Control Systems Engineering LAB

Lab # 6

Control Systems LAB # 6 Time Response Analysis

What is the Time Response ? It is an equation or a plot that describes the behavior of a system and contains many information about it with respect to time response specification as overshooting, settling time, peak time, rise time and steady state error. Time response is formed by the transient response and the steady state response. Time response = Transient response + Steady state response Transient time response (Natural response) describes the behavior of the system in its first short time until it arrives the steady state value and this response will be our study focus. If the input is step function the output or the response is called step time response and if the input is ramp, the response is called ramp time response etc.

Step time response specification : Percent overshoot %OS: is the maximum fraction by which the response overshoots the steady state value expressed as a percentage. This characteristic is not found in a first order system and found in higher one for underdamped step response. Settling time Ts : is the time required to fall within a certain percentage of the steady state value for a step input. For example the amount of time required for the step response to reach and stay within 2% of the steady state value OR in other words we can define it as the smallest amount of time required to reach the steady state value. Peak time Tp : is the time required for the underdamped step response to reach the first maximum peak. Rise time Tr: is the time required for the step response to go from 10% to 90% of the final value.

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Steady state error : is the difference between the input and the output of a system after the natural response has finished. DC Gain : The DC gain is the ratio of the steady state step response to the magnitude of a step input. For example if your input is step function with amplitude = 1 and found the step response output = 5 then the DC gain = 5/1 = 5. In other words it is the value of the transfer function when s=0. Step time response : We know that the system can be represented by a transfer function which has poles ( values make the denominator equal to zero), depending on these poles the step response divided into four cases: 1. Underdamped response: In this case the response has an overshooting with a small oscillation which results from complex poles in the transfer function of the system. 2. Critically response: In this case the response has no overshooting and reach the steady state value (final value) in the fastest time. In other words it is the fastest response without overshooting and is resulted from the existence of real & repeated poles in the transfer function of the system. 3. Overdamped response : In this case no overshooting will appear and reach the final value in a time larger than critically case. This response is resulted from the existence of real & distinct poles in the transfer function of the system. 4. Undamped response : In this case a large oscillation will appear at the output and will not reach a final value and this because of the existence of imaginary poles in the transfer function of the system and the system in this case is called "Marginally stable".

Control Systems Engineering LAB Characteristic of various systems :

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First Order system : The first order system can take the general form K dc b G(s) = = ( s + a ) (t.s + 1) b DC Gain is = K dc by setting s=0 in the transfer function. a Time constant t : is the time to reach 63% of the steady state value for a 1 step input or to decrease to 37% of the initial value and t = . And it is special for first a order system only. 2.2 Rise time : Tr = a 4 Settling time : Ts = a The first order systems has no overshooting but can be stable or not depending on the location of its pole. The first order system has a single pole at -a. If the pole is on the negative real axis (LHP), then the system is stable. If the pole is on the positive real axis (RHP), then the system is not stable. The zeros of a first order system are the values of s which makes the numerator of the transfer function equal to zero. Second Order system : The general form of second order system is : 2 K dc . n a G(s) = 2 = ( s + bs + c ) ( s 2 + 2 n s + n 2 ) Natural frequency n is the frequency of oscillation of the system without damping. b Damping Ratio = 2 n Note that the system has a pair of complex conjugate poles at: S = n j n 1 2 = j a DC Gain is = K dc c Percent overshoot Settling time Peak time

, : damped frequency of oscillation

1 2

OS % = e 100 4 4 Ts = = n Tp = n 1 2

** More details about step response for second order systems are in the appendix. Matlab commands: 3

Control Systems Engineering LAB

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step : This command is used to plot the step response of a system. For example we would to plot the step response of the following systems: 1. Transfer function: H (s) = num=[9]; den=[1 2 9]; step (num,den) %Another way Sys=tf (num,den); step (Sys) 9 s + 2s + 9
2

Step Response 1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

3 Time (sec)

2.

State space model : _ x1 = 0.5 0.7 x1 + 1 u (t ) _ 0.5 0 x2 1 x2 x y (t ) = [ 2 6.5] 1 + [ 0]u (t ) x2 a=[-0.5 -0.7 ; 0.5 0]; b=[1 ; -1]; c=[2 6.5]; d=0; step (a,b,c,d) %Another way Sys= ss (a,b,c,d); step(Sys) 4

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6 5 4 3 2 1 0 -1 -2 -3

Step Response

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Amplitude

10 Time (sec)

15

20

25

Simulink: We can do the same work by simulink in Matlab : Components : For most of the systems we will encounter, we only need to be concerned with a small fraction of Simulinks Component library. In particular, the components you should be familiar with are: Continuous library Integrator integrates a signal State-Space used to add a system block in state-space form Transfer Fcn used to add a system block in transfer function form Math Operations library Gain a constant gain Sum used to add two or more signals Sinks library Scope used for viewing system output To workspace used to transfer a signal to MATLAB Sources library Rampgenerates a ramp signal Sine Wavegenerates a sinusoid Stepgenerates a unit step signal 1. Transfer Function (the above one)

9 s2 +2s+9 Step Transfer Fcn Scope

Control Systems Engineering LAB

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Double click on Transfer Fcn and enter the numerator & denominator of it. You can determine the period of simulation by changing the simulation stop time in the toolbar. Change it to 10 sec. After simulate the model, the result will appear in the "scope" and by double click on it and pressing the response can be seen better. 2. State Space Model (the above one)
x' = Ax+Bu y = Cx+Du Step1 State-Space Scope1

"Auto scale"

Notes : Consider the previous notes Double click on "State-Space" and enter the four matrices A,B,C & D. ******************************************************* *************************** Exercises : 1. For the following system : H (s) = 2 s + 2 n s + 1
2

a. Let n = 1, Obtain the poles of the system for = 0, 0.1, 0.7, 1, 5 and guess the behavior of step response for every value with explanation. b. Plot the step response for every above and obtain the behavior of it from the graph with explanation. c. Let n = 1 , = 0.8. Plot the step response and obtain the OS%, Ts, Tp, S.S.E & DC gain by : 1. from the graph 2. mathematical by equations.

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Control Systems Engineering LAB

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Appendix Simulation of a Prototype Second Order System

BACKGROUND
Although true second-order control systems are rare in practice, their analysis generally helps to form a basis for the understanding of analysis and design of higher-order systems. The second-order system shown in Fig. 1 is defined as the prototype secondorder system.

Figure 1 Prototype second-order system

The closed-loop transfer function of the system is:

2 n Y (s) = 2 2 R ( s) S + 2 n S + n

For a unit-step input, R ( s) =

1 , the output response of the system is S Y (s) =

2 n 2 S ( S 2 + 2 n S + n )

The dynamic behavior of second-order systems can be described in terms of the two parameters and n Where:

Undamped natural frequency

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Damping ratio

(1)

Underdamped Case (0 < < 1)

2 n

In this case, the system output for a unit-step input, can be written as: Y (s) = y (t ) = 1 1 1 2 S ( S + n j n 1 2

e nt sin( n 1 2 t + ) ; = cos 1

Note that the system has a pair of complex conjugate poles at: S = n j n 1 2 = j as shown in Fig. 2.

Figure 2 Poles location: underdamped system

The maximum overshoot and the time it occurs (peak time) are given by:

1
2

and

n 1 2

sec respectively.

The underdamped system response is a damped sinusoid with an exponential envelope whose time constant is equal to the reciprocal of the poles real part. The radian frequency of the sinusoid is equal to the imaginary part of the pole. (2) Critically damped Case ( = 1 )

In this case, the system output for a unit-step input, can be written as:

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2 2 n n Y (s) = = 2 S ( S 2 + 2 n S + n ) S ( S + n ) 2

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y (t ) = 1 e nt (1 + n t ) Note that the system has 2 repeated real poles at S = n as shown in Fig. 3.

Figure 3 Poles location: critically-damped system

(3)

Overdamped Case ( > 1 )

In this case, the system output for a unit-step input, can be written as:
2 2 n n Y (s) = = 2 S ( S 2 + 2 n S + n ) S ( S + n n 2 1)

y (t ) = 1 +

2 1 2

e S1t e S 2t ); S1 S2

S1 = n + n 2 1 , S 2 = n n 2 1 Note that the system has 2 distinct real poles at: S = n n 2 1 as shown in Fig. 4.

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Figure 4 Poles location: overdamped system

(4)

Undamped Case ( = 0 )
2 2 n n = 2 S ( S 2 + n ) S ( S j n )

In this case, the system output for a unit-step input, can be written as: Y (s) =

y (t ) = 1 cos( n t ) Note that the system has a pair of imaginary poles at s= as shown in Fig. 5.

Figure 5 Poles location: undamped system

The system response is an undamped sinusoid with radian frequency equal to the imaginary part of the poles. Typical step responses of the prototype second-order system, for the four cases considered, are shown in Fig. 6. Notice that the critically damped case is the division between the overdamped cases and the underdamped cases and is the fastest response without overshoot.

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Control Systems Engineering LAB

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Figure 6 Step responses of a prototype second-order system.

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