Feedback and Control Systems

Activity No. 2 Time Response of Dynamic Systems Page 1

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Feedback and Control Systems

TIME RESPONSE OF DYNAMIC SYSTEMS

Activity No. 2
I. ACTIVITY OBJECTIVES
This activity aims to
1. demonstrate the use of computer aided tools to determine the poles and zeros, and the response
of the system to various inputs of dynamic systems;
2. equip the students with the knowledge and skills in obtaining the pole-zero plot, time response plot
and information, and determining the relationship of the time response parameters of the system in
relation to its pole location; and
3. provide the students with the knowledge of designing component values to meet time response
objectives and simulating the design to verify its correctness.

II. INTENDED LEARNING OUTCOMES

At the end of this activity, the students shall be able to:
1. determine and, on the complex s-plane, plot the poles and zeros of a dynamic system;
2. plot the time response of, and interpret the time response characteristics of dynamic systems
represented as transfer functions; and
3. design components of dynamic systems to achieve time response parameter objectives.

III. BACKGROUND INFORMATION

After obtaining a model of the system, the system is analyzed for its transient and steady-state responses.
It was learned in the discussion that the response of the system is highly dependent on the location of the
system poles. Thus, the location of the poles gives a vivid picture of the form of the response, as well as
how fast the response is.
For first-order system, or system with only one pole and no zero, the response has only one form and is
given as
at
c (t )= A+ B e
where A and B are the residues of the partial fraction expansion of the rational Laplace transform of the
response of the system. In the discussion, the parameters time constant, rise time and settling time are
defined, which are all dependent on the pole location a.
For second-order system, the response depends on the location of the poles also. In the discussion, a
second-order system with no zeros can have an overdamped, underdamped, undamped, or critically damped
response depending on the location of the poles. Two related specifications: the damping ratio and
the natural frequency are defined in order to relate these to the type of the response of the system.
Higher-ordered systems containing dominant complex poles as well as with zeros can be approximated as
second-order system when certain conditions are met. These approximations can be validated using
computer aided tools. This activity shows the use of MATLAB and LabVIEW in obtaining the time response
parameters of dynamic systems.
IV. RESOURCES NEEDED
To perform this activity, a computer workstation with MATLAB R2012a or higher and LabVIEW 8.6 or
higher installed is required. For MATLAB, the control systems toolbox is required and for LabVIEW, the
control design and simulation module.

V. LEARNING ACTIVITIES
Activity 2.1 Poles and Zeros
1. MATLAB. Use the command pzmap()to determine the poles and zeros, as well as plot the polezero
map of a system whose transfer function is defined in the object sys. Use the following format:
>> [p z] = pzmap(sys)
and MATLAB will return the location of the poles in vector p and the zeros in vector z, as well as a
figure will show the pole-zero map.
2. LabVIEW. Create a VI called act02-01.vi. Build the FP and BD as shown below.
For the Pole-Zero Map, set the upper and lower limits of the imaginary axs to +10 and -10
respectively, and the real axis from +10 to -20. Then disable the autoscaling of the plot.

3. Compute for the poles and zeros of the transfer function given in the table below, then plot them on
the complex s-plane. Complete the table below.

Transfer Function Poles and Zeros Pole-Zero Plot

s2 +2 s +2
G ( s )=
s 4 +6 s3 +4 s 2+ 7 s+ 2

4. Use MATLAB and LabVIEW to determine the poles and zeros and to plot them on the complex splane.
Record the results below.

Transfer Function Poles and Zeros Pole-Zero Plot

Q1.4(a)Complete the table below, using MATLAB and LabVIEW. Verify the results
using hand calculations on separate sheets of paper.
Transfer Function Poles and Zeros Pole-Zero Plot
MATLAB: MATLAB:

LabVIEW: LabVIEW:

MATLAB: MATLAB:

LabVIEW: LabVIEW:
MATLAB: MATLAB:

LabVIEW:
LabVIEW:

MATLAB: MATLAB:

LabVIEW: LabVIEW:

MATLAB: MATLAB:
 LabVIEW: LabVIEW:

Q1.4(b) Using the poles and zeros obtained in the previous questions, write the
general form of the step responses of the system whose transfer functions are given
below.
Transfer Function General Form of the Step Response
Q1.4(c) How does the location of the poles and zeros relate to the general form of the
step response of the system?

Activity 2.2 Time Response of Dynamic Systems

1. MATLAB. To obtain the step response parameters of systems represented by transfer function sys
use the command step() and stepinfo()which plots the step response of the system, and
provides the step response parameters of the system such as the settling time, rise time, peak time
and percent overshoot. Enter the commands in the following formats

>> step(sys)
>> stepinfo(sys)

The command damp()gives information on the poles of the transfer function, as well as the
associated damping ratio and natural frequencies. Enter the command in the following format

>> damp(sys)

The command ltiview() can also be used to plot the time response of linear systems. On the
command window, type in

>> help ltiview

for more information on this command. In this case, use the following format

>> ltiview({step,pzmap},sys)

to display the step response, as well as the pole-zero map of the transfer function sys.

2. LabVIEW. Replicate act02-01.vi and name the other copy as act02-02a.vi. Add components as
shown below.
Q2.1(a) Use the MATLAB commands and the LabVIEW VI to complete the table below.
On a separate sheet, roughly sketch the time response of each of the system.
Transfer Function Damping Ratio/ Natural
Frequency