M Waleed MEEN201101027

Lab 06

Objective:

To obtain and analyze the transient responses of 1st order / 2nd order control systems.

First order system:

A first order control system is defined as a type of control system whose input-output relationship
(also known as a transfer function) is a first-order differential equation. A first-order differential
equation contains a first-order derivative, but no derivative higher than the first order.

Fig 1 first order system

Time Constant of a First Order Control System

The time constant can be defined as the time it takes for the step response to rise up to 63% or
0.63 of its final value. We refer to this as t = 1/a. If we take reciprocal of time constant, its unit is
1/seconds or frequency.

We call the parameter “a” the exponential frequency. Because the derivative of e-at is -a at t = 0.
So the time constant is considered as a transient response specification for a first-order control
system.
Settling Time of a First Order Control System
The settling time is defined as the time for the response to reach and stay within 2% of its final
value. We can limit the percentage up to 5% of its final value. Both percentages are a
consideration. The equation of settling time is given by Ts = 4/a.
By using these three transient response specifications, we can easily compute the step response of
a given system that’s why this qualitative technique is useful for order systems equations.

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Fig 2 graph for 1st order system

Rise time
Rise time is defined as the time for the waveform to go from 0.1 to 0.9 of its final value.
2.2 𝑇𝑟 =

System dc gain
DC gain is the ratio of the steady-state output of a system to its constant input, i.e., steady-state of
the unit step response. The DC gain is the ratio between the steady-state input and the steady-
state derivative of the output can be obtained via differentiation of the obtained output.

Example of first order system

Fig 1 Open-loop first order system.

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Open-loop 2nd order system

Varying a first-order system’s parameter simply changes the speed of the response, changes in
the parameters of a second-order system can change the form of the response. For example, a

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second-order system can display characteristics much like a first-order system, or, depending on
component values, display damped or pure oscillations for its transient response.

Figure 2 Step responses for second-order system damping cases

Natural frequency
The natural frequency of a second-order system is the frequency of oscillation of the system
without damping. Consider the general second order system.
𝑏
𝐺(𝑠) =
𝑠2 + 𝑎𝑠 + 𝑏

𝜔𝑛 = √𝑏
Damping Ratio
A viable definition for this quantity is one that compares the exponential decay frequency of the
envelope to the natural frequency. This ratio is constant regardless of the time scale of the
response. Also, the reciprocal, which is proportional to the ratio of the natural period to the
exponential time constant, remains the same regardless of the time base.
a
Exponential decay frequency
2
𝜁= =
Exponential decay frequency 𝜔𝑛
Important formulas
Some important formulas for time response of 2nd order system are written below,
𝜋
𝑇𝑝 = 𝜔𝑛√1 − 𝜁2

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𝑇𝑠
𝜔𝑛𝜁
𝜁𝜋
−
𝑀𝑃𝑇 = 1 + 𝛽

𝜁𝜋
−
% 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 = 𝑒 𝛽
∗ 100 Our
general second-order transfer function finally looks like this:

Example of 2nd Order system

Code:

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2nd order response

Figure 3 Second-order response as function of damping ratio

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The step response of this 2nd order system is as follows

Impulse response of a second order system with varying value of damping coefficient (ζ)

Here we have the following equations,

Exercise
The engine, body, and tires of a racing vehicle affect the acceleration and speed attainable. The
speed control of the car is represented by the model shown in the following figure 6.

Figure 4 Racing car

➢ Calculate the steady-state error of the car to a step command in speed.

➢ Calculate overshoot of the speed to step input command, and other useful commands
mention at the beginning of the lab.

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Exercise:

For year, Amtrak ahs struggled to attract passengers on its routs in the Midwest, using
technology developed decades ago. During the same time, foreign railroads were developing new
passenger rai systems that could profitably compete with air travel. Two of these systems, the
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French TGV and the Japanese Shinkansen, each speeds of 160 mph. The tranrapid-06, a U.S.
experimental magnetic levitation train is shown in the following figure. The use of magnetic
levitation and electro-magnetic propulsion to provide contact less vehicle movement makes the
Transrapid-06 technology radically different from the existing. The levitation control is
represented by Fig(6.4).
➢ Find the step response for K=40, and also calculate the percent over shoot.
➢ Select or analyze the value of K such that the over shoot is not more than 5% for the
step input

Figure 5 Levitated train control

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Exercise:

A feedback system with negative unity feedback has a plant

G(s) =(2(s+8))/(s(s+4))
(a) Determine the closed-loop transfer function T(s)=Y(s)/R(s) using manually, and using the
MATLAB.
(b) Find the time response y(t) for the unit step input.
(c) Determine the overshoot of the response.
(d) Using the final-value theorem, and using the response plot find the steady-state values of
y(t) (e) Find the system settling time manually and from the plot.

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