INTRODUCTION TO FLIGHT VEHICLE CONTROLS ( ASSIGNMENT 2 )

NAME – NISHUL KUMAR KADAM

ROLL NO – 22AE10028

DEPARTMENT OF AEROSPACE ENGINEERING

QUE 1 - Discuss the effects on step responses of standard second-order underdamped

systems as poles move-

A) with constant real part

𝜔𝑛 2
T.F =
𝑠 2 +2𝜀𝜔𝑛 𝑠+𝜔𝑛 2
• Poles of the transfer function are - −ϵ𝜔𝑛 ± 𝑖 𝜔𝑑
(𝜔𝑛 = natural frequency & 𝜔𝑑 = damped frequency )

𝜔𝑑 = 𝜔𝑛 √1 − 𝜀 2

% wn*zeta = constant (real poles )

% wd = change (imaginary poles)
zeta=0.2:0.2:0.8;
wn=1./zeta

wn = 5.0000 2.5000 1.6667 1.2500

wd = (wn).*(sqrt(1-(zeta).^2))

wd = 4.8990 2.2913 1.3333 0.7500

MATLAB code and response :

t=0:0.1:5;
num1=[25];
den1=[1 2 25];
sys1=tf(num1,den1);
stepplot(sys1);
hold on
num2=[6.25];
den2=[1 2 6.25];
sys2=tf(num2,den2);
stepplot(sys2);
hold on
num3=[2.7778];
den3=[1 2 2.7778];
sys3=tf(num3,den3);
stepplot(sys3);
hold on
 num4=[1.5625];
den4=[1 2 1.5625];
sys4=tf(num4,den4);
stepplot(sys4);

blue – sys1
red – sys2
yellow – sys3
violet- sys4

RESULT

• tp is invertionally proportional to wd ,
tp value will increase as wd decrease
• Mp decrease with increase in wd
• Tr will increase as wd decreases

stepinfo(sys1)

ans = struct with fields:

RiseTime: 0.2411
TransientTime: 3.9192
SettlingTime: 3.9192
SettlingMin: 0.7228
SettlingMax: 1.5265
Overshoot: 52.6542
Undershoot: 0
Peak: 1.5265
PeakTime: 0.6447

stepinfo(sys2)

ans = struct with fields:

RiseTime: 0.5861
TransientTime: 3.3638
SettlingTime: 3.3638
SettlingMin: 0.9065
 SettlingMax: 1.2537
Overshoot: 25.3741
Undershoot: 0
Peak: 1.2537
PeakTime: 1.3816

stepinfo(sys3)

ans = struct with fields:

RiseTime: 1.1133
TransientTime: 3.5661
SettlingTime: 3.5661
SettlingMin: 0.9083
SettlingMax: 1.0948
Overshoot: 9.4774
Undershoot: 0
Peak: 1.0948
PeakTime: 2.3486

stepinfo(sys4)

ans = struct with fields:

RiseTime: 1.9743
TransientTime: 3.0050
SettlingTime: 3.0050
SettlingMin: 0.9018
SettlingMax: 1.0152
Overshoot: 1.5165
Undershoot: 0
Peak: 1.0152
PeakTime: 4.1907

B) Poles move with constant imaginary part-

% wn*zeta = change (real poles )

% wd = constant (imaginary poles)
% let wd = 1
zeta = 0.2:0.2:0.8;
wd=1;
wn = wd./(sqrt(1-(zeta).^2))

wn = [1.020620726159658 1.091089451179962 1.250000000000000 1.666666666666667]

MATLAB code and response :

t=0:0.1:5;
num1=[1.041666666666667];
den1=[1 2*0.204124145231932 1.041666666666667];
sys1=tf(num1,den1);
stepplot(sys1,'b');
hold on
num2=[1.190476190476190];
den2=[1 2*0.436435780471985 1.190476190476190];
sys2=tf(num2,den2);
stepplot(sys2);
hold on
num3=[1.56250000];
den3=[1 2*0.75 1.56250000];
sys3=tf(num3,den3);
stepplot(sys3);
hold on
num4=[2.777777777777779];
den4=[1 2*1.333333333333334 2.777777777777779];
sys4=tf(num4,den4);
stepplot(sys4);

Blue – sys1
Light blue – sys2
Red – sys3
Yellow – sys4

RESULT
• Tp is invertionally proportional to wd , tp remains constant
• Mp decrease with oncrease in wn*zeta
• Tr will decrease with increase in zeta*wn

stepinfo(sys1)

ans = struct with fields:

RiseTime: 1.181305258605682
TransientTime: 19.200173477250061
SettlingTime: 19.200173477250061
SettlingMin: 0.722834913611200
SettlingMax: 1.526542479179249
Overshoot: 52.654247917924899
Undershoot: 0
Peak: 1.526542479179249
PeakTime: 3.158488797614201

stepinfo(sys2)

ans = struct with fields:

RiseTime: 1.342885355451119
 TransientTime: 7.707341769836093
SettlingTime: 7.707341769836093
SettlingMin: 0.906540274521651
SettlingMax: 1.253740745963199
Overshoot: 25.374074596319861
Undershoot: 0
Peak: 1.253740745963199
PeakTime: 3.165531144815032

stepinfo(sys3)

ans = struct with fields:

RiseTime: 1.484472469213914
TransientTime: 4.754757991643944
SettlingTime: 4.754757991643944
SettlingMin: 0.908290758550384
SettlingMax: 1.094772667846247
Overshoot: 9.477266784624728
Undershoot: 0
Peak: 1.094772667846247
PeakTime: 3.131515726470975

stepinfo(sys4)

ans = struct with fields:

RiseTime: 1.480734031593671
TransientTime: 2.253744590054779
SettlingTime: 2.253744590054779
SettlingMin: 0.901836704619062
SettlingMax: 1.015164576488243
Overshoot: 1.516457648824332
Undershoot: 0
Peak: 1.015164576488243
PeakTime: 3.143028651936348

C) Poles move with constant damping ratio

% zeta = constant
zeta = 0.5
wn=1:1:4;
wd = (wn).*(sqrt(1-(zeta).^2)
wd =[ 0.866025403784439 1.732050807568877 2.598076211353316 3.4641016151377 ]

2*zeta.*wn = [ 1 2 3 4 ]

MATLAB code and response :

t=0:0.1:5;
num1=[1];
den1=[1 1 1];
sys1=tf(num1,den1);
stepplot(sys1,'b');
hold on
num2=[4];
den2=[1 2 4];
sys2=tf(num2,den2);
stepplot(sys2);
hold on
num3=[9];
den3=[1 3 9];
sys3=tf(num3,den3);
stepplot(sys3);
hold on
num4=[16];
den4=[1 4 16];
sys4=tf(num4,den4);
stepplot(sys4);

Blue – sys1
Light blue – sys2
Red – sys3
Yellow – sys4

RESULT
• Tp is decreasing with increasing in wn
• Mp remains constant
• Tr will decrease with increasing wn

stepinfo(sys1)

ans = struct with fields:

RiseTime: 1.639029102614462
TransientTime: 8.075868233762685
SettlingTime: 8.075868233762685
SettlingMin: 0.931523488886804
SettlingMax: 1.162929198699488
Overshoot: 16.292919869948786
Undershoot: 0
Peak: 1.162929198699488
PeakTime: 3.592032745069116

stepinfo(sys2)

ans =
 struct with fields:

RiseTime: 0.819514551307223
TransientTime: 4.037934116881347
SettlingTime: 4.037934116881347
SettlingMin: 0.931523488886980
SettlingMax: 1.162929198699492
Overshoot: 16.292919869949230
Undershoot: 0
Peak: 1.162929198699492
PeakTime: 1.796016372534957

stepinfo(sys3)

ans =

struct with fields:

RiseTime: 0.546343034204813
TransientTime: 2.691956077920902
SettlingTime: 2.691956077920902
SettlingMin: 0.931523488887039
SettlingMax: 1.162929198699494
Overshoot: 16.292919869949429
Undershoot: 0
Peak: 1.162929198699494
PeakTime: 1.197344248356727

stepinfo(sys4)

ans =

struct with fields:

RiseTime: 0.409757275653609
TransientTime: 2.018967058440670
SettlingTime: 2.018967058440670
SettlingMin: 0.931523488887069
SettlingMax: 1.162929198699495
Overshoot: 16.292919869949472
Undershoot: 0
Peak: 1.162929198699495
PeakTime: 0.898008186267578

(2) Discuss the effect of addition of a zero to the standard second-order

system for the following cases:

a) when zero is added in the forward path

(𝝎𝒏 𝟐 )(𝑻𝒔+𝟏)
The transfer function be
𝒔𝟐 +(𝟐𝜺𝝎𝒏 +𝑻𝝎𝒏 𝟐 )𝒔+𝝎𝒏 𝟐
Let 𝝎𝒏 = 𝟏 and 𝜺 = 𝟎. 𝟓

Case 1 ( T=0)
𝟏
T.F =
𝒔𝟐 +𝒔+𝟏

Case 2(T=1)
𝒔+𝟏
T.F =
𝒔𝟐 +𝟐𝒔+𝟏

MATLAB code and response

t=0:0.1:5;
num1=[1];
den1=[1 1 1];
sys1=tf(num1,den1);
stepplot(sys1);
hold on
num2=[1 1];
den2=[1 2 1];
sys2=tf(num2,den2);
stepplot(sys2);
stepinfo(sys1)

ans =

struct with fields:

RiseTime: 1.6390
TransientTime: 8.0759
SettlingTime: 8.0759
SettlingMin: 0.9315
SettlingMax: 1.1629
Overshoot: 16.2929
Undershoot: 0
Peak: 1.1629
PeakTime: 3.5920

stepinfo(sys2)

ans =

struct with fields:

RiseTime: 2.1972
TransientTime: 3.9120
SettlingTime: 3.9120
SettlingMin: 0.9007
SettlingMax: 0.9988
Overshoot: 0
Undershoot: 0
 Peak: 0.9988
PeakTime: 6.6900

Result

• Tp increase
• Mp decrease
• Tr increase

b) When zero is added in the close loop transfer function :

(𝝎𝒏 𝟐 )(𝑻𝒔+𝟏)
The T.F =
𝒔𝟐 +(𝟐𝜺𝝎𝒏 )𝒔+𝝎𝒏 𝟐

Let 𝝎𝒏 = 𝟏 and 𝜺 = 𝟎. 𝟓

Case 1 ( T=0)
𝟏
T.F =
𝒔𝟐 +𝒔+𝟏

Case 2 ( T=1)
𝒔+𝟏
T.F =
𝒔𝟐 +𝒔+𝟏
MATLAB code and response

t=0:0.1:5;
num1=[1];
den1=[1 1 1];
sys1=tf(num1,den1);
stepplot(sys1);
hold on
num2=[1 1];
den2=[1 1 1];
sys2=tf(num2,den2);
stepplot(sys2);
stepinfo(sys1)

ans = struct with fields:

RiseTime: 1.6390
TransientTime: 8.0759
SettlingTime: 8.0759
SettlingMin: 0.9315
SettlingMax: 1.1629
Overshoot: 16.2929
Undershoot: 0
Peak: 1.1629
PeakTime: 3.5920

stepinfo(sys2)

ans = struct with fields:

RiseTime: 0.9409
TransientTime: 7.5054
SettlingTime: 7.5054
SettlingMin: 0.9403
SettlingMax: 1.2984
Overshoot: 29.8352
Undershoot: 0
Peak: 1.2984
PeakTime: 2.3947

Result

• Tp decrease
• Mp increase
• Tr decrease
(3) Discuss the effect of addition of a pole to the standard second-order
system for the following cases:

a) when pole is added in the forward path

(𝝎𝒏 𝟐 )
The T.F =
𝒔𝟑 𝑻+(𝟐𝜺𝝎𝒏 𝑻+𝟏)𝒔𝟐 +𝟐𝜺𝝎𝒏 𝒔+𝝎𝒏 𝟐

Let 𝝎𝒏 = 𝟏 and 𝜺 = 𝟎. 𝟓

Case 1(T=0)
𝟏
T.F =
𝒔𝟐 +𝒔+𝟏

Case 2 (T=1)
𝟏
T.F =
𝒔𝟑 +𝟐𝒔𝟐 +𝒔+𝟏

MATLAB code and response

t=0:0.1:5;
num1=[1];
den1=[1 1 1];
sys1=tf(num1,den1);
stepplot(sys1);
hold on
num2=[1 ];
den2=[1 2 1 1];
sys2=tf(num2,den2);
stepplot(sys2);
stepinfo(sys1)

ans =

struct with fields:

RiseTime: 1.6390
TransientTime: 8.0759
SettlingTime: 8.0759
SettlingMin: 0.9315
SettlingMax: 1.1629
Overshoot: 16.2929
Undershoot: 0
Peak: 1.1629
PeakTime: 3.5920
stepinfo(sys2)

ans =

struct with fields:

RiseTime: 1.7271
TransientTime: 30.9388
SettlingTime: 30.9388
SettlingMin: 0.6759
SettlingMax: 1.5435
Overshoot: 54.3517
Undershoot: 0
Peak: 1.5435
PeakTime: 4.7761

Result
• Tp increase
• Mp increase
• Tr increase

b) when pole is added to closed path

(𝝎𝒏 𝟐 ) 𝟏
The T.F = 𝟐 ∗
𝒔 +𝟐𝜺𝝎𝒏 𝒔+𝝎𝒏 𝟐 𝑻𝒔+𝟏

Let 𝝎𝒏 = 𝟏 and 𝜺 = 𝟎. 𝟓

Case 1 (T=0)
𝟏
T.F =
𝒔𝟐 +𝒔+𝟏
Case 2 ( T=1)
1
T.F =
𝑠 3 +2𝑠 2 +2𝑠+1

MATLAB code and response

t=0:0.1:5;
num1=[1];
den1=[1 1 1];
sys1=tf(num1,den1);
stepplot(sys1);
hold on
num2=[1 ];
den2=[1 2 2 1];
sys2=tf(num2,den2);
stepplot(sys2);
stepinfo(sys1)

ans = struct with fields:

RiseTime: 1.6390
TransientTime: 8.0759
SettlingTime: 8.0759
SettlingMin: 0.9315
SettlingMax: 1.1629
Overshoot: 16.2929
Undershoot: 0
Peak: 1.1629
PeakTime: 3.5920

stepinfo(sys2)

ans = struct with fields:

RiseTime: 2.2911
TransientTime: 6.6376
SettlingTime: 6.6376
SettlingMin: 0.9050
SettlingMax: 1.0814
Overshoot: 8.1391
Undershoot: 0
Peak: 1.0814
PeakTime: 4.8815
 Blue = sys1
Red = sys2

Result

• Tp increases
• Mp decreases
• Tr increases