PRESTIGE INSTITUTE OF ENGINEERING MANAGEMENT & RESEARCH

DEPARTMENT OF ELECTRICAL ENGINEERING

CONTROL SYSTEMS LABORATORY

Roll No: __________________ Date: _____________

Remarks if any, Signature of lecturer:

EXPERIMENT No.--3

Objective:
To determine the Time Response of 1st and 2nd order system using MATLAB
Simulink.

Theory:-
Whenever any standard known test signal is applied to the systems, it responds
according to design and nature of the system. This response is the function of time and
may be divided into two main parts:
(i) Transient Response: - This occurs just after the switching or after any
abnormal condition (due to fault or sudden change of load). This is the
function of system Transfer Function. This response is mainly due poles of
the system.
(ii) Steady State Response: - When the system becomes settled and starts its
normal working, that response is known as steady state response and is the
function of input. The portion of the response is mainly due to the poles of
the input or Forcing function.

Time Response of First Order Systems for Unit Step Input:-

A general expression of a 1st order system is given as,
C ( s) 1
 (3.1)
R ( s ) sT  1
1
 C ( s)  R( s ) (3.2)
sT  1
1
For unit step input, R ( s )  Figure 1 Block Diagram representation
s
of a 1st order system
1 1
Put R(s) in equation (3.2), C ( s ) 
s sT  1
Take partial fraction,
1 T 1 1
C (s)    
s sT  1 s s  1 / T
Take inverse Laplace Transform,
c(t )  1  e  t / T (3.3)

Figure 2 Time Response of 1st order system for Unit Step input
Error, e(t )  r (t )  c(t )  1  (1  e t / T )
 e t / T (3.4)

Steady State error, ess  Lim e t / T  0

t 

Time Response of Second Order Systems for Unit Step Input:-

A general expression of a second order system is given as,
C (s)  n2
 2 (3.5)
R( s ) s  2 n s   n2

Figure 3 Block Diagram of 2nd order Control System

For unit step function R(s) =1,
1  n2
C (s)  2
s s  2 n s   n2
Take Partial fraction,
1 s  2 n
C (s)   2
s s  2 n s   n2
1 s  2 n
Or C (s)   (3.6)
s ( s   ) 2   n2 (1   2 )

Put  d   n (1   2 ) ,
 1 s  2 n
C (s)   (3.7)
s ( s   ) 2   d2
Rearranging above equation,
1 s   n  d
C ( s)    n
s ( s   )   d  d ( s   ) 2   d2
2 2

Take inverse Laplace transform

 n nt
c(t )  1  e nt cos  d t  e sin  d t (3.8)
d

Since,  d   n (1   2 )
 n
c(t )  1  e nt cos  d t  e nt sin  d t
 n (1   ) 2

e nt
 1 [ (1   2 ) cos  d t   sin  d t ] (3.9)
(1   ) 2

Put sin   (1   2 ) and cos   

e nt
c(t )  1  [sin  cos  d t  cos  sin  d t ]
(1   2 )

e nt
c(t )  1  [sin( d t   )] (3.10)
(1   2 )

Since  d   n (1   2 )

e  nt   (1   2 ) 
c(t )  1  sin( n (1   2 )t  tan 1   (3.11)
(1   2 )    
 

Now, e(t)=r(t)-c(t) where, r(t)=1,

e nt   (1   2 )  
e(t )  sin( n (1   2 )t  tan 1   (3.12)

(1   ) 
2   
 

Steady state error,

  t   (1   2 )  
 e n sin( n (1   2 )t  tan 1     0
e ss  Lim 
t   (1   )
2
    
(3.13)
    

Case-I:   1 ; (Underdamped Response)
Case-II:   0 ; (Undamped Response)

From equation (3.11),

e ont   (1  0 2 )  
c (t )  1  sin( n (1  0 2 )t  tan 1  
(1  0 2 )   0 
 

 1  sin( n t  tan 1 )

 1  sin( n t   / 2)

c(t )  1  cos( n t ) (3.14)

Case-III:   1 ; (Critically damped Response)

From equation (3.10),
 e nt 
c (t )  Lim 1  [sin( n (1   2 )t )   )]
 1
 (1   2 ) 

 e nt 
c (t )  Lim 1  [sin( n (1   2 )t ) cos   cos( n (1   2 )t ) sin  )] (3.15)
 1
 (1   2 ) 

Now, cos    and sin   (1   2 )

 e nt 
c(t )  Lim 1  [sin( n (1   2 )t )  cos( n (1   2 )t ) (1   2 ) )] (3.16)
 1
 (1   2 ) 

Now,
  
Lim sin( n (1   2 )t )   n (1   2 )t
 1


Lim cos( n (1   2 )t )  1
 1

Put, in equation (3.16)
 e nt 
c(t )  Lim 1  [ n (1   2 )t  1  (1   2 ) )]
 1
 (1   2 ) 

 e nt 
 Lim 1  (1   2 ) ( n t  1)]
 1
 (1   2 ) 

c(t )  1  e nt (( n t  1)

Case-IV:   1 ; (Overdamped Response)

MATLAB PROBLEMS:-
1) 1st Order Systems
(i) Plot the Unit Step Response of the systems having Transfer Function G(s) =
1 1 1
a) b) c)
s 1 s2 s5
(ii) Plot the Unit step response of previous problem in 1 graph.
(iii) Plot the Unit step response of
1 2 5
, ,
s 1 s  2 s  5
2) 2nd order systems
Plot the Time response of the system-
1
(i) ;   0.5
s  s 1
2

1
(ii) ;  1
s  2s  1
2

1
(iii) ;  0
s 1
2

1 4
(iv) , 2 ;   0 ,  n  1,2
s 1 s  4
2

(v) State the difference between time response of,

1 1
;  1 & 2 ;   1 .5
s  2s  1
2
s  3s  1