CONTROL LAB

EXPERIMENT NO- 4
Objective: To determine the Time Response of different order of system using Linear
System Simulator.
(a) Determine the time constant of first order system for open loop system.
(b) Determine the time response of type – 0 system for closed loop system.
(c) Determine the time response of type – 1 system for closed loop system.

Apparatus Required: - Dual CRO, Linear system simulator, Connecting leads.

Fig1
. Linear System Simulator

Theory- A Transfer Function is the ratio of the output of a system to the input of a system,
in the Laplace domain considering its initial conditions and equilibrium point to be zero. The
type number of the system is obtained from the number of poles located at origin. Type-0
system means there is no pole at origin. Type -1 system means there is one pole located at
origin.

 First Order System- The first order system is one wherein highest power of s in the
denominator of its transfer function equals to1.Example of first order system is single
time constant having transfer function given below:

C(s) K

R(s) sT  1 . (1)

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R(s) + E(s) K/sT C(s)

-

Fig.2 Block Diagram of First Order System

As the input is a unit step, unit impulse and unit ramp then the time response expression is
given below-

S.No Input Functions Time Response Expression

.
c  t   t  T  Te
1. 2  t T 
Unit Ramp: 1 s
c  t   1 e
2.  t T 
Unit Step : 1 s
3. Unit Impulse: 1 1  t T 
c t  e
T

 Second Order System- The second order system is one wherein highest power of s in
the denominator of its transfer function equals to2. Standard form of second order
system is given by:
C(s) n 2
 2
R(s)  s  2n s  n 2 
(2)

R(s) + E(s) n 2 C(s)

- s(s 2n )

Fig.3 Block Diagram of Second Order System

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Fig.4 Transient Response of Second Order System

1. Rise Time: tr
It is the time needed for the response to reach from 10 to 90% (overdamped system) or 0
to 100% (underdamped system) of the desired value.

  1  2 
tr    tan 1  
n 1   2   
, where   (3)
2. Maximum Overshoot (Mp) and Peak Time (tp)-
The maximum positive deviation of the output with respect to its desired value is known
as maximum overshoot.


1 2
% MP  e *100 (4)

The time needed to reach the maximum overshoot is called peak time. It is observed that
MP occurs when the slope of the time response curve after the initiation of the input signal
is zero.

tp 
n 1   2
(5)

3. The Settling Time t s :

The time needed to settle down aforesaid oscillation within 2% of desired value of the
output is known as settling time.

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ts 
n (6)

Block Diagram:

1. Type-1 First Order System

R(s) C(s)
+ K K1/s

-1

2. Type-0 First Order System

R(s) C(s)
+ K K2/(1+sT1)

-1

3. Type-1 Second Order System-

R(s) C(s)
+ K K1/s K2/(1+sT1)

4. Type-0 Second Order System-

R(s) C(s)
+ K K2/(1+sT1) K3/(1+sT2)

Formula Used: Steady state error ess  V   2R  KK1  where R is the slope. K is gain, K1 is
gain of integrator block. Determine the time response of type – 0 systems for closed loop
system.

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1. Damping ratio,
  ln M P 
2
 2
  ln M P 
2

(7)

where MP is peak percent overshoot obtained from CRO waveform.

 1   
n 2
n   / t P 2

2. Undamped s(s  2n ) natural frequency,

(8)

Theoretical value of n and  can be obtained by comparing the co-efficient of the

denominator of closed loop transfer function with standard format of second order system.

Procedure-

(a) To find steady state error of type-0 and type-1 first order system
(1) The blocks are connected using cords in the simulator kit.
(2) The input triangular wave of type-1 or input square wave of type-0 is set to 1V
peak to peak in CRO and this applied to feeder REF terminal of error detector
block. The input is also connected to X-channel of CRO.
(3) The output from system is connected to Y-channel of CRO.
(4) The CRO is kept in X-Y mode and the steady state error is obtained as vertical
displacement between the two curves.
(5) The gain K is varied and different value of steady state errors are noted for type-1
and type-0 respectively.
(b) To find closed loop response of type-0 and type-1 second order system
(1) The blocks are connected using cords in the simulator kit.
(2) The input square wave is set to 1Vpp and is applied to REF terminal of error
detector block. The input is also connected to X-channel of CRO.
(3) The output from the system is connected to Y-channel of CRO.
(4) The output waveform is to be observed in CRO and it is then to be traced on graph
sheet. From the waveform, the peak percent overshoot, settling time, rise time,
peak time are measured
(5) The gain K is varied and different value of steady state errors are to be noted for
type-1 and type-0 respectively.

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Observation Table-

(1) To find the steady state error of type-1 first order system

S.No. Gain, K R(V/sec) Graphical Steady Theoretical Steady

state error, essg(V) state error, essT(V)

(2) To find the steady state error of type-0 first order system

S.No. Gain, K Steady state error, ess(V)

(sec)tsSettling time,

(3) To find the closed loop response of type-0 second order system
ωng(rad/sec)Graphical,
tp(sec)Peak time,
tr(sec)Rise time

,ξTTheoretical

ωnT (rad/sec)Theoretical,
overshoot%Mp
Peak percent

,ξgGraphical
Gain ,K
S.No.

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(4) To find the closed loop response of type-1 second order system-

tp(sec)Peak time,
tr (sec)Rise time

ts(sec)Settling time,

ωng (rad/sec)

ξTTheoretical,

Theoretical,
Graphical, ξg

Graphical,
overshoot
Gain ,K
S.No..

Peak

%Mp

(rad/sec)
ωnT
Model calculation-

Result-
(The time response of first and second order type-0 and type-1 system is……………..)
Precautions-
1. Connections should be made carefully to avoid noise.
2. Rise time and settling time should be calculated carefully, to accurately determine to
time constant.