You are on page 1of 25

Sri Lanka Institute of Information Technology

Faculty of Engineering
Department of Electrical and Computer
Engineering
EC3501: Control Systems Laboratory
Lab 01: Transfer Functions
Name/ Index Number

: De Silva O.R.M. (EN14536458)

Name/ Index Number

: Kaushalya S. A. D. T. P. (EN14535468)

Group

: Group 03

Submission Date

: 07th March 2016

Table of Contents
List of Figures ................................................................................................................................. 2
List of Tables .................................................................................................................................. 3
List of Equations ............................................................................................................................. 3
Introduction ..................................................................................................................................... 4
Task 1 .............................................................................................................................................. 4
Exercise 1 ........................................................................................................................................ 5
1. Transfer Function of G1....................................................................................................... 5
2. Transfer Function of G2.......................................................................................................... 6
3. Transfer Function of G3.......................................................................................................... 7
Exercise 2 ........................................................................................................................................ 8
1. Step Response of Function of G1 ........................................................................................... 8
2. Step Response of Function of G2 ......................................................................................... 10
3. Step Response of Function of G3 ......................................................................................... 12
Exercise 3 ...................................................................................................................................... 14
Exercise 4 ...................................................................................................................................... 18

Page | 1

List of Figures
Figure 1 - Pole-Zero Map for Transfer Function G1 ...................................................................... 5
Figure 2 - Pole-Zero Map for Transfer Function G2 ...................................................................... 6
Figure 3 - Pole-Zero Map for Transfer Function G3 ...................................................................... 7
Figure 4 - Step Response for Transfer Function G1 ....................................................................... 8
Figure 5- Step Response for Transfer Function G2 ...................................................................... 10
Figure 6- Step Response for Transfer Function G3 ...................................................................... 12
Figure 7 - Simulink Model to Obtain Step Response ................................................................... 14
Figure 8 - Under-Damped Response............................................................................................. 14
Figure 9 - Simulink Model to Obtain Step Response ................................................................... 15
Figure 10 - Critically-Damped Response ..................................................................................... 15
Figure 11 - Simulink Model to Obtain Step Response ................................................................. 16
Figure 12 - Undamped Response .................................................................................................. 16
Figure 13 - Varying Damping Ratio for a Second Order System ................................................. 17
Figure 14 - Step Response for G1(S) ............................................................................................ 19
Figure 15 - Step Response for G2(S) ............................................................................................ 20
Figure 16 - Step Response for G3(S) ............................................................................................ 22
Figure 17 - Impulse Response for G3(S) ...................................................................................... 23

Page | 2

List of Tables
Table 1 - Result Comparison Table for G1 Step Response .......................................................... 10
Table 2 - Result Comparison Table for G2 Step Response .......................................................... 12
Table 3 -Result Comparison Table for G3 Step Response ........................................................... 13

List of Equations
Equation 1 - General Second Order System Equation .................................................................... 8

Page | 3

Introduction
Control systems play an important role in most of electro mechanical systems. To control the
system precisely, its important to design the control system accurately. This lab introduces the
analysis of control systems and determine their stability for step inputs. The Laplace transform is
frequently used in analyzing the systems since its convenient to simplify the equations. The
system equations are modelled and simulated using MATLAB to analyze.

Task 1
We can construct a transfer function in Matlab window by assigning the numerator or
denominator coefficient vectors or directly by the following tf function as below

Page | 4

Exercise 1
1. Transfer Function of G1

Figure 1 - Pole-Zero Map for Transfer Function G1

Since the real part of poles of the function is positive, the system is unstable. The imaginary part
of the poles accounts for the oscillation in the time domain function. According to Pole-Zero
Map the poles are situated in the right side of the plane making the system unstable.

Page | 5

2. Transfer Function of G2

Figure 2 - Pole-Zero Map for Transfer Function G2

The poles are situated in the imaginary axis. Therefore, the system is marginally stable and
system will oscillate with a constant amplitude determined by the initial conditions

Page | 6

3. Transfer Function of G3

Figure 3 - Pole-Zero Map for Transfer Function G3

The poles have positive real part corresponds to an exponentially increasing component C t
in the homogeneous response; thus defining the system to be unstable.

Page | 7

Exercise 2
General form of a second order system:

() =

. 2
=
( 2 + + ) ( 2 + 2 + 2 )

Equation 1 - General Second Order System Equation

1. Step Response of Function of G1

Figure 4 - Step Response for Transfer Function G1

Page | 8

Calculation
1 =

1 =

2 2

21
+ 16 + 21
21
2

21
2 + 8 + 2

2 = 21/2
= 21/2
=
=

2
8
221/2
8
42

= 1.2344

( ) =
( ) =

1 0.4167 + 2.917 2

1 0.4167(1.2344) + 2.917(1.2344)2
21/2

( ) =
( ) =

4
1.2344 10.5

=
=

1 2

=1

100

1.2344
11.23442

= lim () = lim () = lim

= 1.5216

100 (: )

0 2 2

21
=1
+ 16 + 21

Below table compares the calculated result vs the simulated result.

Page | 9

Table 1 - Result Comparison Table for G1 Step Response

Parameter
Rise Time
Settling Time
Overshoot
Peak
Peak Time

Simulated Result
1.4031s
2.5469s
0
0.9993
4.5945s

Calculated Result
1.5216s
1s
1
-

2. Step Response of Function of G2

Figure 5- Step Response for Transfer Function G2

Page | 10

Calculation
2 =

3 2

2
+ 4 + 6

2
3
1 =
4
2 + 3 + 2
1 () = 0.333 0.378 0.666 sin(1.247 + 1.080)
2 = 2
= 2
=

4
= 3
22
=

2
32

= 0.4714

( ) =
( ) =

1 0.4167 + 2.917 2

1 0.4167(0.4714) + 2.917(0.4714)2
2

( ) =
( ) =

4
0.4714 2

=
=
( ) =
( ) =

= 1.0265

1 2

= 6.00005

100

0.4714
10.47142

100 = 18.651%

1 2

2 (1 0.47142 )

= 2.5188

= 1 ( ) = 0.333 0.378 0.666(2.5188) sin(1.247 (2.5188) + 1.080) = 0.3278


Page | 11

Below table compares the calculated result vs the simulated result.


Table 2 - Result Comparison Table for G2 Step Response

Parameter
Rise Time
Settling Time
Overshoot
Peak
Peak Time

Simulated Result
1. 1222s
5.8461s
18.6513%
0.3955
2.5180s

Calculated Result
1.0265s
6.00005s
18.651%
0.3278
2.5188s

3. Step Response of Function of G3

Figure 6- Step Response for Transfer Function G3

Page | 12

Calculation
2 =
1 =

6
2

+ 8 + 6

2.4495
2 + 8 + 2.4495

1 () = 0.9994 1.0337 0.319 + 0.0441 7.681


2 = 6
4

= 6
=
=
=

2
8
4

2 6
4
= 2.5557
1.565

=
=

1 2

100

2.5557
12.55572

100 (: )

6
= 0.9996
0 ( + 0.319) ( + 7.681)

= lim () = lim () = lim

Below table compares the calculated result vs the simulated result.

Table 3 -Result Comparison Table for G3 Step Response

Parameter
Rise Time
Settling Time
Overshoot
Peak
Peak Time

Simulated Result
6.8946s
12.4010s
0%
0.9988
21.2892s

Calculated Result
0.9996
-

Page | 13

Exercise 3

To obtain the step responses of the following transfer functions, following models were
created using Simulink.
From the scope block step response can be obtained as follows.

1.

Figure 7 - Simulink Model to Obtain Step Response

Figure 8 - Under-Damped Response

Page | 14

2.

Figure 9 - Simulink Model to Obtain Step Response

Figure 10 - Critically-Damped Response

Page | 15

3.

Figure 11 - Simulink Model to Obtain Step Response

Figure 12 - Undamped Response

Page | 16

Effect of Varying Damping Ratio on a Second Order System

Figure 13 - Varying Damping Ratio for a Second Order System

Page | 17

Exercise 4
Transient response of a system is response of a system to a change from equilibrium. A system is
said to be in a transient state when a process variable has been changed and the system has not
yet reached steady-state. Steady state response is the response that can be achieved in the
equilibrium state of the control system.
Transient means changing. Transient state is an interval of time in which our system is either
"warming up" or taking its time to respond to a disturbance. Steady is the opposite of transient.
Steady state is a condition where our system continues with an easily predictable behavior and
few values of it are changing if any. Transient state response is a description of how the system
functions during transient state. Steady state response is a description of how the system
functions during steady state.
2.
T1(s)-The poles in the transfer function is in left side of the pole zero plot.Therefore the system is
stable .
Poles are as follows:
-2+0.5i , -2-0.5i
Transfer function for poles
() =

1
2 + 4 + 4.25

Page | 18

Figure 14 - Step Response for G1(S)

This system is much more stable .There is no overshoot in the system.

Page | 19

T2(s): The poles are in the left side of the pole zero plot. Therefore, the system is stable.
Poles are:
(-1+1i), (-1-1i)
The Transfer function :
() =

1
+ 2 + 2

Figure 15 - Step Response for G2(S)

Page | 20

In this system the step response slightly overshoot therefore the system is much more stable.

T3(s): The poles are in the imaginary axis of the pole zero plot. Therefore, the system is
marginally stable.
Poles:(2i, -2i)
The transfer function:
() =

1
+4

Page | 21

Figure 16 - Step Response for G3(S)

This marginally stable system is oscillating until 250s.

Page | 22

T4(s):One pole has a positive value in the real axis .Therefore the system is unstable.
Poles:(0.5,-0.5)

Figure 17 - Impulse Response for G3(S)

Page | 23

The system is oscillating and the system is unstable.

Page | 24

You might also like