Modul 4 Transient and Steady-State Response Analyses

Modul Praktikum Sistem Kendali - D10H5103
Program Studi Teknik Elektro

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Departemen Teknik Elektro Fakultas - FMIPA UNPAD
MODUL 4
TRANSIENT AND STEADY-STATE RESPONSE ANALYSES
A. KOMPETENSI
Mampu memahami pentingnya menganalisis respon transien dan steady state dengan
menggunakan MATLAB.
B. SUBKOMPETENSI
Setelah mengikuti praktikum mahasiswa mampu menggunakan MATLAB untuk menganalisis
respon transien dan steady state.
C. TEORI DASAR
Transient Response and Steady-State Response. The time response of a control system
consists of two parts: the transient response and the steady-state response. By transient
response, we mean that which goes from the initial state to the final state. By steady-state
response, we mean the manner in which the system output behaves as t approaches
infinity.Thus the system response c(t) may be written as
(1)
where the first term on the right-hand side of the equation is the transient response and the
second term is the steady-state response.
Transient-Response Analysis With Matlab. The practicalprocedure for plotting time

response curves of systems higher than second-order is through computer simulation, In this
section we present the computational approach to the transient-response analysis with
MATLAB. In particular, we discuss step response, impulse response, ramp response, and
responses to other simple inputs
MATLAB Representation of Linear Systems. The transfer function of a system is

represented by two arrays of numbers. Consider the system
(2)
This system can be represented as two arrays, each containing the coefficients of the
polynomials in decreasing powers of s as follows:
An alternative representation is
In this expression a zero is padded. Note that if zeros are padded, the dimensions of "num"
vector and "den" vector become the same. An advantage of padding zeros is that the "num"
vector and "den" vector can be directly added. For example,
If num and den (the numerator and denominator of the closed-loop transfer function)
are known, commands such as
will generate plots of unit-step responses (tin the step command is the user-specified time.)
For a control system defined in a state-space form, where state matrix A, control matrix B,
output matrix C, and direct transmission matrix D of state-space equations are known, the
command
will generate plots of unit-step responses. The time vector is automatically determined when t
is not explicitly included in the step commands. Note that the command step(sys) may be used
to obtain the unit-step response of a system. First, define the system by
Or
Then, to obtain, for example, the unit-step response, enter
into the computer.

When step commands have left-hand arguments such as
MATLAB Program 4-1 is a program to plot two step-response curves for the input u, in one
diagram and two step-response curves for the input u, in another diagram. Figure 4-1 shows
the two diagrams, each consisting of two step-response curves.
Figure 4-1 Unit-step response curves. (a) u, is the input (u2 = 0); (b) u, is the input (u, = 0)
MATLAB Program 4-2. yields the rise time, peak time, maximum overshoot, and settling
time. A unit-step response curve for this system is given in Figure 4-2 to verify the Chapter 5 /
Transient and Steady-State Response Analyses results obtained with MATLAB Program 4-2.
Figure 4-2 Unit-step response curve.

Impulse Response. The unit-impulse response of a control system may be obtained by using
one of the following MATLAB commands:
MATLAB Program 4-3, we obtain a plot of the unit-impulse response of the system as
shown in Figure 4-3.
Figure 4-3 Unit-impulse response curve obtained as the unitstep response of sC(s) = s/(s2 + 0.2s + 1).
Ramp Response. There is no ramp command in MATLAB. Therefore, we need to use the
step command or the lsim command (presented later) to obtain the ramp response.
Specifically, to obtain the ramp response of the transfer-function system G(s), divide G(s) by s
and use the step-response command. For example, consider the closedloop system
(3)
For a unit-ramp input, R(s) = l/s2. Hence
(4)
To obtain the unit-ramp response of this system, enter the following numerator and denominator into
the MATLAB program
MATLAB Program 4-4. The plot obtained by using this program is shown in Figure 4-4.
Figure 4-4 Unit-ramp response curve
Response to Initial Condition. In what follows we shall present a few methods for obtaining
the response to an initial condition. Commands that we may use are "step" or "initial". We
shall first present a method to obtain the response to initial condition using a simple
example.Then we shall discuss the response to initial condition when the system is given
&state-space form. Finally, we shall present a command initial to obtain the response of a
system given in a state-space form. The motion of the mass m may be obtained as the unit-step
response of the followings ystem
(5)
MATLAB Program 4-5 will give a plot of the motion of the mass.The plot is shown in
Figure 4-5.
Figure 4-5 Response of Spring-Mass-Damper System to Initial Condition
Response to Initial Condition State-Space Approach. MATLAB commands to obtain the

response curves in one diagram are given next.
MATLAB commands to obtain the response curves (output curves yl versus t, y2 versus t, ... ,
ym versus t) are shown next.
Obtain the response of the system subjected to the given initial condition.
MATLAB program for obtaining the response may be given as shown in MATLAB Program
4-6. The resulting response curves are shown in Figure 4-6.
Figure 4-6 Response to Initial Condition
Obtaining Response to Initial Condition by Use of Command Initial. If the system is given
in the state-space form, then the following command
will produce the response to the initial condition. Suppose that we have the system defined by
Where
Then the command "initial" can be used as shown in MATLAB Program 4-7 to obtain the
response to the initial condition. The response curves x,(t) and x2(t) are shown in Figure 4-7.
They are the same as those shown in Figure 4-6.
Figure 4-7 Response curves to initial condition.
D. ALAT/INSTRUMENT/APARATUS/BAHAN
1. Personal Computer (PC)
2. Software MATLAB
E. KESELAMATAN KERJA
1. Pastikan personal computer (PC) telah terinstall dengan baik
2. Jangan mengubah-ubah setting pada system operasi PC
F. LANGKAH KERJA
The purpose of this section is to present a MATLAB solution to the response of a mechanical
vibratory system.
Mechanical Vibratory System. Consider the mechanical vibratory system shown in Figure 5-
35(a). A wheel has a spring-mass-damper system hanging from &.The wheel is in a track that
contains a flat (horizontal) portion, a slanted (downward at 45") portion, and another flat
(horizontal) portion. We start the motion of the system by nudging the wheel over the edge of
the ramp. As the wheel drops down the ramp for a total of 0.707 m (vertically measured),.the
mass m hanging from the spring and damper drops with it, and the mass gains momentum that
dissipates gradually. In this problem the wheel is assumed to slide on the slanted portion of the
track without friction. On the second flat portion of the track, the wheel slides and rolls.The
wheel continues to move on the flat portion of the track until it is stopped by an external
means.
Figure 5-35 (a) Wheel with hanging mass damper system; (b) dynamic response of the system.
Assume the following numerical values for m, b, and k:
Assume also that the mass m, of the wheel is negligible compared with the mass m. Obtain x(t), the
vertical motion of the wheel.Then obtain Y (s), the Laplace transform of y(t), which represents the up
and down motion of mass m.The coordinate y is attached to the spring-mass-damper system as
shown in Figure 5-35(a) and is measured from the equilibrium position of the system.The initial
conditions are that y(0) = 0 and y(0) = 0. Note that in this problem we are interested only in the
vertical motions of the spring- mass-damper system. Note also that the system is frictionless with
the exception of the damper, which relies on viscosity for its operation. As the spring-mass-damper
component travels down the ramp, it will undergo an acceleration produced as a result of the gravity
force. When the spring-mass-damper reaches the level region at the bottom of the ramp, a shock will
immediately be imposed on the spring-mass-damper component. It will, however, eventually come
to a state of equilibrium following the impact due to the settling effects of the damper and
spring.The dynamic response of this system is shown in Figure 5-35(b).
Determination of x(t). The system starts with zero initial velocity and follows the track. The input to
the system is the vertical position x along the track, and the output is the vertical position y of the
mass. Since we assume no sliding friction, referring to Figure 5-36(a) we have in the z direction the
following equation:
Figure 5-36 (a) Wheel with mass m slides on inclined plane; (b) curve x(t) versus t.
It follows that from t = 0.537 sec to t = CG we have an input defined by a constant of 0.707. The
position x at the end of the ramp is 0.707 and it takes 0.537 sec to get there. A curve x(t) versus t is
shown in Figure 5-36(b). Note that the positive direction of x(t) is vertically downward. To get a
better picture of the events taking place in the system, we need to look at the input, shown in Figure
5-36(b). The effects of gravity do not allow us to model the behavior of the system with an ordinary
ramp, but rather a parabolic function, which is followed by the input.
Determination of Transfer Function Y(s)/X(s). Next, we shall obtain the equation of motion for the
system and then the transfer function Y(s)/X(s). Since y is measured from the equilibrium position,
the system equation becomes
MATLAB Solution. Since the input consists of two different time functions (one is an acceleration
input and the other is a step input,) we shall use "lsim" command in this problem. Since
(There are 963 points from 0.538 sec through 1.5 sec, inclusive.) The next step is to transform both
inputs to one complete input:
(The two input equations are transformed into a single vector, in order to appear as a single entry in
the lsim command argument.) Now we can use the lsim command
and plot the response y(t) as well as the input x(t). A possible MATLAB program is shown in MATLAB
Program 5-18. Note that the plotted input and output functions are negated. The resulting curves x(t)
and y(t) are shown in Figure 5-37.
Figure 5-37 Curves -x(t) versus and -y(t) versus t.
Example:
Obtain both analytically and computationally the unit-step response of tbe following higher-order
system:
[Obtain the partial-fraction expansion of C(s) with MATLAB when R(s) is a unit-step function.]
Solution. MATLAB Program 5-19 yields the unit-step response curve shown in Figure 5-60. It also
yields the partial-fraction expansion of C(s) as follows
Hence, the time response c(t) can be given by

The fact that the response curve is an exponential curve superimposed by damped sinusoidal curves
can be seen from Figure
G. LATIHAN
Latihan 1
Obtain both analytical and computational solutions of the unit-step response of a unity-feedback
system whose open-loop transfer function is:
use matlab to get the computational solutions, and draw the unit step response curve
Latihan 2
When the closed-loop system involves a numerator dynamics, the unit-step response curve may
exhibit a large overshoot. Obtain the unit-step response of the following system with MATLAB:
Obtain also the unit-ramp response with MATLAB, and draw the unit step response curve and unit
ramp response curve.
Latihan 3
Consider a higher-order system defined by:

Using MATLAB, plot the unit-step response curve of this system. Using MATLAB, obtain the rise time,
peak time, maximum overshoot, and settling time.
H. TUGAS PENDAHULUAN
1. What does it mean by routh stability criterion? and explain the procedure!
2. What does it mean by Static Velocity Error Constant and Static Acceleration Error Constant?
And explain the stady state error for each Input (velocity and Acceleration)
3. Consider the mechanical system shown in Figure Suppose that the system is at rest initially
[ (0) = 0, ẋ(0) = 0], and at t = 0 it is set into motion by a unit-impulse force. Obtain a mathe-
matical model for the system.Then find the motion of the system.
4.
When the system shown in Figure (a) is subjected to a unit-step input, the system output
responds as shown in Figure (b). Determine the values of K and T from the response curve.

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Modul Praktikum Sistem Kendali - D10H5103

Program Studi Teknik Elektro

Transient-Response Analysis With Matlab. The practicalprocedure for plotting time

MATLAB Representation of Linear Systems. The transfer function of a system is

Then, to obtain, for example, the unit-step response, enter

into the computer.

Figure 4-2 Unit-step response curve.

Figure 4-4 Unit-ramp response curve

Figure 4-5 Response of Spring-Mass-Damper System to Initial Condition

Response to Initial Condition State-Space Approach. MATLAB commands to obtain the

Figure 4-6 Response to Initial Condition

Figure 4-7 Response curves to initial condition.

Figure 5-37 Curves -x(t) versus and -y(t) versus t.

Hence, the time response c(t) can be given by

Consider a higher-order system defined by:

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