Lab Handout #4: Time Response Analysis of Control Systems

Instructor: Dr. Arslan Ahmed/ Dr. Abdul Baseer

Name:
CMS ID: 031-17-00

Department of Electrical Engineering

ELE-321: Linear Control Systems Fall 2019

Rubrics for Marks Breakdown

Objectives and Results & Report Structure and Conclusion Total (Out
Background Discussion Formatting, Figures & of 10)
Theory and Captioning References
20 % 40 % 25 % 15% 100 %

Page 0 of 13
 Rubrics for Lab Reports BE-VI Fall 2019
S. Criteria Beginning Developing Competent Outstanding (90 Score
No. ( 0 - 40% ) ( 50 – 70% ) ( 70 – 90% ) – 100 %)

1. Introduction The The introduction Relevant The objectives of the

and introduction is and background introduction and experiment are well
Background short and theory is given background identified and
Theory objectives of the but missing key theory is given clearly discussed.
experiment are concepts and along with key Introduction is
major
(20%) not identified. details covering complete and
information. The
Irrelevant the main points wellwritten; provides
objectives of the
background experiment are and concepts. all necessary
information is partially Still missing background
provided. identified some minor principles for the
points relevant to experiment
the experiment.
2. Results and An incomplete The results have A major portion All-important trends
Discussion or incorrect been correctly of the results and data
interpretation of interpreted and have been comparisons have
results is given. discussed. Either correctly been interpreted
(40%)
The comparison Partial or interpreted and correctly and
of data and complete discussed along discussed, good
discussion understanding of with justification understanding of
indicates a lack results is still and proper results is conveyed
of required. understanding. along with good
understanding
The section can discussion.
of results.
be further
improved by
putting more
information.
3. Report Sections out of Sections in order, All sections in All sections in
Structure order, contains the order, formatting order, well-
and handwritten minimum generally well formatted, very
Formatting. stuff found, allowable but could still be readable. All
Figures and sloppy amount of improved. All figures, graphs,
Captioning formatting. handwritten tables are correctly
figures, graphs,
Figures contain stuff, formatting tables drawn, are
are numbered and
(25%) errors and is rough but correctly drawn,
readable. Most but some have contain
poorly
figures, graphs, minor problems. titles/captions.
constructed
tables OK, some
still missing.

4. Conclusion Conclusions Conclusions All-important All-important

and missing or regarding major conclusions have conclusions
References missing the points are drawn, been drawn, have been
important but many could be better clearly made, student
(15%) points. are stated. Enough shows good
References are mis-stated references understanding.
not given. indicating a lack Well-defined and
are
of relevant references
given.
understanding. are given.
Some

Page 1 of 13
 References are
given.
Lab Learning Outcomes
After completing this session, student should be able to:
 Understand the Time Response characteristics Control Systems
 Understand the impact of gain and time constant on Transfer Function
 Analyze the Time-Response of the 1st Order Systems
 Solve for the Step and Impulse Response of 1st Order Systems.

Software/Hardware Required
 LabVIEW Development Environment
 Control System Design and Simulation Toolkit and Math Toolkit

Introduction and Background Theory

The response (output) of control system when a time domain signal is applied to it is known as
time response. If the output of control system for an input varies with respect to time, then it is
called the time response of the control system. The time response of a dynamic system provides
information about how the system responds to certain inputs (i.e. Impulse, Step). The analysis of
the time response is performed to determine the stability of the system and the performance of
the controller. Total time response c(t) of a control system consists of transient response
(dynamic response ct(t) and steady state response css (t). After applying input to the control
system, output takes certain time to reach steady state. So, the output will be in transient state till
it goes to a steady state. Therefore, the response of the control system during the transient state is
known as transient response. The part of the time response that remains even after the transient
response has zero value for large values of ‘t’ is known as steady state response. This means, the
transient response will be zero even during the steady state.

Figure 1: Time response of a control system.

It is possible to compute the time response of a system if the nature of input and the
mathematical model of the system are known. Obtaining the time response of a system involves

Page 2 of 13
numerically integrating the system model in time. The LabVIEW Control Design and Simulation
Module provides VIs to help you find these time-domain solutions. You can use these Time
Response VIs to analyze the response of a system to step and impulse inputs.

Step Response Analysis

The step response of a dynamic system measures how the dynamic system responds to a step
input signal. The following equations define a step input signal and if A=1, then it is known as
unit step signal.

A t 0
u(t) 

0 t 0
In LabVIEW, the Control Design and Simulation Module contains two VIs to help you measure
the step response of a system and then analyze that response

1. The CD Step Response VI: It returns a graph of the step response and step response
data. Step Response Graph displays a graph that shows the forced response of the
system when the forcing function is a step.

Figure 2: Step Response VI in LabVIEW.

2. The CD Parametric Time Response VI: It calculates parametric information, such as

rise time, peak time, settling time, steady-state gain, overshoot, and peak value of an
input model based on time response data. If you use the internal instances of this VI, this
VI

Figure 3: Parametric Time Response VI in LabVIEW

Page 3 of 13
 internally calculates the time response data for which it calculates the parametric information.
If you use the External instances of this VI, you must specify the time response data for
which this VI calculates the parametric information.

Note: In this Lab Internal Instance will be used.

Step Response Parameters

The following are fundamental parameters used in the step response analysis.

 Rise time (tr) — the time required for the dynamic system response to rise from a lower
threshold to an upper threshold. The default values are 10% for the lower threshold and
90% for the upper threshold.

 Maximum overshoot (Mp) — the dynamic system response value that most exceeds
unity, expressed as a percent.

 Peak time (TP) — the time required for the dynamic system response to reach the peak
value of the first overshoot.

 Settling time (ts) — the time required for the dynamic system response to reach and stay
within a threshold of the final value. The default threshold is 1%.

 Steady state gain — the final value around which the dynamic system response settles to
a step input.

 Peak value (yp) — the value at which the maximum absolute value of the time response
occurs.

Impulse Response Analysis

The impulse response of a dynamic system measures how the system responds to an impulse
input signal. The following equations define an impulse signal and if A=1, then it is known as
unit impulse signal.

Figure 4: Impulse Response VI in LabVIEW.

In LabVIEW, The Control Design and Simulation Module contains CD Impulse Response VI to
help you measure the impulse response of a system and then analyze that response.

Page 4 of 13
Time Response of First Order System

The first order system has only one pole or we can say that degree of the denominator is unity
(one). The general form of 1st order system is shown below.

Figure 5: General form of 1st order system

Where K is the D.C gain, is the ratio of the magnitude of the steady-state step response to the
magnitude of the step input and T is the time constant of the system, is equal to the time it takes
for the system's response to reach 63% of its steady-state value for a step input (from zero initial
conditions) or to decrease to 37% of the initial value for a system's free response.. Time constant
is a measure of how quickly a 1st order system responds to a unit step input.

Consider a 1st order transfer function having K=10 and T=1.5

𝑇𝐹 =
1.

Page 5 of 13
This transfer function is implemented in block LabVIEW and its responses are analyzed.

Figure 8: Block Diagram of First Order System in LabVIEW

The Time constant affects the performance of 1st order control system. The parameters of above
transfer function (i.e. T=1.5) are recorded in following table. Now by changing the value of Time
Constant (T), we will see the effect on T/F.

• As when the value of “T” is increased, there is increase in Rise Time as well as increase
in Settling Time.
• From the T/F equation, when “T” will increase, the value of Pole of the T/F will decrease
and goes toward origin (zero).

As shown in following table:

Time Constant Rise Time Settling Time [Sec] Pole Location

[Sec] [Sec]
1.5 3.3 6.9 -0.67
3 6.6 13.8 -0.33
5 11 23 -0.2
7.5 16.5 34.5 -0.13
10 22 46 -0.10

Page 6 of 13
 15 33 69 -0.07

Table 1: Parameters of first order system

In the following figure, the graph of the T/F shown. Also the responses of step and impulse
signals are shown, when they are applied on the input of T/F.

Figure 9: Front panel shows the responses, stability and value of Pole of T/F

Lab Exercises

1. Consider following 1st order Electrical System,

Perform its mathematical modelling and obtain its transfer function. In RC circuit time
constant (T=RC), Take R=C=1 and implement it in LabVIEW.
Solution:
The above circuit is a low pass filter, in which the output (voltage) is taken across the capacitor.
Assume that the capacitor is initially uncharged and we want to charge it with an input source
Vs. So current flows into the capacitor and accumulates a charge there. As the charge increases,
the voltage rises, and eventually the voltage of the capacitor equals the voltage of the source, and
current stops flowing.
As Transfer Function is the output-input relation. Here the T/F of this circuit G(s) is:

Page 7 of 13
 𝑉𝑐
𝐺(𝑠) =
𝑉
Where Vc(s) is the output voltage (across C) and V(s) is the input voltage. (In Laplace form)

After applying KVL on the circuit, we will get:

𝑣(𝑡) = 𝑣𝑟(𝑡) + 𝑣𝑐(𝑡)

𝑣(𝑡) = 𝑖(𝑡)𝑅 + 𝑣𝑐(𝑡)

As current will remain same in series, so:

𝑑𝑣𝑐(𝑡)
𝑖(𝑡) = 𝐶
𝑑𝑡

Then (𝑡) = 𝑅𝐶 𝑑 𝑣
𝑑𝑡
(𝑡)
+ 𝑣𝑐(𝑡)

By taking Laplace Transform on both sides of the above equation, we will get;

𝑉(𝑠) = 𝑅𝐶 [𝑠𝑉𝑐(𝑠)] + 𝑉𝑐(𝑠)

(𝑠) = 𝑉(𝑠) [𝑅𝐶𝑠 + 1]

𝑉𝑐 1
=
𝑉 𝑅𝐶𝑠 + 1
So the T/F of this system is;
1
𝐺(𝑠) =
𝑅𝐶𝑠 + 1
If we compare above equation to the general form of 1st order system, then K = 1 and T = RC,
Because R = C = 1, as given in task. So,
1
𝐺(𝑠) =
𝑠+1
The term RC is the resistance of the resistor multiplied by the capacitance of the capacitor, and
known as the time constant, which is a unit of time. The function completes 63% of the transition
between the initial and final states at t = 1RC, and completes over 99.99% of the transition at t =
5RC.

Page 8 of 13
Now, we will implement this System on LabVIEW, as shown in following figure.

Figure 10: Block diagram of the T/F

The equation of RC transfer function is obtained, also the Impulse and Step responses of the T/F
is shown in the graphs , PZ-map is plotted and the value of pole shows that system is stable (as
pole is on the left side of the s-plane) all are shown in the following diagram;

Page 9 of 13
 Figure 11: Characteristics of RC circuit , where R=1, C=1

The system is seemed to be stable in both responses i.e. step response and impulse response.

2. Consider following 1st order Electrical System, Perform its mathematical modelling and
obtain its transfer function. In RC circuit time constant (T=L/R), Take R=L=1 and
implement it in LabVIEW.

Solution:
Assume that the Inductor is initially uncharged and we want to charge it with an input source Vs.
The inductor initially has a very high resistance, as energy is going into building up a magnetic
field. Once the magnetic field is up and no longer changing, the inductor acts like a short circuit.
The current at steady state is equal to Io = Vs / R. Since the inductor is acting like a short circuit
at steady state, the voltage across the inductor then is 0.
As Transfer Function is the output-input relation. Here the T/F of this circuit G(s) is:

𝐼(𝑠)
𝐺(𝑠) =
𝑉(𝑠)
After applying KVL on the circuit, we will get:
𝑣(𝑡) = 𝑣𝑟(𝑡) + 𝑣𝑙(𝑡)

Page 10 of 13
As
𝑑 𝑖(𝑡)
𝑣𝑙(𝑡) = 𝐿
𝑑𝑡

Then (𝑡) = (𝑡)𝑅 + 𝐿 𝑑 𝑖(𝑡)

𝑑𝑡

By taking Laplace Transform on both sides of the above equation, we will get;

𝑉(𝑠) = 𝑅 𝐼(𝑠) + 𝐿𝑠 𝐼(𝑠)

𝑉(𝑠) = 𝐼(𝑠) [𝑅 + 𝐿𝑠]

𝐼 1
=
𝑉 𝐿𝑠 + 𝑅
So the T/F of this system is;

/𝑅
()
𝐺𝑠 =
If we compare above equation to the general form of 1st order system, then K = 1/R and T = L/R
Because R = L = 1, as given in task. So,
𝐺(𝑠) =
𝑠

The time constant for the RL circuit is equal to L / R. Now, we will implement this System on
LabVIEW, as shown in Figure 12.
The equation of RL transfer function is obtained, also the Impulse and Step responses of the T/F
is shown in the graphs.
PZ-map is plotted and the value of pole shows that system is stable (as pole is on the left side of
the s-plane) all are shown in the Figure 13.
It is shown in Figure 13 that the system is remain stable in both types of responses (when step
signal is applied and impulse signal is applied).

Page 11 of 13
 Figure 12: Block diagram of the T/F

Figure 11: Characteristics of RL circuit, where R=1, L =1

Conclusion

Page 12 of 13
In this lab, we analyzed first order control system. We understand the characteristics of this
system. Also we learnt to find the responses that are applied on it. We learnt the parametric time
response.vi and used its internal characteristics for the response of T/F i.e. rise time, peak time,
settling time, steady-state gain etc.

References

• https://www.tutorialspoint.com/control_systems/control_systems_time_response_analysi
s.htm
• http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=SystemA
nalysis
 http://hades.mech.northwestern.edu/index.php/RC_and_RL_Exponential_Responses

Page 13 of 13