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EENG320 Second Session

The document outlines the objectives and exercises for a control system laboratory focused on studying the effects of damping ratio (ζ) and natural frequency (ωn) on system performance. It includes the transfer function, performance indicators, and MATLAB exercises for different damping scenarios (undamped, under-damped, critically damped, and over-damped). Additionally, it provides homework assignments related to varying ζ values and analyzing the step response and pole-zero maps of the system.

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Kadir İlker Aslan
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20 views6 pages

EENG320 Second Session

The document outlines the objectives and exercises for a control system laboratory focused on studying the effects of damping ratio (ζ) and natural frequency (ωn) on system performance. It includes the transfer function, performance indicators, and MATLAB exercises for different damping scenarios (undamped, under-damped, critically damped, and over-damped). Additionally, it provides homework assignments related to varying ζ values and analyzing the step response and pole-zero maps of the system.

Uploaded by

Kadir İlker Aslan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EENG 320 Control System Laboratory

Second Lab Session


Introduction to Control System

Objective:

This experiment aims to study the parameters (ς and ωn) and their effects on the performance of
the system.

 The parameters (ς and ωn) and their effects on the performance of the
system

 Given the second order Transfer function

C ( s) n 2
T ( s)   2
R( s) s  2n s  n 2

The roots of this transfer function are the poles:-

Where wn is called natural frequency, ζ is zeta which is the damping ratio

 The effect of ζ on the performance of the system :-

 Over-damped - when the system has two real distinct poles (ζ >1).
 Under-damped - when the system has two complex conjugate poles (0 <ζ <1)
 UN damped - when the system has two imaginary poles (ζ = 0).
 Critically damped - when the system has two real but equal poles (ζ = 1).
Real – Imaginary axis show poles of the system

The Transfer function, pole and zero plot, and the response of the output of the system is illustrated in the above diagram
 Some Performance Indicators in 2nd order system

Peak time: The time taken for the response to reach its peak value
 
Tp  
d n 1   2

Rise time: Time the response takes to rise from 0 to 100%


 
Tr 
n 1   2

Percentage overshoot, %OS: The percent overshoot is defined as the


amount that the waveform at the peak time overshoots the steady-state value,
which is expressed as a percentage of the steady-state value.


1 2
%OS  e 100%

Setting time, Ts: The settling time is the time required for the amplitude of
the sinusoid to decay to 2% of the steady-state value.

4
Ts 
n

Steady-State error:

e( )  r ( )  x (  ) sR( s )
e( )  lim sE ( s )  lim
s0 s0 1  G( s )

 Using Matlab to study the output response

Exercise 1

𝐶(𝑠) 𝑤𝑛
2

𝑇(𝑠) = = 2
𝑅(𝑠) 𝑠 + 2ζ𝑤𝑛1 s + 𝑤𝑛2
Consider
Wn=1 and ζ =0 (Undamped)
Then

1
𝑇(𝑠) =
𝑠2 + 1

num=[1];
den=[1 0 1];
sys=tf(num,den);
t=0:0.01:100;
y=step(sys,t)
figure();
plot(t,y)
figure();
pzmap(sys)
S=stepinfo(sys)

Exercise 2

Consider
Wn=1 and ζ =0.3 (Under-damped)

1
𝑇(𝑠) = 2
𝑠 + 0.6𝑠 + 1

num=[1];
den=[1 0.6 1];
sys=tf(num,den);
t=0:0.01:100;
y=step(sys,t)
figure();
plot(t,y)
figure();
pzmap(sys)
S=stepinfo(sys)
Exercise 3

Consider
Wn=1 and ζ =1 (critically damped)
1
𝑇(𝑠) =
𝑠 2 + 2𝑠 + 1

num=[1];
den=[1 2 1];
sys=tf(num,den);
t=0:0.01:100;
y=step(sys,t)
figure();
plot(t,y)
figure();
pzmap(sys)
S=stepinfo(sys)

Exercise 4

Consider
Wn=1 and ζ =5 (over-damped)
1
𝑇(𝑠) = 2
𝑠 + 10𝑠 + 1

num=[1];
den=[1 10 1];
sys=tf(num,den);
t=0:0.01:100;
y=step(sys,t)
figure();
plot(t,y)
figure();
pzmap(sys)
S=stepinfo(sys)
Exercise 5

𝑌(𝑠) 1
𝑇(𝑠 ) = = 2
𝑅(𝑠) 𝑠 + 2ζ 𝑠 + 1

Such as the value of ζ varies from 0 to 1 with the interval 0.2

Plot the step response of the system

t=0:0.2:20;
zeta= [0 0.2 0.4 0.6 0.8 1];
for n=1:6;
num=[1];
den=[1 2*zeta(n) 1];
sys=tf(num,den);
figure();
step (sys, t)

end

Homework 2

𝑌(𝑠) 𝑤𝑛2
𝑇(𝑠 ) = = 2
𝑅(𝑠) 𝑠 + 2ζ 𝑠 + 𝑤𝑛2

Such as the value of ζ varies from 0 to 2.1 with the interval 0.3 and wn=2

a) Plot the step response of each transfer function of the system


b) Plot the pzmap of each transfer function of the system
c) Determine the information of each step function using matlab

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