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Design
of Control Systems
Time Response
Rise Time
Peak Time
It follows
Maximum Overshoot
The maximum overshoot Mp occurs at the peak time
Thus from equation
Settling Time Ts
Delay Time
We define the delay time by the following approximate formula:
Example
Example
Transient-response analysis
with MATLAB.
Introduction
The practical procedure for plotting time response
curves of systems higher than second-order is
through computer simulation.
In this part, computational approach to the
transient-response analysis with MATLAB is
presented through various examples.
In state-variable form:
with the values of the matrices F, G, H and the constant J.
Or
By its transfer function:
Either in numerator-denominator polynomial form,
Or in pole-zero form
Or in partial expansion form
1
0
0
F
G
0 0.05
0.001
H 0 1
J 0
x(0) 2, x (0) 1
In state-variable form, it is described by:
1
0
0
F
G
10 5
0
H 1 0
J 0
x
X
x
2
X(t 0)
1
plot(t,y)
N ( s)
G( s)
D( s )
25
G ( s) 2
s 4s 25
num = [0 0 25];
den = [1 4 25];
step(num,den)
% defines numerator
% defines denominator
% generates plot of unit-step
response (with labels and title)
num = [0 0 50];
den = [1 0.2 1];
step(num,den)
unit step
% defines numerator
% defines denominator
% generates plot of 50-step
response (with labels and title)
num = [0 0 0 1];
den = [1 1 1 0];
step(num,den)
% defines numerator
% defines denominator
% generates plot of unit-step
response (with x- and y-labels)
1
G( s) 2
s 0.2s 1
num = [0 0 1];
den = [1 0.2 1];
sys=tf(num,den);
impulse(sys)
% defines numerator
% defines denominator
% defines system by its transfer
function
% generates plot of impulse response
Note: an alternative use of impulse
command is:
impulse(num,den)
Gnew ( s )
num = [0 1 0];
den = [1 0.2 1];
step(num,den)
unit step
G( s ) 2
2
s 2 0 s 0
2
0
damping
ratio
natural
undamped
frequency
[num0,den] = ord2(w0,damping_ratio);
num = 5^2*num0;
printsys(num,den,s)
% defines natural
undamped frequency
% defines damping ratio
% defines numerator
% prints num/den as a
ratio of s-polynomials
num/den =
25
s 2 4s 25
( s z1 )(s z2 ) ( s zm )
G( s)
( s p1 )(s p2 ) ( s pn )
step(num,den)
Kn
K1
K2
G( s)
s p1 s p2
s pn
s
s 1 s 3
r = [8/3 -3/2 -1/6];
p = [0 -1 -3];
K = [] ;
[num,den] = residue(r,p,K)
step(num,den)
% defines residues
% defines poles
% define additive constant
% convert partial expansion
form to polynomial form
% plots unit-step response
Note: to see ratio use
printsys(num,den,s)
Convertion
Transfer function:
[num,den] = ss2tf(F,G,H,J)
In num-den polynomial
form
[z,p,k]=tf2zp(num,den)
[z,p,k] = ss2zp(F,G,H,J)
In zero-pole form
[r,p,K]=residue(num,den)
State-variable form
Convertion
Transfer function:
[F,G,H,J] = tf2ss(num,den)
In num-den polynomial
form
[num,den]=zp2tf(z,p,k)
[F,G,H,J] = zp2ss(z,p,k)
In zero-pole form
[num,den]=residue(r,p,K)
State-variable form
Cosmetic
sys = ;
% defines system by
t = 0:0.2:100;
y = step(sys,t);
plot (t,y);
xlabel(t (sec));
ylabel(response)
25
G ( s) 2
s 6s 25
num = [0 0 25];
den = [1 6 25];
t = 0:0.5:5;
y = step(num,den,t);
plot(t,y,o,t,1,-);
% defines numerator
% defines denominator
% defines time vector
% computes unit-step response
% plot of unit step response y and
unit step input 1 using oooo and
---- symbols respectively.
25
G ( s) 2
s 6s 25
num = [0 0 25];
den = [1 6 25];
t = 0:0.5:5;
y = step(num,den,t);
plot(t,y,x,t,y,-);
% defines numerator
% defines denominator
% defines time vector
% computes step response
% plot of unit step response y
using -x-x-x-x- symbols