Assignment#2

Course Title : Control Systems

Course Code : EEE325
Class : BEE-6A
Teacher’s Name: Dr.Uzair Khan

SUBMITTED BY

Babar Ali : SP15-BEE-021

Amir Saeed : SP15-BEE-001
Akbar Hussain : SP15-BEE-008
Date : October10, 2017

COMSATS Institute of Information Technology

Abbottabad
 QUESTION#1

Plot the step function for the given “transfer function”. Discuss the behavior of each graph as well. The
system is given below:
1
G(s)=
𝑠+𝑝

Solution

 Matlab Coding:
In Table#1 code is given for Q#1.

clc
clear all
close all
num=1
denum=[1 1]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#1

Command window Results

In Table#2 Command window Results are shown.

Results:-
num =
1
denum =
1 1
Transfer function:
1
-----
s+1

Table#2
 OUTPUT GRAPH

Pole-Zero Map Step Response

1 1

0.8 0.9

0.6 0.8

0.4 0.7

0.2 0.6
Imaginary Axis

Amplitude
0 0.5

-0.2 0.4

-0.4 0.3

-0.6 0.2

-0.8 0.1

-1 0
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0 0 1 2 3 4 5 6
Real Axis Time (sec)

Figure#1 Figure#2

About Output Graph

From the very first graph it is clear that the system contains the imaginary axis, thus it is a stable
system.
 Now changing the value of pole more left

In Table#2 code is given

clc
clear all
close all
num=1
denum=[1 20]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#3

OUTPUT GRAPH

Step Response
Pole-Zero Map
0.05
1

0.8
0.045

0.6 0.04

0.4 0.035

0.2 0.03
Imaginary Axis

Amplitude

0 0.025

-0.2 0.02

-0.4 0.015

-0.6 0.01

-0.8 0.005

-1 0
-20 -18 -16 -14 -12 -10 -8 -6 -4 -2 0 0 0.05 0.1 0.15 0.2 0.25 0.3
Real Axis Time (sec)

Figure#3 Figure#4

About Graph

From this graph we have observed that as the value of pole more goes towards left it became stable
quickly.
 Now Taking the Pole at Right Side

In Table#4 code is given

clc
clear all
close all
num=1
denum=[1 -1]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#4

Command window Results

In Table#5 Command window Results are shown.

num =
1
denum =
1 -1
Transfer function:
1
-----
s–1

Table#5
 OUTPUT GRAPH

6
x 10 Step Response
Pole-Zero Map
3.5
1

0.8
3

0.6

2.5
0.4

0.2
Imaginary Axis

Amplitude
0
1.5
-0.2

-0.4 1

-0.6
0.5
-0.8

-1 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 5 10 15
Real Axis Time (sec)

Figure#5 Figure#6

About Graph

As we goes towards right it is observed that the system became unstable because it does not contain
imaginary axis.
 Now Shifting the Value of Pole more Right

In Table#6 code is given

clc
clear all
close all
num=1
denum=[1 -20]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#6

Command window Results

In Table#7 Command window Results are shown.

Results:-
num =
1
denum =
1 -20
Transfer function:
1
------
s - 20

Table#7
 Output Graph

5
Pole-Zero Map x 10 Step Response
1 4.5

0.8 4

0.6 3.5

0.4
3

0.2
Imaginary Axis

2.5

Amplitude
0
2
-0.2
1.5
-0.4
1
-0.6

0.5
-0.8

-1 0
0 2 4 6 8 10 12 14 16 18 20 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Real Axis Time (sec)

Figure#7 Figure#8

About Graph

As the pole moves more right it will shoot up more quickly.

 Task#2

Plot the step function for this ‘tf’ for different values of poles. The system is:
𝟏
G(s)=𝒂𝒔𝟐 +𝒃𝒔+𝒄

Solution

a) When 𝑏 2 − 4𝑎𝑐 > 0

In Table#8 code is given

clc
close all
clear all
num=1
denum=[1 4 1]
O=tf(num,denum)
step(O)
grid on
pzmap(O)

Table#8

Command window Results

In Table#9 Command window Results are shown.

num =
1
denum =
1 4 1
Transfer function:
1
-------------
s^2 + 4 s + 1

Table#9
 Output Graphs

Pole-Zero Map Step Response

1 1

0.8 0.9

0.6 0.8

0.4 0.7

0.2 0.6
Imaginary Axis

Amplitude
0 0.5

-0.2 0.4

-0.4 0.3

-0.6 0.2

-0.8 0.1

-1 0
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0 5 10 15 20 25 30
Real Axis Time (sec)

Figure#9 Figure#10

About Graph

When 𝑏 2 − 4𝑎𝑐 > 0 then there will be two poles on negative axis and the system will contain the
imaginary axis and it will be a stable system.
b) When 𝑏 2 − 4𝑎𝑐 = 0

In Table#10 code is given

clc
close all
clear all
num=1
denum=[2 4 2]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#10

Command window Results

In Table#11 Command window Results are shown.

num =
1
denum =
2 4 2
Transfer function:
1
---------------
2 s^2 + 4 s + 2

Table#11
 Output Graphs

Pole-Zero Map
Step Response
1
0.5

0.8 0.45

0.6 0.4

0.4 0.35

0.2
Imaginary Axis

0.3

Amplitude
0 0.25

-0.2 0.2

-0.4 0.15

-0.6 0.1

-0.8 0.05

-1 0
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0 0 1 2 3 4 5 6 7 8 9 10
Real Axis Time (sec)

Figure#11 Figure#12

About Graph

When 𝑏 2 − 4𝑎𝑐 = 0, the poles will be on negative with same position but the whole effect will be added
up and the system will go to the destination more quickly.
c) When 𝑏 2 − 4𝑎𝑐 < 0

In Table#12 code is given

clc
close all
clear all
num=1
denum=[3 2 4]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#12

Command window Results

In Table#13 Command window Results are shown.

num =

1
denum =

3 2 4

Transfer function:
1
---------------
3 s^2 + 2 s + 4

Table#13
 Output Graphs

Pole-Zero Map Step Response

1.5 0.35

1 0.3

0.25
0.5
Imaginary Axis

0.2

Amplitude
0

0.15

-0.5
0.1

-1
0.05

-1.5 0
-0.35 -0.3 -0.25 -0.2 -0.15 -0.1 -0.05 0 0 5 10 15
Real Axis Time (sec)

Figure#13 Figure#14

About Graph

When 𝑏 2 − 4𝑎𝑐 < 0 the poles will be exist on negative axis with conjugate pair form and the system
will be in the form of natural and damping frequencies.
d) When b=0:

In Table#14 code is given

clc
close all
clear all
num=1
denum=[2 0 2]
O=tf(num,denum)
step(O)
grid on
figure
pzmap(O)

Table#14

Command window Results

In Table#15 Command window Results are shown.

num =
1

denum =

2 0 2
Transfer function:
1
---------
2 s^2 + 2
Table#15
 Output Graphs

Step Response
1.2
Pole-Zero Map
1

1
0.8

0.6
0.8
0.4

0.2
0.6

Amplitude
Imaginary Axis

0
0.4
-0.2

-0.4 0.2

-0.6
0
-0.8

-1 -0.2
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500 600 700 800
Real Axis Time (sec)

Figure#15 Figure#16

About Graph

When b=0 the poles will be appear on imaginary axis in conjugate pair form. In this case the damping
frequency will be zero and there will be only natural frequency.