Transient Response of system without disturbance for ramp input (Analytical Method)

G 1 G 2 (s)
C (s)
=
R ( s ) 1+G1 G 2( s)

Closed Loop Transfer Function,

Suppose

G1 ( s ) =

280 ( 2 )
560
=
( s+10 ) ( s+ 10)

1
and G2 ( s ) = (s +0.2)(s +4 ) ;

560
C (s)
(s +10)(s +0.2)(s +4 )
=
R (s )
560
1+
( s+10)(s+ 0.2)( s+ 4)

C( s)=

560 R (s )
s +14.2 s 2+ 42.8 s +568
3

For Unit Ramp Input

1
Apply Unit Ramp Input, R(s) = s 2 ;
560
C(s) = s 2(s 3+14.2 s2 +42.8 s+568)
560
= s ( s+14.034 ) ( s2 +0.166 s+ 40.47 )
2

Let

C(s) =

560
A B
C
Ds+ E
+ +
+ 2
2
2
s ( s+14.034 ) ( s +0.166 s+40.47 ) = s s s +14.034 s + 0.166 s+ 40.47
2

560= A ( s+14.034 ) ( s 2+ 0.166 s+ 40.47 ) + B( s)(s+14.034)( s 2+ 0.166 s+ 40.47)+C ( s2 ) ( s2 +0.166 s+ 40.47 ) +( D

560= A [s 3+ 0.166 s 2+ 40.47 s +14.034 s 2 +2.329 s+ 568]+ B[s 4 +14.2 s 3+ 42.8 s 2 +568 s ]+C [s 4 +0.166 s 3 +40.4

s
[ 3+14.034 s 2 ]
3
2
4
3
2
4
3
2
4
3
560= A [s +14.2 s +42.8 s+568]+ B [s + 14.2 s + 42.8 s +568 s]+C [s +0.166 s + 40.47 s ]+ D[s +14.034 s

560=s 4 ( B+C + D ) +s 3 ( A +14.2 B+0.166 C+ 14.034 D+ E ) + s2 (14.2 A+ 42.8 B+ 40.47 C+14.034 E )+ s ( 42.8 A

s4;

0=B+C+D

s3;

0=

A +14.2 B+ 0.166C +14.034 D+ E

- (b)

s2;

0=

14.2 A+ 42.8 B+ 40.47 C+ 14.034 E

- (c)

s1;

0=

42.8 A+568 B

s0;

560 =

- (a)

- (d)

568 A

- (e)

560
568 =0.9859

- (f)

From (a),
A=

Substitute (f) into (d),

568B = - (42.8 0.9859)
B=

42.196
= - 0.07428
568

- (g)

Substitute (g) into (a),

C + D = 0.07428
C = 0.07428 D

- (h)

Substitute (f), (g), (h) into (c),

0 = 14.2(0.9859) + 42.8(-0.07428) +40.47(0.07428-D) + 14.034E
14.034E = -13.987+3.179-3.00611+40.47D

E=

13.814+ 40.47 D
14.034

= -0.9843 +2.883D

- (i)

Substitute (f), (g), (h), and (i) into (b),

0 = (0.9859) + 14.2(-0.07428) +0.166(0.07428-D) +14.034 D

+ (-

0.9843 +2.883D)
0.9859-1.0547+0.0123-0.166D+14.034D-0.9843+2.883D= 0
16.751D =1.0408
1.0408
D = 16.751

= 0.0621

- (j)

Substitute (j) into (h),

C = 0.07428 0.0621 = 0.0121

- (k)

Substitute (j) into (i),

E = -0.9843 +2.883(0.0621) = -0.8052

- (l)

Thus, substitute the value of A as in (f), B as in (g), C as in (k), D as in (j) and E as in (i) into
C(s) equation,
C(s) =

0.9859 0.07428 0.0121

0.0621 s0.8052
+
+
+ 2
2
s
s +14.034 s + 0.166 s+ 40.47
s

0.083
s +

2
2+6.36

0.083
C(s) =
s +

0.0621(s +0.083)
0.9859 0.07428 0.0121
+
+
+
2

s
s +14.034
s
Apply inverse laplace transform to get time-domain equation,
-1 C(s) =
0.083
s +

2+6.362

0.083
-1
[
]
s +

(s +0.083)
0.9859 0.07428 0.0121
+
+
+0.0621
2

s
s +14.034
s
C(t) = 0.9859t - 0.07428+ 0.0122e-14.034t + 0.0621e-0.083t cos6.36t 0.1274 e-0.083t sin6.36t

Transient Response of system without disturbance for ramp input (MATLABAnalysis)

Commands:
>>s = tf('s')
>>num=[560]
>>den= [1 14.2 42.8 568 0 0]

>>sys= tf(num,den)
>>step (sys)
>>grid
>>[r,p,k]=residue(num,den)

MATLAB responds with

Transfer function:
s
num =
560
den =
1.0000 14.2000 42.8000 568.0000
Transfer function:
560
----------------------------------s^5 + 14.2 s^4 + 42.8 s^3 + 568 s^2

r=
0.0121
0.0311 + 0.0637i
0.0311 - 0.0637i
-0.0743

0.9859
p=
-14.0342
-0.0829 + 6.3613i
-0.0829 - 6.3613i
0
0
k=
[]

Transient Response of System with Step Disturbance for ramp input (Analytical Method)
As in previously stated that,
C ( s )=

Suppose

G1 ( s ) =

G2 ( s ) G1 ( s ) R(s)
G2 ( s ) D( s)

1+G2 ( s ) G1 ( s) 1+G2 (s) G1 (s )

1
560
G2 ( s ) =
and
( s+ 0.2 )( s+ 4) ;
(s +10)

560 R (s)
D( s)
( s+10 ) ( s +0.2 ) ( s+ 4)
( s+ 0.2 ) (s +4 )
C ( s )=

560
560
1+
1+
( s+ 10 )( s+ 0.2 ) (s +4)
( s+10 ) ( s +0.2 ) ( s+ 4)

C ( s )=

For Unit Ramp Input

560 R(s)
( s+ 10 ) D(s)
3
2
2
s +14.2 s + 42.8 s +568 s +14.2 s2 +42.8 s2 +568
3

Apply Unit Ramp Input,

R ( s )=

1
1
2 and Step Disturbance D ( s ) =
s
s

C ( s )=

1
560 ( 2 )
( s +10 ) ( 1 )
s
s
3
3
2
2
s +14.2 s +42.8 s+568 s +14.2 s + 42.8 s +568

C ( s )=

s
s ( 3+14.2 s 2+ 42.8 s +568 )
=
560s 210 s

560s 210 s
s 2(s+ 14.034)(s 2+ 0.166 s +40.47)

C ( s )=

Let

A B
C
Ds+ E
+ +
+ 2
2
s s s+ 14.034 ( s +14.2 s +40.47 )

A B
C
Ds+ E
560s 210 s
+ +
+ 2
2
2
2
s (s+ 14.034)(s + 0.166 s +40.47) = s s s +14.034 s + 0.166 s+ 40.47
560s2 10 s= A ( s +14.034 ) ( s2 +0.166 s+ 40.47 ) + B(s)(s +14.034)( s2 +0.166 s+ 40.47)+C ( s 2 ) ( s 2+ 0.166 s +

s 3+14.034 s 2
2
3
2
2
4
3
2
4
560s 10 s= A[ s +0.166 s +40.47 s+14.034 s + 2.329 s+568]+ B [s +14.2 s + 42.8 s +568 s]+C [s + 0.16

s
[ 3+ 14.034 s 2 ]
560s2 10 s= A[ s3 +14.2 s 2+ 42.8 s +568]+ B[s 4 +14.2 s 3 +42.8 s2 +568 s ]+C [s 4 +0.166 s3 +40.47 s2 ]+ D [s 4 +
560s2 10 s=s4 ( B+C+ D )+ s 3 ( A+14.2 B +0.166 C+14.034 D+ E )+ s 2 ( 14.2 A +42.8 B+40.47 C +14.034 E )
s4;

0=B+C+D

s3;

0=

A +14.2 B+ 0.166C +14.034 D+ E

- (a)
- (b)

14.2 A+ 42.8 B+ 40.47 C+ 14.034 E

s2;

-1 =

s1;

-10 =

42.8 A+568 B

- (d)

s0;

560 =

568 A

- (e)

- (c)

From (a),
A=

560
568 = 0.9859

- (f)

Substitute (f) into (d),

568B = -10 - (42.8 0.9859)
B=

52.1965
= - 0.09189
568

- (g)

Substitute (g) into (a),

C + D = 0.09189
C = 0.09189 D

- (h)

Substitute (f), (g), (h) into (c),

-1 = 14.2(0.9859) + 42.8(-0.09189) +40.47(0.09189-D) + 14.034E
14.034E = (-1-13.7856) +40.47D
E=

14.7856+ 40.47 D
14.034

= -1.05356 +2.883D

- (i)

Substitute (f), (g), (h), and (i) into (b),

0 = (0.9859) + 14.2(-0.09189) +0.166(0.09189-D) +14.034 D + (-1.05356 +2.883D)
0.9859-1.3048+0.01525-0.166D+14.034D-1.05356+2.883D= 0
16.751D =1.3572

1.3572
D = 16.751

= 0.081

- (j)

C = 0.09189 0.081= 0.01089

- (k)

Substitute (j) into (h),

Substitute (j) into (i),

E = -1.05356 +2.883(0.081) = -0.82

- (l)

Thus, substitute the value of A as in (f), B as in (g), C as in (k), D as in (j) and E as in (l) into
C(s) equation,

C(s) =

0.9859 0.09189 0.01089

0.081 s0.82
+
+
+ 2
2
s
s +14.034 ( s + 0.166 s +40.47 )
s

0.083
s +

2
2+6.36

0.083
C(s) =
s +

0.081(s +0.083)
0.9859 0.09189 0.1089
+
+
+
2

s
s +14.034
s
Apply inverse laplace transform to get time-domain equation,
-1 C(s) =

0.083
s +

2
2+6.36

0.083
-1
[
]
s +

(s +0.083)
0.9859 0.09189 0.01089
+
+
+0.081
2

s
s +14.034
s

C(t) = 0.9859t - 0.09189+ 0.01089e-14.034t + 0.081e-0.083t cos6.36t 0.13e-0.083t sin6.36t

Transient Response for system without disturbance for the ramp input through simulink
(MATLAB Analysis)

Transient Response for system with disturbance for the ramp input through simulink (MATLAB
Analysis)

Transient Response for system with disturbance for the ramp input and ramp reference through
simulink (MATLAB Analysis)

2.4 Root Locus using both the asymptotic and MATLAB

2.4.1 Root Locus using asymptotic method
i. Open Loop Transfer Function (OLTF),

G ( s )=G1 ( s ) G 2 (s )
G ( s )=280

G ( s )=

2
1

s +10 ( s+0.2 ) ( s +4 )

560
(s+10)(s +0.2)(s +4 )

From Open Loop Transfer Function (OLTF),

Number of open loop poles, n = 3;

-10, -0.2, -4

Number of open loop zeroes, m = 0;

ii. Root locus on real axis is at between -0.2 and -4 and between -10 to -.

iii. To find Asymptotes,

A=

Pi Zi
( Poles ) ( Zeroes )

(10 ) + (0.2 ) +(4 )

30

(14.20)
3

4.733

A=

(2 k +1)
,
( Poles )(Zeroes)

60 , 180 ,300 , , k=0, 1, 2,

iv. To find breakaway point,

By applying the properties of root locus which need to satisfy the condition as followed.
1+G ( s ) H ( s )=0

( s +10 ) ( s+ 0.2 )( s+ 4 )+ K =0

s
( 3+ 4 s +0.2 s + 0.8 s+10 s2 + 40 s+ 2 s+8 )
K =
2

K=( s3 +14.2 s 2+ 42.8 s +8 )

dK
2
=(3 s +28.4 s+ 42.8)
ds

Let

dK
=0,
ds
s=1.881,7.586

( 3 s2 +28.4 s+ 42.8 )=0

Thus breakaway = -1.881

28.92

K breakaway =

v. Intersection with j axis,

s 3 +14.2 s2 +42.8 s+ 8+ K=0 Let s=j,
( j)3+ 14.2( j)2+ 42.8 j+8+ K =0

3 +42.8 ( j )=0

( 2 42.8 ) =0

= j6.542 rad s1
Substitute ,
K c +814.2 2=0
vi. The root locus plot is shown as Graph 1.

2.4.2 Root Locus using MATLAB

Commands:
>>num = [560]
>>den = [1 14.2 42.8 8]
>>sys = tf(num,den)
>>rlocus(sys)
>>grid
>>damp(sys)
>>[Wn,zeta,P] = damp(sys)

MATLAB responds with

num =
560

den =
1.0000 14.2000 42.8000

8.0000

K c =599.728

Transfer function:
560
--------------------------s^3 + 14.2 s^2 + 42.8 s + 8

Eigenvalue

Damping

Freq. (rad/s)

-2.00e-001

1.00e+000

2.00e-001

-4.00e+000

1.00e+000

4.00e+000

-1.00e+001

1.00e+000

1.00e+001

Wn =
0.2000
4.0000
10.0000

zeta =
1
1
1

P=
-0.2000
-4.0000
-10.0000

And the root locus plot via MATLAB is shown in Figure 1.

Figure 1: Root Locus Plot

2.5 Frequency-response method(Bode plots using both asymptote and MATLAB) and
Nichols chart
2.5.1 Frequency-response method (Bode plots using asymptote method)
D(s)
R(s)
280
+

G ( s )=

OLTF,

C(s)

C ( s)
R( s) =

280(2)
(s +10)(s +0.2)(s +4 )

560
s
s
s
8( +1)(
+1)( +1)
10
0.2
4

G ( j )=

70
j
j
j
( + 1)(
+ 1)( +1)
10
0.2
4

20 log 70 = 36.9dB 37dB

Magnitude
Term

Phase

CF

Slope

Slop
e

LCF

Slope

Slop
e

HCF

Slope

Slop
e

(1+

j 1
)
0.2

0.2

20dB

-20dB

0.0
2

-45

-45

45

-90

(1+

j 1
)
4

20dB

-40dB

0.4

-45

-90

40

45

-45

(1+

j
)
10

10

20dB

-60dB

1.0

-45

-135

100

45

Therefore, Bode plot is shown as Graph 2. From the Bode plot shown, the system is unstable
with Gain Margin = -2db and Phase Margin = -4.8.

2.5.2 Frequency-response method (Bode plots using MATLAB)

Open Loop Bode Diagram
Commands:
>>num = [560]
>>den = [1 14.2 42.8 8]
>>sys = tf(num,den)
>>bode(sys)
>>grid
>>sys = allmargin(sys)

MATLAB responds with

num =
560

den =
1.0000

14.2000

Transfer function:
560
--------------------------s^3 + 14.2 s^2 + 42.8 s + 8

42.8000

8.0000

sys =
GainMargin: 1.0711
GMFrequency: 6.5425
PhaseMargin: 1.8248
PMFrequency: 6.3230
DelayMargin: 0.0050
DMFrequency: 6.3230
Stable: 1
and Bode plot via MATLAB shown in Figure 2.

Figure 2: Open Loop Bode Diagram

Closed Loop Bode Diagram

Commands:
>>num = [560];
>>den = [1 14.2 42.8 568];
>>sysp = tf(num,den)

>>sys = feedback(sysp,1);
>> w = logspace(-1,2);
>> bode (sys,w);
>> [mag, phase, w] = bode (sys, w);
>> [Mp, k] = max (mag);
>>bandwidth = bandwidth(sys)
MATLAB responds with
Transfer function:
600
--------------------------s^3 + 14.2 s^2 + 42.8 s + 608
bandwidth =
12.1376
and closed loop bode diagram via MATLAB is shown as Figure 3.

Figure 3: Closed Loop Bode Diagram

From Figure 3, it shows that the closed loop bode diagram is an unstable system with resonant
peak of 5.82dB and resonant frequency of 7.91rad/sec.

Problem-bases learning (PBL) is a student-centered education whereby students learn a

subject due to the problem solving. Thus, every student had trained thinking strategies and
domain knowledge. The main objective of PBL is to develop flexible knowledge, problem
solving skill, self learning and self motivation. Therefore, PBL can be considered active learning
in education as well.
A MATLAB group assignment had been given with applied PBL concept. Therefore, a
few method had been carried out in order to solve the problem. Such as, transient response, error
analysis, root locus, Frequency-response method and Nichols Chart.
In general, the transient response is the response of the system that able to change from
equilibrium. Its also used to calculate response of a structure to time dependent loads. Usually
the application are structures subject to earthquakes, wind, explosions and as well as pothole.
Transient response is involved rise time, overshoot, settling time, delay time, peak time and as
well steady state error.
Error analysis is one of the alternative methods of PBL. This type of analysis is
concerned about the output of the model as the parameters to the model especially in numerical

simulation or modeling of real system as well. Moreover, error analysis can be separate into
forward error analysis and backward error analysis in numerical analysis.
Root Locus is one of the common technique for design criteria, this method is involved
iterating on a design by manipulating to the compensator gain, poles and zeros in root locus
diagram. Usually, this method is used to tune the gain of single input and single output (SISO)
control system with specifying a designed set of closed-loop pole location.
Frequency response method can be explain as the steady state response of the system to a
sinusoidal input signal which involved a unique input signal, resulting output signal for linear
system and signal from the system. The frequency-response function usually is used to describe
the amplitude change and also the phase shift as a function of frequency.
Lastly, Nichols chart is one of the graphical methods for frequency response. Its display
the magnitude in term of dB plotted against the phase in term of degrees of the system response.
Furthermore, it useful to analyze open loop and closed loop system for SISO.