BICOL UNIVERSITY POLANGUI CAMPUS

POLANGUI, ALBAY
COMPUTER AND ENGINEERING STUDIES DEPARTMENT

CONTROL SYSTEM
LABORATORY ACTIVITY
(MODULE 3: Time Response of First Order System)

Submitted by:
CALITISIN, CLEA MAE B.

Submitted to:
ENGR. ARES JUDE MOYA MALINIS, LPT
INTRODUCTION
MATLAB or matrix laboratory is a multi-paradigm numerical
computing environment. A proprietary programming language developed by MathWorks,
MATLAB allows matrix manipulations, plotting of functions and data, implementation
of algorithms, creation of user interfaces, and interfacing with programs written in other
languages, including C, C++, C#, Java, Fortran and Python.
Although MATLAB is intended primarily for numerical computing, an optional
toolbox uses the MuPAD symbolic engine, allowing access to symbolic computing abilities.
An additional package, Simulink, adds graphical multi-domain simulation and model-based
design for dynamic and embedded systems.
Millions of engineers and scientists worldwide use MATLAB to analyze and design
the systems and products transforming our world. The matrix-based MATLAB language is
the world’s most natural way to express computational mathematics. Built-in graphics
make it easy to visualize and gain insights from data. The desktop environment invites
experimentation, exploration, and discovery. These MATLAB tools and capabilities are all
rigorously tested and designed to work together.
MATLAB helps you take your ideas beyond the desktop. You can run your analyses
on larger data sets, and scale up to clusters and clouds. MATLAB code can be integrated
with other languages, enabling you to deploy algorithms and applications within web,
enterprise, and production systems.
As of 2017, MATLAB has over 2 million users across industry and
academia. MATLAB users come from various backgrounds of engineering, science,
and economics.

OBJECTIVE
● To be able to find the time responses of first order systems given standard test
inputs.
● To be able to find and quantitatively describe the step response of first order system

PROCEDURE
4
1. Determine the response c(t) of the system G(s)= 𝑠+4 to the input R(s)=1 or r(t)=1
(impulse).

4
C(s): 𝑠+4
−4𝑡
c(t): 4𝑒

2. Using plot command, plot c(t) from 0 to 1.5 seconds.

 Matlab Command:
t=0:1.5;
y=4*exp(-4*t);
plot(t,y)
Output:

Figure 1. Impulse response using plot command

4
3. Generate the system G(s)= 𝑠+4 , and using impulse command, take its impulse
response.
MATLAB Command:
G1=tf(4, [1 4])
impulse(G1,1.5)

Output:
 Figure 2. Impulse response using plot command
4. Compare and describe the responses of items 2 and 3.
4
Since the given is G(s)= 𝑠+4 , the amplitude is equal to 4. The amplitude is true to both of
the graph. If you would compare the result in finding the plot of c(t) from 0 to 1.5 seconds
using the plot command and finding the impulse response of G(s) using the impulse
command, there is no much difference. It is because C(s) is equal to G(s) since R(s) = 1.

4 1
5. Determine the response c(t) of the system G(s)= 𝑠+4 to the input R(s)= 𝑠
or r(t) =1.
4 1 4
C(s): 𝑠+4
( 𝑠 )= 2
𝑠 + 4𝑠
−4𝑡
c(t): 1-𝑒

6. Plot c(t) from 0 to 1.5 second.

MATLAB command:
t = 0:0.1:1.5;
y = 1-exp(-4*t);
plot(t,y)

Output:
 Figure 3. Step response using plot command

4
7. Using step command plot G(s) = 𝑠+4 from 0 to 1.5 second.
Matlab command:
G1=tf(4, [1 4])
step (G1, 1.5)

Output:

Figure 4. Step response using plot command

8. Compare and describe the responses of items 6 and 7.
The result in plotting c(t) from 0 to 1.5 seconds using plot command and plotting
G(s) from 0 to 1.5 seconds using plot command, is almost the same. They both have an
amplitude of 1 and time ranges from 0 to 1.5 seconds. It is because, c(t) is just equal to
G(s) except that it is its inverse laplace. That’s the reason why its amplitude is 1 instead
of 4.
4 1
9. Determine the output response c(t) of the system G(s)= 𝑠+4 to the input R(s)= 2 or
𝑠
r(t)=t.

4 1 4
C(s): 𝑠+4
( 2 )= 3 2
𝑠 𝑠 + 4𝑠
1 1 −4𝑡
c(t): t- 4 + 4 -𝑒

10. Plot c(t) from 0 to 2 second.

Matlab command:

t=0:0.1:2;
y = t + 0.25*exp(-4*t) – 0.25;
plot(t,y)

Output:
 Figure 5. Ramp response using plot command

11. Describe the response.

We can solve the ramp response of the system by dividing G(s) with R(s) which is 1/s^2
and finding its step response. The result of plotting c(t) has it’s time range 0 to 2 seconds
and an amplitude of 1.8. The ramp response of the system from 0 to 2 seconds shows that
its time constant is at 0.25 sec based on c(t).
10 1 1
12. Determine the response c(t) of the system G(s)= 𝑠+5 to the input R(s)= 3 or r(t)= 2
𝑠
t2.

10 1 10
C(s): 𝑠+5
( 3 )= 4 3
𝑠 𝑠 + 5𝑠
2𝑡 2 2 −5𝑡
c(t): t2- 5
+ 25
- 25 𝑒

13. Plot c(t) from 0 to 5 seconds.

Matlab command:
t = 0:0.1:5;
y = (t.^2) - ((2*t)/5) - (2/25*exp(-5*t)) + (2/25);
plot(t,y)

Output:

Figure 5. Parabolic response using plot command

14. Describe the response.

The parabolic response of the system using plot command ranges from 0 to 5 seconds
which has been stated in the command and its amplitude between 20 to 30.
15. Using ltiview command determine the step responses of the following systems:

2
a) G1(s)= 𝑠+2
 Figure 6. Step response of system G1(s)

20
b) G2(s)= 𝑠+20

Figure 7. Step response of system G2(s)

16. From the above step responses, determine the time constant, rise time, and setting
time of G1 and G2 by clicking a point on the graph and dragging it to a location as
specified by the required time parameters.

System Time Constant (sec) Rise Time (sec) Setting time (sec)
G1 0.5 seconds 1.1 seconds 2 seconds
 G2 0.05 seconds 0.11 seconds 0.2 seconds

17. Plot and label the pole-zero map of the two systems in item (15)

Figure 8. Pole-Zero map of G1(s) and G2(s)

18. How would you relate the step response of a system to the location of its pole
location?
2 20
Since the given is G1(s)= 𝑠+2
and G2(s)= 𝑠+20
, there is no zeros plotted, and the poles
are -2 and -20 for both of the step responses of the two systems

DISCUSSION
When mathematical models of a system have been obtained in a transfer function
form, we may analyze these models to predict how the system will respond in both the time
and frequency domains. To put this in context, control systems are often designed to
improve stability, speed of response, steady-state error, or prevent oscillations. The time
response represents how the state of a dynamic system changes in time when subjected to
a particular input. Since the models consist of differential equations, some integration must
be performed in order to determine the time response of the system. For most systems,
especially nonlinear systems or those subject to complicated inputs, this integration must
be carried out numerically. Fortunately, MATLAB provides many useful resources for
calculating time responses for many types of inputs
The order of a dynamic system is the order of the highest derivative of its governing
differential equation. First-order systems are the simplest dynamic systems to analyze. The
time constant of a first-order system is   which 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.
More generally, it represents the time scale for which the dynamics of the system are
significant. First-order systems have a single real pole, in this case at  . Therefore, the
system is stable if   is positive and unstable if   is negative. Standard first-order system
have no zeros. The settling time,  , is the time required for the system output to fall within
a certain percentage (i.e. 2%) of the steady-state value for a step input. Note that the tighter
the tolerance, the longer the system response takes to settle to within this band, as
expected. The rise time,  , is the time required for the system output to rise from some
lower level x% to some higher-level y% of the final steady-state value. For first-order
systems, the typical range is 10% - 90%.