Lab:5

To plot and analyze the responses of first order systems

for various test signals.
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 Title:To plot and analyze the responses of first order systems for
various test signals.
Apparatus:Trainer kit of linear system simulator, CRO, connecting
leads and multi-meter.
Objectives:
1. To study the behavior of first order system for different kind of
excitations.
2. To analyze the transient response of the system.
3. To analyze the steady state response of the system.
Theory:
1. Description of Trainer Kit:
This setup has been designed to provide a convenient means

Figure 1: Trainer Kit of Linear System Simulator

of studying the transient response of linear systems. There are
three built in sources in the unit:
Square wave :
:
Triangular :
:
Trigger :
:

Frequency 20 80Hz.
p-p amplitude 0 2Volt
Frequency 20 80Hz.
p-p amplitude 0 2Volt
Frequency 20 80Hz.
Amplitude 5Volt.

Following types of blocks have been included in the system:

2

(a) Error Detector-Cum-Gain: The block has three inputs(e1,e2 ,e3)and

one output (eo ) which are related by the expression
eo = K(e1 + e2 + e3)
where K is the gain. The value of K can be varied from 0
to 10 by a ten-turn potentiometer.
(b) Integrater: The integrator block has an approximate transfer function of the form Ks1 and is used in simulating type-1
systems.
(c) Time constant: The two time constant blocks in the system
2
have transfer functions of the form sTK+1
each. The second
block has an 5 option which results in a higher gain if
necessary.
(d) Disturbance Adder: This is a two input (e1 ,e2), one output
(eo ) block having a defining equation of the form
eo = (e1 + e2 )
(e) Amplifier: It is used to provide negative feedback.
2. Transient Analysis of LTI system
First order systems:
These systems are characterized by one pole and/or a zero. having common transfer function of the form K/s and K/(sT + 1).
Unit step response of the systems are computed as follows and

Figure 2: Unit Step Response of First Order Transfer Functions

are shown in Figure 2:
1. For C(s)/R(s) = G(s) = K/s and R(s) = 1/s
C(s) = K/s2
On taking inverse laplace transform we get c(t) = Kt
2. For G(s) = K/(sT + 1) and R(s) = 1/s
3

Figure 3: Square Wave Response of First Order Transfer Functions

C(s) = K/s(sT + 1)
On taking inverse laplace transform we get
c(t) = K(1 et/T )

(1)

Time constant of the system is defined from 1 as t=T which

gives
c(t) = K(1 e1) = 0.632K
3. Steady State Analysis of LTI system
Steady state performance of a stable system is governed by its
steady state error to step,ramp and parabolic inputs. Consider
R(s)

E(s)

+
B(s)

G(s)

C(s)

Figure 4: Unit Feedback System

the unity feedback system as shown in the Figure 4. Where R(s)
is input, C(s) is output, B(s) is feedback signal and E(s) is error
signal. The transfer function of the system is defined as:
C(s)
G(s)
=
R(s)
1 + G(s)
C(s) = E(s)G(s)
1
E(s) =
R(s)
1 + G(s)

(2)

The steady state error is calculated using final value theorem as

follows.
sR(s)
s0 1 + G(s)

ess = lim e(t) = lim sE(s) = lim

t

s0

(3)

The expression for steady state errors for various types of standard test signals are derived below:
4

(a) Unit step input : r(t) = u(t). Laplace Transform: R(S) =

1/s
From (3)
1
1
ess = lim
=
(4)
s0 1 + G(s)
1 + Kp
where Kp is defined as the position error constant.
(b) Unit ramp input : r(t) = t. Laplace Transform: R(s) =
1/s2
From (3)
1
1
1
= lim
=
s0 sG(s)
s0 s + sG(s)
Kv

ess = lim

(5)

where Kv is defined as the velocity error constant.

(c) Unit parabolic input : r(t) = t2 /2. Laplace Transform:
R(s) = 1/s3
From (3)
1
1
1
=
lim
=
s0 s2 + s2 G(s)
s0 s2 G(s)
Ka

ess = lim

(6)

where Ka is defined as the acceleration error constant.

Pre lab assignments:
1. Obtain the characteristic equation of typical first order system.
2. Differentiate between linear and nonlinear system.
3. On what factors the time constant of first order system depends
and how it affects the system performance.
Procedure:
1. Open loop response:
In this section open loop transfer function of the integrator and
time constant blocks are determined.
(a) Integrator
i. Apply 1 V p-p square wave input of known frequency
(f).
ii. Measure p-p output voltage of the integrator block.
iii. Calculate the gain constant K1 using the formula
K1 =
5

4f (Output p-p)
Input p-p

(7)

iv. Write the transfer function of the block.

v. Simulate the system in MATLAB and compare simulation and experimental results.
(b) Time constant
i. Apply 1 V p-p square wave of known frequency (f) to
the input of time constant block.
ii. Determine the time constant i.e. the time time t = T
at which the response reaches 63.2%.
iii. Determine the steady state value of the response.
iv. Find the value of K2 using formula
K2 =

p-p Steady state output

p-p Input amplitude

(8)

v. Write the transfer function of the block.

vi. Repeat the procedure for second time constant block.
vii. Simulate the system in MATLAB and compare simulation and experimental results.

2. Close loop response:

(a) First order system:
There are two forms of first order system possible in this
kit. these are shown in Figure 5.

(a) Type 0 System

(b) Type 1 System

Figure 5: Closed Loop First Order System

i. Make proper connections and apply 1 V p-p square wave
input.
ii. Calculate time constant and steady state error for different values of K.
iii. To calculate steady state error for type-1 system use 1
V p-p ramp input.
iv. Simulate the system in MATLAB and compare simulation and experimental results.

 Observations:
1. Open Loop 1st order type-0 system:

S.No.

Time Constant T (msec) C()p-p V ess = 1 C()V

2. Closed Loop 1st order type-0 system:

S.No.

Time Constant T (msec) C()p-p V ess = 1 C()V

3. Open Loop 1st order type-1 system:

S.No.

Time Constant T (msec) C()p-p V ess = 1 C()V

4. Closed Loop 1st order type-0 system:

S.No.

Time Constant T (msec) C()p-p V ess = 1 C()V

Post Lab Assignment:

1. Describe how operational amplifier can be used to develop first,
second and third order system.
2. List the references referred by you.