Linear System Simulation

FIRST ORDER (TYPE 0) SYSTEM
( )
( )
( )
Where,
K Gain;
T Time constant
PROGRAM (Syntax)
FIRST ORDER SYSTEM STEP RESPONSE
% First Order System Step response [K/(sT+1)];
N=[K];
%Numerator Coefficients
D=[T 1];
%Denominator Coefficients
G=tf(N,D);
%Transfer Function
stepplot(G);
%Step response
If more than one TF use stepplot(G1,G2)
stepinfo(G);
%give details on step response
grid;
% Output plot having grid
title('G(s)=K/(sT+1)')
xlabel('TIME');
ylabel('STEP RESPONSE');
FIRST ORDER SYSTEM IMPULSE RESPONSE
% First Order System Impulse response [K/(sT+1)];
N=[K];
%Numerator Coefficients
D=[T 1];
%Denominator Coefficients
G=tf(N,D);
%Transfer Function
impulseplot(G);
%Impulse response
grid;
title('G(s)=K/(sT+1)')
xlabel('TIME');
ylabel('IMPULSE RESPONSE');
Note:
t = 0 : 0.1 : 1
% time scale from 0 to 1 in steps of 0.1
plot(x,y)
% Graph plot x axis vs y axis
plot((x1,y1),(x2,y2),(x3,y3))
% for multiple plots at same graph
gtext(text)
% to add text in plot line
Ex. No.:
DIGITAL SIMULATION OF FIRST & SECOND ORDER

SYSTEMS
Date:
AIM
To simulate time response characteristics of the first order and second order linear SISO
systems.
THEORY
General form of transfer function (Type n; Order - x)
( )
( )
( )
C(s) Response of the system

R(s) Input to the system
Input
r(t)
R(s)
Impulse
(t) =1 for t=0
Step
u(t) = 1 for t>0
1/s
Ramp
1/s2
Parabolic
t2/2
1/s3
First Order system

( )
( )
( )
( )
()
( )
[
( )]
()
For unit impulse input
), The output starts at (K/T) at t=0 and decreases
exponentially and reaches to zero as t

For unit step input
()
),
exponentially to a steady state value K as t

For unit ramp input
()
The output starts at zero for t=0, increases
SIMULATION
Simulation Blocks
SIMULATUION (MODEL)
Observation
C() Final Value, Rise time (50% of final value),Settling time, Time Constant.
Theoretical
Final Value c()
Rise Time
Settling Time
Time Constant
Steady State Error
Practical
Step Response Characteristics

Time Constant (T) Time taken for the step response to reach 63.2% of the final value K.
When the time constant is small, it reaches steady state quickly. As T increases response
becomes sluggish.
Rise time (tr) Time required to reach 90% of the final state.
Settling time (ts) Time required to reach 2% tolerance band (98% to 102%) of the final value.
PROCEDURE
1. Write a program for the given transfer functions.
2. Simulate it using MATLAB software.
3. Observe the waveforms and tabulate the observations.
STATE VARIABLE METHOD
SISO linear systems can be easily defined with transfer function analysis. The transfer
function approach can be linked easily with the state variable approach. The state model of a
linear-time invariant system is given by the following equations:
(t) = A X(t) + B U(t)
Y(t) = C X(t) + D U(t)
Where
State equation
Output equation
X [n x 1] State vector
U [m x 1] Input Vector
Y [p x n] Output Vector
A [n x n] System Matrix
B [n x m] Input Matrix
C [p x n] Output Matrix
D [p x m] Transmission Matrix
In Transfer function form T(s) = C [s I A] -1B + D

State Variable approach is a more general mathematical representation of a system,
which, along with the output, yields information about the state of the system variables at some
predetermined points along the flow of signals. It is a direct time-domain approach, which
provides a basis for modern control theory and system optimization. The state vector X
determines a point (called state point) in an n-dimensional space, called state space. The state
and output equations constitute the state model of the system.
STEP RESPONSE OF SECOND ORDER SYSTEM (STATE SPACE METHOD)

% Program Title
A=[1 0; 1 -1];
% A Matrix
B=[1;0];
% B Matrix
C=[0 1];
% C Matrix
D=[0];
% D Matrix
t=0:0.1:2
% Scale of the output plot
Step(A,B,C,D,t);
title(Title of the Experiment);
SIMULATION
Second Order Systems Observations

Time Constants
Theoretical
Practical
Rise Time - tr
Peak Time - tp
Peak Overshoot - %Mp
Settling Time - ts
Steady State Error - ess
Note:
To convert between State Space to Transfer function use command ss2tf
To convert between Transfer function to State Space use command tf2ss
MUX block can be used to merge two signals in one plot.
SECOND ORDER SYSTEM

( )
( )
( )
()
( )]
Damping Ratio
Unit Impulse Response
Underdamped
<1
Overdamped
)
(
>1
Unit Step Response
=1
Undamped
=0
Overdamped
)
(
Damping ratio
Critically damped
)
(
()
Time Domain Specifications

1. Delay Time (td)
It is the time taken for response to reach 50% of the final, for the very first time.
2. Rise Time (tr)
It is the time taken for response to raise from 10 to 90% for the very first time.
For under damped system, the raise time is calculated from 0 to 100% .
For over damped system it is the time taken by the response to raise from 10% to 90%
For critically damped system. It is the time taken for response to raise from 5% to 95%.
3. Peak Time(tp)
It is the time taken for the response to reach the peak value for the very first time.or It is
the time taken for the response to reach the peak overshoot, Mp.
Period of oscillations = 2tp
4. Peak Overshoot (Mp)

It is defined as the ratio of the maximum value measured from final value to final value.
It indicates relative stability of system.
Let final value =c()
Maximum value =c(tp)

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( )
( )
5. Settling Time (ts)

It is defined as the time taken by the response to reach and stay within a specified error.
It is usually expressed as % of final value. The usual tolerable error is 2% or 5% of the final
value.
(
(
6. Decay Ratio
The ratio of the amplitude of first two successive peaks about steady state value. (Second
overshoot amplitude / First overshoot amplitude)
7. Steady State Error (ess)

The error (difference) between input (or desired output) and actual output as t tends to
infinity.
()
RESULT
()
()
( )
( )

Linear System Simulation

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FIRST ORDER (TYPE 0) SYSTEM

%give details on step response

% Output plot having grid

% time scale from 0 to 1 in steps of 0.1

% Graph plot x axis vs y axis

% for multiple plots at same graph

% to add text in plot line

DIGITAL SIMULATION OF FIRST & SECOND ORDER

C(s) Response of the system

(t) =1 for t=0

u(t) = 1 for t>0

First Order system

For unit impulse input

), The output starts at (K/T) at t=0 and decreases

exponentially and reaches to zero as t

exponentially to a steady state value K as t

The output starts at zero for t=0, increases

Step Response Characteristics

STATE VARIABLE METHOD

In Transfer function form T(s) = C [s I A] -1B + D

STEP RESPONSE OF SECOND ORDER SYSTEM (STATE SPACE METHOD)

% Scale of the output plot

Second Order Systems Observations

SECOND ORDER SYSTEM

Unit Impulse Response

Unit Step Response

Time Domain Specifications

Period of oscillations = 2tp

4. Peak Overshoot (Mp)

Maximum value =c(tp)

5. Settling Time (ts)

7. Steady State Error (ess)

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