Department of Electrical Engineering

University of Engineering and Technology, Lahore

EE-340L Control Systems

Spring 2023

Experiment No. 3

System Analysis

CLOs Covered : CLO1 and CLO 2

Objective
The objective of this lab is to get familiarized with the basics of system analysis for control purposes.

Reference Material
Relevant portions of Modern Control Engineering 5th Edition by Katsuhiko Ogata

Once appropriate mathematical models of a system have been obtained, either in state-space or transfer function form,
we may then analyze these models to predict how the system will respond in both the time and frequency domains. To
put this in context, control systems are often designed to improve stability, speed of response, steady-state error, or
prevent oscillations. In this experiment, we will show how to determine these dynamic properties from the system
models. All the examples presented in this experiment are modeled by linear constant coefficient differential equations
and are thus linear time-invariant (LTI).

Task 1

a) What are transient and steady state responses of a linear dynamic system? How they are related to the
solution of the differential equations representing the dynamics of the systems as we have derived in the
experiment 2? What are the factors governing these responses?
b) What is the steady state output of the LTI systems if the input to the system is sinusoidal ?
c) How the frequency response of a system can be found from its transfer function?b-How the frequency
response translates to the Bode Plot and Nyquist Diagram? c-What is the difference and similarity between
these two?
d) What is meant by Bounded Input Bounded Output (BIBO) stability?
e) How can we determine the stability from the transfer function.
f) How the poles of the transfer function are related to state space.
g) Determine the stability of the system with transfer function 1/ s2 + 2s + 5 from transfer function and state space
approach. Verify your results in MATLAB.
h) What is meant by the order of a dynamic system?
Task 2
a) The general form of the first-order differential equation is as follows

Plot the unit step response and bode plot of the system using k_dc = 5 and T = 10 in MATLAB.
 b) MATLAB also provides a powerful graphical user interface for analyzing LTI systems which can be accessed
using the syntax linearSystemAnalyzer('step',G). If you right-click on the step response graph and
select Characteristics, you can choose to have several system metrics overlaid on the response: peak
response, settling time, rise time, and steady-state. Again the same results could be obtained using the Linear
System Analyzer GUI, linearSystemAnalyzer('bode',G).

Task 3
The canonical form of the second-order differential equation is as follows.

The canonical second-order transfer function has the following form, in which it has two poles and no zeros.

The parameters , , and characterize the behavior of a canonical second-order system.

Task 4
The transfer function model for the cruise control problem is given below.

The parameters used in this example are as follows:

(u) nominal control force 500 N

a) Determine response of the system to a step input force of 500 Newtons. This is the open loop response. Comment
on order, overshoot, oscillations, rise time and settling time. You will observe the rise time is much too slow, ~60 s.
Therefore, we need to design a feedback controller which speeds up the response significantly without negatively
affecting the other dynamic performance metrics. This will be done in coming experiments.

b) Calculate the system pole/s and plot on the s-plane using MATLAB. Comment on the stability of the system.

c) Show the system response for a range of values of b/m on a single graph with appropriate legends depicting the
values of b/m.
d) Can we control the system using its parameters instead of designing separate controllers.
e) Plot the frequency response of the system using MATLAB. What are the magnitude and phase at w = b/m and slope
at high frequencies. Compare these to the first order system studied in the introduction section.

Task 5
From the Experiment 2, the dynamic equations in the Laplace domain and the open-loop transfer function of the DC
Motor are the following.

a) Determine the transfer function using J = 0.01, b = 0.1, K = 0.01, R = 1 and L = 0.5 as parameters in a m file.

b) Add the linearSystemAnalyzer command at the end of the m-file and run it in the MATLAB command window.
You can access the Linear System Analyzer also by going to the APPS tab of the MATLAB toolstrip and clicking on
the app icon under Control System Design and Analysis. Plot the step response in such a way that the step response
plot should include data points for times from 0 to 5 seconds in steps of 0.1 seconds. You can view some of the system's
characteristics by right-clicking on the figure and choosing from the Characteristics menu such performance aspects
as Settling Time and Steady State. You can graphically see the location of the poles (and zeros) of the system from
within the Linear System Analyzer by right-clicking on the plot area and selecting Plot Types > Pole/Zero from the
resulting menu. What are the poles and zeros of the system.

c) Build a first-order transfer function with pole at the dominant pole of the system and steady-state value matching the
original transfer function. Import this new model into the Linear System Analyzer. This is accomplished by
selecting Import from the File menu at the top of the Linear System Analyzer window. From the resulting window
choose the new system from the Systems in Workspace area and then click the OK button. The Linear System
Analyzer will now show plots of both the systems. You can then switch back to step response plots by again
choosing Plot Types from the right-click menu. You can remove the plot annotations by right-clicking on the plot and
using the Characteristics submenu. You can also add a legend by clicking the legend icon on the toolbar. From the
above, we can see that a first-order approximation of our motor system is relatively accurate. The primary difference
can be seen at t = 0 where a second order system will have a derivative of zero, but our first-order model will not.
With a first-order system, the settling time is equal to

where is the time constant which in this case is 0.5. Therefore, our first-order model has a settling time of 2 seconds
which is close to the 2.07 seconds of our actual system.
c) In order to determine the system's specific response to other types of inputs, you can employ Simulink or the MATLAB
command lsim. Furthermore, you can simulate the system's response to other types of inputs straight from the Linear
System Analyzer. This is accomplished by right-clicking on the displayed plots and choosing Plot Types > Linear
Simulation. The following window will then appear. Within this window set the End time (sec) to "5" and the Interval
(sec) to "0.1". Then under the System inputs section of the window, you can import an input signal, or design one
from a select set of choices. In this instance, click the Design signal button and choose a Signal type of Sine
wave from within the window that appears. Then change the Frequency (Hz) to "0.2" and leave
the Amplitude and Duration (secs) as their default values. Then click the Insert button at the bottom of the Signal
Designer window and the Simulate button at the bottom of the Linear Simulation Tool window. The responses of our
two currently identified systems to the sine wave input are then produced in the Linear System Analyzer window. If
you double-click on the y-axis of the plot, you can then change the limits to match the figure shown below.

Task 6
From the Experiment 2, the dynamic equations in the Laplace domain and the open-loop transfer function of the DC
Motor are the following.

a) Plot the open loop response using J = 3.2284E-6, b = 3.5077E-6, K = 0.0274, R = 4 and L = 2.75E-6 as system
parameters.

b) Plot the step response using t = 0:0.001:0.2.

c) By looking at the response, Is the system BIBO stable? Why or Why not?

d) Verify the stability of a system using MATLAB command isstable and by determining the poles.

e) Write the transfer function of a system consisting only of a pole at origin? How that system will behave when the
system is given a step input? How this system is analogous to the system considered above?

f) Let's now consider the closed-loop response of the system where the system schematic has the following structure.

Using the MATLAB command feedback, determine the closed-loop transfer function for the above with the
controller C(s) simply set equal to 1. Determine the corresponding unit step response. The annotations for the peak
response, settling time, and final value can be added to the plot from the right-click menu under Characteristics.
Examining the above closed-loop step response, the addition of feedback has stabilized the system. In fact, the steady-
state error appears to be driven to zero and the overshoot is less than 16%, though the settle time requirement is not
met.

g) Use the command pzmap to plot the poles (and zeros).

Task 7

Consider the following system parameters.

(M1) 1/4 bus body mass 2500 kg

(K1) spring constant of suspension system 80,000 N/m

(K2) spring constant of wheel and tire 500,000 N/m

(b1) damping constant of suspension system 350 N.s/m

(b2) damping constant of wheel and tire 15,020 N.s/m

(U) control force

Since the distance X1-W is very difficult to measure, and the deformation of the tire (X2-W) is negligible, we will use
the distance X1-X2 instead of X1-W as the output in our problem. The road disturbance (W) in this problem will be
simulated by a step input. This step could represent the bus coming out of a pothole.

a) Determine the step response of the system using the above mentioned system parameters. From this graph of the
open-loop response for a unit step actuated force, we can see that the system is under-damped. People sitting in the
bus will feel very small amount of oscillation. Moreover, the bus takes an unacceptably long time to reach the steady
state (the settling time is very large).
b) Determine the response for a step disturbance input, W(s), with magnitude 0.1 m. From this graph of the open-loop
response for 10 cm step disturbance, we can see that when the bus passes a 10-cm bump on the road, the bus body
will oscillate for an unacceptably long time(~50 seconds) with an initial amplitude of 8 cm. People sitting in the bus will
not be comfortable with such an oscillation due to the large overshoot and long settling time.
The solution to these problems is to add a feedback controller into the system to improve the performance. The
schematic of the closed-loop system is the following, which will be discussed in much more detail in the controller
design experiments.
Task 8
From the Experiment 2, we derived the open-loop transfer functions of the inverted pendulum system as the following.

where

a) Determine the open-loop response of the inverted pendulum system using M = 0.5, m = 0.2, b = 0.1, I = 0.006, g =
9.8, and l = 0.3.

b) How the system responds to an impulsive force applied to the cart?

c) Use lsim command to simulate the response of the system to a 1-Newton step. Why the response is unbounded?

d) Identify some important characteristics of the system response using the lsiminfo command.
Task 9
From the Experiment 2, the dynamic equations in the Laplace domain and the open-loop transfer function of the aircraft
pitch dynamics are:

a) Determine the open loop step response of the system. Is the system stable? Support your conclusions by calculating
the poles of the system.
b) Add a feedback controller as shown in the figure below. Find the closed-loop transfer function with the controller C(s)
set equal to one using the MATLAB command feedback. Calculate the transfer function theoratically and compare
the two. Determine the step response of the system using pitch angle reference as 0.2 radian (11 degree).

c) Add the annotations for the rise time, settling time and final value to the plot from the right-click menu
under Characteristics. Is the system stable now? What about the rise time, settling time, steady-state error and
overshoot?

Task 10
The transfer function from the gear angle ( ) to the ball position ( ) for a ball and beam system.

a) Determine the step response using m = 0.111, R = 0.015, g = -9.8, L = 1.0, d = 0.03 and J = 9.99e-6 as system
parameters.

b) Determine the ball's response to a step input on the motor servo gear angle (1-radian step). Is the system stable?
Justify from the system response. Second your answer by calculating the system poles using MATLAB.
Laboratory Performance Rubrics
Excellent (100%) Good (80%) Satisfactory (60%) Needs Improvement (0%
– 40%)

Execution of Properly done the experiment Experiment results had Experiment results had Did not try to perform the
Lab Tasks and results shown to the minor issues but corrected issues and could not correct experiment, Participation
instructor. Used time well in lab on its own. Used time well. own its own. Did the lab but was minimal, or student
and focused attention on the Stayed focused on the did not appear very was hostile about
experiment. Routinely provides experiment most of the interested. Sometimes participating. Rarely
CLO 2 useful ideas when participating time. Usually provides provides useful ideas when provides useful ideas
in the group and in classroom useful ideas when participating in the group and in when participating in the
10 Marks per discussion. Actively looks for participating in the group classroom discussion. A group and discussion.
Task and suggests solutions to and in classroom satisfactory group member who May refuse to participate.
problems. discussion. does what is required.

Report Well defined problem with Well defined problem Well defined problem with Poorly defined problem
clear cut objectives and with clear objectives and clear objectives but not so with un-clear objectives
methodology methodology appropriate methodology and methodology
Results are relevant and Results are relevant but Results are somewhat Results are neither
CLO 1 presented in appropriate not presented in relevant but not presented in relevant nor presented
manner. appropriate manner appropriate manner appropriately
10 Marks Work is not summarised
Work is well summarised and Work is well summarised Work is summarised and
concluded and concluded concluded and concluded properly

Viva Well prepared with related Fairly prepared with Gone through the related Didn’t prepare the
theory concepts and related theory concepts theory concepts and could related theory concepts
CLO 1 accurately answered all and accurately not answer some questions. and could not answer
the questions. answered most of the questions.
10 Marks most of the questions.

Discipline Came in the lab in-time with Came late (within 5 min) Came late (more than 5 Came late (more than
full preparation, used time with full preparation, min), not properly prepared, 15 min), not
CLO 1 well and focused attention on used time well and did the lab but did not prepared at all, did
the experiment. Stayed in stayed focused on the appear very interested. A not look interested in
5 Marks seat and got up for a experiment most of the satisfactory student who does lab work, did not try to
specific lab-related reason, time. Stayed in seat and what is required. Got out of
took care of lab-related focus the attention
got up for a specific seat and wander around. toward lab task. Got out
business and sat down Had to be reminded to clean
lab-related reason. of seat and wander
right away. Kept the working Good job on cleaning up working area and around. Chased others,
area clean and in proper up working area and careless about the ran, or played
order. Lab is carried out handling the equipment use. Lab is carried
with full attention to around. Had to be asked
equipment. Lab is out with some attention to by teacher to keep
relevant safety procedures & generally carried relevant safety work area clean, did
directions. out with attention to procedures & directions. not clean up area or
relevant safety refused to clean up.
procedures & directions. Safety procedures were
ignored and did not
follow directions.