1.

1.2
1.3

1.1
Interpretation of result :
1) ζ=0 (Undamped System): The response is purely oscillatory as there is no damping in the
system.
2) ζ=0.5 (Underdamped System): The response exhibits oscillations that gradually
decay over time. The system has a finite overshoot and eventually settles after a
few oscillations.
3) ζ=1 (Critically Damped System): The response quickly returns to the steady-state value
without oscillating. This system achieves the fastest settling time without overshoot.
4) ζ=1.2 (Overdamped System): The response is sluggish and slow to reach the final
value. The system does not overshoot, but it takes longer to settle compared to the
critically damped system

1.2
+-----------------------------------------+
| Start MATLAB Program |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Define system parameters: |
| wn = 100 (Natural Frequency) |
| zeta_values = [0, 0.5, 1, 1.2] |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Initialize a new figure and set 'hold on'|
| for plotting multiple poles |
+-----------------------------------------+
|
 v
+-----------------------------------------+
| Loop over each value of zeta: |
+-----------------------------------------+
| | | |
v v v v
+--------+ +---------+ +---------+ +---------+
| zeta=0 | | zeta=0.5| | zeta=1 | | zeta=1.2|
+--------+ +---------+ +---------+ +---------+
| | | |
v v v v
+-----------------------------------------+
| Define denominator of transfer function|
| based on each zeta: |
| den = [1, 2*zeta*wn, wn^2] |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Compute poles by finding roots of the |
| denominator using the 'roots()' function|
+-----------------------------------------+
|
v
+-----------------------------------------+
| Plot poles in the complex plane using |
| 'plot()' function (Real vs Imaginary) |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Annotate each pole with its corresponding|
| zeta value using 'text()' function |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Set plot labels, title, and legend |
| Display the grid for better visualization|
+-----------------------------------------+
|
v
+-----------------------------------------+
| End Program |
+-----------------------------------------+

Interpretation of result :
1) As the damping ratio increases, the real part of the poles becomes more negative,
indicating faster settling times but reduced oscillatory behavior.

2) The imaginary part decreases as ζ increases, leading to less oscillation in the system’s
step response.

3) For overdamped systems ζ>1 the system becomes slower but without oscillations.
1.3
+------------------------------------------+
| Start MATLAB Program |
+------------------------------------------+
|
v
+------------------------------------------+
| Define system parameters: |
| wn = 100 (Natural Frequency) |
| xi = 0.5 (Underdamped, ξ < 1) |
+------------------------------------------+
|
v
+------------------------------------------+
| Define the transfer function: |
| G(s) = wn^2 / (s^2 + 2*xi*wn*s + wn^2) |
+------------------------------------------+
|
v
+------------------------------------------+
| Compute the step response of the system |
| using [y, t] = step(sys) |
+------------------------------------------+
|
v
+------------------------------------------+
| Calculate step response characteristics: |
| - Peak Overshoot |
| - Rise Time |
| - Settling Time (2% criterion) |
| - Delay Time (time to reach 50% of final value) |
+------------------------------------------+
|
v
+------------------------------------------+
| Plot the step response in a new figure |
+------------------------------------------+
|
v
+------------------------------------------+
| Mark and label key characteristics on the|
| plot (peak, rise time, settling time, and|
| delay time points) |
+------------------------------------------+
|
v
+------------------------------------------+
| Set plot labels, title, and display |
| the legend and grid for clarity |
+------------------------------------------+
|
v
+------------------------------------------+
| End Program |
+------------------------------------------+
Interpretation of result:
1)Peak Overshoot:
• The peak overshoot indicates how much the system response exceeds its final
steady-state value. A higher overshoot corresponds to more oscillatory behavior. In
this underdamped case ζ=0.5 the response will exhibit oscillations with a noticeable
overshoot.

2) Rise Time:
• The rise time is the time required for the response to go from 0% to 100% of the
final value for the first time. This tells you how fast the system initially responds to
the input. A lower damping ratio ζ<1 often leads to a faster rise time, but it is
typically accompanied by oscillations.

3) Settling Time:
• The settling time is the time taken for the response to stay within a certain
percentage (usually 2%) of the final value. This metric tells you how long the
system takes to stabilize after experiencing oscillations. For an underdamped
system, the oscillations die out more slowly, leading to a longer settling time.

CONCLUSION:
1.1) The damping ratio directly affects the system's stability, oscillations, and
settling time. Higher damping greater ζ leads to fewer oscillations but a slower
response.

1.2) ζ=0 (undamped): Poles are purely imaginary, meaning oscillations dominate the
system with no damping.
ζ=0.5 (underdamped): Poles are complex with negative real parts, meaning the
system exhibits oscillations but with decay over time.
ζ=1 (critically damped): The poles are real and repeated, showing no oscillations
with the fastest response time.
ζ=1.2 (overdamped): Poles are real and distinct, leading to slower response times
without oscillations.

1.3) In an underdamped system ζ=0.5, the system oscillates with overshoot, leading
to longer settling times despite a quick rise time. The balance between fast
response and stability (settling time) is determined by the damping ratio. For
ζ<1, oscillations are present, and system behaviour is less predictable without
tuning.
a. Which pole locations have the highest/smallest overshoot?

• Overshoot is related to the damping ratio ζ, which is represented by the

• In Fig. (a), the poles with smaller angles θ have lower damping ratios,
leading to higher overshoot.

1) Highest overshoot: Pole p1 as it has the smallest θ1

2) Smallest overshoot: Pole p3 with the largest angle θ3

b. Comment on the settling time for the pole locations

• Settling time is inversely related to the real part sigma of the poles. Poles further
to the left on the real axis (i.e., more negative real part) lead to faster settling times.

• In Fig. (b), poles further to the left have shorter settling times.

1) Fastest settling time: Pole p3 as it is furthest to the left.

2) Slowest settling time: Pole p1since it is closest to the imaginary axis.

• Peak time is related to the imaginary part ω of the poles. Higher imaginary
parts lead to shorter peak times.

• In Fig. (a), poles with larger imaginary parts have shorter peak times.

1) Shortest peak time: Pole p1 since it has the highest

2) Longest peak time: Pole p3p_3p3, with the smallest