Kuwait University Electrical engineering department

EE 374 summer 2011

Report (2)

Identification of linear system parameters using step response

Student name: Enjy Nabawi Student ID: 208116768

 Theory:
For a first order system:
The plot for a first order system is shown in Fig.1 with the parameters T and K shown on the curve.

G(s) =Y(s)/R(s)=k /(Ts+1)

This would result in the differential equation:

Where y (t) is the output function and U (t) is the Input function which is a unit step, this results in the equation:

Dy (t ) +

y (t ) k = T T

Yielding the analogue circuit in Fig.2.

 For a second order system: The general equation for the second order systems transfer function

is:

n2 G ( s) = 2 s + 2 n s + n2

= y(s) / R(s)

Considering that the input is a unit step and solving for the differential equation results in: D2y (t) + (2n ) Dy (t) +n2y (t) = R(s) n2

D2y (t) =- (2n ) Dy (t)-n2y (t) - R(s) n2 This equation would be implemented by the analogue circuit in Fig.3

 Procedure:
Step Response for the Second Order System:*

n2 G ( s) = 2 = Y(s)/R(S) s + 2 n s + n
Part (A):
1) Given: let =3, = 0.3 & n= 3. 2) Apply these values in G(s) of second order system G(s) =27/(s^2+1.8s+9). 3) Convert G(s) to differential equation: (t)+1.8 (t)+9y (t)=27r (t). (t) = -1.8 (t)-9y (t)+27. This equation would be implemented by the analogue circuit

Vo1=-Rf [V1/R1+V2/R2]= -1 [-0.27 /1-0.9/1] = 0.27 +0.9y v Vo2= -Rf [Vo1/R3+V4/R4]= -1 [(0.27 +0.9y)/0.1-1.8/0.1] =-1.8 (t)-9y (t) +27 v

4) Make the connections on the analog computer like the block diagram. Adjust the potentiometer to the corresponding values in the circuit.

5) use the DMM to get the values: Yp=3.9 6) Use the Matlab to get the values:

= 1.94

a. A plot is shown below in Fig... b. Let =3, =0.3, n=3, unit step R(s) = 1 for the Matlab. c. This results in the transfer function: G(s) = [27 / (s2+1.8s + 9)]
Step Response 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0

Amplitude

3 Time (sec)

Part (B):
Given: let =2, = 0.2 & n= 2. 2) Apply these values in G(s) of second order system G(s) = 8 / ( s^2 + 0.8s + 4 ). 3) Convert G(s) to differential equation: (t) +0.8 (t)+4y (t)=8r (t). (t) = -0.8 (t) - 4y (t) + 4. This equation would be implemented by the analogue circuit

4) Make the connections on the analog computer like the block diagram.
Adjust the potentiometer to the corresponding values in the circuit. use the DMM to get the values: Yp=2.8 = 1.97 Use the Matlab to get the values: A) Plot is shown below in Fig... b) Let =3, =0.3, n=3, unit step R(s) = 1 for the matlab. c) This results in the transfer function: G(s) = [8/(s2+0.8s + 4)]
S ts e p R e p o n s e 3 2 . 5 Apu mt d l i e

1 . 5

0 . 5

0 0

0 . 5

1 . 5

2 . 5 T is m e ( e c )

3 . 5

4 . 5

Exercise :
Step Response for the First Order System:

G(s) =Y(s)/U(s) = k/ (Ts+1). Given: k = 8 & T = 4 Apply this values in G(s) of First order system G(s) =8 / (4s+1). Differential Eq.: +y(t)=8r(t). (t)= 2-0.25y >> n=[0 8]; >> d=[4 1]; >> step(n,d)
8

4(t)

Step Response

5 Amplitude

10 Time (sec)

15

20

25