University of Sana’a Analog Control System

MT311
Faculty of Engineering

Mechatronics Department

Lab6:
System Analysis(2)
Eng Mohamed Doba

14 – 05 - 2018
 Quiz-5
 Plot Speed – Torque Characteristics of Series DC motor using Matlab ?

Rs+Ra = 0.1
L = 0.5
Vt = 5
K=k1=kf=0.1
b = 0.1
J = 0.01

/ 

-T
  load/J
 System Analysis
 Steady-State Characteristics of the system.
 Time and frequency response.
 Stability.
 Type of the system response(First, second, higher order).
System Analysis(2)
 Contents:
 System Analysis
 Time Response Overview
 Time Response using Matlab
 Frequency Response Overview
 Frequency Response using Matlab
 Stability
 System Types
 First order system
 Second order system
 Higher order system
 DC Motor Model Analysis
 System Analysis
 After appropriate modeling of a system have been obtained, we may then analyze these
models to predict how the system will respond in both the time and frequency domains.

 Control systems are often designed to improve stability, speed of response, steady-state
error, or prevent oscillations, In this lab, we will show how to determine these dynamic
properties from the system models.
 Time Response Overview

 The time response represents how the state of a dynamic system changes in time

when subjected to a particular input.

 The time response of a linear dynamic system consists of the sum of the transient
response which
depends on the initial conditions
and the steady-state response 
which depends on the system
input.

 Impulse/Step/Ramp response.
 Time Response using Matlab

Example:
 Find Impulse/Step/Ramp response of the following transfer function:

Functions you may use:

1- tf('s')
step(transfer_function)
Impulse
 Frequency Response Overview
 Frequency response is a measure of magnitude and phase of the output as a function of
frequency, and is used to characterize the dynamics of the system.
 A Bode Plot is a useful tool that shows the gain and phase response of a given LTI system
for different frequencies.
 Frequency Response using Matlab

Example:
 Find the Bode Plot of the following transfer function:

Functions you may use:

1- tf('s')
bode(transfer_function)

2-
 Stability
 The Bounded Input Bounded Output (BIBO) definition of stability which states that a system
is stable if the output remains bounded for all bounded (finite) inputs.
 Practically, this means that the system will not "blow up" while in operation.

 Transfer function and stability:

- If all poles of the transfer function (values of s for which the denominator equals zero) have
negative real parts, then the system is stable.

- If any pole has a positive real part, then the system is unstable.
 Stability
 Position of the poles and stability:
If all poles of the transfer function (values of s for which the denominator equals zero) have
negative real parts, then the system is stable.
 Stability
Example:
 Find the poles of the following transfer functions, and determine the stability of the systems?

1- Functions you may use:

tf('s')
pole(transfer_function)
pzmap(transfer_function)
2- step(transfer_function)

3-
 System Types
 Type of system according to system response:
1- First order system
2- Second order system
3- Higher order system
 First-Order Systems
 The highest power of s in the denominator of its transfer function is 1.
 First-order systems are the simplest dynamic systems to analyze.
 First-Order Systems
DC Gain:
 Final Value Theorem demonstrates that the DC gain is the value of the transfer function evaluated at s =
0.

Time Constant:
 It represents the time scale for which the dynamics of the system are significant.
 It equal to the time it takes for the system's response to reach 63% of its steady-state value for a step
input (from zero initial conditions)

Poles/Zeros:
 First-order systems have a single real pole, in this case at s = -a.
 First-Order Systems
Settling Time:
 The settling time, T_s, is the time required for the system output to fall within a certain percentage (i.e.
2%) of the steady-state value for a step input.

Rise Time:
 The rise time, T_r is the time required for
the system output to rise from some lower
level x% to some higher level y% of the final
steady-state value. For first-order systems,
the typical range is 10% - 90%
 First-Order Systems
Example:
 Find the following characteristics:
1- Dc Gain.
2- Time constant.
3- Poles and zeros.
4- Impulse/Step/Ramp response.
5- Settling Time.
6- Rise Time.
7- Bode plot.
For the following transfer function:
 First-Order Systems
Example:
 Find the following characteristics:
1- Dc Gain.
2- Time constant.
3- Poles and zeros.
4- Impulse/Step/Ramp response.
5- Settling Time.
6- Rise Time.
7- Bode plot.
For the following transfer function:

Functions you may use:

linearSystemAnalyzer(transfer_function)
 Second-Order Systems
 The highest power of s in the denominator of its transfer function is 2.
 Second-order systems are commonly encountered in practice, and are the simplest type of dynamic
system to exhibit oscillations.
 Many true higher-order systems may be approximated as second-order in order to facilitate analysis.
 Second-Order Systems
DC Gain:
 Final Value Theorem demonstrates that the DC gain is the value of the transfer function evaluated at s =
0.

Damping Ratio:
 The damping ratio (zeta) is a dimensionless quantity characterizing the rate at which an oscillation in the
system's response decays due to effects such as viscous friction or electrical resistance.

Natural Frequency:
 The natural frequency (omega_n) is the frequency (in rad/s) that the system will oscillate at when there is
no damping, (zeta = 0).
 Second-Order Systems
Poles/Zeros:
 The canonical second-order transfer function has two poles at:

Settling Time:
 The settling time, T_s, is the time required for the system output to fall within a certain percentage of the
steady-state value for a step input.

Percent Overshoot:
 The percent overshoot is the percent by which a system's step response exceeds its final steady-state value.

Rise Time:
 The rise time, T_r is the time required for the system output to rise from some lower level x% to some
higher level y% of the final steady-state value.
 Second-Order Systems
Response types according to damping Ratio:
1- Underdamped Systems.
2- Critically-Damped Systems.
3- Over-Damped Systems.
4- Undamped Systems.
 Second-Order Systems
Underdamped
  Systems:
 If (< 1), then the system is underdamped. In this case, both poles are complex-valued with negative real
parts

Example:
Find the step response , and the zero-pole location of the following system:

k_dc = 1;
w_n = 10;
zeta = 0.2;
 Second-Order Systems
Critically-Damped Systems:
 If (zeta = 1), then the system is critically damped. Both poles are real and have the same magnitude

Example:
Find the step response , and the zero-pole location of the following system:

k_dc = 1;
w_n = 10;
zeta = 1;
 Second-Order Systems
Over-Damped Systems:
 If (zeta > 1), then the system is over-damped. Both poles are real and negative therefore, the system is
stable and does not oscillate.

Example:
Find the step response , and the zero-pole location of the following system:

k_dc = 1;
w_n = 10;
zeta = 1.2;
 Second-Order Systems
Undamped Systems:
 If (zeta = 0), then the system is undamped. In this case, the poles are purely imaginary therefore, the
system is marginally stable and the step response oscillates indefinitely.

Example:
Find the step response , and the zero-pole location of the following system:

k_dc = 1;
w_n = 10;
zeta = 0;
 DC Motor Model
From the transfer function the previous lab:

Find the following:

1- DC Gain.
2- Damping Ratio.
3- Natural Frequency.
4- Poles/Zeros.
5- Settling Time.
6- Rise Time.
7- Percent Overshoot.
8- Map of Poles/Zeros.
9- bode plot.
10 - Impulse/Ramp response
 Next lab:

Requirement from the students:

 Quiz to test your understanding for this lab

Subjects in the next lab:

 Introduction to System Control (Types of Control methods and their Action)
 References:

 https://www.mathworks.com/help/index.html
 http://ctms.engin.umich.edu/CTMS/index.php
 https://en.wikibooks.org
Any Questions ?!

By: Mohamed Doba

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