.

4. Add poles to one of the transfer function you defined at x2, x4, x10 distance from
dominant pole and show their responses on a single graph to give your observations.
(Attach the supporting graphs or code outputs if needed)
%2
a=7;
b=54;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
g = tf([0,1],[1,10])
s1=g*sys
disp(s1)
damp(s1)
step(s1)
hold on
g = tf([0,1],[1,12])
s2=g*sys
disp(s2)
damp(s2)
step(s2)
hold on
g = tf([0,1],[1,18])
s3=g*sys
disp(s3)
damp(s3)
step(s3)

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As added pole moves along the negative real axis toward the origin, percent overshoot decreases. Also, in the
presence of an additional poles the amount of oscillations reduces, the system becomes ‘better damped’.
Adding pole at x10 distance from dominant pole makes the system behave as original.

5. Add one pole and one zeros to one of the transfer function and show their responses
on a single graph to give your observations. (Attach the supporting graphs or code
outputs if needed)
%b
a=7;
b=54;
z=a/(2*(b^0.5))
sys = tf([b],[4,a,b])
disp(sys)
damp(sys)
step(sys)
hold on

g = tf([1,15],[0,1])
s2=g*sys
disp(s2)
damp(s2)
step(s2)
hold on

g = tf([0,1],[1,13])
s3=g*sys

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disp(s3)
damp(s3)
step(s3)

Adding pole decreases the overshoot and makes the system more damped whereas
additional zero increases amplitude of oscillation and overshoot.

Observations and calculation

Control system toolbox provides algorithms for systematically analyzing, designing and tuning linear control
systems. You can specify your system as transfer function, zero-pole-gain, or frequency-response model to
analyze and visualize system behavior in time and frequency domains. The toolbox contains the
functions step and impulse which allows the simulation of the response of a control system to these test
signals. And we can use functions like pzplot and pzmap to view the effect of changing parameters on system
response.

Conclusion

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Poles and zeros reveal a significant amount of information about stability and the time-domain response of the
system. In the dominantly second-order system the added zero also has the important effect of increasing the
amount of oscillation in the system while an pole has the effect of decreasing the amount of oscillation. A
right half-plane zero also causes a ‘wrong way’ response. All effects become more pronounced as the
additional zero or pole approach the origin and become dominant. Transient simulations should complement
pole-zero analysis; they are great for getting an in-depth view of a system’s temporal response.

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