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Lab # 7 Control System

The document is a lab assignment report submitted by Zabeeh Ullah for the course Control Systems. The lab focuses on analyzing the transient response of second order systems by varying the location of poles. In Task 1, the student identifies different types of responses for two systems based on their pole locations. In Task 2, the student finds values of K that produce specific transient response characteristics for a closed loop system. In Task 3, the student studies the effect of varying the damping ratio ζ from 0 to 1.2 on the step response and pole-zero map of a general second order system.

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92 views

Lab # 7 Control System

The document is a lab assignment report submitted by Zabeeh Ullah for the course Control Systems. The lab focuses on analyzing the transient response of second order systems by varying the location of poles. In Task 1, the student identifies different types of responses for two systems based on their pole locations. In Task 2, the student finds values of K that produce specific transient response characteristics for a closed loop system. In Task 3, the student studies the effect of varying the damping ratio ζ from 0 to 1.2 on the step response and pole-zero map of a general second order system.

Uploaded by

Zabeehullahmiakhail
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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COMSATS University Islamabad

Abbottabad Campus
Department of Electrical (Power) Engineering

Lab Assignment: 07

Name: Zabeeh Ullah


Registration No.: FA19-EPE-028

Semester: 6th Semester

Class/Section: EPE-6C

Course: Control System

Submitted To: Eng. Masroor Ahmad

Course Teacher:Ma’am Sidra Mumtaz

Submission Date: Tuesday, June 05th, 2022


Experiment:07

Lab:Transient analysis for the second order


systems
Objective:
In this lab students will get familiar with second order system, types of responses associated with
changing of poles and location, transient response characteristics.
Software:
Matlab
Second Order System:
Second order system are generally identified by a system with two poles and their transfer function is
given as
b
G ( s )= 2
s + as+ b
In first order system we observe that transfer function of the system was having only one pole
while second order system has two poles. Similarly changing the position of pole in first order
system changes the speed of response where in second order system changes in position of poles
changes the speed of response along with shape of response. There are four possible forms of
response which can be obtained on changing poles location.

1. Overdamped response: Two real but distinct poles, -p1 and -p2.
2. Underdamped response:Two complex poles, -p1 ± jω
3. Undamped response: Two poles in imaginary axis, ± jω
4. Critically damped response:Two real and repeated poles, -p1 and -p1.
Figure 0: Response of Second System on Changing Poles Location
Task 1: Identify the type of system with the help of pole’s location and draw step response
at the end of this lab.

400
a) G ( s )= 2
s + 12 s+ 400
625
b) G ( s )= 2
s +625

Solution :

400
a) Code for system G ( s )= 2
s + 12 s+ 400
s=tf('s');
sys=400/((s^2) + 12*s +400)
step(sys)
grid on;
figure;
pzmap(sys)
axis([-7 1 -25 25])
grid on
b=400;
a=[1 12 400];
[z,p,k] = tf2zp(b,a)

625
b) Code for system G ( s )= 2
s + 625
s=tf('s');

sys=625/((s^2)+625)
step(sys)
axis([0 2 -0.5 2.5])
grid on;

figure;
pzmap(sys)
axis([-5 1 -30 30])
grid on

b=625;
a=[1 0 625];
[z,p,k] = tf2zp(b,a)

Write your answers of Task 1:

S. No Pole Location Type of response


a) -6.0000 ±19.0788i Under Damped
b) 0.0000 +25.0000i Un-Damped
400
Figure 2 : Pole-Zero Map For system G ( s )= 2
s + 12 s+ 400
400
Figure 3 : Step Response For system G ( s ) = 2
s + 12 s+ 400

625
Figure 4 : Pole-Zero Map For system G ( s )= 2
s + 625
625
Figure 5 : Step response For system G ( s )= 2
s + 625

Transient Response & Steady State


When a system is introduced to any input then the system responds to in and starts changing its
output. And finally it comes to a constant value which is known as steady state value. And the time
when system is changing its value from previous steady state value to new steady state value (that
time gap) is known as Transient time of the system.
Or the response of any system with respect to time before it reaches final value is called as transient
response. Transient Response shows that how fast a system is reaching to its final value. In previous
lab we studied two characteristics of first order system, rise time and settling time, which were
dependent on parameter ‘a’, pole location of first order system, now characteristic associated with
transient response of underdamped second order systems are,

Figure 6 : Time Response of Second Order Under-damped System


1. Rise Time: Time required for system output to reach from 0% of final value to 100% of final
value.
1
T r= (π − β)
ωd
2. Overshoot: The amount of waveform that overshoots form the final value of output
C Max − C Final
%OS= ×100 %
C Final
%OS=e −¿¿
3. Peak Time: Time required for system output to reach the first peak
π
T P=
ω n √ 1 −ζ
2

4. Settling Time: It is defined as the time for the response to reach and stay within 2 % of its final
value. (0.98 ×C f ( t ) 1.02 ×C f (t ))
4
T s= (If 2% of final value criterion is used)
ζ ωn
3
T s= (If 5% of final value criterion is used)
ζ ωn

Task 2: A closed loop system is in Figure 3. Find and Draw output for each case of step input and
following cases.

Figure 7: Closed Loop system for Task 2

a) Find the value of K for which Rise time is 1 sec.


b) Find the value of K for which Settling time is 5 sec.
c) Find the value of K for which Overshoot is 15%

Solution :

Code for a :

s=tf('s');
k=9.5;
sys=(k/(s^3 + 5*(s^2) + 7*s + k));
step(sys)
grid on

Code for b :

s=tf('s');
k=3.39;
sys=(k/(s^3 + 5*(s^2) + 7*s + k));
step(sys)
grid on

Code for c :

s=tf('s');
k=7.1;
sys=(k/(s^3 + 5*(s^2) + 7*s + k));
step(sys)
grid on

Figure 8 : K = 9.5 for which Rise time is 1 sec.


Figure 9 : K = 3.39 for which for which Settling time is 5 sec.

Figure 10 : K = 7.1 for which Overshoot is 15%


Write your answers of Task 2:
S. No Value of K
a) 9.5
b) 3.39
c) 7.1

General Second Order System:


General transfer function for second order system is given by
2
ωn
G ( s )= 2 2
s + 2ζ ωn s+ ωn
As studied earlier that there are four possible types of responses for a second order system which
depends on the location of poles, now we have studied that these responses actually depend on
two parameters, natural frequency and damping ratio, which defines the location of poles and type
of response.
Natural Frequency, ω n:The frequency of oscillations without damping, like output response of
undamped system in last lab.

Damping Ratio, ζ:The frequency of oscillations without damping, like output response of
undamped system in last lab.

Exponential Decay Frequency


ζ=
Natural Frequency
from the characteristic equation of general second order system, poles can be defined as
s1,2=−ζ ω n ± √ ζ 2 − 1

Task 3: for the system


16
G ( s )= 2
s + 2ζ ωn s+ 16
Study the step response and pole zero map by varying ζ from 0 to 1.2 with an interval of 0.1, After
completing simulation write down the effect of changing of ζ on step response and pole zero location.

Solution :

Code for ζ ≤ 0.6


s=tf('s');
wn = sqrt(16);
figure,
for z=0:0.1:0.6
sys=16/((s^2)+ 2*z*wn*s + 16)
t=0:0.01:5;
if(z==0)
plot(t,step(t,sys),'--','linewidth',4)
else

if(z==0.1)
plot(t,step(t,sys),'--','linewidth',2.5)
else

if(z==0.2)
plot(t,step(t,sys),':','linewidth',4)
else

if(z==0.3)
plot(t,step(t,sys),'-','linewidth',2)
else

if(z==0.4)
plot(t,step(t,sys),'-.','linewidth',4)
else

if(z==0.5)
plot(t,step(t,sys),'--','linewidth',2)
else

plot(t,step(t,sys),'-','linewidth',3)

end
end
end
end
end
end
grid on;
hold on

legend({'\zeta = 0','\zeta = 0.1','\zeta = 0.2','\zeta = 0.3','\zeta =


0.4','\zeta = 0.5','\zeta = 0.6'},'FontSize',12,'fontweight','bold')
end

Code for ζ ≥ 0.7

s=tf('s');
wn = sqrt(16);
figure,
a=0.3;
b=0.3;
for z=0.7:0.1:1.2

sys=16/((s^2)+ 2*z*wn*s + 16)


t=0:0.01:5;

if(z<1)
plot(t,step(t,sys),'--','linewidth',a)
end
a=a+1.5;
if(z==1)
plot(t,step(t,sys),'-.','linewidth',b)
end

if(z>1)
b=b+1.2;
plot(t,step(t,sys),'-.','linewidth',b)
end

grid on;
hold on
legend({'\zeta = 0.7','\zeta = 0.8','\zeta = 0.9','\zeta = 1','\zeta =
1.1','\zeta = 1.2'},'FontSize',12,'fontweight','bold')
end

16
Figure 11 : Step response for system G ( s )= 2 when ζ ≤ 0.6
s + 2ζ ωn s+ 16
16
Figure 12: Step response for system G ( s )= 2 when 0.7 ≤ ζ ≤1.2
s + 2ζ ωn s+ 16
Code for Pole zero plot
figure,
for z=0:0.1:1.2
sys=16/((s^2)+ 2*z*wn*s + 16)
pzmap(sys)
axis([-5 1 -5 5])
grid on
hold on
end
16
Figure 13: Pole-Zero plot for system G ( s )= 2 when 0 ≤ ζ ≤1.2
s + 2ζ ωn s+ 16

Observations
1- When ζ = 0 , The poles are at imaginary axis. It shows Undamped response.
2- When ζ increases from 0.1 to 0.9 poles are of type α+jβ. i.e. it contains both real and
imaginary part. It shows Under-damped response.
3- When ζ = 1 the poles are at real axis. It shows critical damped response.
4- When ζ > 1 the poles moves on real axis toward the imaginary axis. It shows Over-Damped
response.

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