Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 1

Feedback and Control Systems
SYSTEM REPRESENTATION:
TRANSFER FUNCTION, STATE-SPACE AND ZERO-POLE GAIN
Activity No. 4

I. MACHINE PROBLEM/S
1. Make act04-01.vi more interactive by letting the user choose which representation would be
converted to the other two. A possible FP is shown below. Using tabs, the user selects the case whether to
convert a transfer function into a state-space model and zero-pole-gain model, etc. Any user control will do.
Name the VI for this problem as macpro04-01.vi.

2. For the circuit of Activity 4.2, make a VI that would help determine the effect of the parameters
R1, R2, L and C on the time response performance. A possible FP design is shown below. The circuit
parameters can be adjusted and the VI graphs the step response, the pole-zero plots, and determines time
response parameters. Name the VI for this machine problem as macpro04-02.vi.

3. For the mechanical system of Activity 4.3, build a VI that would analyze the behavior of the
system for different values of the mass, the friction coefficient and the spring constant, naming this as
macpro04-03.vi. A possible FP design is shown below. Investigate the effect of the system parameters on
the step response of the system.






II. OBJECTIVES


- To make act04-01 more interactive by letting the user choose which representation would be
converted to the other two, the user selects the case whether to convert a transfer function into a
state space model and zero-pole gain model.
- To make a VI that would help determine the effect of the parameters R1, R2, L and C on the time
response performance and also these parameters can be adjusted. The VI graphs the step
response, the pole-zero plots and determines time response parameters.
- To build a VI that would analyze the behavior of the system for different values of mass, the friction
coefficient and the spring constant. And also to investigate the effect of the system parameters on
the step response of the system.





Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 2


III. METHODOLOGY

Machine Problem 1 Converting from Transfer Function to State-Space and ZPK
1. 1. First, open the act04-01.vi then create tabs in our front panel. Drag the controls and the
indicators to the first tab. Rename the tab as TF to SS & ZPK.

Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 3

















Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 4






Machine Problem 2 Modeling Electric Circuit Using Transfer Function
1. For the machine problem 2, we make a VI from the circuit of Activity 4.2 and save the VI as macpro04-
02. This part, the VI represents the graphs of the step response and the pole-zero plots. The block diagram
of the VI must look the same as shown below.

2. With this VI, investigate the effect of the circuit parameters on the step response of the circuit.
Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 5


Macpro04-02 works by establishing the parameters R1, R2, L and C. These parameters affect the
time response performance and determine its step response, state-space and zero-pole plot. Time
response characteristic of the system can be obtained using the CD step response. Particularly, these VI is
an under damped system based on the graph produced by running the VI and also its damping ratio. As we
all know, when the damping ratio is less than 1 but greater than 0 is said to be an under damped system.


Machine Problem 3 Mechanical System Modeling Using State-Space
1. For the machine problem 3, we build a VI from the Activity 4.3 and save the VI as macpro04-03. In this
part, the graph of the VI represents the behavior of the system for different values of the mass M, the
friction coefficient fv and the spring constant Ks. The block diagram of the VI must look the same as shown
below.
Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 6



Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 7


IV.RESULTS AND INTERPRETATION
Machine Problem 2 Modeling Electric Circuit Using Transfer Function
The figure shown is the graphical table of the electrical system using CD Parametric Time Response.


Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 8

The time response of the system was verified through derivation and hand calculation.
Machine Problem 2 Hand Computation and Verification
2
2 2
10
20 500
20
0.4472
2 2 500
500 22.36
2.16 0.6 2.16(0.4472) 0.6
.0700sec
22.36
0.157sec
1 22.36 1 0.4472
4 4
0.4sec
0.4472(0.157)
s s
a
dr
b
Wn Hz
dr
Tr
Wn
Tp
Wn dr
Ts
drWn
t t
+ +
= = =
= =
+ +
= = =
= = =

= = =


Machine Problem 3 Mechanical System Modeling Using State-Space
The data obtained in running the vi. of machine problem 3 is clearly shown below. Based on the
gathered output data, the mechanical system can be analyzed using a CD Parametric Time Response.
Hand calculation was made to verify the data combined.










Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 9

Machine Problem 3 Hand Computation and Verification
2
2
2
2
2
2 2
1
5
( 5) ( ) ( )
( ) 1 1
( )
( ) 5
5
1
( ) ; 5, 1
5
1
0.2236
2 2 5
5 2.236
2.16 0.6 2.16(0.2236) 0.6
.04837sec
2.236
1.441sec
1 2.236 1 0.2236
4
s s
Ms fvs X s F s
X s
T s
fv
F s Ms fvs
s s
M
T s b a
s s
a
dr
b
Wn Hz
dr
Tr
Wn
Tp
Wn dr
Ts
dr
t t
+ +
+ + =
= = =
+ +
+ +
= = =
+ +
= = =
= =
+ +
= = =
= = =

=
2 2
4
8.022sec
2.236(0.2236)
(0.2236)
% 100exp( ) 100exp( ) 48.533%
1 1 0.2236
Wn
dr
os
dr
t t
= =

= = =


CONCLUSIONS AND RECOMMENDATION
Based on the machine problems objective, we therefore conclude that different input parameters in
the system have different transfer function, state-space and zero-pole gain obviously. These parameters
really affect the time response of the system.
In this machine problem, the system said to be an under damped system which the time parameter
differs. As the settling time remains the same, the peak time decreases while the % overshoot increases.
You can increase the time response parameters of a given system as long as it will not exceed to a certain
value of the characteristic of an under damped system.
VI. REFERENCE
Control System Engineering, Sixth Edition, Norman s. Nise
http://zone.ni.com

Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 10

Hand Calculations:
1
4 3 2
1 1
2 2
3 3
4 4
4 3 2
4 3 2
5 4 3 2
5 4 3 2
5
5 5
5
5
30
9 6 30
( ) 9 6 30 30 ( )
( ) ( ) 9 ( ) 6 ( ) ( ) 30 ( ) 30 ( ) :
9 6 7
8
8
8
8
s s s s s
x x
x x
x x x x
x x
x x
c s s s s s s R s
s c s s c s s c s s c s sc s c s R s
d c d c d c d c
dt dt dt dt
+ + + +
= =
+ + + + =
+ + + + =
+ + +
+
( (
( (
( (
( (
( (
( (
( (

+ (

+
+
3
1 2
2
2 3 2
2 3
3 4 2
3 4
4 5 3 4
4 5
5 4 5
30 ( )
0......0....1....0....0
0......0....1....0....0
0......0....0....1....0
0......0....0....0....1
30 1
30
:
?
dc
R s
dt
c
dc
let c x x
dt
dc d c
x x
dt dt
d c d c
x x
dt
dt
d c d c
x x
dt dt
d c d c
x
dt dt
x
=
=

+
= =
= =
= =
= =
= =
| | | |
1
2
3
4
5
0
0
0 ...... 10000 0
0
6 9 8 30
x
x
x
x
x
x r y r + = +

( ( (
( ( (
( ( (
( ( (
( ( (
( ( (
( ( (


Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 11

2.

3
4 3 2
1 1
2 2
3 3
4 4
4 3 2
1
8 10
5 5 13
.1 .
1
( )
5 5 13
8 10
( )
( )
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
13 5 1 5 1
.2 .
8 10
s
s s s s
x x
x x
x x
x x
x x
For st Block
G s
s s s s
x
s
X s
R s
x r
For nd Block
dc
c
dt
le
+
+ + + +
= =
=
+ + + +
=
+
( (
( (
( (
( (
( (

=
( (
( (
( (
+
( (
( (


+
1
1
2 2
1
2 1
1 2
( )
:
( )
8 10
( )
8 10
10 8
[10..8]
G s
t x c
dx dc dc
x x
dt dt dt
C s
s
X s
c X x
c x X
y x
=
=
= = =
= +
= +
= +
=

Feedback and Control Systems

Activity No. 4 System Representation: Transfer Function, State-Space and Zero-Pole Gain Page 12

4.
5 4 3
1 1
2 2
3 3
4 4
5
5 4 3
4 3 2
2
1
2
7 6
9 13 8
5
.1 .
1
( )
9 13 8
2 12
( )
( )
0 0 1 0 0 0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
1 0 0 8 13 9
s s
s s s s
x x
x x
x x x x
x x
x x
For st Block
G s
s s s s
x
s s
X s
R s
x
+ +
+ + +
= =
=
+ + +
=
+ +
( (
( (
( (
( (
( (
( (
( (

=
(
(
(
( +
(
(
(


4 2
4 2
3
( )
5
3
4 3 2
3
4 3 2
1
1 2
2
2 3 2
2 3
3 4 2
3 4
4 5 3 4
4 5
5 4 5
7 6 12
( ) 7 6
1
.2 .
2 12 2 7 6
( )
2 12
( )
:
?
R s
d c d c dc
C s s c
dt dt dt
G s s s
s
r
For nd Block
d c
s s
dt
C s
s s
X s
dc
let c x x
dt
dc d c
x x
dt dt
d c d c
x x
dt
dt
d c d c
x x
dt dt
d c d c
x
dt dt
= + + =
= + +
=
(
(
(
(
(
(
(

+ + + + + +
= + +
= =
= =
= =
= =
= =
| |
4 3 2
4 3 2
5 4 3 2 1
2 12 7 6
9 13 8
2 12 7 6
6 7 12 2 1 y
s s s s
s s s
c x x x x x
x =
+ + + +
+ + +
= + + + +