International Islamic University Islamabad

Faculty of Engineering & Technology

Department of Electrical Engineering

CONTROL SYSTEMS LAB

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation

using MATLAB

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Registration No.: ……………………………………..

Date of Experiment: …………………………………

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Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
Page 1
Objectives:
 To learn MATLAB commands which are used to represent LTI systems in terms of
transfer function, pole-zero-gain and state-space representations.
 To analyze LTI systems using pole/zero plots and their time responses due to impulse,
step and arbitrary inputs using MATLAB.
 To represent LTI systems using MATLAB/Simulink.
Equipment Required:
 Personal Computer (PC)
 MATLAB software (updated)
Theory:
Mass-Spring system:
Linear Time Invariant (LTI) systems can be described by a first order differential
equation. LTI systems always obey linearity and time invariance principles. Let we have a
mass-spring model as shown in Figure 3.1(a) whose equivalent block diagram is depicted in
Figure 3.1(b).

Figure 3.1 (a): Mass-Spring system Figure 3.1 (b): Block Diagram
Begin the solution by drawing the free-body diagram shown in Figure 3.2. We assume
that the mass is traveling toward the right. Thus, only the applied force points towards right;
all other forces impede the motion and act to oppose it. Hence, the spring, viscous damper
(friction), and the force due to acceleration point towards left. The spring force is assumed to
be either linear or can be approximated by a linear function ( F s ( x ) = K x ( t ) ) .

Figure 3.2: Free-body diagram of Mass-Spring system

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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 We can write the differential equation of motion using Newton’s law; sum all the forces
acting on the mass and set them equal to zero.
𝑑2 𝑥(𝑡) 𝑑𝑥(𝑡)
𝑀 + B + 𝐾𝑥 (𝑡) = 𝐹(𝑡) (3.1)
𝑑𝑡 𝑑𝑡
w h e r e , M i s t h e m a s s , B = f v is the friction coefficient, K is spring constant, x(t) is
the displacement a n d F ( t ) is the applied force.
Transfer Function:
Applying the Laplace transformation to (3.1), while assuming the zero initial conditions, we
get:
(𝑀𝑠 2 + 𝐵𝑠 + 𝐾) ∗ 𝑋(𝑠) = 𝐹(𝑠) (3.2)
The transfer function (G(s)) of the system can be written as:
𝑂𝑢𝑡𝑝𝑢𝑡 𝑜𝑓 𝑠𝑦𝑠𝑡𝑒𝑚 𝑋(𝑠) 1
𝐺(𝑠) = = = (3.3)
𝐼𝑛𝑝𝑢𝑡 𝑜𝑑 𝑠𝑦𝑠𝑡𝑒𝑚 𝐹(𝑠) 𝑀𝑠 2 +𝐵𝑠+𝐾

Representation of Linear Time Invariant (LTI) systems in MATLAB:

Control System Toolbox in MATLAB offers extensive tools to manipulate and analyze
linear time-invariant (LTI) models. It supports both continuous-time and discrete-time
systems. Systems can be single-input/single-output (SISO) or multiple-input/multiple-output
(MIMO). Control System Toolbox provides functions for creating basic representations of
linear time-invariant (LTI) models such as:
a. Transfer Function (tf) models
b. Zero-Pole-Gain (zpk) models
c. State-Space (ss) models

i. Creating Transfer Function models:

Transfer functions (TF) are frequency-domain representations of LTI systems. A SISO
transfer function (G(s)) is a ratio of numerator (N(s)) and denominator (D(s)) polynomials:
𝑁(𝑠) (𝑎1 𝑠 𝑛+𝑎2 𝑠𝑛−1 + …….+ 𝑎𝑛+1 )
𝐺 (𝑠) = =
𝐷(𝑠 ) (𝑏1 𝑠 𝑚 +𝑎2 𝑠 𝑚−1 + …….+ 𝑎𝑚+1 )

In MATLAB, a polynomial is represented by the vector containing its coefficients, for

example, the polynomial 𝑠 2 + 2𝑠 + 10 is specified as [1 2 10].
Example:
Let we have mass-spring system (G(s)) as represented in Eq. (3.3):
1
𝐺(𝑠) =
𝑀𝑠 2 +𝐵𝑠+𝐾
Given that: M = 1-kg, B = 5-Nsec/m, K = 3-N/m.

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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After substitution, we can write G(s) as:
1
𝐺 (𝑠) =
𝑠2 + 5𝑠 + 3
In MATLAB, to create a transfer function (G(s)), specify the “numerator” and “denominator”
polynomials and then use “tf” command:
>> num = [1];
>> den = [1 5 3];
>> G = tf(num,den)
G =
1
----------------
s^2 + 5 s + 3
Alternatively, you can specify this model as a rational expression of the Laplace variable ‘s’:
>> s = tf('s');
>> G = 1/(s^2 + 5*s + 3)
G =
1
----------------
s^2 + 5 s + 3
This is identical to the previous transfer function.
ii. Creating Zero-Pole-Gain models:
Zero-pole-gain (ZPK) models are the factored form of transfer functions:
(𝑠 − 𝑧1 )(𝑠 − 𝑧2 ) … . . (𝑠 − 𝑧𝑚 )
𝐻 (𝑠 ) = 𝑘
(𝑠 − 𝑝1 )(𝑠 − 𝑝2 ) … . . (𝑠 − 𝑝𝑚 )
Such models expose the roots “z” of the numerator (as zeros) and the roots “p” of the
denominator (as poles). The scalar coefficient k is called the gain. To create zero-pole-gain
(zpk) model:
−2𝑠
𝐻 (𝑠) =
(𝑠−2)(𝑠 2 −2𝑠+2)

You must specify the vectors of poles and zeros and the gain “k” to represent a LTI system:
>> z = 0; % Zeros
>> p = [2 1+i 1-i]; % Poles
>> k = -2; % Gain
>> H = zpk(z,p,k)
H =
-2s
--------------------
(s-2)(s^2 - 2s + 2)

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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iii. Creating State-Space models:
State-space (SS) models are time-domain representations of LTI systems:
𝒙̇ = 𝑨𝒙 + 𝑩𝒖
𝒚 = 𝑪𝒙 + 𝑫𝒖
where x(t) is the state vector, u(t) is input vector, and y(t) is the output trajectory.
State-space models are derived from the differential equations describing the system
dynamics. For example, consider the second-order ordinary differential equation for a simple
electric motor:
𝒅𝟐 𝜽 𝟐𝒅𝜽
+ + 𝟓𝜽 = 𝟑𝑰
𝒅𝒕𝟐 𝒅𝒕
where I is the driving current (input) and 𝜃 is the angular displacement of the rotor (output).
d𝜃
The angular displacement (𝜃) and angular velocity (𝜃̇ = dt ) are the state variables.
𝑑𝑥
𝑥̇ = = 𝐴𝑥 + 𝐵𝐼 , 𝜃 = 𝐶𝑥 + 𝐷𝐼,
𝑑𝑡
The equivalent transfer function of the system can be written as:
𝜃(𝑠) 3
= 2
I(s) 𝑠 + 2𝑠 + 5

In MATLAB, “[A B C D] = tf2ss(num,den)” command is used to create a state-

state model using a transfer function. The following state-space model appears in command
window.
>> num = [3]
>> den = [1 2 5]
>> [A B C D] = tf2ss(num,den)
A =
-2 -5
1 0
B =
1
0
C =
0 3
D =
0
To obtain a transfer function from state-space equations, use “[num,den]=
ss2tf(A,B,C,D)” command:
>> A = [-2 -5;1 0];
>> B = [1;0];
>> C = [0 3];
>> D = 0;
>> [num den] = ss2tf(A,B,C,D)
>> sys = tf(num,den)

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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Plotting Poles and Zeros of a system:
“pzmap” command plots the poles and zero plot of a dynamic system.
>> pzmap(sys)
>> pzmap(sys1,sys2,...,sysN)
>> [p,z] = pzmap(sys)
Description of pzmap:
“pzmap(sys)” plots the pole- zero map of the continuous or discrete-time LTI model
“sys”. For SISO systems, pzmap plots the transfer function poles and zeros. The poles are
plotted as x’s and the zeros are plotted as o’s. “pzmap(sys1, sys2,..., sysN)” plots
the pole-zero map of several LTI models on a single figure. The LTI models can have
different numbers of inputs and outputs. When invoked with left-hand arguments, “[p,z]=
pzmap(sys)” returns the system poles and zeros in the column vectors p and z. No plot is
drawn on the screen in this case. You can use the functions sgrid or zgrid to plot lines of
constant damping ratio and natural frequency in the s or z plane.
Example:
Plot the poles and zeros of the continuous-time system (H(s))?
2𝑠 2 + 5𝑠 + 1
𝐻 (𝑠) =
𝑠 2 + 2𝑠 + 3
Solution:
>> H = tf ([2 5 1],[1 2 3]);
>> pzmap(H)
Pole-Zero Map
1.5
System: sys
Pole : -1 + 1.41i
1 Damping: 0.577
Overshoot (%): 10.8
Frequency (rad/s): 1.73
System: sys
Imaginary Axis (seconds -1)

Zero : -2.28
0.5
Damping: 1
Overshoot (%): 0
Frequency (rad/s): 2.28
0
System: sys
Zero : -0.219
Damping: 1
-0.5 Overshoot (%): 0
System: sys Frequency (rad/s): 0.219
Pole : -1 - 1.41i
-1 Damping: 0.577
Overshoot (%): 10.8
Frequency (rad/s): 1.73

-1.5
-2.5 -2 -1.5 -1 -0.5 0
-1
Real Axis (seconds )

Figure 3.3(a)

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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Example:
Plot the poles and zeros of the continuous-time systems (𝑯𝟏 (𝒔) 𝒂𝒏𝒅 𝑯𝟐 (𝒔))?
4𝑠 2 + 3𝑠 + 7
𝐻1 (𝑠) =
2𝑠 2 + 5𝑠 + 9

2𝑠 2 + 6𝑠 + 4
𝐻2 (𝑠) =
2𝑠 2 + 8𝑠 + 3

Solution:
>> H1 = tf ([4 3 7],[2 5 9])
>> H2 = tf ([2 6 4],[2 8 3])
>> pzmap(H1,H2)

Figure 3.3(b)
Example:
Obtain the poles and zeros of the continuous-time system (H(s))?
4𝑠 2 + 9𝑠 + 2
𝐻 (𝑠) =
𝑠 2 + 7𝑠 + 3

Solution:
>> H = tf ([4 9 2],[1 7 3]);
>> [p,z] = pzmap(H)
p =
-6.5414
-0.4586
z =
-2.0000
-0.2500

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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Response of LTI systems to different inputs:
Impulse and Step Response:
You can simulate the LTI systems with different inputs like impulse, step and other

standard inputs. “impulse” command computes the unit impulse response of the system

and “step” returns the unit step response of the system. When invoked without left-hand
arguments, these commands plot the response on the screen.
Example:
Obtain the impulse response of the continuous-time system (G(s))?
2𝑠 2 + 5𝑠 + 1
𝐺 (𝑠) =
𝑠 2 + 2𝑠 + 3

Solution:
>> num = [2 5 1];
>> den = [1 2 3];
>> G = tf(num,den)
>> impulse(G)

Figure 3.4
To obtain a step response type,
>> step(G)

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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 Figure 3.5
Time-interval specification:
You can also specify the time interval to simulate the system too.
>> t = 0:0.01:10;
>> G = tf([2 5 1],[1 2 3]);
>> impulse(G,t)
>> step(G,t)

Figure 3.6 Figure 3.7

Response to Arbitrary Inputs:
To simulate the (time) response of continuous or discrete linear systems to arbitrary
inputs, use “lsim” command. When invoked without left-hand arguments, “lsim” plots the
response on the screen. “lsim(sys,u,t)” produces a plot of the time response of the LTI
model “sys” to the input time history ‘t’,’u’. The vector ‘t’ specifies the time samples for the
simulation and consists of regularly spaced time samples. The matrix u must have as many

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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rows as time samples (length(t)) and as many columns as system inputs. Each row (𝑖),
specifies the input value at time sample (𝑖).
Example:
Plot the output response of the system (G(s)) to a square wave having time period of 5
seconds.
2𝑠 2 + 5𝑠 + 1
𝐺 (𝑠) =
𝑠 2 + 2𝑠 + 3
Solution:
First, obtain the transfer function of the system (G(s)).
>> G = tf([2 5 1],[1 2 3])
G =
2 s^2 + 5 s + 1
--------------------
s^2 + 2 s + 3
Then, generate a square wave having time period of 5 seconds, time duration 15 seconds, and
sampling at every 0.01 second using “gensig” command.
>> [u,t] = gensig('square',5,15,0.01);

“[u,t]=gensig(type,tp,Tf,Ts” specifies the “type” of signal (‘sine’, square’, ‘pulse’ )

time period “Tp”, time duration “Tf” of the signal and the spacing “Ts” between the time

samples t. You can feed the outputs ‘u’ and ‘t’ directly to lsim and simulate the response of a
single-input linear system to the specified signal.
>> lsim(G,u,t)

Figure 3.8

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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Example:
Plot the output response of the system (H(s)) to a sine wave having time period of 3 seconds.
2𝑠 2 + 5𝑠 + 1
𝐻 (𝑠) =
𝑠 2 + 2𝑠 + 3
Solution:
>> H = tf([2 5 1],[1 2 3])
>> [u,t] = gensig('sin',3,9,0.01);
>> lsim(H,u,t)
>> legend('Output Response to Sine Input')

Figure 3.9
Representation of Linear Time Invariant (LTI) systems using MATLAB/Simulink:
Let us construct and simulate the following LTI systems in MATLAB/Simulink and
observe their outputs using a scope.

Figure 3.10

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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 Exercise Problems
Question No. 1: Consider the transfer function P(s),
𝐶(𝑠) 1
𝑃(𝑠) = = 2
𝑅 (𝑠) 𝑠 + 0.2𝑠 + 1
a. Using MATLAB, find and plot the poles/zeros of the above system?
b. Find the unit impulse response of the following system using MATLAB?
c. Find the unit step response of the following system using MATLAB?

Question No. 2:

a. Find the transfer function of RLC network given in Figure 3.10 using theoretical
knowledge. Then, find and plots its zeros/poles using MATLAB?
b. Using MATLAB, obtain the unit step response of the system?

Assume that Vi = 1V, R = 5Ω, L = 3H and C = 0.1F.

Figure 3.10

Question No. 3: Consider the differential equation system given by:

𝒚̈ + 𝟑𝒚̇ + 𝟐𝒚 = 𝟎

where 𝑦(0) = 0.1, 𝑦̇ (0) = 0.05

a. Determine the solution “y(t)” analytically subjected to the given initial conditions and
then plot the analytical solution using MATLAB.
Hint: Use Laplace transform approach to obtain the solution “y(t)”.

b. Using MATLAB, obtain and plot the solution “y(t)”, subjected to the given initial
conditions.
Hint: Use state space approach, and then utilize the command “initial(sys,x0,t)”.

Experiment No. 3: Linear Time Invariant (LTI) systems and their representation using MATLAB
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