Faculty of Engineering Technology

Electrical Engineering Department

ELE 4623: Control Systems

LABORATORY WORK

LAB #3
First Order System Analysis

BY
Name: ID
Abdulla Sulaiman H00350247

Submission Date:
Instructor Name:
 GENERAL INFORMATION AND GUIDE
 This Lab manual should be used together with the class notes/lecture.
 Each student / group should work independently; direct copy of work will be highly
penalized according to the HCT policy.
 For group work, contribution of each member of the team should
 You are advised to follow the guide provided here for smooth and timely completion
of the experiments.
 The following should be noted regarding the report format:
 Prepare the report in softcopy, and upload in the appropriate BBL
section.
 Diagram/Picture should be neatly and clearly prepared in the report.
 For the text font, use 12 points, Time New Roman and double
spacing.
 Lab. demonstration of the experiment will be assessed during the Lab. session. See
rubric for the assessment in the BBL.
 Report submission due date : check the announcement on the course BBL
 Assessment Approach per each experiment:
Report: 60% (see report rubric)
Demonstration: 40% (see practical/simulation rubric)
 ELE 4623 Lab No.3
TITLE: Analysis of first Order Systems

PURPOSE: Obtain and analyze first order transfer function of a system, and investigate effects of
system parameters on step response performance.

Method:
1. Theoretical analysis of a first order system.
2. Deriving standard transfer function of a first order system
3. Analyze step response of the system
4. Investigate the effect of system parameters on the response performance data such as speed
and steady state accuracy.
5. Results and analysis.
6. Prepare report
Lab resources:
1. Computer systems /Laptops
2. MATLAB software
3. Practical first order system
Expected Outcome:
1. Standard first order system transfer function
2. MATLAB analysis codes
3. Results of model validation
4. Report submission

Background
The simplest possible dynamic system is one, which satisfies a first order, linear, differential
equation. For a system with input, x(t) and output, y(t) shown in figure 1 below,

n
Figure 1 : System input-output Block Diagram

the generic form of a first order differential equation is:

dy (t )
+ay ( t )=bx( t) (1)
dt
In Laplace form, the first order transfer function is given as:
sY ( s )+ aY ( s )=bX ( s)
Y ( s )( s+ a )=bX (s)
Y ( s) b
∴ = (2)
X (s) s+a
where a and b in equation (2) are the system parameters which depends on the physical
characteristics of the system under consideration.
In standard form, first order system is given by the transfer function:
K
H ( s )= (3)
τs+1
where K is the steady state value or gain, andτ , is the system time constant which is defined as the
time takes by the response to reach 63% of the steady state value, K.
Expressing equation (2) in standard form, we can obtain relationship between the system
parameters, a and b, and the standard first order system parameters, K and τ as :
b
K= (4)
a
1
τ= (5)
a

If a unit step input, x(t) = u(t) (X(s)=1/s) is applied to the system, the output Y(s) is given as:

b K
Y ( s )= =
s ( s+ a ) s (τs+ 1)

The output, y(t) is given as:

) =K ( 1−e τ ) u( t )
−t
y ( t ) =K ( 1−e
−at

LAB Exercises
System Description:
The block diagrams shown in Figure 3 and Figure 4 below model a simple DC motor for speed
control application. Input V(s) is the desired speed in voltage, and the output ω (s ) is the actual
speed. Tachogenerator position sensor converts the actual speed to corresponding voltage. The
amplifier, A, is used to control the speed response of the motor.

Figure 3: Schematic Block Diagram of DC Motor Speed Control system

 Figure 4: The DC Motor Speed Control Block Diagram

The system parameters are:

Motor field resistance, R 10Ω
Motor field inductance, L 10H
Gears ratio, N 0.5
Amplifier gain, A 10
Sensor gain, H 0.1

PARTA: In-LAB
First Order System Analysis

A.1. Derive the transfer function of the above system as a standard first order system describe in
equation (2).
Step should be clearly shown for full mark.

A.2. Compare the transfer function you obtained in A.1 with equation (3) and state the expression
for the system’s steady state value, K, and the time constant, τ .

b 1
K= , τ =
a a

0.5 1
¿ ,=
1.05 1.05
 K = 0.476, 𝜏 = 0.952

A.3 Develop MATLAB codes to simulate the system step response for the given default parameters.
The codes should be written in parameterized form, that is, declare variables for each system
parameter in the transfer function expression.

A.3.1. Present the MATLAB Codes (Note: Show your codes to the instructor.)
Code:
clc;
clear all;
close all;

R=10;
L=10;
N=0.5; %Gears
K=10; %Amplifier
H=0.1; %Tachogenerator
num=[1];
den=[L R];
Motor_tf=tf(num, den);
OL_sys=K*Motor_tf*N; %Series
CL_sys=feedback(OL_sys,H); %Feedback
step(CL_sys)
stepinfo(CL_sys)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error
grid on

A.3.2. Show the system Step response plot: [format, label, correctness and neatness]

Response plot: Response plot with parameters:

A.3.3 Determine the Step Response Performance parameters

Time constant Rise time Settling time Steady state

 error
Response data 0.63×0.4762 = 0.3 2.0924 3.7258 0.5239

A.3.4. Provide performance analysis report (minimum 50 words)

Hint: provide observation on the system performance in terms of speed of response and steady state
accuracy.

As seen
above, the
system has
a rising
time of
2.0924
seconds, a

PART B : In-LAB
Effect of the Motor Field Resistance, R, on the response performance
Goal: Investigate the effect of the motor field resistance, R, on the system response performance

Repeat the step response analysis with ONLY the motor field resistance is reduced to 1Ω and
increased to 100Ω.

B.1. Present the MATLAB Codes for R = 1Ω and R = 100Ω (Note: Show your codes to the
instructor.)
Code:
clc;
clear all;
close all;
R1=1;
R2=10;
R3=100;
L=10;
N=0.5; %Gears
K=10; %Amplifier
H=0.1; %Tachogenertor

%System one
num1=[1];
den1=[L R1];
Motor_tf1=tf(num1, den1);
OL_sys1=K*Motor_tf1*N; %Series
CL_sys1=feedback(OL_sys1,H); %Feedback
stepinfo(CL_sys1)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys1); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%System two
num2=[1];
den2=[L R2];
Motor_tf2=tf(num2, den2);
OL_sys2=K*Motor_tf2*N; %Series
CL_sys2=feedback(OL_sys2,H); %Feedback
stepinfo(CL_sys2)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys2); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%System three
num3=[1];
den3=[L R3];
Motor_tf3=tf(num3, den3);
OL_sys3=K*Motor_tf3*N; %Series
CL_sys3=feedback(OL_sys3,H); %Feedback
stepinfo(CL_sys3)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys3); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%Three systems in one plot

stepplot(CL_sys1,CL_sys2,CL_sys3)
grid on
legend ('R=1','R=10','R=100')

B.2. Show the system Step response plots for all three cases (1Ω, 10Ω and 100Ω) on same
graph or use sub-plots for comparative view: [format, label, correctness and neatness]
 B.3 Determine the Step Response Performance parameters

Time constant Rise time Settling time Steady state

error
R = 1Ω 0.63×3.3332 = 2.099 14.6467 26.0805 2.3329

R = 10Ω 0.63×0.4762 = 0.3 2.0924 3.7258 0.5239

R = 100Ω 0.63×0.0497 = 0.031 0.2186 0.3893 0.9503

R=1Ω R = 10Ω R = 100Ω

B.4. Summary of Effect of Motor field resistance, R, on the system performance (minimum 50
words)
Hint: provide observation on the system performance in terms of speed of response and steady state
accuracy.

Based on
the data
above, it is
seen that
when we
adjusted

PART C: Post-LAB
Effect of the Motor Field Inductance, L, on the response performance

Goal: Investigate the effect of the motor field inductance, L, on the system response performance

Repeat the step response analysis with ONLY the motor field inductance is reduced to 1H and
increased to 20H.
 C.1. Present the MATLAB Codes for L = 1H and L = 20H
Code:
clc;
clear all;
close all;
R=10;
L1=1;
L2=10;
L3=20;
N=0.5; %Gears
K=10; %Amplifier
H=0.1; %Tachogenertor

%System one
num1=[1];
den1=[L1 R];
Motor_tf1=tf(num1,den1);
OL_sys1=K*Motor_tf1*N; %Series
CL_sys1=feedback(OL_sys1,H); %Feedback
stepinfo(CL_sys1)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys1); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%System two
num2=[1];
den2=[L2 R];
Motor_tf2=tf(num2,den2);
OL_sys2=K*Motor_tf2*N; %Series
CL_sys2=feedback(OL_sys2,H); %Feedback
stepinfo(CL_sys2)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys2); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%System three
num3=[1];
den3=[L3 R];
Motor_tf3=tf(num3,den3);
OL_sys3=K*Motor_tf3*N; %Series
CL_sys3=feedback(OL_sys3,H); %Feedback
stepinfo(CL_sys3)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys3); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%Three systems in one plot

stepplot(CL_sys1,CL_sys2,CL_sys3)
grid on
legend ('L=1','L=10','L=20')
C.2. Show the system Step response plots for all three cases (1H, 10H and 20H) on same graph
or use sub-plots for comparative view: [format, label, correctness and neatness]

C.3 Determine the Step Response Performance parameters

Time constant Rise time Settling time Steady state error

L = 1H 0.30 0.2092 0.3726 0.5239

L = 10H 0.30 2.0924 3.7258 0.5239

L = 20H 0.30 4.1848 7.4516 0.5239

L = 1H L = 10H L = 20H

C.4. Summary of Effect of Motor field inductance, L, on the system performance (minimum
50 words)
Hint: provide observation on the system performance in terms of speed of response and steady state
accuracy.

Based on
the data
above, it
can be seen
 PART D: Post-LAB
Effect of the Gear ratio, N, on the response performance

Goal: Investigate the effect of the gear ratio, N, on the system response performance

Repeat the step response analysis with ONLY the gear ratio, N is reduced to 0.1 and increased to 2.

D.1. Present the MATLAB Codes for N = 0.1 and N = 2 (Note: Show your codes to the
instructor.)
Code:
clc;
clear all;
close all;
R=10;
L=10;
%Gears
N1=0.1;
N2=0.5;
N3=2;
K=10; %Amplifier
H=0.1; %Tachogenertor

%System one
num1=[1];
den1=[L R];
Motor_tf1=tf(num1,den1);
OL_sys1=K*Motor_tf1*N1; %Series
CL_sys1=feedback(OL_sys1,H); %Feedback
stepinfo(CL_sys1)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys1); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%System two
num2=[1];
den2=[L R];
Motor_tf2=tf(num2,den2);
OL_sys2=K*Motor_tf2*N2; %Series
CL_sys2=feedback(OL_sys2,H); %Feedback
stepinfo(CL_sys2)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys2); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%System three
num3=[1];
den3=[L R];
Motor_tf3=tf(num3,den3);
OL_sys3=K*Motor_tf3*N3; %Series
CL_sys3=feedback(OL_sys3,H); %Feedback
stepinfo(CL_sys3)
%The steady state error
SP=1; %Input value, if you put 1 then is the same as step(sys)
[y,t]=step(SP*CL_sys3); %get the response of the system to a step with amplitude
SP
sserror=abs(SP-y(end)) %get the steady state error

%Three systems in one plot

stepplot(CL_sys1,CL_sys2,CL_sys3)
grid on
legend ('N=0.1','N=0.5','N=2')

D.2. Show the system Step response plots for all three cases (0.1, 0.5 and 2) on same graph or
use sub-plots for comparative view: [format, label, correctness and neatness]

D.3 Determine the Step Response Performance parameters

Time constant Rise time Settling time Steady state error

N = 0.1 0.06237 2.1753 3.8733 0.9010

N = 0.5 0.30 2.0924 3.7258 0.5239

N=2 1.049958 1.8308 3.2601 0.6665

N = 0.1 N = 0.5 N=2

D.4. Summary of Effect of the gear ration, N, on the system performance (minimum 50
words)
Hint: provide observation on the system performance in terms of speed of response and steady state

Changing
the gear
ration N
has
influenced
accuracy.

Summary of the system parameter changes on the first order system standard
parameters and response performance
Hint: complete the table below to present the summary of the system parameter changes on both the
first order standard parameters and step response performance

s/n System Effect on first order standard Effect on response performance :

parameters parameters, K and τ speed and steady state accuracy

1 R Decreases with the increase of R. Decreases with the increase of R.

2 L Constant with the increases or Increases with the increase of L.

decreases of L.

3 N Increases with the increase of N. Decreases with the increase of N.

Reference Materials:
(Provide reference to all materials used in this assignment)