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Eic Exp 7,8,9

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12 views6 pages

Eic Exp 7,8,9

Uploaded by

Arya Naik
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Exp 7 Determine the impulse and step response for type ‘0’, type ‘1’ and type ‘2’

systems
Theory: A real time system can be expressed by its transfer function. Based on presence of poles at origin
of s plane , transfer functions can be classified as Type ‘0’, Type ‘1’, Type ‘2’ ….. Systems. Let open loop
transfer function a system is expressed as:
G(s)H(s)=k∗(1+sTa)(2+sTb).........sN(1+sT1)(1+sT2)...............(i)

From equation (i) it is clear that ‘N’ determines the number of poles at origin.
For a Type '0' system, N = 0
For a Type '1' system, N = 1
For a Type '2' system, N = 2
.
.
.
.
For a Type 'N' system, N = N

The steady state error can be found out by the following equation
ess=sR(s)1+G(s)H(s)
Exp8

Aim- toplot effect of time constant on first order system response.


Theory:A first order system is one in which highest power of ‘s’ in denominator if transfer function
defines order of the system.
For first order system,
C(s)R(s)=1sT+1
...... (1),
C(s)=1sT+1R(s)
1. For the unit-step input:

R(t)=1,
R(s)=1/s(a),
Since the Laplace transform of the unit step function is 1/s , substituting R(s)=1/s in equation (1),
C(s)=1sT+1∗1s
Substitute the value of R(s)
Expanding C(s) into partial fractions gives,
C(s)=1s−TsT+1
...... (2),
C(s)=1s−1s+(1T)
Taking the inverse Laplace t+-ransform of equation (2),we get,
C(t) = 1- e-t/T for t ≥ 0...... (3),
Equation (3) shows that initially (when t=0), the output C(t) is zero and finally (t→∞) e -t/T is zero and the
output C(t) becomes unity.
C(t) = 1 – e At t=T,-1 = 1 – 0.368 = 0.632,
That’s , the output response has reached 63.2 % of it’s final value . T is known as the time constant.
Thus, the time constant T is defined as the time required for the output response to attain 63.2% of its
final value or steady state value.
1. For the unit-impulse input:

Response of the first order system with unit impulse response:


For the unit-impulse input
R(s) = 1
C(s)=1sT+1R(s)
...... (1),
Subsituting the value of R(S) = 1 in equation (1), we get
C(s)=1sT+1
C(s)=1T1s+1T
...... (2),
Taking the inverse laplace transform of the equation of (2), we get the output response as
C(s)=1Te−tT
for t >= 0...... (3),
Exp 9

Aim -To obtain root locus for a given transfer function of the system
Theory :
Root locus theory is a technique used in control systems engineering to analyze the behavior of the
poles of a system as the gain K varies. It provides insights into the stability and transient response
characteristics of a control system.
Consider a control system with an open-loop transfer function of the form:
G(s)=N(s)/ D(s)
where N(s) is the numerator polynomial and D(s) is the denominator polynomial. The characteristic
equation of the system is obtained by setting the denominator D(s) equal to zero.

To perform root locus analysis, we vary gain (K) and examine how the roots of the characteristic
equation change as this parameter varies.
Step-by-step procedure to obtain the root locus is:

1. Determine the poles and zeros: Identify the poles (α, β, γ, ...) of the open-loop transfer function G(s)
= N(s) / D(s). These are the roots of the characteristic equation when K = 0.
2. Define the locus equation: The locus equation is derived from the characteristic equation and the
parameter K. It is given by:
D(s)+K∗N(s)=0
This equation represents the locus of all possible roots of the characteristic equation for different values
of K.
3. Determine the angles and magnitudes: For each point on the locus, calculate the angles and
magnitudes of the vectors connecting the poles and zeros to that point.
The angle of a vector from a pole or zero to a point on the locus is given by:
θ=Σ(P−Z)+(2n+1)π
where P represents the angles from poles, Z represents the angles from zeros, and n is an integer that
ensures the total angle is a multiple of 2π.
The magnitude of a vector from a pole or zero to a point on the locus is given by:
|G(s)|=|K∗N(s)/D(s)|

4. Construct the root locus plot: Plot the locus in the complex plane using the calculated angles and
magnitudes. The locus represents the paths of the roots of the characteristic equation as K varies.
5. Determine the branches and breakaway/intersection points: Analyze the root locus plot to identify
the branches of the locus. Each branch starts at a pole and ends at a zero (or at infinity). Breakaway
points are the points on the locus where the branches depart from the real axis or intersect with each
other.

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