Experiment 01
AIM OF THE EXPERIMENT‐
To obtain time response of a second order system in
case of under damped, over
damped and critically damped systems.
APPRATUS REQUIRED ‐ MATLAB
THEORY‐
In The time response of control system consists of two
parts. Transient response and steady state response. C(t)
= Ctr(t) + Css(t). Most of the control systems use
time as its independent variable. Analysis of response
means to see the variation of output with respect to
time. The output of the system takes some finite time
to reach to its final value. Every system has a tendency
to oppose the oscillatory behaviour of the system which
is called damping. The damping is measured by
a factor called damping ratio of the system. If the
damping is very high, then there will not be any
oscillations in the output. The output is purely
exponential.
Such system is called an over damped system.
If the damping is less compared to over damped case,
then the system is called a critically damped system. If
the damping is very less, then the system is called
under damped system. With no damping system is
undamped.
1<ξ<∞ ‐‐‐ Over damped system.
ξ=1 ‐‐‐ Critically damped system.
0<ξ<1 ‐‐‐ Under damped system.
ξ=0 ‐‐‐ Undamped system.
]
Time domain specifications:
Delay time Td = (1 + 0.7ξ)/ Wn
Rise Time Tr = (П - θ)/ Wd
Peak overshoot time = Tp = П / Wd
% Mp = exp (- Пξ/sqrt (1- ξ2 ))
Settling Time Ts = 4/ ξWn (2% tolerance)
PROCEDURE‐
Open the MATLAB command window.
1) Click on File‐New‐M file to open the MATLAB editor
window.
2) In the given MATLAB editor window enter the
program to obtain the step
response.
1a) % step response of a second order system:
wn=input ('Enter the natural frequency: ');
e=input ('Enter damping ratio: ');
num=[wn*wn];
den= [1 2*e*wn wn*wn];
sys=tf (num, den)
step(sys);
3) Save the file in work directory.
4) Run the program and enter the respective value for
natural frequency,
damping ratio and time.
5) The graphs displayed are according to the above
values.
6) The values of wd, td, theta, tr, ts, Mp can be obtained
by
a) Right click on the figure window and select grid to get
grids on the
curve.
b) Right click on the figure window and select
characteristics and enable
peak response, settling time & rise settling.
c) Repeat the steps 5,6,7 for different values of ξ
Graph:
1b) Evaluation of the effect of additional poles and
zeros on time response
of second order system:
MATLAB program to evaluate the effect of additional
poles and zeros on time
response of second order system. This program uses the
command zpk.
For the second order system the poles are -10+30i and -
10-30i
The program given below gives the time response of 2nd
order system:
z= [];
P= [-10+30i -10-30i];
K=1000;
sys=zpk (z, P, K)
t= [0:0.001:1];
step (sys, t);
grid
For the second order system, if we add a pole it changes
to third order.
1c) Effect of loop gain of a negative feedback system
on stability:
The following program is used to study the effect of loop
gain of a negative
feedback system on stability. The value of gain k is
varied and different step
responses are obtained.
clc
z= []
p= [-0.5+i -0.5-i -1];
k1=1;
k2=2;
k3=3;
sys1=zpk (z, p, k1)
sys2=zpk (z, p, k2)
sys3=zpk (z, p, k3)
t= [0:0.01:20];
[y1, t] =step (sys1, t)
[y2, t] =step (sys2, t)
[y3, t] =step (sys3, t)
plot (t, y1, t, y2, t, y3)
legend('k=1','k=2','k=3')
Grid
RESULT:
1. VARY THE DAMPING RATIO
ξ=0.2 , 0.5 , 0.8
Time Domain Specifications From MATLAB From Calculation
Rise Time 0.000754 0.0013
Peak Time 0.00201 0.0020
Settling time 0.0122 0.01225
Max Overshoot 52.7% 52.73%
Wd = wnsqrt(1‐ epi2) = 1600sqrt(1‐ 0.04) = 1567
Theta = cos‐1(epi) = cos‐1(0.2) = 78.460 = 1.37 rad
Time rise =( 3,14 ‐ 1.37 )/1567 = 0.00113
Tp = 3.14 / 1567 = 0.0020
= 52.73%
2. ADDITIONAL POLES
Poles = -1 , -10 , -100
AS THE NO OF POLES INCREASES THE PEAK INCREASES
UNTIL IT GETS A MAXIMUM VALUE
THE SETLLING TIME , RISE TIME , PEAK TIME , ETC
REAMAINS THE SAME FOR WAVEFORM UNTIL
REACHEAD MAXIMMUM VALUE.
3. ADDITIONAL ZEROS
THE PEAK VALUE INCREASES AND THE SETTLING MIN
TIME INCREASES TOO.
WHILE THE PEAK TIME REMAINS SAME FOR ALL THE
GRAPHS.
4. EFFECT OF GAIN ON TIME RESPONSE
THE PEAK VALUE INCREASES WHILE THE TIMES AND
PERIODS REMAINS CONSTANT.
CONCLUSION:
The time response of a second order system in case of
under damped, over damped and critically damped
systems was successfully obtained using MATLAB.
