EXPERIMENT NO.

1: INTRODUCTION TO LTI REPRESENTATION

AND TRANSFER FUNCTION MODEL

Objective:
 To determine the concept of LTI Representation using Scilab programming
 To determine the concept of Transfer Function Modeling using Scilab programming

INTRODUCTION:
I. LTI Representations
Linear Time Invariant (LTI) systems are a particular class of systems characterized by the following
features:
(1) Linearity
 which means that there is a linear relation between the input and the output of the system.
For example, if we scale and sum all the input (linear combination) then the output are scaled
and summed in the same manner. More formally, denoting with xk(t) a generic input and with
yk(t) a generic output we have:

(2) Time invariance

 which mean that the system is invariant for time translations. Hence, the output yk(t)
produced by the input xk(t) is identical to the output yk(t – T) produced by the input xk(t – T)
which is shifted by the quantity T.

LTI systems can be classified into the following two major groups:
(1) SISO  Single Input Single Output
(2) MIMO  Multiple Input Multiple Output

Figure 1: A typical representation of a system with its input and output ports and its internal state

Moreover, LTI systems have several representation forms which are:

(1) Set of differential equations in the state space representation
(2) Transfer function representation
(3) Zero-pole representation

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II. Transfer Function Modeling
The control systems can be represented with a set of mathematical equations known as mathematical
model. These models are useful for analysis and design of control systems. Analysis of control system
means finding the output when we know the input and mathematical model. Design of control system
means finding the mathematical model when we know the input and the output.

Transfer function model is an s-domain mathematical model of control systems. The Transfer function of a
Linear Time Invariant (LTI) system is defined as the ratio of Laplace transform of output and Laplace
transform of input by assuming all the initial conditions are zero.

If x(t) and y(t) are the input and output of an LTI system, then the corresponding Laplace transforms
are X(s) and Y(s).

Therefore, the transfer function of LTI system is equal to the ratio of Y(s) and X(s). That is;

The transfer function model of an LTI system is shown below.

Figure 2: Transfer Function Block Diagram

PROCEDURE A: Unit Impulse Signal and Signal Scaling

1. Encode the following Scilab program. Check appropriately the punctuation marks used in the
syntax to avoid errors.

--> clf;
--> clear all;
--> // unit impulse
--> L=5;
--> n=-L:L;
--> x=[zeros(1,L),ones(1,1),zeros(1,L)];
--> da=gca();
--> da.y_location = "middle";
--> plot2d3(n,x);
--> title("unit impulse");

2. Illustrate (or copy) the generated signal. Record your observations.

3. Encode the following Scilab program:

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 --> clear all;
--> close;
--> // I n p u t CT S i g n a l
--> t=-2:1:2;
--> x=[1,1,0,1,0];
--> subplot(2,3,1) ;
--> plot(t,x) ;
--> xgrid(4,1,7);
--> xlabel("Time") ;
--> ylabel("Amplitude") ;
--> title("Input CT Signal x(t)");

4. Observe the property of the generated signal. Then encode the following syntax and compare the
generated signal with respect to ProcedureA.3.

--> a=2; // Scaling factor

--> t=-2:1:2;
--> x=[1,1,0,1,0];
--> subplot(2,3,2) ;
--> plot(t,a*x);
--> xgrid(4,1,7) ;
--> xlabel("Time") ;
--> ylabel("Amplitude");
--> title("z(t)=2x(t)");

5. Change the scale factor by and display the figure by encoding the next set of syntax.

--> a=0.5; // S c a l i n g f a c t o r
--> subplot(2,3,3) ;
--> plot(t,a*x);
--> xgrid(4,1,7);
--> xlabel("Time") ;
--> ylabel("Amplitude") ;
--> title("z(t)=0.5x(t)");

6. Compare the generated figure to the signal generated in ProcedureA.4. Record your observations.

7. Next, encode the following syntax.

--> subplot(2,3,4);
--> plot(t+2,x);
--> xgrid(4,1,7);
--> xlabel("Time");
--> ylabel("Amplitude");
--> title("z(t)=x(t+2)");

8. Compare the generated figure to the signal generated in ProcedureA.4 and ProcedureA.5. What
part of the signal is modified this time? Record your observations.
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 9. Encode the next set of syntax.

--> subplot(2,3,5);
--> plot(t-2,x);
--> xgrid(4,1,7);
--> xlabel("Time");
--> ylabel("Amplitude");

10. Again, compare the generated figure to the previously generated signals. Record your
observations.

11. Encode the following syntax and compare the result to the signal generated by ProcedureA.1.
--> subplot(2,3,6);
--> plot(-t,x);
--> xgrid(4,1,7);
--> xlabel("Time");
--> ylabel("Amplitude");
--> title("z(t)=x(−t)");

12. Record your observations.

PROCEDURE B: Transfer Function Modeling

Transfer Function Formulation
Consider Figure 3, a simple diagram of robot joint driven by DC motor through a gear transmission with
ratio r:1.

Figure 3: Robot joint connected to DC motor via a gear transmission

Let Jm = Ja + Jg be the sum of motor and gear inertia. By calculation, it will give us a formula of the
rotational motion in terms of θm described by:

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where kt represents torque constant, Jm is the rotational inertia and Bm is the viscous friction. We want to
describe a model in transfer function form so that a block diagram can be drawn. To develop the
electrical side of DC motor, consider the model shown in Figure 4.

Figure 4: Model of permanent magnet DC motor

Using Laplace domain, the joint dynamics in Figure 3 can be described by:

Referring to its equivalent Steady-State model:

This equation can be drawn in terms of block diagram as shown in Figure 5.

Figure 5: block diagram of the robot joint dynamics in Figure 3

By deriving and simplifying the equation of Steady-State model, this is reduced to:

which gives a reduced block-diagram shown in Figure 6.

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 Figure 6: Reduced block diagram of the robot joint dynamics
Thus, the transfer function for a robot joint driven by DC motor is in the form:

Now if we assume that J=10 and B=0.1, then the resulting transfer function becomes:

Using Scilab:
1. Encode the following Scilab program. Check appropriately the punctuation marks used in the
syntax to avoid errors.

-->clf
--> clear
--> num=1;
--> den=poly([0 0.1 10],'s','c');
--> P=syslin('c',num,den)
--> t=[0:0.001:50];
--> plot2d(t,csim('step',t,P))
--> xgrid(5,1,7)
--> xtitle('Time Domain Analysis','Time(sec)','C(t)')

2. Observe the transfer function generated from the program. Record your observations.

3. Next, encode the following Scilab program:

--> //Time Domain Analysis

-->clf
--> clear
--> num=poly([12.811 18 6.3223],"s","coeff"); //Defines the numerator of the transfer function
--> den=poly([12.811 18 11.3223 6 1],"s","coeff"); //Defines the denominator of the transfer function
--> sl=syslin('c',num,den) //Defines the transfer function
--> t=[0:0.001:25]; //The time of simulation is set from 0 to 25 seconds
--> plot2d(t,csim('step',t,sl)) // It plots the step response of the transfer functions
--> xgrid(5,1,7)
--> xtitle('Time Domain Analysis','Time(sec)','C(t)')

4. Analyze the given syntax and its generated output.

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 5. Encode the next set of Scilab program:

--> num=poly([1.59],'s','coeff');
--> clf
--> den=poly([1 7],'s','coeff');
--> g1=syslin('c',num/den) //define tf
--> t=0:0.05:50;
--> gs1=csim('step',t,g1);
--> plot2d(t,gs1); // plotting step response

6. Record your observations.

ANSWERS TO THE REPORT:

1. Based on the generated figures of Procedure A, explain signal scaling specifically?
2. How is signal scaling applied in LTI representation?
3. What is the use of (a) num, (b) den, (c) syslin and csim syntax in Procedure B?
4. Based on Procedure B, what is the importance of “transfer function formulation”. Furthermore,
what is the purpose of using Scilab(or MATLAB) program for transfer function analysis?