UNITED INTERNATIONAL UNIVERSITY (UIU)

COURSE NO. EEE 402 (CONTROL SYSTEM LABORATORY)

EXPT. NO. 4

THE EFFECT OF POLE LOCATION UPON THE TRANSIENT RESPONSE OF A SECOND

ORDER SYSTEM
AND USE OF SISOTOOL IN THE CONTROL SYSTEM DESIGN

Part A: THE EFFECT OF POLE LOCATION UPON THE TRANSIENT RESPONSE OF A

SECOND ORDER SYSTEM

25
Given the transfer function of a second order system: G ( s) 
s  4s  25
2

1. Using Simulink, set up the given second order system and using the Simulink LTI
Viewer, record the values of percent overshoot, settling time, peak time, and rise
time in Table 1. Now add a pole to this system (Add Zero-Pole block from
Continuous) and plot the step responses of the system when the higher-order pole
is nonexistent, at -200, -20, -10, and -2. Make your plots on a single graph using the
Simulink LTI Viewer. Normalize all plots to a steady-state value of unity (click
Normalize on the popup menu opened with right-click). Record percent overshoot,
settling time, peak time, and rise time for each response in Table 1.

2. Now add a zero to the given system (Add Zero in the transfer function block)
and plot the step responses of the system when the higher-order pole is
nonexistent, at -200, -50, -20, -10, -5 and -2. Make your plots on a single graph
using the Simulink LTI Viewer. Normalize all plots to a steady-state value of unity.
Record percent overshoot, settling time, peak time, and rise time for each response
in Table 2.

3. Now modify the given system by changing the Zero-pole block so that the new
25(b / a)( s  a)
G(s) can be expressed as G ( s)  with a = 3 and plot the step
( s  b)( s 2  4s  25)
responses of the system when the value of b is 3, 3.1, 3.5, 4.0 and 8.0. Make your
plots on a single graph using the Simulink LTI Viewer. Normalize all plots to a
steady-state value of unity. Record percent overshoot, settling time, peak time, and
rise time for each case in Table 3.
 4. Repeat step 3 for a = 30 and b is 30, 30.1, 31.0, 34, 40 and 80. Record percent
overshoot, settling time, peak time, and rise time for each case in Table 4.
.

Report

Table 1: Effect of Additional Pole

Third Experimental
Pole % OS Settling Time Peak Time Rise Time
None 1.68

-200 1.69

-20 1.73

-10 1.78

-2 2.09

Comment:
Plot the Ts, Tp and OS and make comments on the result. An example plot for Ts is as
follows:
2.1

2.05

1.95

1.9
Ts

1.85

1.8

1.75

1.7

1.65
none -200 -20 -10 -2
Extra pole (third)

Table 2: Effect of Additional Zero

Additional Experimental
Zero % OS Settling Time Peak Time Rise Time
None
 -200 25 1.68 .689 .296

-50

-20

-10

-5

-2

Comment: Plot the Ts, Tp and OS and make comments on the result.

Table 3: Effect of Pole-Zero Cancellation with small zero

a = 3.0
b
% OS Settling Time Peak Time Rise Time
3.0

3.1

3.5

4.0

Comment: Plot the Ts, Tp and OS and make comments on the result.

Table 4: Effect of Pole-Zero Cancellation with Large Zero

a = 30.0
b
% OS Settling Time Peak Time Rise Time
30.0
30.1

31

34

40

80

Comment: Plot the Ts, Tp and OS and make comments on the result.

PART B: USE OF SISOTOOL IN THE CONTROL SYSTEM DESIGN

Matlab Control System toolbox contains two Root Locus Design GUI, sisotool and rtool.
These are two interactive design tools for the analysis and design of Single-input Single-
output (SISO) Linear Time-Invariant (LTI) systems. sisotool opens the Root Locus
Design Tool with Root Locus Design View and Bode Diagram. rtool opens the Root Locus
Design Tool with only Root Locus Design View on. These GUI allows you to design
compensators by interacting with the Root Locus, Bode and Nichol Plots.

To load any empty SISO Design tool type

>> sisotool
at MATLAB command prompt. sisotool can be called with additional arguments. For
example sisotool(Gp) or sisotool(Gp,Gc), where Gp is the plant object model and Gc is the
compensator object model. You can import SISO LTI model into the Root Locus Design as
follows:
 Load a model from the MATLAB workspace.
 Load a model from a MAT-file.
 Load a model from the SIMULINK diagram.
Similarly, rtool opens SISO Design Tool with only Root Locus View.

In a closed loop control system, Gc(s) = K is a proportional controller,

1
G p ( s)  is the system and H(s) = 1. Use sisotool to determine
s( s  2)( s  5)
 Range of K for system stability
 Value of K for complex dominant poles damping ratio of 0.6. Also, obtain the step
response and time-domain specifications.

Procedure:
 1. To make the plant model and start the SISO Design Tool, type at the command
prompt
>> Gp=tf(1,[1 7 10 0])
>> sisotool (OR use “sisotool(‘rlocus’,Gp)”, then no need step 2)
An empty SISO Design Tool opens as shown in Figure 1.

2. Select Import Model under the File menu. This opens the Import System Data
dialog box as shown in Figure 2. By default, SISO Design Tool assumes that
the compensator is in forward path. By clicking Other.. button switches
compensator in the feedback path. The blocks are codes as: F is a preamplifier,
G is the plant model, H is the sensor and C is the compensator with default
values of 1.
3. Select Gp and click on the arrow button to place it in the G field.
4. Click OK. The Root Locus and the open loop Bode diagrams are displayed in
the plot regions as shown in Figure 3. Uncheck View| Open-loop Bode to
remove the Bode diagrams. The red squares on the loci represent the closed
loop poles corresponding to the gain set point (default value C(s) = 1).
5. Drag the closed-loop pole along the locus to the jω-axis intersect. Turn on the
mouse Zoom and drag the mouse to draw a box around the pole. When the
mouse is released, root locus will zoom in on the selected region. Drag the pole
to this accurate position. Note the gain for the marginal stability from the value of
C(s).
6. Drag the complex pole until the damping ratio displayed in the bottom panel is in
the neighborhood of 0.6. Then zoom in and drag the pole until the damping is
0.6. Note the value of gain from the value of C(s).
7. From Analysis menu select Response to Step Command. This opens the LTI
Viewer for SISO Design Tool. This shows the step response plot. From this
plot record the rise time, settling time, %OS and the peak time in Table 6..

Table 5: Gain values

Gain for Marginal Stability
Gain for damping ratio of 0.6

Table 6: Time-domain Specifications for Damping Ratio of 0.6

Rise Time % Overshoot
Settling Time Peak Time
 Figure 1: Empty SISO Design Tool

Figure 2: Import System Data Dialog Box

Figure 3: SISO Design Tool with only Rool Locus View