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Lab Report 3

This document summarizes a laboratory experiment on analyzing the transient and steady-state response of a control system using MATLAB. The experiment involves using MATLAB to find the transfer function of different systems and analyze their step response, unit step response, and Nyquist stability. The objectives are to obtain the transient and steady-state response using MATLAB programs and learn how to determine a system's stability from factors like gain crossover frequency and phase margin.

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16 views

Lab Report 3

This document summarizes a laboratory experiment on analyzing the transient and steady-state response of a control system using MATLAB. The experiment involves using MATLAB to find the transfer function of different systems and analyze their step response, unit step response, and Nyquist stability. The objectives are to obtain the transient and steady-state response using MATLAB programs and learn how to determine a system's stability from factors like gain crossover frequency and phase margin.

Uploaded by

alli latif
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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College of Engineering

Mechatronics Engineering Department

2nd Trimestre AY 2021-2022

ENGG614 – CONTROL SYSTEM


Section : MK

Laboratory Experiment No.: 3

Transient Response and Steady-State


Response Analysis

Name(s):

Leader: Manar Abdulsaheb Student Number: BH19500306


Member: Murtadha Abdulnabi Student Number: BH19500229
Member: Ali Bucheeri Student Number: BH18500034

Date Performed: 04.03.2022


Laboratory Experiment No. ___ Page 1
Objectives:
To obtain Transient Response and Steady-State Response by using
MATLAB programs.

Introduction:

When we study the analysis of the transient state and steady state
response of control system it is very essential to know a few basic
terms, and these are described below.

Standard Input Signals: These are also known as test input signals.
The input signal is very complex in nature, it is complex because it
may be a combination of various other signals. Thus, it is very
difficult to analyze characteristic performance of any system by
applying these signals. So, we use test signals or standard input
signals which are very easy to deal with. We can easily analyze the
characteristic performance of any system more easily as compared
to nonstandard input signals.

Laboratory Experiment No. ___ Page 2


Theory:

There are various types of standard input signals, and they are
written below:
Unit Impulse Signal : In the time domain it is represented by ∂(t).
The Laplace transformation of unit impulse function is 1 and the
corresponding waveform associated with the unit impulse function
is shown below.

Unit Step Signal: In the time domain it is represented by u (t). The


Laplace transformation of unit step function is 1/s and the
corresponding waveform associated with the unit step function is
shown below.

Laboratory Experiment No. ___ Page 3


Unit Ramp Signal: In the time domain it is represented by r (t). The
Laplace transformation of unit ramp function is 1/s2 and the
corresponding waveform associated with the unit ramp function is
shown below.

Parabolic Type Signal: In the time domain it is represented by t2/2.


The Laplace transformation of parabolic type of the function is 1/s3
and the corresponding waveform associated with the parabolic type
of the function is shown below.

Laboratory Experiment No. ___ Page 4


Experimental Procedure and Apparatus:

1. Use the MATLAB to express the transfer function


2. Use new commands to find the Nyquist stability for the system
3. Interpret the result that you get from the MATLAB

Results and Discussion:


Exercise (1):

num=[3 12];
den=[1 3 12];
sys=tf(num,den);
step(sys)
grid

Laboratory Experiment No. ___ Page 5


Exercise (2):

t=0:0.01:9;
num=[3 12];
den=[1 3 12];
sys=tf(num,den);
step(sys,t)
grid
title('unit-step Response',Fontsize',14');
xlable('t',Fontsize',14');
ylable('Output y',Fontsize',14');

Laboratory Experiment No. ___ Page 6


Exercise (3):

t=0:0.01:5;
num1=[1];
den1=[1 3 0];
sys1=tf(num1,den1);
sys=feedback(12*sys1,[1]);
[C,t]=step(sys,t);
plot(t,C)
grid
title('unit-step Response C(s)/R(s)');
xlable('t Sec');
ylable('Output t6o Unit-step Response Input')

Laboratory Experiment No. ___ Page 7


Exercise (4):

t=0:0.01:22;
K=[3 15 30];
for n=1:3;
numg=[K(n)];
deng=[1 9 14 0];
sysg=tf(numg,deng);
sys=feedback(sysg,[1]);
y(:,n)=step(sys,t);
end
plot(t,y)
grid
title('unit-step Response Curves for K=3,15,30');
xlabel('t Sec')
ylabel('Outputs')
text(2.5,1.3,'K =30')
text(4.5,0.9,'K=15')
text(4.5,0.5,'K=3')

Laboratory Experiment No. ___ Page 8


Exercise (5):

t=0:0.01:22;
K=[3 15 30];
for n=1:3;
numg=[K(n)];
deng=[1 9 14 0];
sysg=tf(numg,deng);
sys=feedback(sysg,[1]);
y(:,n)=step(sys,t);
end
subplot(2,2,1),plot(t,y(:,1)),grid,xlabel('t
Sec'),ylabel('Outputs')
text(9,0.8,'K=3')
subplot(2,2,2),plot(t,y(:,2)),grid,xlabel('t
Sec'),ylabel('Outputs')
text(9,0.7,'K=15')
subplot(2,2,3),plot(t,y(:,3)),grid,xlabel('t
Sec'),ylabel('Outputs')

text(9,1.3,'K=30')

Laboratory Experiment No. ___ Page 9


t=0:0.01:20;
numg1=[20];
deng1=[1 5 4];
sysg1=tf(numg1,deng1);
sysh1=[0.5];
sys1=feedback(sysg1,sysh1);
numg2=[1];
deng2=[1 0];
sys2=tf(numg2,deng2);
sys3=series(sys1,sys2);
sys4=feedback(sys3,[1])
[C,t]=step(sys4,t);
plot(t,C)
title('Unit-step Response C(s)/R(s)');
xlabel('t Sec')
ylabel('Output c(t)')

sys4 =

20
-----------------------
s^3 + 5 s^2 + 14 s + 20

Continuous-time transfer function.

Laboratory Experiment No. ___ Page 10


Laboratory Experiment No. ___ Page 11
t=0:0.01:20;
num1=[1];
den1=[1 0];
sys1=tf(num1,den1);

num2=[2];
den2=[1 4];
sys2=tf(num2,den2);

num3=[1];
den3=[1 0];
sys3=tf(num3,den3);

sys4=series(sys1,sys2);
sys5=feedback(sys4,[1]);
sys6=feedback(0.75*sys5*sys3,[1])

[C,t]=step(sys6,t);
plot(t,C)
title('Unit-step Response C(s)/R(s)');
xlabel('t Sec')
ylabel('Output c(t)')

sys6 =

1.5
-----------------------
s^3 + 4 s^2 + 2 s + 1.5

Continuous-time transfer function.

Laboratory Experiment No. ___ Page 12


Laboratory Experiment No. ___ Page 13
Conclusion:

By the end of this lab, we learned how to use MATLAB to create a Nyquist
plot.

We learned how to determine whether a control system is stable, moderately


stable, or unstable based on a number of factors such as the gain cross over
frequency and phase cross over frequency, as well as the gain and phase
margins.

In addition, there are criteria for each parameter that define the system's
stability.

References:

1. Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, Feedback

Control of Dynamic Systems, 8th Edition, 2018.

2. https://www.cds.caltech.edu/~murray/courses/cds101/fa03/caltech/am03_c

h6-1nov03.pdf

3. https://www.mathworks.com/discovery/transfer-function.html

Laboratory Experiment No. ___ Page 14

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