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Experiment Name:: Analysis of Effect of Input Waveform, Loop Gain, and System Type Upon Steady-State Errors

lab

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Tomas Fokin Shelby
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14 views12 pages

Experiment Name:: Analysis of Effect of Input Waveform, Loop Gain, and System Type Upon Steady-State Errors

lab

Uploaded by

Tomas Fokin Shelby
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Experiment name:

Analysis of Effect of Input Waveform, Loop Gain, and System Type upon Steady-State
Errors

Objective:
To verify the effect of the input waveform, loop gain, and system type upon steady-state
errors

Apparatus:
MATLAB software
Code:
clc;
clear all;
close all;
s=tf('s');
% System type
G1=((100*s^3+1500*s^2+6200*s+4800)/
(s^5+32*s^4+367*s^3+1776*s^2+3024*s)); %Type I System

ts1 = feedback(G1,1,-1);

% Input definition
t = 0:0.1:20;
R0=(t>=0); %Unit Step
R1=t; %Unit Ramp
R2=0.5.*t.*t; %Parabola

% For step input

y1 = lsim(ts1,R0,t); %Response of Type I system to Step input


e1=R0'-y1; %Error of Type I system to Step input

% For ramp input

yy1 = lsim(ts1,R1,t); %Response of Type I system to Ramp input


ee1=R1'-yy1; %Error of Type I system to Ramp input

% For parabolic input

yyy1 = lsim(ts1,R2,t); %Response of Type I system to Parabolic input


eee1=R2'-yyy1; %Error of Type I system to Parabolic input

figure(1)
subplot(311),plot(t,y1,'r',t,R0,'b',
t,e1 ,'k'),xlabel('Time(sec)'),ylabel('Amplitude'),ylim([0,1.5]),legend(
'Output','Input','Error'),title('Step response - type 1')
subplot(312),plot(t,yy1,'r',t,R1,'b', t,ee1 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Ramp
response - type 1')
subplot(313),plot(t,yyy1,'r',t,R2,'b', t,eee1,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Para
bolic response - type 1')
Output:

From the graph, we can also observe that,

• For a step input, the error is becoming close to zero, so we can count it as zero.
• For a ramp input, the error is approximately 0.63 (constant) along the time axis.
• for a parabolic input, the error is increasing continuously and it will become
infinity.

So, after observing these steady-state errors from the graph, we can confirm that it is a
type-1 system.
Code:
clc;
clear all;
close all;
s=tf('s');
% System type
G0=((100*s^3+1500*s^2+6200*s+4800)/(s^4+32*s^3+367*s^2+1776*s+3024));
%Type 0 System
G1=((100*s^3+1500*s^2+6200*s+4800)/
(s^5+32*s^4+367*s^3+1776*s^2+3024*s)); %Type I System
G2=((100*s^3+1500*s^2+6200*s+4800)/
(s*(s^5+32*s^4+367*s^3+1776*s^2+3024*s))); %Type II System
ts0 = feedback(G0,1,-1);
ts1 = feedback(G1,1,-1);
ts2 = feedback(G2,1,-1);

% Input definition
t = 0:0.1:20;
R0=(t>=0); %Unit Step

y0 = lsim(ts0,R0,t); %Response of Type 0 system to Step input


e0=R0'-y0; %Error of Type 0 system to Step input
y1 = lsim(ts1,R0,t); %Response of Type I system to Step input
e1=R0'-y1; %Error of Type I system to Step input
y2 = lsim(ts2,R0,t); %Response of Type II system to Step input
e2=R0'-y2; %Error of Type II system to Step input
figure(1)
subplot(311),plot(t,y0,'r',t,R0,'b',
t,e0 ,'k'),xlabel('Time(sec)'),ylabel('Amplitude'),ylim([0,1.5]),legend(
'Output','Input','Error'),title('Step response - type 0')
subplot(312),plot(t,y1,'r',t,R0,'b',
t,e1 ,'k'),xlabel('Time(sec)'),ylabel('Amplitude'),ylim([0,1.5]),legend(
'Output','Input','Error'),title('Step response - type 1')
subplot(313),plot(t,y2,'r',t,R0,'b',
t,e2 ,'k'),xlabel('Time(sec)'),ylabel('Amplitude'),ylim([0,1.5]),legend(
'Output','Input','Error'),title('Step response - type 2')
stepinfo(y0)
stepinfo(y1)
stepinfo(y2)

Output:
Step Info
 Type-0 system:
Rise Time: 0.5937
Settling Time: 22.4531
Settling Min: 0.6135
Settling Max: 0.8266
Overshoot: 34.7374
Undershoot: 1.8097e-14
Peak: 0.8266
Peak Time: 2
Steady-State Error: 0.3865

 Type-1 system:
Rise Time: 0.5937
Settling Time: 22.4531
Settling Min: 0.6135
Settling Max: 0.8266
Overshoot: 34.7374
Undershoot: 1.8097e-14
Peak: 0.8266
Peak Time: 2
Steady-State Error: ~0

 Type-2 system:
Rise Time: 0.5937
Settling Time: 22.4531
Settling Min: 0.6135
Settling Max: 0.8266
Overshoot: 34.7374
Undershoot: 1.8097e-14
Peak: 0.8266
Peak Time: 2
Steady-State Error: ~0

Code:
clear all;
close all;
s=tf('s');
% System type
G0=((100*s^3+1500*s^2+6200*s+4800)/(s^4+32*s^3+367*s^2+1776*s+3024));
%Type 0 System
G1=((100*s^3+1500*s^2+6200*s+4800)/
(s^5+32*s^4+367*s^3+1776*s^2+3024*s)); %Type I System
G2=((100*s^3+1500*s^2+6200*s+4800)/
(s*(s^5+32*s^4+367*s^3+1776*s^2+3024*s))); %Type II System
ts0 = feedback(G0,1,-1);
ts1 = feedback(G1,1,-1);
ts2 = feedback(G2,1,-1);

% Input definition
t = 0:0.1:20;
R1=t; %Unit Ramp

yy0 = lsim(ts0,R1,t); %Response of Type 0 system to Ramp input


ee0=R1'-yy0; %Error of Type 0 system to Ramp input
yy1 = lsim(ts1,R1,t); %Response of Type I system to Ramp input
ee1=R1'-yy1; %Error of Type I system to Ramp input
yy2 = lsim(ts2,R1,t); %Response of Type II system to Ramp input
ee2=R1'-yy2; %Error of Type II system to Ramp input
figure(2)
subplot(311),plot(t,yy0,'r',t,R1,'b', t,ee0 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Ramp
response - type 0')
subplot(312),plot(t,yy1,'r',t,R1,'b', t,ee1 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Ramp
response - type 1')
subplot(313),plot(t,yy2,'r',t,R1,'b', t,ee2 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Ramp
response - type 2')

Output:
• Type-0 system: Steady-State Error: ~∞
• Type-1 system: Steady-State Error: 0.63
• Type-2 system: Steady-State Error: ~0

Question :4
The system’s parabolic response for each of the three type is given below:

Code:
clear all;
close all;
s=tf('s');
% System type
G0=((100*s^3+1500*s^2+6200*s+4800)/(s^4+32*s^3+367*s^2+1776*s+3024));
%Type 0 System
G1=((100*s^3+1500*s^2+6200*s+4800)/
(s^5+32*s^4+367*s^3+1776*s^2+3024*s)); %Type I System
G2=((100*s^3+1500*s^2+6200*s+4800)/
(s*(s^5+32*s^4+367*s^3+1776*s^2+3024*s))); %Type II System
ts0 = feedback(G0,1,-1);
ts1 = feedback(G1,1,-1);
ts2 = feedback(G2,1,-1);

% Input definition
t = 0:0.1:20;
R2=0.5.*t.*t; %Parabola

% For parabolic input


yyy0 = lsim(ts0,R2,t); %Response of Type 0 system to Parabolic input
eee0=R2'-yyy0; %Error of Type 0 system to Parabolic input
yyy1 = lsim(ts1,R2,t); %Response of Type I system to Parabolic input
eee1=R2'-yyy1; %Error of Type I system to Parabolic input
yyy2 = lsim(ts2,R2,t); %Response of Type II system to Parabolic input
eee2=R2'-yyy2; %Error of Type II system to Parabolic input
figure(3)
subplot(311),plot(t,yyy0,'r',t,R2,'b',t,eee0 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Para
bolic response - type 0')
subplot(312),plot(t,yyy1,'r',t,R2,'b', t,eee1,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Para
bolic response - type 1')
subplot(313),plot(t,yyy2,'r',t,R2,'b',t,eee2 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),legend('Output','Input','Error'),title('Para
bolic response - type 2')

Output:
• Type-0 system: Steady-State Error: ~∞
• Type-1 system: Steady-State Error: ~∞
• Type-2 system: Steady-State Error: 0.63

Question: 5
We can find the theoretical values of steady state errors from the lab sheet of software
experiment 2:

The steady-state error in the ‘Type-0’ system


Measured Values from graphs -
Step Input - 0.3865
Ramp Input - ∞
Parabolic input - ∞
Theoretical Values –
Step Input - constant
Ramp Input - ∞
Parabolic input - ∞

The steady-state error in the ‘Type-1’ system


Measured Values from graphs -
Step Input - 0
Ramp Input – 0.63
Parabolic input - ∞
Theoretical Values –
Step Input - 0
Ramp Input - constant
Parabolic input - ∞

The steady-state error in the ‘Type-1’ system


Measured Values from graphs -
Step Input - 0
Ramp Input – 0
Parabolic input – 0.6292
Theoretical Values –
Step Input - 0
Ramp Input – 0
Parabolic input – constant

So, we can say the theoretical value of steady state error for each type of the system match
the value we obtained.

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