Fall2020 Control System Lab

EE 340: Control Systems

Lab 9
Performance of the second order systems

Student’s Name Haider Chaudhry

Roll No. 2018-UET-NML-Elect-21
Date Performed 27-01-2021
Marks Obtained

Instructor’s signature

Instructors: Dr. Sami Ud Din

Lab Engineer: Engr. Awais Yaqoob

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Document history
Version no. Date Modified Author
1 Jan, 2021 Awais Yaqoob

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Introduction
The first step in analyzing a control system was to derive a mathematical model of the system.
Once such a model is obtained, various methods are available for the analysis of system
performance. Usually, input signal to control system is not known beforehand and are random
in nature. In analysis and designing of control systems, we need to have some basis for
performance comparison. This basis may be set up by specifying particular test input signals
and by comparing the responses of various systems to these input signals. The commonly used
test input signals are step functions, ramp functions, acceleration functions, impulse functions,
sinusoidal functions, and white noise. In this lab, we will use step function, Impulse function
and ramp functions only to analyze the transient and steady state response of system.
If num and den (the numerator and denominator of the closed-loop transfer function) are
known, commands such as
step(num,den), step(num,den,t)
will generate plots of unit-step responses.
For a control system defined in a state-space form, where state matrix A, control matrix B,
output matrix C, and direct transmission matrix D of state-space equations are known, the
following commands will generate plots of unit-step responses.
step(A,B,C,D), step(A,B,C,D,t)
And the unit impulse response can be found using following commands.
impulse(num,den) or impulse(A,B,C,D)
There is no ramp command in MATLAB. Therefore, we need to use the step command or the
lsim command to obtain the ramp response.

Let us see another example if 2nd order system’s transfer function is given in standard form.
Let us consider a system defined by following transfer function.
𝐶(𝑠) 1
= 2
𝑅(𝑠) 𝑠 + 2𝜁𝑠 + 1
We will plot unit-step response curves when ζ assumes the following values.
ζ=0, 0.2, 0.4, 0.6. 0.8, 1.0

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Lab tasks:
In the following, system 1 is proportional servo position control system, system 2 is PD servo
positional control system and system 3 is with velocity feedback servo system.

Exercise 1
Find the closed loop transfer function of these systems. (recall lab 2)
The closed loop transfer function of all the three system is found below:

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System I:

System II:

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System III:

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Exercise 2
Write a MATLAB code to plot their unit step response and comment on it.

In this we have observed the unit step response of the three systems so that we can compare
them and check which is the best system. We can compare their rise time, overshoot and an
compare the behavior of all the three type of systems.

System I:

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System II:

System III:

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Exercise 3
Write a MATLAB code to plot their unit impulse response and comment on it.
In this we have observed the impulse response of the three different systems to study their
behavior. We used impulse command in MATLAB to get the responses so that we can
compare them and check their responses.

System I:

System II:

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System III:

Exercise 4
Write a MATLAB code to plot their unit ramp response and comment on it.

In this we have observed the ramp response of the three different systems to study their
behavior. We used step and then plot command in MATLAB to get the responses so that we
can compare them and check their responses.

System I:

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System II:

System III:

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Exercise 5

Which system is best with respect to the speed of response and maximum overshoot in
the step response?

In this we observe the maximum overshoot and rise time. We concluded that the system three
has less overshoot but its rise time is more than the other systems. But by observing the ramp
and impulse response, it is evident that system 3 is the best.

Exercise 6
36
𝐺(𝑠) =
𝑠 2 + 2𝑠 + 36
Write a MATLAB code to obtain unit step response of above system.

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Exercise 7

Find the rise time, peak time, maximum overshoot, and settling time in the unit-step response
of above system.
Rise Time:
Rise time of system is 0.29435s

Peak Time:
Peak time of system is 0.553s

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Maximum Overshoot:

The difference of peak from unit value is called max overshoot.

Overshoot = 1.58-1.0 = 0.58

Settling Time:

Settling time of graph is 5.62s.

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Exercise 8
Consider the closed-loop system defined by
𝐶(𝑠) 2𝜁𝑠 + 1
= 2
𝑅(𝑠) 𝑠 + 2𝜁𝑠 + 1
where ζ=0.2, 0.4, 0.6, 0.8, and 1.0. Using MATLAB, plot a two-dimensional diagram of unit-
step and unit-impulse responses curves (ζ is called zeta).
Unit-Step Response:

Unit-Impulse Response:

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Exercise 9
Consider a system using following state space equations.

Find the unit-step, unit-impulse and unit-ramp responses.

Unit-Step Response:

Unit-Impulse Response:

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Unit-Ramp Response:

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Assessment Rubric for Lab 8

text
Outcomes Assessed:
CLO1: Ability to analyze and extract meaningful information from observed data (P).
CLO3: Ability to follow instructions and convey experiment results in an effective manner (A).
CLO5: Ability to use the techniques, skills, and modern engineering tools necessary to practice control
engineering (P).

Good Satisfactory Unsatisfactory

Marks
(4-5) (2-3) (1)
Performance

Most tasks completed

correctly with some Most tasks either
All tasks completed
Task incomplete or incomplete or
correctly
Completion incorrect incorrect
(CLO5)

Lab Manual filled in

Lab Manual has been Parts of the Manual illegible writing with
filled in neatly with not filled in neatly or improper
proper grammar and with improper punctuations or a
Lab Manual scientific terminology grammar casual, non-scientific
(CLO3) tone

Provides meaningful
interpretation of
Interpretation of
results. Provides Provides some
results is not clearly
scientific reasoning interpretation of
explained. No
and draws results. Includes some
conclusions are made
appropriate sort of conclusions.
based on the results.
Discussion conclusions based on
(CLO1) data.

Total

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