Department of Electrical

Engineering
Faculty of Engineering & Applied Sciences
Riphah International University, Islamabad, Pakistan

Program: B.Sc. Electrical Engineering Semester: VI

Subject EE-345 Linear Control System Date: …………….

Experiment 10: Effect on response of control system with movement of poles

Performance Lab Report

Description Total Marks Description Total Marks

Marks Obtained Marks Obtained
Ability to conduct 5 Organization/Structure 5
Experiment
Simulation & 5 MATLAB Code & 5
Results Results
Total Marks obtained

Remarks (if any): ………………………………….

Name & Signature of faculty: ………………………………

Second Order (Under-damped) response parameters

In our previous lalb, we have defined two parameters associated with second-order systems, ζ and ωn.
Other parameters associated with the underdamped response are rise time, peak time, percent
overshoot, and settling time, defined as follows:

1. Rise time, Tr . The time required for the waveform to go from 0.1 of the final value to 0.9 of the final
value.

2. Peak time, TP. The time required to reach the first, or maximum, peak.

3. Percent overshoot, %OS. The amount that the waveform overshoots the steady-state, or final, value at
the peak time, expressed as a percentage of the steady-state value.

4. Settling time, Ts. The time required for the transient’s damped oscillations to reach and stay within
±2% of the steady-state value.
All definitions are also valid for systems of order higher than 2, although analytical expressions for these
parameters cannot be found unless the response of the higher-order system can be approximated as a
second-order system

Given the general second order equation as

with roots at

Peak Time Tp , Settling Time TS , and Over shoot percentage OS% can be calculated as

We now have expressions that relate peak time, percent overshoot, and settling time to the natural
frequency and the damping ratio. Now let us relate these quantities to the location of the poles that
generate these characteristics.

The pole plot for a general, underdamped second-order system can be drawn as

We see from the Pythagorean theorem that the radial distance from the origin to the pole is the natural
frequency, ωn, and the cos θ = ζ.
We can evaluate peak time and settling time in terms of the pole location as
Tp is inversely proportional to the imaginary part of the pole. Since horizontal lines on the s-plane are
lines of constant imaginary value, they are also lines of constant peak time.

Ts settling time is inversely proportional to the real part of the pole. Since vertical lines on the s-plane
are lines of constant real value, they are also lines of constant settling time.

since ζ = cos θ, radial lines are lines of constant ζ. Since percent overshoot is only a function of ζ, radial
lines are thus lines of constant percent overshoot, %OS.

Figure above shows Lines of constant peak time, Tp, settling time, Ts, and percent overshoot, %OS.
Note: Ts2 < Ts1 ; Tp2 < Tp1; %OS1 < %OS2.

Now using the concepts shown in the above diagram, we can understand how the response of the
system will change if the poles were to move in any of these three directions.

Following image shows the effects of these three movements on the system response
Step responses of second-order underdamped systems as poles move: a. with constant real part; b. with
constant imaginary part; c. with constant damping ratio

LAB TASK

Task 1
 1. Define following systems in MATLAB

29 41 61
G1 = 2 G2 = 2 G3 = 2
s + 4 s+29 s + 8 s+ 41 s + 12 s+61

2. Find zeros and poles of each of the system above, and plot the poles on a single figure.
3. Plot step response of each of the systems above on the same figure.
4. Write down the peak time of each of the system, and comment on your findings

Task 2

1. Define following systems in MATLAB

34 109 234
G4 = 2 G5 = 2 G6 = 2
s + 6 s +34 s + 6 s +109 s + 6 s +234

2. Find zeros and poles of each of the system above, and plot the poles on a single figure.
3. Plot step response of each of the systems above on the same figure.
4. Write down the peak time of each of the system, and comment on your findings

Task 3

1. Design 3 system with same % overshoot

a. Select appropriate zeros/pole’s location.
b. Define MATLAB transfer function.
i. You might have to choose an appropriate k value.
c. Plot poles and zeros on a single figure for all three systems.
d. Plot step response of three systems on a single figure.
e. Report the percent overshoot of all three systems.