Linear Control Systems

Lab 07
To calculate ξ, ωn, Ts, Tp, Tr, % overshoot, &
plot the step response of second order
systems using MATLAB

Engr. Ali M Durrani (ali@cecos.edu.pk) 1

 Second order systems
• Second order systems are commonly
encountered in practice, and are the simplest
type of dynamic system to exhibit oscillations.

• In fact many real higher order systems are

modeled as second order to facilitate analysis.

• Examples include mass-spring-damper

systems and RLC circuits.
Engr. Ali M Durrani (ali@cecos.edu.pk) 2
 Parameters of Second Order Systems
• ζ is the damping ratio

• ωn is the natural frequency

• Tr is the rise time

• Tp is the peak time

• %OS is the percentage overshoot

• Ts is the settling time

Engr. Ali M Durrani (ali@cecos.edu.pk) 3

 Example 1
• For the second order systems below, find ξ,
ωn, Ts, Tp, Tr, % overshoot, and plot the step
response using MATLAB

Engr. Ali M Durrani (ali@cecos.edu.pk) 4

 Example 1
clf

numa = 130;

dena = [1 15 130];

Ta = tf(numa, dena)

omegana = sqrt (dena(3))

zetaa = dena(2) / (2*omegana)

Tsa = 4/ (zetaa*omegana)

Tpa = pi/ (omegana*sqrt(1-zetaa^2))

Tra = (1.76*zetaa^3 – .417*zetaa^2 + 1.039*zetaa + 1)/omegana

percenta = exp(–zetaa*pi/ sqrt(1–zetaa^2))*100

step(Ta)

Engr. Ali M Durrani (ali@cecos.edu.pk) 5

 Example 2
• For the second order systems below, find ξ,
ωn, Ts, Tp, Tr, % overshoot, and plot the step
response using MATLAB

Engr. Ali M Durrani (ali@cecos.edu.pk) 6

 Example 2
clf

numb = .045;

denb = [1 .025 .045];

Tb = tf(numb,denb)

omeganb = sqrt(denb(3))

zetab = denb(2) / (2*omeganb)

Tsb = 4/ (zetab*omeganb)

Tpb = pi/ (omeganb*sqrt(1–zetab^2))

Trb = (1.76*zetab^3 – .417*zetab^2 + 1.039*zetab + 1)/omeganb

percentb= exp(– zetab*pi/ sqrt(1–zetab^2))*100

step(Tb)

Engr. Ali M Durrani (ali@cecos.edu.pk) 7

 Example 3
• For the second order systems below, find ξ,
ωn, Ts, Tp, Tr, % overshoot, and plot the step
response using MATLAB

Engr. Ali M Durrani (ali@cecos.edu.pk) 8

 Example 3
clf

numc = 10E8;

denc = [1 1.325*10E3 10E8];

Tc = tf(numc, denc)

omeganc = sqrt(denc(3))

zetac = denc (2) / (2*omeganc)

Tsc = 4/ (zetac*omeganc)

Tpc = pi/(omeganc*sqrt (1 – zetac^2))

Trc = (1.76*zetac^3 – .417*zetac^2 + 1.039*zetac + 1)/omeganc

percentc = exp (– zetac*pi/sqrt (1 – zetac^2))*100

step (Tc)

Engr. Ali M Durrani (ali@cecos.edu.pk) 9