Experiment No.

04
TIME RESPONSE OF DYNAMIC SYSTEMS

1. Objective(s):
This activity aims to
1. demonstrate the use of Scilab to determine the response of the system to various inputs of
dynamic systems;
2. equip the students with the knowledge and skills in obtaining the time response 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.
2. Intended Learning Outcomes (ILOs):
At the end of this activity, the students shall be able to:
1. plot the time response of, and interpret the time response characteristics of dynamic systems
represented as transfer functions; and
2. design components of dynamic systems to achieve time response parameter objectives.
3. Discussion
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
c ( t ) =A + Be−at

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.
4. Resources:
To perform this activity, a computer workstation with Scilab is required. The control systems toolbox is
needed.
5. Procedure:
Time Response of Dynamic Systems
Scilab. 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.
Q1 Use Scilab commands to complete the table below. On a separate sheet, roughly sketch the time
response of each of the system.
Q2 Comment on the results for the system (a) and (b). Are the values for the damping ratio and the
natural frequencies valid? Comment also on the validity of the values for the peak time and percent
overshoot.
Q3 Comment on the results for the systems (c) through (f). Determine the form of the response with
respect to the value of the damping ratio.
Q4 Systems (g) through (i) have additional real poles, aside from two complex poles. Comment on the
results. Which exhibits a near second-order response? What is the relationship between the dominant
complex poles and the real third pole for a third-order system to exhibit an approximate second-order
response?
Q5 Systems (j) and (k) have zeros. Which of the system exhibit non-minimum phase behavior? Discuss
the non-minimum phase behavior based on the time response plot.
Q6 Systems (l) through (o) are systems with additional poles and with zeros. Which of these can be
approximated into a second-order response using pole-zero cancellation? What general rule can be
established which will allow such approximation?
Q7 Plot the responses of systems (a) through (o) on separate sheets of paper. Screenshots for such
plots may be provided.

Course: Experiment No.:

Group No.: Section:
Group Members: Date Performed:
Date Submitted:
Instructor:

6. Data and Results:

Q2.1(a) Use Scilab commands to complete the table below. On a separate sheet, roughly sketch the
time response of each of the system.
Damping Time Response Parameters
Transfer Function Ratio / Natural
Frequency Tr %OS Tp SSG Ts PV

a)

5
G ( s )=
s +5

b)

20
G ( s )=
s +20

c)

20
G ( s )= 2
s + 6 s +144

d)

9
G ( s )= 2
s + 9 s +9
e)

100
G ( s )= 2
s + 100

f)

225
G ( s )=
( s +15 )2

g)

24.542
G ( s )= 2
s + 4 s+24.542

h)

245.42
G ( s )=
( s +10 ) ( s 2+ 4 s+24.542 )

i)

73.626
G ( s )=
( s +3 ) ( s 2+ 4 s+24.542 )

j)

s+2
G ( s )= 2
s + 3 s+ 36
 k)

s−2
G ( s )= 2
s + 3 s+ 36

l)

s+3
G ( s )=
( s +2 ) ( s 2+3 s+10 )

m)

s+ 2.5
G ( s )=
( s +2 ) ( s 2+ 4 s+20 )

n)

s+2.1
G ( s )=
( s +2 ) ( s 2+ s+ 5 )

o)

s+2.01
G ( s )=
( s +2 ) ( s 2+5 s+20 )

p)

s 2 +2 s+10
G ( s )=
s 4 +38 s3 +515 s 2+ 2950 s+ 6000

Q2 Comment on the results for the system (a) and (b). Are the values for the damping ratio and the
natural frequencies valid? Comment also on the validity of the values for the peak time and percent
overshoot.
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Q3 Comment on the results for the systems (c) through (f). Determine the form of the response with
respect to the value of the damping ratio.
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Q4 Systems (g) through (i) have additional real poles, aside from two complex poles. Comment on the
results. Which exhibits a near second-order response? What is the relationship between the dominant
complex poles and the real third pole for a third-order system to exhibit an approximate second-order
response?
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Q5 Systems (j) and (k) have zeros. Which of the system exhibit non-minimum phase behavior? Discuss
the non-minimum phase behavior based on the time response plot.
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________________

Q6 Systems (l) through (o) are systems with additional poles and with zeros. Which of these can be
approximated into a second-order response using pole-zero cancellation? What general rule can be
established which will allow such approximation?
___________________________________________________________________________________
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___________________________________________________________________________________
___________________________________________________________________________________
___________________________________________________________________________________
___________________________________________________________________________________
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________________

Q7 Plot the responses of systems (a) through (o) on separate sheets of paper. Screenshots for such
plots may be provided.

7. Conclusion:
Assessment rubric for the conduct of laboratory experiments

Performance Indicators 1 2 3 Points

Members do not follow Members follow good Members follow good
Conduct experiments in good and safe and safe laboratory and safe laboratory
accordance with good and laboratory practice in practice most of the practice at all times in
safe laboratory practice. the conduct of time in the conduct of the conduct of
experiments. experiments. experiments.
Members are able to
Members are able to
Members are unable to operate the equipment
Operate equipment and operate equipment and
operate the equipment and instruments with
instruments with ease instrument with
and instruments. ease and with minimum
supervision.
supervision.
The group has
Analyze data, validate complete data,
The group has
experimental values against validates experimental
The group has complete data but has
theoretical values to determine values against
incomplete data. no analysis and valid
possible experimental errors, theoretical values, and
conclusion.
and provide valid conclusions. provides valid
conclusion.
Total Score
Mean Score = (Total Score /3)

Percentage Score = (Total Score / 9) x 100%