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UNIVERSITI MALAYSIA PERLIS

SCHOOL OF MECHATRONIC ENGINEERING

ENT 220 LINEAR CONTROL SYSTEM

LABORATORY [

]:

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NAME STUDENT ID

: :

DATE OF EXPERIMENT : DATE OF SUBMISSION :

2012/2013

BIOMEDICAL ELECTRONIC ENGINEERING PROGRAM SCHOOL OF MECHATRONIC ENGINEERING UNIVERSITY MALAYSIA PERLIS (UNIMAP)

Title

: Time Response of Dynamical Systems

PART A: Time Response using MATLAB


1. Generate step response for the transfer function:

G1 ( s ) =

2 s + 1.2s + 2
2

using MATLAB for t = [0: 0.01: 15] and based on the step response determine the overshoot , peak time, rise time, delay time, settling time to 2% and settling time to 5% . 2. Generate step response for the following transfer functions,

G2 ( s ) =

4 and s + 0.5s + 4
2

G3 ( s ) =

1.1 s + 2s + 1
2

and determine the overshoot , peak time, rise time, delay time, settling time to 5%. 3. Plot all the three step responses of the above systems on a single graph. Based on the graph determine which system has the fastest rise time, fastest settling time, best relative stability. 4. Determine the poles location for the above systems and calculate the natural frequency, n and damping factor, .

PART B: Time Response using SIMULINK


1. Draw the following simulation diagram using SIMULINK and generate step response for system G1.
2 s2 +1.2s+2 Step G1 Scope

a. Could you get the same response as in part A, no. 1? Yes / No


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b. Duplicate the simulation diagram for systems G2 and G3 (change the transfer functions in the new blocks), and connect the three diagrams to generate all the three response in a single graph. c. Generate G1 response using ramp and pulse inputs by changing the input block.

2. Draw the following simulation diagram using SIMULINK


(s+2) s(s-3) Plant Scope

K Step Controller

a. Replace the variable K with 1 in the constant gain controller. Run the simulation. Is the output stable? (Attach the graph in your report ) b. Increase the gain to 2 and re-run the simulation. Continue increasing the gain to 10 and observe the output. For what value of K the system is stable? For roughly what value of K the system completely oscillatory. (Attach one plot for each case in your report.) c. Change the gain to 8 and replace the input with a ramp input. Re-run the simulation. Make an estimate of the steady-state error of this system due to a ramp input. (hint: zoom in at t=10)

3. Conclusion

2012/2013