Lab 1 - Post Lab

Task 1

Exercise 1

a)
b)

Task 2
Exercise 2

a) This is unstable because all the real parts are positive.

b) This is marginally stable because poles have zero real parts and simple roots.
c) This is unstable because all the real parts are positive.

Task 3

Part 1 - Step and Impulse Responses of First Order and Second Order systems.
a)
b)

c)
d)

Exercise 3

a) This system is critically damped.

b) This system is over damped.
c) This system is over damped.

• Rise time of the systems changes as, 
(ii) < (i) < (iii)
• Settling time of the systems changes as,
(i) < (ii) < (iii)
Part 2 - Step Response using MATLAB Simulink.

Exercise 4
a) This is under damped.
b) This is under damped.

c) This is un-damped.
Review exercises
1)
• The time response of a control system mainly has two parts

𝑦(𝑡) = 𝑦𝑡(𝑡)+𝑦𝑚(𝑡)

𝑦(𝑡) = Time Response

𝑦𝑡(𝑡) = Transient response

𝑦𝑚(𝑡) = Steady-state response

• Transient response 𝑦𝑡(𝑡) is defined as the part where the time response that goes to zero
as the time becomes very large.

• Steady-state response 𝑦𝑚(𝑡) is the part of the system where the time response that remain
after the transient has been over.

• The important parameter is the steady state error(𝐸𝑠𝑠) , the steady state error is the error
when →∞ .
2)

a) T1(s) – Poles having negative real parts therefore the System is stable.

b) T2(s) – Poles having negative real parts therefore the System is stable.
c) T3(s) – Poles having zero real parts and also having simple roots therefore the System is
marginally stable.

d) T4(s) – Poles having positive and negative real parts, and the imaginary parts are zero
therefore the System is unstable.
3)

b
ζ=
√2km

The damping ratio is the ratio of the actual damping 𝑏 to the critical damping 𝑏𝑐=2√𝑘𝑚 . This is
a dimensionless quantity characterizing the energy losses in the system due to such effects as
viscous friction or electrical resistance.

In a second-order system,

• If the damping factor (𝜁)<1,

The system is underdamped, and the system will oscillate
.
• If the damping factor (𝜁)=1,
The system is critically damped

• If the damping factor (𝜁)>1,

The system is over-damped, and the oscillation is over (more like a first-order
system).

As the damping factor approach 0, the first peak becomes infinite in height