Lab Experiment # 04

Demonstration of First and Second order systems on MATLAB to observe their

performance parameters.
A. Demonstration of LTI system with Disturbance and without Disturbance and
observe the effect of Feedback on System response using MATLAB.
A.
Objective:
The objective of this exercise will be to study the performance characteristics of first order
systems using MATLAB. The objective of this exercise will also be to study the effect of
feedback on the response of the system to step input and step disturbance taking the practical
example of English Channel boring machine and design a control system taking in account
performance measurement.

Apparatus:
MATLAB having Matlab
Theory:
First Order Systems: An electrical RC-circuit is the simplest example of a first order system. It
comprises of a resistor and capacitor connected in series to a voltage supply as shown below on
Figure 4.1.

Figure 4.1: Series RC circuit

If the capacitor is initially uncharged at zero voltage when the circuit is switched on, it starts to
charge due to the current ‘i' through the resistor until the voltage across it reaches the supply
voltage. As soon as this happens, the current stops flowing or decays to zero, and the circuit
becomes like an open circuit. However, if the supply voltage is removed, and the circuit is
closed, the capacitor will discharge the energy it stored again through the resistor. The time it
takes the capacitor to charge depends on the time constant of the system, which is defined as the
time taken by the voltage across the capacitor to rise to approximately 63% of the supply
voltage. For a given RC-circuit, this time constant is tau. Hence its magnitude depends on the
values of the circuit components.
The RC circuit will always behave in this way, no matter what the values of the components.
That is, the voltage across the capacitor will never increase indefinitely. In this respect we will
say that the system is passive and because of this property it is stable. For the RC-circuit as
shown in Fig. 1, the equation governing its behavior is given by

The time constant is the time required by the system output i.e. v(t) to rise to 63% of its final
value (which is E). Hence the above equation (1) can be expressed in terms of the time constant
as:

Obtaining the transfer function of the above differential equation, we get where τ is time constant
of the system and the system is known as the first order system. The performance measures of a
first order system are its time constant and its steady state.

Effect of disturbance: The construction of the tunnel under the English Channel from France to
the Great Britain began in December 1987. The first connection of the boring tunnels from each
country was achieved in November 1990. The tunnel is 23.5 miles long and bored 200 feet below
sea level. Costing $14 billion, it was completed in 1992 making it possible for a train to travel
from London to Paris in three hours.
The machine operated from both ends of the channel, bored towards the middle. To link up
accurately in the middle of the channel, a laser guidance system kept the machines precisely
aligned. A model of the boring machine control is shown in the Fig. 4.2, where Y(s) is the actual
angle of direction of travel of the boring machine and R(s) is the desired angle. The effect of load
on the machine is represented by the disturbance, Td(s).

Fig. 4.2: Boring machine control model

Procedure:
…………………………..

LabTasks:

Q2: From the Fig. 4.3

a) Get the transfer function from R(s) to Y(s).
b) Get the transfer function from D(s) to Y(s).
c) Generate the system response; for K= 10, 20,50, 100; due to a unit step input - r(t).
d) Generate the system response; for K= 10, 20, 50, 100; due to a unit step disturbance -d(t).
e) For each case find the percentage overshoot (%O.S.), rise time, settling time, steady state of
y(t).
f) Compare the results of the two cases.
g) Investigate the effect of changing the controller gain on the influence of the disturbance on
the system output.

Figure 4.3: System block diagram

Q3: Design of a Second order feedback system based on performances.
For the motor system given below in Figure 4.4, we need to design feedback such that the
overshoot is limited and there is less oscillatory nature in the response based on the
specifications provided in the Table 4.1. Assume no disturbance (D(s)=0).
 Figure 4.4: Second order feedback system
Table 4.1: Specifications for transient response

Use MATLAB, to find the system performance for different values of Ka and find which value
of the gain Ka satisfies the design condition specified. Use the following table 4.2.
Table 4.2: System Performance

Comments:
………………………

Conclusion:
………………………