Control Systems Lab

P2

Submitted By:
Syed Muhammed Baqir Naqvi (170984)
Muhammed Inam Anwar (170966)
Qazi Ahasan Nawaz (171008)
Class/Sec: BEEP 5A
Submitted To: Engr. Hussain Asif
Instructor’s Remarks:

Submission Time: In Late in Working Days

Time 0 1 2 3 4 5

Marks: Total Marks Obtained Marks

Additional Remarks: _______________________________________

________________________________________________________

Instructor’s Signature: _____________

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 Lab No 9
Steady State Errors
1. Objectives:

To verify the effect of input wave forms over type 0, type 1 and type 2 function.

2. Procedures:
2.1. Type 0:
The type 0 eq is the one with no pole with value 0.

K (s+ 6)
G(s)=
( s +4 ) ( s+ 7 ) (s+9)( s+12)

2.1.1. With Step Input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

Results:

 When gain is 50.

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 As, s→0 in G(s) its equals to Kp which is determined to be finite value as observed in graph above.

 When gain is 5000.

However, higher gain pushes system towards instability ie higher overshoot, more oscillations etc, as
affirmed from graph above.

2.1.2. With Ramp Input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

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 Results:

 When gain is 50.

As, s→0 in G(s) its equals to Kv which is determined to be 0 so error is ∞ as observed in graph above.

 When gain is 5000.

Well, at high range of gain system shows some instability in term of oscillations but over all its value is
∞.

2.1.3. With Parabolic Input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
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  Above file holds gain of 50.
 File below holds gain of 5000.

Result:

 When gain is 50.

As, s→0 in G(s) its equals to Ka which is determined to be 0 so error is ∞ as observed in graph above.

 When gain is 5000.

Same sort of instability behavior to be observed at much higher gains.

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 2.2. Type 1:
 The type 1 eq is the one with one pole with value 0.

K ( s+6 ) (s +8)
G(s)=
s ( s+ 4 )( s+7 ) (s +9)( s+12)

2.2.1. With step input:

 First we develop our feedback response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

Results:

 When gain is 50.

As s→0 in sG(s) its equals to Kv which is determined to be ∞ so error is 0 as observed in graph above.

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 When gain is 5000.

However higher gain pushes system towards instability ie higher overshoot, more oscillations etc, as
affirmed from graph above.

2.2.2. With Ramp Input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

Results:

 When gain is 50.

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 As s→0 in sG(s) its equals to Kv which is determined to be finite so error is finite as observed in graph
above.

 When gain is 5000.

However higher gain pushes system towards instability ie higher overshoot, more oscillations etc, as
affirmed from graph above.

2.2.3. With Parabolic Input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

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 Results:

 When gain is 50.

As s→0 in sG(s) its equals to Ka which is determined to be 0 so error is infinite as observed in graph above.

 When gain is 5000.

Since, s→0 in sG(s) its equals to Ka which is determined to be 0 so error is infinite as observed in graph
above. But with some instability as because of higher gain as from graph it happens to be instable
overshoot.

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 2.3. Type 2:
The type 2 eq is the one with two pole with value 0.

K (s +1) ( s+6 )(s +8)

G(s)= 2
s ( s+ 4 )( s+7 )( s+ 9)(s +12)

2.3.1. With step input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

Results:

 When gain is 50.

As, s→0 in s2G(s) its equals to Ka which is determined to be infinite so error is 0 as observed in graph
above.

 When gain is 5000.

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 As, Response is same as with low gain i.e error is 0 but with eventually more frequency.

2.3.2. With Ramp input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

Results:

 When gain is 50.

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 As, s→0 in s2G(s) its equals to Ka which is determined to be infinite so error is 0 as observed in graph
above.

 When gain is 5000.

However, at higher gain type 2 system shows close approximation response to type 1 high gains ramp
input response.

2.3.3. With Parabolic Input:

 First we develop our feed back response on Simulink approach.
 As we know error response will be observed over the summing junction.
Simulink File:
 Above file holds gain of 50.
 File below holds gain of 5000.

Results:

 When gain is 50.

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 As, s→0 in s2G(s) its equals to Ka which is determined to be finite so error is finite as observed in graph
above.

 When gain is 5000.

However higher gain pushes system towards instability ie higher overshoot, more oscillations etc, as
affirmed from graph above.

2.4. Learning Outcomes:

 Different type of open loop systems shows different sort of behavior at all three type of inputs i.e
Step, Ramp and Parabolic.
 This behavior can be explained by following table.

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