Practical 8

First and Second Order Systems Responses.

Objective:

 To learn about the order of control systems.

Tools/Software Requirement

 MATLAB

Activity Time Boxing

Task No. Activity Name Activity Time

Lecture and overview by instructor
1 15 ~ 20 mins
2 Performing Experiment 120 ~140 mins
3 Results & Evaluation (signed by the instructor) 15 ~ 20 mins
Total Time: 180

Theory
Order of Control Systems
Order of a system is defined by number of independent energy storage elements. First order system is the
one that has only one independent energy storage element. In a transfer function representation, order of a
system is defined as the value of the highest exponent that appears in the denominator of the transfer
function. In other words, power of ‘s’ in the denominator of a transfer function determines the order of a
system.
A first order control system is defined as a type of control system whose input-output relationship is a
first-order differential equation. Such differential equation contains a first-order derivative, but no
derivative higher than the first order. In terms of transfer function, the highest power of ‘s’ is 1 in the
denominator of the transfer function.
The standard form of a first order control system is

C( s) K
= Eq. (8.1)
R( s) τs+1
Where as τ is the system time constant and is mostly taken as 4τ or 5τ

while K is the system constant

Similarly, if the highest power of ‘s’ in the denominator of a transfer function is 2, then the system is said
to be second order control system.
The standard form of a second order control system is
2
ωn
G ( s )= 2 2 Eq. (8.2)
s +2 ζ ωn s +ω n

Whereas

ω n = Natural frequency of the system

ζ =¿Damping ratio
2 2
s +2 ζ ω n+ ωn is the characteristic equation of the second order system.

Parameters of the system

Settling Time:
The settling time is the time required by the system to reach steady state value. It is mostly taken as
T s=4 τ . Steady State value means required or desired value.
Rise Time:
Rise time refers to the time required by the system to reach from 10% of the steady state value to 90% of
the steady state value.
Steady State Error:

Difference between actual response and desired response is called Steady State error and is denoted by E ss
.
Overshoot:
Overshoot refers to an output exceeding its final, steady state value. For a step input, the percentage
overshoot (PO) is the maximum value minus the step value divided by the step value. In the case of unit
step, the overshoot is just the maximum value of the step response minus one.
Peak Time:
The time taken by the system to achieve the peak value in the step response.
 Figure 8.1 Rise time, peak time, settling time and overshoot analysis of a step response function

Procedure
Part (a)
2
G ( s )= Eq. (8.3)
1+3 s
1. For the given first order system, apply the step input, impulse and ramp input respectively.

2. Find the rise time, settling time, overshoot, and steady state error using MATLAB.

3. Plot the responses at the spaces provided below.

4. Analyze and comment on responses.

Graphs
i. Step Response
ii. Impulse Response
iii. Ramp Response
Observations / Analysis

This system is not stable. only step input provides proper response from the system. If we provide
ramp or impulse input, the output is disoriented. First order systems are generally stable as
compared to second order systems but this particular system is unstable.

Part (b)
9
G ( s )= 2 Eq (8.4)
s +6 s +9
1. For the given first order system, apply the step input, impulse and ramp input respectively.

2. Find the rise time, settling time, overshoot, and steady state error using MATLAB.

3. Plot the responses at the spaces provided below.

4. Analyze and comment on responses.

Graphs

i. Step Response

ii. Impulse Response

iii. Ramp Response
Observations / Analysis

This system is stable. Step input is stable and ramp input is also stable. The impulse input is
unstable in start but becomes stable as time passes. First order systems are generally stable as
compared to second order systems but this particular system is stable.

Post Lab Activity

For the following first and second order systems, apply the step input, impulse input and ramp input
respectively and find their rise time, settling time, overshoot, and steady state error using MATLAB. Plot
their responses as well.

Task 1
3
G ( s )= Eq (8.5)
1+4 s
Task 2

Figure. 8.2 Second-order mechanical system

N
Consider k =50 , m=1 kg & b=0.5 Ns/m
m
First, vary the values of m keeping others constant. Then change stiffness by keeping m and b constant .

Task 1
3
G ( s )= Eq (8.5)
1+4 s

Graphs:
i. Step Response
ii) Impulse Response:
iii) Ramp Response
Task 2

Figure. 8.2 Second-order mechanical system

N
Consider k =50 , m=1 kg & b=0.5 Ns/m
m
First, vary the values of m keeping others constant. Then change stiffness by keeping m and b constant .

With Original Values:

Step Response:
IMPUSLE Response:
Ramp Response
When M=50kg:
Step Response:

Impulse Response:
Ramp Response:

When K=100N/M:
Step Response:
Impulse Response:

Ramp Response:
Evaluation Criteria:

Performance Exemplary Satisfactory Developing Unsatisfactory Marks

Criteria
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Lab Instructor: