Engineering@SP

ET0048/ET0163
Systems and Control
Case Study Report

I declare that this submission is original and it does not contain plagiarised content.

Adm No Name Signature

P2137757 ROBIN TEOH YAN QUAN

P2137715 IAN TAN

P2139308 GAN JIN JIE

DMRO/FT/3A/21
Class: ______________________ 17/11/2022
Date: _________________________

School of Electrical and Electronic Engineering

 Introduction

The purpose of this experiment is to analyse the transient response and steady-state error of
the first and second order systems using calculation through formula and MATLAB software.

Figure 1: Output of a first order system

After applying input to the control system, output will enter transient state as it takes certain
time to reach steady state. A steady-state error is defined as the difference between the
desired value and the actual value of a system when the response has reached the steady
state. The study of these two states yields a greater understanding of circuit functionality and
characteristic operational behaviour.
 1st Order System

First-order control systems are defined as control systems whose transfer function is a first-
order differential equation. The control of temperature is one of the most important groups
of a first order-controlled system. For example, an example of a first order system is
controlling the temperature of an oven.

Figure 2 Temperature control system of an oven

As the user set the oven to desired temperature, the thermostat in the oven will take note of
the temperature and provide the feedback to the oven controller. When the thermostat
reaches the desired temperature, it will send feedback to the oven controller and the oven
will stop the heating process, maintaining the temperature at the desired value.

Experiment
First, we form a first order system equation based on the general formula below. The number
of the formula (d1 – d7) will be generated based on the student admission number
Pd1d2d3d4d5d6d7

Figure 3: General transfer function

We will be using admission number of Ian Tan for this experiment, which is P2137715, and
the number of (d1 – d7) will be shown as below:

d1 d2 d3 d4 d5 d6 d7
2 1 3 7 7 1 5
Table 1 : Generate transfer function based on admission number

With the number obtained, we will be able to form our first order system equation by putting
the number into the general formula as shown:

Figure 4 : First order transfer function after inputting admission number

Analysis
For analysing this first order system, we will assume this is a closed loop transfer function of
a unity negative feedback and unit step response. We will be using two methods to obtain
the time constant (T) and the DC/system gain (g) of the system by using calculation and
MATLAB.

Calculation
To obtain the time constant (T) and Dc/system gain (g) of the first order system, we must
simplify our first order system equation into general formula for unity system gain first order
system format as shown:

𝐶 (𝑠 ) 1
= 𝐴
𝑅 (𝑠 ) 𝑇𝑠 + 1
Where:

• A is the DC gain
• T is the time constant of the system
To convert into first order system general form :
Gain (A)

125
( )
𝐶 (𝑠 )
=
125
= 189 1
𝑅(𝑠) 113𝑠 + 189 113 189
( )
189 𝑠 + 189 1
Time Constant (T)

DC/System gain (A) Time Constant (T)

125 113
= 0.6614 = 0.5978s
189 189

We will be able to find the steady state output and error based on the result found as shown
below:

Steady State Output (Css) Steady State Error (Ess)

𝐶𝑠𝑠 = 𝑅𝑠𝑠 𝑥 𝑔𝑎𝑖𝑛 𝐸𝑠𝑠 = 𝑅𝑠𝑠 − 𝐶𝑠𝑠

Where Rss = 1 as unit step response hence, Where Rss = 1 as unit step response hence,

𝐶𝑠𝑠 = 𝑔𝑎𝑖𝑛 𝐸𝑠𝑠 = 1 − 0.6614

= 0.6614 = 0.3386

MATLAB
To obtain the time constant (T) and Dc/system gain (g) of the first order system using MATLAB
software , we had to generate our first order system equation first using tf() function where
it contains the numerator and denominator of the equation and assign into variable g as
shown:
 Figure 5 : Defining transfer function in MATLAB using tf()

After constructing our equation, we will use ltiview command and import the variable “g” to
view the graph response of this equation:

Figure 6: Import transfer function “g” in ltiview

To obtain the time constant of the 1st order system , we have to change the properties of rise
time from 0% to 63.2% as shown below :
 Figure 7: Change properties to 63.2% to obtain Time Constant

From the graph we are able to obtain the time constant (T) and final value (Css) which is the
gain of this 1st order system as rss is 1 as shown:

Figure 8: First order system graph with characteristics shown

Time Constant Settling Time Steady State Output Gain Steady State Error
(T) (Ts) (Css) (A) (Ess)
1- 0.661
0.598s 2.34s 0.661 0.661
= 0.339
Table 2: Result of first order system analysis using MATLAB
 2nd Order system

Second-order control systems are defined as control systems whose transfer function is a
second-order differential equation.

Figure 9: Second order system example -RLC Circuit

One example of a second-order system is an electronic RLC circuit. An RLC circuit is

an electrical circuit consisting of a resistor (R), an inductor (L), and a capacitor (C), connected
in series or in parallel. The circuit forms a harmonic oscillator for current. RLC circuits have
many applications such as oscillator circuits and often used as radio receivers and television
sets for tuning to select a narrow frequency range from ambient radio waves.

Experiment
Using the same numbers from the first order system, we then form the Second Order system
equation where the number of the formula (d1 – d7) will be generated based on the student
admission number Pd1d2d3d4d5d6d7

Figure 10: General 2nd Order Transfer Function

We will be using admission 2137715, represented by (d1 – d7) as shown below:

d1 d2 d3 d4 d5 d6 d7
2 1 3 7 7 1 5

Table 3: Generate transfer function based on admission number

With the numbers obtained, we will then be able to form our Second Order system equation
by putting in the numbers into the general formula.

Figure 11: Second order transfer function after inputting admission number

Analysis
For analysis of the system, we will assume this is a closed loop transfer function of a unity
negative feedback and unit step response. We will be using two methods to obtain the
characteristics value of the system by using calculation and MATLAB.

Calculation
After obtaining the transfer function we have to convert it into the standard Second Order
system format:

Table 4 Standard equation for a 2nd Order system

Where ζ: the damping ratio of the system

ωn : the un-damped natural frequency
Thus, we have to divide both sides by 34 to make coefficient of 𝑠 2 be 1:
8 ÷ 34 8
=
34𝑠 2 + 8𝑠 + 9 ÷ 34 8 9
34(𝑠 2 + 34 𝑠 + 34)

From the system we can derive ζ and ωn to be:

9
ωn: √34 = 0.5144

8
ζ: ÷ 2 ÷ 0.5 = 0.2287
34

With the values derived we can then find the following variables:

Formula Calculation

π−β 𝜋−𝑐𝑜𝑠 −1 (0.2287)

Rise time (tr) = = 3.598s
ωn√1−ζ2 0.5144√1−0.22872

𝜋 𝜋
Peak time (tp) = = 6.274s
ωn√1−ζ2 0.5144√1−0.22872

Maximum −𝛇𝜋 −(0.2287)(𝜋)

⁄
Overshoot √1−ζ2 𝑒 √1−0.22872 X 100%
(Mp) = 𝑒 × 100%
= 47.8%

4
Settling time 4 = 34.01s
= 0.2287(0.5144)
(Ts 2%) ζωn
To find the Css (Output at Steady state) we would firstly have to find the gain of the system ,
we can determine the Rss of the system to be 1 as it is a unit step input.

8 8
Gain 8 9 𝑠 →0 =
34(𝑠 2 +34𝑠+34) 9

Rss 1

Formula Calculation

css = rss x Gain 8

1 x = 0.889
9

ess = rss - css 1 - 0.889 = 0.111

MATLAB
To obtain the 2nd Order transfer function we can directly import the numbers into the function
tf() where it contains the numerator and denominator of the equation and assign into variable
g as shown:

Where: tf ([Numerator] , [Denominator])

Figure 12: MATLAB Continuous-time Transfer function

After constructing our equation, we will use ltiview command and import the variable “g” to
view the graph response of this equation. To obtain the graph we firstly have to ensure that
the rise time is from 0 to 100% and that the settling time is within 2% criterion.

2% Criterion

Figure 13: MATLAB rise time form 0 - 100% and the 2% Criterion for settling time

From there we are able to view the graph of the transfer function, upon close inspection we
can obtain important information such as:

(Mp) 47.8%

(tp) 6.26s

t
(tr) 3.6s
(ts) 32.7s

t
T

i
Figure 14: Graph of Transfer function output and its respective variables

i
m
 Rise time (tr) Peak response (tp) Maximum Overshoot (Mp) Settling Time (ts)

3.6s 6.26s 47.8% 32.7 (2%)

Likewise, we can observe the values for Css and Rss as shown:

(Rss) = 1

(Css) = 0.889

Figure 15: Transfer function Css and Rss values

Css Rss ess

0.889 1 1 - 0.889 = 0.111

 Discussion & Analysis

1st Order System

Comparing the calculated value and the value obtained from MATLAB, we can conclude that
the values for the transient response and steady-state error of the first order system using
both methods are accurate, as they contain no percentage error.

Theoretical values Experimental (MATLAB) Percentage error%

Tc 0.5978 0.598 0%

Gain 0.6614 0.661 0%

Css 0.6614 0.661 0%

Ess 0.3386 0.339 0%

Table 5: Percentage error between theoretical values and experimental values for 1st order system

2nd Order System

As a result, for 2nd order system, we have obtained an almost 0% deviation from the
theoretical values variables compared to the experimental values created in the MATLAB
software, it proves that the formulars used to derive the answers for the theoretical values
are accurate in determining the actual values for the variable for an actual system.

Theoretical values Experimental (MATLAB) Percentage error%

tr 3.598 3.6s 0%

tp 6.274 6.26s 0%

Mp 47.8% 47.8% 0%

ts 34.01 32.7 3.85%

Css 0.889 0.889 0%

ess 0.111 0.111 0%

Table 6 : Percentage error between theoretical values and experimental values for 2nd order system
However, for the settling time we obtained a percentage error of 3.85%, it shows that the
formula used to obtain that theoretical value may have a slight deviation from the actual
values produced by the system as formula given might be just an estimation and thus is not
as accurate in finding the actual settling time.

Obtaining the damping ratio through calculation were ζ = 0.2287 we can also tell that the
graph would be an Under-damped response as it is within (0 < ζ < 1), this can be further
proven in the graph where an initial overshoot followed by a convergent oscillation can be
observed through MATLAB.

The table show the relation of the damping ratio and frequency of the system it will produce:

Figure 16: Relation of damping ratio and frequency of system

 Conclusion

In this report it discusses the two various orders the systems behave, which are first and
second order transfer function systems.

One key difference between a first order and a second order system is the fact that with a
first order system it doesn’t overshoot the Css line, compared to a Second order system where
tends to have an overshoot in the system.

With second order system having multiple overshoot their response will oscillate for some
time before reaching the output at steady state, this would not be the case for a first order
system where no overshoot occurs.

Figure 17: Different response based on the order of the system

References:

https://www.tutorialspoint.com/control_systems/control_systems_time_response_analysis
.htm
https://en.wikipedia.org/wiki/RLC_circuit
https://www.sciencedirect.com/topics/engineering/second-order-
system#:~:text=The%20second%2Dorder%20system%20is%20the%20lowest%2Dorder%20s
ystem%20capable,and%20the%20electronic%20RLC%20circuit.

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