EMT360 CONTROL ENGINEERING

SEMESTER 2 2016/2017

EXPERIMENT 1: TIME DOMAIN RESPONSE

by

Lau Teng Hui

(141010425)

Ong Chee Chung

(141010475)

SCHOOL OF MICROELECTRONIC ENGINEERING

 Table of Contents
1 SCILAB CODINGS..............................................................................................1
1.1 OPEN-LOOP STEP RESPONSE.....................................................................................................1
1.2 CLOSED-LOOP STEP RESPONSE WITH UNITY FEEDBACK..........................................................1

2 RESULT.................................................................................................................2
2.1 DERIVATION OF OPEN-LOOP TRANSFER FUNCTION..................................................................2
2.1.1 Step 1: Series...........................................................................................................................................................2
2.1.2 Step 2: Feedback.....................................................................................................................................................2
2.1.3 Step 3: Series...........................................................................................................................................................2
2.2 DERIVATION OF CLOSED-LOOP TRANSFER FUNCTION WITH UNITY FEEDBACK.......................3
2.2.1 Step 1: Unity Feedback...........................................................................................................................................3
2.3 GRAPHS.....................................................................................................................................4
2.3.1 Graph of Open-loop Step Response........................................................................................................................4
2.3.2 Graph of Closed-loop Step Response with Unity Feedback....................................................................................4
2.4 CALCULATION FROM FORMULA................................................................................................5
2.4.1 Open-loop Step Response........................................................................................................................................5
2.4.2 Closed-loop Step Response with Unity Feedback...................................................................................................6
2.5 CALCULATION FROM GRAPH....................................................................................................8
2.5.1 Open-loop Step Response........................................................................................................................................8
2.5.2 Closed-loop Step Response with Unity Feedback...................................................................................................9

3 DISCUSSION......................................................................................................11
3.1 COMPARISON BETWEEN CALCULATION FROM FORMULA AND CALCULATION FROM GRAPH...11
3.2 COMPARISON BETWEEN OPEN-LOOP STEP RESPONSE AND CLOSED-LOOP STEP RESPONSE. .11
3.2.1 Order of Response.................................................................................................................................................11
3.2.2 Nature of Response and Damping Ratio, ...........................................................................................................11
3.2.3 Speed of Response & Time Constant, ..................................................................................................................11
3.2.4 Steady State / Final Value & DC Gain, K.............................................................................................................12
3.2.5 Percent Overshoot, %OS.......................................................................................................................................12
3.2.6 Settling Time, Ts.....................................................................................................................................................12
3.2.7 Peak Time, Tp.........................................................................................................................................................12
3.2.8 Rise Time, Tr..........................................................................................................................................................12
3.2.9 How to direct determine whether Open-loop Step Response or Closed-loop Step Response from graph............12

4 CONCLUSION...................................................................................................13
5 REFERENCES....................................................................................................13
 1 Scilab Codings

1.1 Open-loop Step Response

s=%s;
num=[2];
den=[s^2+2*s+2];
Gs_OL=syslin('c',num,den);
t=0:0.01:20;
y=csim('step',t,Gs_OL);

figure("Figure_name","Open-loop Step Response");

plot(t,y,'b');
mtlb_grid;
title(['Graph of Open-loop Step Response']);
xlabel("Time,t (s)");
ylabel("Amplitude,c(t)");

1.2 Closed-loop Step Response with Unity Feedback

s=%s;
num=[2];
den=[s^2+2*s+2];
Gs_OL=syslin('c',num,den);
Hs=1;
Gs_CL=syslin('c',Gs_OL/.Hs);
t=0:0.01:20;
y=csim('step',t,Gs_CL);

figure("Figure_name","Closed-loop Step Response");

plot(t,y,'b');
mtlb_grid;
title(['Graph of Closed-loop Step Response with Unity Feedback']);
xlabel("Time,t (s)");
ylabel("Amplitude,c(t)");
 2 Result

2.1 Derivation of Open-loop Transfer Function

G3
H1

G2

G1

C(s)

R(s)

2.1.1 Step 1: Series

G3
H1
GA

C(s)

R(s)

2
2.1.2 Step 2: Feedback

GB G3
R(s) C(s)
2

2.1.3 Step 3: Series

GOL
R(s) C(s)

Step 1: Series Step 2: Feedback Step 3: Series

GA = G1 G2 GA GOL = GB G3
GB =
GA = ( 1s )( s+12 ) 1+G A H 1
GOL = ( 1
2
s + 2 s+2
(2)
)
1
GA =
1
s ( s+2 )
( )s ( s+ 2 )
GOL = 2
2
GB = 1 s +2 s+2
1+ (
s ( s+2 ) )
(2)

1
GB = s ( s+2 ) +2
1
GB = 2
s +2 s+2

Therefore, open-loop transfer function is:

2
GOL = 2
s +2 s+2
2.2 Derivation of Closed-loop Transfer Function with Unity Feedback

GOL
H2 = 1

C(s)

R(s)

2.2.1 Step 1: Unity Feedback

GCL
R(s) C(s)

Step 1: Feedback

G OL
GCL = 1+GOL H 2
GCL =

( s +22s+ 2 )
2

1+
( s + 22s+2 ) ( 1)
2

2
GCL = 2
s +2 s+2+2
2
GCL = 2
s +2 s+ 4

Therefore, closed-loop transfer function is:

2
GCL = 2
s +2 s+ 4
2.3 Graphs

2.3.1 Graph of Open-loop Step Response

Figure 2.1 Graph of Open-loop Step Response

2.3.2 Graph of Closed-loop Step Response with Unity Feedback

Figure 2.2 Graph of Closed-loop Step Response

2.4 Calculation from Formula

2.4.1 Open-loop Step Response

General formula 1

K 2n
G ( s )= 2
s +2 n s+ 2n

General formula 2
K
2 2
s +2 s+1

Compare with transfer function with general formula 1

2
G ( s )= 2
s +2 s+2

a) Undamped Frequency, n
2
n=2

1
n= 2rad . s

1
n=1.414 rad . s

b) Damping Ratio,
2 n=2

2 (1.414 ) =2

=0.707 2

c) DC Gain, K
2
K n=2

K ( 2 )=2

K=1

Compare with transfer function with general formula 2

 1
2 2 2 1
= 2 = 2
s +2 s+2 s + 2 s+2 1 1
2

2 2 s + s+1

d) Time Constant,

2=0.5 s

=0.7071 s

e) Percent Overshoot, %OS

1 2
%OS=e 100

0.7072

e 1(0.7072) 100
2

4.318

f) Settling Time, Ts
4
Ts = n

4
= (0.707) 2

= 4s

g) Peak Time, Tp

Tp = n 1

= ( 2 ) ( 10.7072 )

= 3.142 s

2.4.2 Closed-loop Step Response with Unity Feedback

General formula 1
 2
K n
G ( s )= 2 2
s +2 n s+ n

General formula 2
K
2 2
s +2 s+1

Compare with transfer function with general formula 1

2
G ( s )= 2
s +2 s+ 4

a) Undamped Frequency, n
2
n=4

1
n= 4 rad . s

n=2 rad . s1
b) Damping Ratio,
2 n=2

2 (2 ) =2

=0.5

c) DC Gain, K
2
K n=2

K ( 4 )=2

K=0.5

Compare with transfer function with general formula 2

1 1
2 2 4 2
= 2 = 2
s +2 s+2 s + 2 s+2 1 1
2
1
s + s+1
4 4 2

d) Time Constant,
2
=0.25 s

=0.5 s

e) Percent Overshoot, %OS

1 2
%OS=e 100

0.5

e 1(0.5) 100
2

= 16.30

f) Settling Time, Ts
4
Ts = n
 4
= (0.5)(2)

= 4s

g) Peak Time, Tp

Tp = n 1

= ( 2 ) ( 10.5 )

= 1.814 s

2.5 Calculation from Graph

2.5.1 Open-loop Step Response

cmax
1.02cfinal
cfinal
0.98cfinal
0.90cfinal

0.10cfinal

Tr Ts1 Tp Ts2
Figure 2.3 Graph of Open-loop Step Response

cmax = 1.04321 T(cmax) = 3.14513 s

cfinal = 1.00000 T(cfinal) = 15.0010 s
0.98cfinal = 0.980066 T(0.98cfinal) = 2.22537 s
0.90cfinal = 0.900030 T(0.90cfinal) = 1.87641 s
0.10cfinal = 0.100001 T(0.10cfinal) = 0.357390 s
1.02cfinal = 1.02006 T(1.02cfinal) = 4.21376 s

a) Percent overshoot, %OS

 C max Cf i nal
%OS= X 100
C final

1.043211.00000
%OS= X 100
1.00000

%OS=4.321

b) Settling Time, Ts
Ts1 = T(1.02cfinal) Ts2 = T(1.02cfinal)
= 4.21376 s OR = 4.21376 s
= 4.214 s = 4.214 s
Since 1.02cfinal is more nearer to steady state,
Ts = Ts2
= 4.214 s
c) Peak Time, Tp
Tp = T(cmax)
= 3.14513 s
= 3.145 s

d) Rise Time, Tr
Tr = T(0.90cfinal) - T(0.10cfinal)
= 1.87641 0.357390
= 1.51902 s
= 1.519 s
2.5.2 Closed-loop Step Response with Unity Feedback

cmax
cfinal
0.98cfinal
0.90cfinal

0.10cfinal

Tr Tp Ts

Figure 2.4 Graph of closed-loop Step Response

cmax = 0.581514 T(cmax) = 1.81191 s

cfinal = 0.500000 T(cfinal) = 15.0091 s
0.98cfinal = 0.490026 T(0.98cfinal) = 4.04012 s
0.90cfinal = 0.450090 T(0.90cfinal) = 1.06315 s
0.10cfinal = 0.0500790 T(0.10cfinal) = 0.244293 s

e) Percent overshoot, %OS

C max Cfinal
%OS= X 100
C final

0.5815140.500000
X 100
0.500000

16.30

f) Settling Time, Ts
Ts = T(0.98cfinal)
= 4.04012 s
= 4.040 s

g) Peak Time, Tp
Tp = T(cmax)
= 1.81191 s
= 1.812 s
h) Rise Time, Tr
Tr = T(0.90cfinal) - T(0.10cfinal)
= 1.06315 0.244293
= 0.818857 s
= 0.8189 s
 3 Discussion

3.1 Comparison between calculation from formula and calculation from

graph
Both values getting from formula calculation and graph calculation are almost
identical and correct after comparing with each other.
Table 3.1 Parameter of Open-loop Step Response and Closed-loop Step Response

Open-loop Step Response Closed-loop Step Response

Parameter
Formula Graph Formula Graph
n 1.414 rad/s - 2 rad/s -
0.7072 - 0.5 -
K 1 1.00000 0.5 0.500000
0.7071 s - 0.5 s -
%OS 4.318 % 4.321 % 16.30 % 16.30 %
Ts 4s 4.124 s 4s 4.040 s
Tp 3.142 s 3.145 s 1.814 s 1.812 s
Tr - 1.519 s - 0.8189 s

3.2 Comparison between Open-loop Step Response and Closed-loop Step

Response
3.2.1 Order of Response
Both Open-loop Step Response and Closed-loop Step Response are Second-Order
Systems.
3.2.2 Nature of Response and Damping Ratio,
Nature of response can be identified by poles location and damping ratio, .
Damping ratio, of Open-loop Step Response is 0.7072.
Damping ratio, of Closed-loop Step Response is 0.5.
Both damping ratio, almost same.
Both Open-loop Step Response and Closed-loop Step Response are Underdamped.

3.2.3 Speed of Response & Time Constant,

Speed of response of the system is related to time constant, .
The slower the system responds to the input, the larger the value of time constant, .
The faster the system responds to the input, the smaller the value of time constant, .
Time constant, can be described as the time it takes for the step response to rise to
63% of its final value.
Time constant, of Open-loop Step Response is 0.7071 s.
Time constant, of Closed-loop Step Response is 0.5 s.
Therefore, speed of Open-loop Step Response is slower than speed of Closed-loop
Step Response, because time constant, of Open-loop Step Response is higher than
time constant, of Closed-loop Step Response.
3.2.4 Steady State / Final Value & DC Gain, K
Steady state or final value can be determined through DC gain, K.
DC gain, K of Open-loop Step Response is 1.
DC gain, K of Closed-loop Step Response is 0.5.
Therefore, the waveform of Open-loop Step Response will be higher than waveform
of Closed-loop Step Response.
3.2.5 Percent Overshoot, %OS
The amount that the waveform overshoots the steady state, or final value.
Percent overshoot, %OS of Open-loop Step Response is 4.318 %.
Percent overshoot, %OS of Closed-loop Step Response is 16.30 %.
Therefore, Closed-loop Step Response overshoot the steady state or final value more
than Open-loop Step Response.
3.2.6 Settling Time, Ts
The time required for the transients damped oscillations to reach and stay within
2% of the steady state value.
Both Open-loop Step Response and Closed-loop Step Response have same settling
time, Ts at 4 s.
3.2.7 Peak Time, Tp
The time required to reach the first, or maximum peak.
Peak time, Tp of Open-loop Step Response is 3.142 s.
Peak time, Tp of Closed-loop Step Response is 1.814 s.
Peak time, Tp of Open-loop Step Response is higher than peak time, T p of Closed-
loop Step Response, because speed of Open-loop Step Response is slower than speed
of Closed-loop Step Response.
3.2.8 Rise Time, Tr
The time required for the waveform to go from 0.1 of the final value to 0.9 of the
final value.
Rise time, Tr of Open-loop Step Response is 1.519 s.
Rise time, Tr of Closed-loop Step Response is 0.8189 s.
Rise time, Tr of Open-loop Step Response is higher than peak time, T r of Closed-loop
Step Response, because speed of Open-loop Step Response is slower than speed of
Closed-loop Step Response.
3.2.9 How to direct determine whether Open-loop Step Response or Closed-
loop Step Response from graph.
The waveform of Open-loop Step Response is higher than waveform of Closed-loop
Step Response
 4 Conclusion

In conclusion, we are able to representation of mathematical model of physical

system in SCILAB or SCICOS(XCOS) and also able to perform the time-domain response
analysis which are nature undamped frequency, damping ratio, DC gain, time constant,
percent overshoot, rise time and peak time, and determine those value by using manually
related formula and graphical method. In this experiment, we can know that time constant of
Open-loop Step Response (open =0.7071 s) is higher than time constant of Closed-loop Step
Response (closed = 0.5 s). Therefore, speed of Open-loop Step Response is slower than speed
of Closed-loop Step Response due to speed of response of the system depend on time
constant, , when the larger the value of time constant, mean that the slower the system
responds to the input and vice versa.

5 References
[1] Experiment1_Time Domain Response v1. pp. 18, 2017.
[2] Lecture 5 - Transient Response. p. 47, 2017.