Experiment 1

AIM

To find out transient response specification of a second order system for unit
step response.

THEORY
The time response of a control system consists of two parts: the transient
response and the steady-state response. By transient response, we mean that
which goes from the initial state to the final state. By steady-state response, we
mean the manner in which the system output behaves as time “t” approaches
infinity. Thus the system response c (t) may be written as

where the first term on the right-hand side of the equation is the transient
response and the second term is the steady-state response.
Absolute Stability, Relative Stability, and Steady-State Error

In designing a control system, we must be able to predict the dynamic behaviour

of the system from a knowledge of the components. The most important
characteristic of the dynamic behaviour of a control system is absolute stability
—that is, whether the system is stable or unstable. A control system is in
equilibrium if, in the absence of any disturbance or input, the output stays in the
same state. A linear time-invariant control system is stable if the output
eventually comes back to its equilibrium state when the system is subjected to
an initial condition. A linear time-invariant control system is critically stable if
oscillations of the output continue forever. It is unstable if the output diverges
without bound from its equilibrium state when the system is subjected to an
initial condition. Actually, the output of a physical system may increase to a
certain extent but may be limited by mechanical “stops,” or the system may
break down or become nonlinear after the output exceeds a certain magnitude so
that the linear differential equations no longer apply.
Important system behaviour (other than absolute stability) to which we must
give careful consideration includes relative stability and steady-state error.
Since a physical control system involves energy storage, the output of the
system, when subjected to an input, cannot follow the input immediately but
exhibits a transient response before a steady state can be reached. The transient
response of a practical control system often exhibits damped oscillations before
reaching a steady state. If the output of a system at steady state does not exactly
agree with the input, the system is said to have steady state error. This error is
indicative of the accuracy of the system. In analyzing a control system, we must
examine transient-response behaviour and steady-state behaviour

Definitions of Transient-Response Specifications

Frequently, the performance characteristics of a control system are specified in

terms of the transient response to a unit-step input, since it is easy to generate
and is sufficiently drastic. (If the response to a step input is known, it is
mathematically possible to compute the response to any input.) The transient
response of a system to a unit-step input depends on the initial conditions. For
convenience in comparing transient responses of various systems, it is a
common practice to use the standard initial condition that the system is at rest
initially with the output and all time derivatives thereof zero. Then the response
characteristics of many systems can be easily compared.
The transient response of a practical control system often exhibits damped
oscillations before reaching steady state. In specifying the transient-response
characteristics of a control system to a unit-step input, it is common to specify
the following:

1. Delay time, td: The delay time is the time required for the response to reach
half the final value the very first time.

2. Rise time, tr : The rise time is the time required for the response to rise from
10% to 90%, 5% to 95%, or 0% to 100% of its final value. For underdamped
second order systems, the 0%to 100%rise time is normally used. For
overdamped systems, the 10% to 90% rise time is commonly used.

3. Peak time, tp: The peak time is the time required for the response to reach the
first peak of the overshoot.

4. Maximum (percent) overshoot, Mp: The maximum overshoot is the

maximum peak value of the response curve measured from unity. If the final
steady-state value of the response differs from unity, then it is common to use
the maximum percent overshoot. It is defined as:
The amount of the maximum (percent) overshoot directly indicates the relative
Stability of the system.

5. Settling time, ts : The settling time is the time required for the response curve
to reach and stay within a range about the final value of size specified by
absolute percentage of the final value (usually 2% or 5%). The settling time is
related to the largest time constant of the control system.
Obtain the rise time, peak time, maximum overshoot, and settling time for
the system defined as

PROCEDURE

1 Enter commands (given in MATLAB program) in a new m file.

2 save the m file as “transient.mat”
3 run” transient.mat”

MATLAB Program
% ------- In this problem, we assume zeta = 0.6 and wn = 5 -------
num = [25];
den = [1 6 25];
t = 0:0.005:5;
[y,x,t] = step(num,den,t);
r = 1; while y(r) < 1.0001; r = r + 1; end;
rise_time = (r - 1)*0.005
rise_time =
0.5550
[ymax,tp] = max(y);
peak_time = (tp - 1)*0.005
peak_time =
0.7850
max_overshoot = ymax-1
max_overshoot =
0.0948
s = 1001; while y(s) > 0.98 & y(s) < 1.02; s = s - 1; end;
settling_time = (s - 1)*0.005
settling_time =
1.1850

RESULT:

Various specifications obtained after running “transient.mat” are tabulated as:

rise_time = 0.5550
peak_time = 0.7850
max_overshoot =0.0948
settling_time =1.1850

The resulting plot is shown in fig 1

Fig 1 Step response plot

 EXPERIMENT- 2

Aim: For the given transfer model, obtain state space and also determine observability and
controllability.

25
2 s+1+ s2

Theory

Controllability
A system is said to be completely controllable, if there exists a control law (a signal, say u (t))
which could drive the state (all the state variables) from an initial value to a final value,
within a finite interval of time. If all the state variables cannot be controlled (at least one
variable cannot be changed), then the system is NOT completely controllable. It may be
termed as partially controllable. Actually, controlling a system, in a way, means to
modify/change/manipulate some parameters/state variables of the system, in a proper fashion,
so as to achieve the desired response. So, if you can modify/change/manipulate the state
variables, then obviously the system can be controlled. Thus, the name controllable system.

Observability
To control a system, it is required to monitor the controlled variable. Sensors are used to
monitor/measure the controlled variable. But, in some cases, it is not possible to measure the
variables by using sensors, as those parameters may not be directly accessible for
measurement or sensing. In such cases, the OUTPUT, is observed, for a finite duration of
time, so as to estimate the inaccessible variables/parameters/state variables. A system, whose
state (all state variables) can be estimated, by observing the output of the system, for a finite
duration of time, is called completely observable. If a system is NOT completely observable,
then the unobservable variables/parameters, since not be sensed, cannot be monitored.

Controllability is related to the control input, whereas Observability is related to the output.
Code:

clc;

clear;

A = [-1 0 0; 0 -2 0; 0 0 -3];

B=[1; 0;0];

C=[1 0 2];

D=[0];

m = ctrb(A, B)

rank_of_m = rank(m)

n = obsv(A, C)

rank_of_n = rank(n)

system_order=length(A)

if rank(m)==system_order

display('This system is controllable')

else

display('This system is not controllable')

end

if rank(n)==system_order

display('This system is observable')

else

display('This system is not observable')

end

Output:
m=

1 -1 1

0 0 0

0 0 0

rank_of_m =

n=

1 0 2

-1 0 -6

1 0 18

rank_of_n =

system_order =

3
This system is not controllable

This system is not observable