Center for Advanced Studies in Engineering, Islamabad

Control Systems Lab

Experiment # 05: Time Response Analysis and Pole Zero Location

of 2nd Order RLC Filters

Name of Student: …………………………………………………….

Roll No.: ……………………………………………………………….

Date of Experiment: ………………………………………………….

Report submitted on: ………………………………………………..

Marks obtained: ……………………………………

Remarks: ……………………………………………

Instructor’s Signature: ……………………………...

Fall 2018-Semester V
 Experiment # 05
Time Response Analysis and Pole Zero Location of
2nd Order RLC Filters

Objectives
1. Mathematical Modeling of the 2nd Order RLC Filters & Analyze the Transient and
Steady State Response.
2. Analyze the Underdamped, Overdamped & Critically Damped Behavior of the
Second-Order RLC Filter.
3. Analyze the Pole Zero Location of a 2nd order RLC Filters

1. Time Response
If the output of control system for an input varies with respect to time, then it is called
the time response and transient of that particular system. The time response consists of
two parts.
1. Transient Response
2. Steady State Response

1.1 Transient Response

By transient response, we mean that response of a particular system which goes from the
initial state to the final state (steady state). It is sometimes called natural response of the
system.

1.2 Steady State Response

Steady-state response is the response of the system as time “t” approaches to infinity.
Basically it is the output value of the system as t approaches infinity. It is also called forced
response of any particular system. Thus the total system response c(t) may be written as
c(t)=ctr(t) + css(t)

Figure-1: Time Response

2. Transient Response Specifications
The performance characteristics of a control system are specified in terms of the transient
response. In specifying the transient-response characteristics of a control system to a
unit-step input, it is common to specify the following.
1. Rise time, tr 2. Peak time, tp
3. Maximum overshoot, Mp 4. Settling time, ts

1. Rise Time, tr
The rise time is the time required for the response to rise from 0% to 100% of its final
value for underdamped system and 10 to 90% for overdamped system. It is defined in
terms of ζ and ωn as given below.

2. Peak time, tp
The peak time is the time required for the response to reach the first peak of the
overshoot. It is defined as,

3. Maximum (percent) overshoot, Mp

The maximum overshoot is the maximum peak value of the response curve measured
from unity. It is defined by,

If the final value of output is not unity, then we need to use the following equation.

4. Settling time, ts
The settling time is the time required for the response curve to reach and stay within 2%
or 5 % of its final value.

It is important to note that the equations for obtaining the rise time, peak time, maximum
overshoot and settling time are valid only for the standard second-order system. If the
second-order system involves a zero or two zeros, the shape of the unit-step response
curve will be quite different.

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 Figure-2: Transient Response Specifications

3. Mathematical Modeling of Second Order RLC Filters

RLC circuit is the simplest example of 2nd order system. It consists of resistor, capacitor &
inductor connected in different arrangement with voltage source as shown in fig-3. In this
lab, we will first do mathematical modeling of series and parallel high pass, low pass and
bandpass filters based on RLC circuit network as explained below.

3.1 Series L.P.F

A passive series RLC low pass filter (LPF) circuit is shown in fig-3.

Vin Vo
L
R

Figure-3: Series L.P.F

3.2 Transfer Function
Transfer function of a series low pass filter is given below.

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The generalized notation for a second order system described above can be written as,

Where, “wn “ is called the un damped natural frequency and “ζ “ is the damping ratio. This
equation will be helpful in such a way that the response of a second order system can be
described to a designer without the need for sketching them. The dynamic behavior of
the second-order system can then be described in terms of two parameters ζ and wn.

3.3 Underdamped Systems

If 0<ζ<1, the closed-loop poles are complex conjugates and lie in the left-half s plane. The
system is then called underdamped, and the transient response is oscillatory with
decreasing amplitude. The transfer function in terms of poles is given below

Where The frequency ωd is called the damped natural frequency. For a unit step input,
C(s) can be written as,

By taking the inverse laplace transform of C(s), we can get c(t).

We can see that the frequency of transient oscillation is the damped natural frequency
ωd and thus varies with the damping ratio ζ.

By comparing the transfer function of RLC circuit & second order system, we get
ωn=(1/√LC ) & 2ζωn=R/L
Put R=1, L=5, C=2.
Then ωn=0.316 and ζ=0.316, so the system is underdamped.
Now by putting the values of ωn & ζ in the above equation of c(t), we can represent the
step response of RLC circuit in time domain as,
c(t) = 1 − e−0.099t (cos(0.316t) + 0.33 sin(0.316t))

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As shown above, we can easily describe the response of this system by using two
parameter. Now we can check the response of system by using matlab.

3.4 Step Response for the Underdamped System

Figure-4: Step Response

3.4.1 Observation
The error signal for this system is the difference between the input and output and is
given below.

This error signal exhibits a damped sinusoidal oscillation. At steady state, or at t=ꝏ, no
error exists between the input and output.
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3.5 Pole Zero Location for Underdamped System
Pole zero location is very important for the response of dynamic systems. For
underdamped system, there will be a two imaginary poles lie at –ζωn+ jωd and - ζωn -jωd.
The reciprocal of pole real part represent the time constant for exponential envelope and
ωd represent the damped oscillation frequency which is equal to the pole imaginary part.
Time constant is the time required for the step response to rise to 63% of its final value.
We can say that farther the pole is from imaginary axis, the faster is the transient response

Figure-5: Pole Zero Location

Poles=
-0.1000 + 0.3000i
-0.1000 - 0.3000i
Transient Response Parameter
The transient response parameter can be shown below.
RiseTime: 4.2568
SettlingTime: 35.3593
Overshoot: 35.0913
Peak: 1.3509
PeakTime: 10.4917

3.6 Critically Damped System

If ζ=1, the system is called critically damped system. It means that two poles are equal &
there will be no oscillation. The system will reach equilibrium quickly.
For a unit step unit, output C(s) is written as,

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The inverse laplace transform is given below.

Again by comparing the transfer function of RLC circuit & second order system, we get
ωn=(1/√LC ) & 2ζωn=R/L

For R=2, L=1, C=1, the value of ζ becomes equal to 1 and the system becomes critically
damped. Now by putting the values of ωn & ζ in the above equation of c(t), we can
represent the step response of RLC circuit in time domain as,
c(t) = 1 − e−t (1 + t)

3.7 Step Response for Critically Damped System

Figure-8: Step Response

3.8 Pole Zero Location for Critically Damped System

The system consist of two real poles lies at –ωn. It has an exponential with time constant
equal to the reciprocal of pole locations. Time constant is the time required for the step
response to rise to 63% of its final value. We can say that farther the pole is from
imaginary axis, the faster is the transient response.

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 Figure-9: Pole Zero Location

3.9 Overdamped System

If the value of damping ratio ζ, ζ>1 then the system becomes over damped and will reach
equilibrium slowly with no oscillation. Poles of this system is negative real and unequal.
For a unit step unit, output C(s) is written as,

The inverse laplace transform is given below.

Again by comparing the transfer function of RLC circuit & second order system, we get
ωn=(𝟏/√𝐋𝐂 ) & 2ζωn=R/L

Put R=5, L=1, C=1 & find the values of ωn & ζ. Now by putting the values of ωn & ζ in the
above equation of c(t), we can represent the step response of RLC circuit in time domain
as,
c(t) = 1 + 0.072 e−4.79t − 1.039 e−0.21t

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3.10 Step Response for Overdamped System

Figure-6: Step Response

3.11 Pole Zero Location for Overdamped System

The system consist of two real poles lies at –ζωn+ ωn √ζ2 − 1 and –ζωn - ωn √ζ2 − 1 . It has
two exponential with time constant equal to the reciprocal of pole locations. Time
constant is the time required for the step response to rise to 63% of its final value.We can
say that farther the pole is from imaginary axis, the faster is the transient response.

Figure-7: Pole Zero Location

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3.12 Comparison of Underdamped, Overdamped & Critically Damped
System
We see that an underdamped system with ζ between 0.5 and 0.8 gets close to the final
value more rapidly than a critically damped or overdamped system. Among the systems
responding without oscillation, a critically damped system exhibits the fastest response.
An overdamped system is always sluggish in responding to any inputs

Figure-10: Comparison Graph

Exercise
1. Find the Transfer Function of all the below mentioned filters.
2. Write a code for step response (Open Loop & Closed Loop both).
3. Find the roots of all the Filters to check the stability, plot them in S-Plane. Also
comment on the dynamic behavior of each filter.
4. Find the Step Response and Impulse Response using Simulink and compare the
results with the results of Question # 2.

Required Parameters Ranges

R = 0.5 – 5
L = 0.5 – 5
C = 0.5 – 5

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CASE
1. Parallel L.P.F
A passive parallel RLC low pass filter (LPF) circuit is shown in fig-11.

Vin Vo
L

R C

Figure-11: Parallel L.P.F

2. Series H.P.F
A passive series RLC high pass filter (HPF) circuit is shown in fig-12.

Vin Vo

R
C

Figure-12: Series H.P.F

Transfer Function

Effect of Zero at Origin

When we take the step response of above filter, then one zero can be cancelled by a step
response transfer function. Due to this, the response decays to zero because forcing
function is no longer exist and one remaining zero is used for taking derivative in time
domain.

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3. Parallel H.P.F
A passive parallel RLC high pass filter (HPF) circuit is shown in fig-13.

Vin Vo

R L

Figure-13: Parallel H.P.F

4. Series B.P.F
A passive series RLC bandpass filter (BPF) circuit is shown in fig-14.

Vin Vo
L
C

Figure-14: Series B.P.F

5. Parallel B.P.F
A passive parallel RLC bandpass filter (BPF) circuit is shown in fig-15.

Vin Vo

L
C

Figure-15: Parallel B.P.F

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 Labs Rubrics
Control System
Lab # 5
Time Response Analysis and Pole Zero Location of
2nd Order RLC Filters

Lab #05: Marks distribution

ER1 ER4 ER7 ER9 RR2
Task

Lab #05: Marks obtained

ER1 ER4 ER7 ER9 RR2 Total
Task

Lab Evaluation Rubrics

# Qualities & Criteria
ER1 Task Completion
0 < Poor <=40 40< Satisfactory <= 70 70 < Good <= 90 90< Excellent <=100
No Tasks were Some tasks were Few tasks were left All tasks completed in
completed/ completed. Could not to be completed. due time. All goals
minimal effort justify the reasons for Provided acceptable achieved.
shown uncompleted tasks and justification for the
goals. uncompleted tasks
and goals.

ER4 System model/ None of the Incomplete diagrams Diagrams without Correct Diagrams,
Mathematical model/ requirements are and partially correct labels and few properly labeled
Network model/ Block fulfilled/ labels/Circuit doesn’t details. showing all the
diagram/ Circuit Demonstrates incorporate required Construction is necessary details and
Diagram/ Simulation minimal or no components/ Blocks not fairly good / Input/Outputs/
Diagram understanding of connected correctly/ Chooses a Chooses an optimal
the connection Chooses a mathematical mathematical mathematical model
between model that applies to an model that applies that applies to an
mathematical engineering problem, to an engineering engineering problem,
models and but requires assistance problem, and has and develops new
engineering in model development. some success in models.
problems/ minimal model
effort shown development.
ER7 Code indentation, No indentation of Computationally Working code and Good structure,
optimization and code, no complex routine with good indentation or optimized code and
descriptive variable optimization and improper indentation structure, but not good variable names
name no descriptive and variable names optimized resulting and comments
variable names/ in unnecessary
minimal effort computations
shown

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ER9 Results and Plots Unable to produce Inaccurate plots and Correct plots Good presentation of
any plots or results results without any the correct plots with
/minimal efforts necessary proper labels, captions
shown identifying features & visibility
such as labels,
captions & visibility
RR2 Content/Information The report is not The report is objective The report is The report is objective
objective based and based and for some part objective based and based and addresses
addresses the addresses the issues for most part the issues referred in
issues referred in referred in the proposed addresses the issues the proposed topic
the proposed topic topic with an acceptable referred in the with in depth analysis
poorly. The engineering/theoretical proposed topic with and reasoning. The
provided
analysis. The provided an acceptable provided information
information &
information & results engineering/theore & results is necessary,
results is not
coherent rather for some parts is tical analysis and relevant and sufficient
irrelevant. Little necessary and sufficient reasoning. The to discuss these
engineering/theore to discuss these issues provided issues. The details are
tical analysis is information & easily understood at
presented results for most peer level.
part is necessary
and sufficient to
discuss these issues

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