Fall2021 Control System Lab 4

EE 340: Control Systems

Lab 4
Performance Measures of the First and Second order
Systems

Student’s Name

Roll No.

Date Performed

Marks Obtained

Instructor’s signature

Instructors: Dr. Sami Ud Din

Lab Engineer: Engr. Awais Yaqoob

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Fall2021 Control System Lab 4

Document history
Version no. Date Modified Author
1 Jan, 2021 Awais Yaqoob

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Fall2021 Control System Lab 4
Objective:
The objective of this lab to study the performance characteristics of first and second order
systems using MATLAB. Also, the block diagram reduction using MATLAB control systems
toolbox.
Block-Diagram Reduction
If the individual transfer functions are available for components in a control system, it is
possible to use MATLAB commands to compute the transfer functions of interconnected
systems. The three commands series, parallel and feedback commands to compute the transfer
functions of two component block transfer functions in series, parallel and feedback
configurations respectively.
Lab Task 1
Use the above commands to reduce each of the block diagrams given below into a single
transfer function. Draw the intermediate block diagram after each step of the simplification
until the final transfer function is obtained.

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Response of Systems
The first step in analyzing a control system was to derive a mathematical model of the system.
Once such a model is obtained, various methods are available for the analysis of system
performance. Usually, input signal to control system is not known beforehand and are random
in nature. In analysis and designing of control systems, we need to have some basis for
performance comparison. This basis may be set up by specifying particular test input signals
and by comparing the responses of various systems to these input signals. The commonly used
test input signals are step functions, ramp functions, acceleration functions, impulse functions,
sinusoidal functions, and white noise. In this lab, we will use step function, Impulse function
and ramp functions only to analyze the transient and steady state response of system.
If num and den (the numerator and denominator of the closed-loop transfer function) are
known, commands such as
step(num,den), step(num,den,t)
will generate plots of unit-step responses.
For a control system defined in a state-space form, where state matrix A, control matrix B,
output matrix C, and direct transmission matrix D of state-space equations are known, the
following commands will generate plots of unit-step responses.
step(A,B,C,D), step(A,B,C,D,t)
And the unit impulse response can be found using following commands.
impulse(num,den) or impulse(A,B,C,D)
There is no ramp command in MATLAB. Therefore, we need to use the step command or the
lsim command to obtain the ramp response.
First Order Systems
An electrical RC-circuit is the simplest example of a first order system. It comprises of a
resistor and capacitor connected in series to a voltage supply as shown in Figure below.
For the RC-circuit as shown in Fig. 1, the equation governing its behavior is given by
Where Vc(t) is the voltage across the capacitor, R is the resistance and C is the capacitance.
The constant τ=RC is the time constant of the system and is defined as the time required by the

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system output i.e. Vc(t) to rise to 63% of its final value (which is E). The performance measures
of a first order system are its time constant and its steady state.

Lab Task 2
A): Given the values of R and C, obtain the unit step response of the first order system.
i. R=2KΩand C=0.01F
ii. R=2.5KΩand C=0.003F
B): Verify in each case that the calculated time constant (τ=RC) and the one measured from
the figure as 63% of the final value are same.
Ans:

C): Obtain the steady state value of the system.

Second Order Systems:

Consider the following Mass-Spring system and the transfer function representation of the
system is given by
1
𝐻(𝑠) = 2
𝑠 + 0.8𝑠 + 1
The above system is known as a second order system.
The generalized notation for a second order system described above can be written as

Following is the characteristic equation of system

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here ζ is damping ratio and ωn is natural undamped natural frequency.

Where 0 <ζ< 1. The transient response of the system changes for different values of damping
ratio, ζ. Standard performance measures for a second order feedback system are defined in
terms of step response of a system. Where, the response of the second order system is shown
below.

Rise Time:
The time from 10% to 90% of the response to the step input.
Peak Time:
The time for a system to respond to a step input and rise to peak response.
Overshoot:
The amount by which the system output response proceeds beyond the desired response.
Lab Task 3
Run the following code and observe the system response. Also, mention the system
characteristics.

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Lab Task 4
In the following, system 1 is proportional servo position control system, system 2 is PD servo
positional control system and system 3 is with velocity feedback servo system.
[hint: Find the closed loop transfer function of given systems first and then find the
responses]
C(s)/R(s) represents a close loop transfer function. C(s)/R(s)=H(s)/1+G(s)H(s) and here
H(s)=1.

A) Find the closed loop transfer function of these systems.

Ans:

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B) Write a MATLAB code to plot their unit step response and comment on it.

C) Write a MATLAB code to plot their unit impulse response and comment on it.

D) Which system is best with respect to the speed of response and maximum overshoot in
the step response?

Lab Task 5
36
𝐶(𝑠)/𝑅(𝑠) =
𝑠 2 + 2𝑠 + 36
A) Above given is the transfer function of a closed loop system. Write a MATLAB code to
obtain unit step response.
B) Find the rise time, peak time, maximum overshoot, and settling time in the unit-step
response of above system.

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