Experiment No.

03
TIME RESPONSE OF DYNAMIC SYSTEMS
1. Objective(s):
This activity aims to
1. demonstrate the use of computer aided tools to determine the poles and zeros, and the response of the system
to various inputs of dynamic systems;
2. equip the students with the knowledge and skills in obtaining the pole-zero plot, time response plot and
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. determine and, on the complex s-plane, plot the poles and zeros of a dynamic system;
2. plot the time response of, and interpret the time response characteristics of dynamic systems represented as
transfer functions; and
3. 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
whereA 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 secondorder system when certain conditions are met. These approximations can be validated using computer aided tools. This
activity shows the use of MATLAB and LabVIEW in obtaining the time response parameters of dynamic systems.
4. Resources:
To perform this activity, a computer workstation with MATLAB R2012a or higher and LabVIEW 8.6 or higher installed is
required. For MATLAB, the control systems toolbox is required and for LabVIEW, the control design and simulation
module.
5. Procedure:
Activity 2.1 Poles and Zeros

1. MATLAB. Use the command pzmap()to determine the poles and zeros, as well as plot the pole-zero map of a
system whose transfer function is defined in the object sys. Use the following format:
>> [p z] = pzmap(sys)
and MATLAB will return the location of the poles in vector p and the zeros in vector z, as well as a figure will show
the pole-zero map.
2. LabVIEW. Create a VI called act02-01.vi. Build the FP and BD as shown below.

For the Pole-Zero Map, set the upper and lower limits of the imaginary axs to +10 and -10 respectively, and
the real axis from +10 to -20. Then disable the autoscaling of the plot.

3.

Manually compute for the poles and zeros of the transfer function given in the table below, then plot them on the
complex s-plane. Complete the table below.
Transfer Function
Poles and Zeros
Pole-Zero Plot

G(s) =

4.

s + 2s + 2
s + 6s + 4s + 7s + 2

Use MATLAB and LabVIEW to determine the poles and zeros and to plot them on the complex s-plane. Record
the results below.
Transfer Function
Poles and Zeros
Pole-Zero Plot

In MATLAB:
G(s) =

s + 2s + 2
s + 6s + 4s + 7s + 2

-5.4917 + 0.0000i
-0.0955 + 1.0671i
-0.0955 - 1.0671i
-0.3173 + 0.0000i

In LabVIEW:
G(s) =

s + 2s + 2
s + 6s + 4s + 7s + 2

Q1.4(a)Complete the table below, using MATLAB and LabVIEW. Verify the results using hand calculations on
separate sheets of paper.
Q1.4(b) Using the poles and zeros obtained in the previous questions, write the general form of the step
responses of the system whose transfer functions are given below.
Q1.4(c) How does the location of the poles and zeros relate to the general form of the step response of the
system?
Activity 2.2 Time Response of Dynamic Systems
1. MATLAB. 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

2.

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.
LabVIEW. Replicate act02-01.vi and name the other copy as act02-02a.vi. Add components as shown below.

Q2.1(a) Use the MATLAB commands and the LabVIEW VI to complete the table below. On a separate sheet,
roughly sketch the time response of each of the system.
Q2.1(b) Comment on the results for the system (a) and (b). Check the values obtained using the VI with the
results of the formula. 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.
Q2.1(c) 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.
Q2.1(d) 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?
Q2.1(e) 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.
Q2.1(f) 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?
Q.2.1(g) Plot the responses of systems (a) through (o) on separate sheets of paper. Screenshots for such plots
may be provided.
3. Complex systems can also be modeled and simulated in MATLAB and LabVIEW. As an example the system whose
block diagram is shown below has the transfer functions G(s) =

and H(s) =

4. MATLAB. To obtain the closed-loop equivalent the above transfer function, use the command feedback(), as in the
following format
>> T = feedback(G,H)
whereT is the object representing the closed-loop transfer function, G is the forward transfer function and H the
feedback transfer function. Read more on the commandsfeedback(), as well as on the commands parallel() and
series() by using the help command of MATLAB.
Q4.1(a) Using MATLAB, determine the poles and zeros, plot and analyze the time response characteristics of
the system given above. Complete the table below.
5. LabVIEW. Modify act02-02a.vi and rename this as act02-02b.vi. Add a CD Construct Transfer Function.vi block
to define H(s) and connect G(s) with H(s) using the CD Feedback.vi. Use the Help to obtain more information
about the Model Interconnection palette.
Q5.1(a) Using LabVIEW, determine the poles and zeros, plot and analyze the time response characteristics of
the system given above. Complete the table below.

Course: ECE 006

Group No.: 5
Group Members: syms s\

Experiment No.:
Section:
Date Performed:
Date Submitted:
Instructor:

6. Data and Results:

Q1.4(a)Complete the table below, using MATLAB and LabVIEW. Verify the results using hand
calculations on separate sheets of paper.
Transfer Function
Poles and Zeros
Pole-Zero Plot
zero = 0
pole = -2
jkgh

G(s) =

2
s+2

zero = 0
poles:
Pi = -6
P2 = -3

G(s) =

5
(s + 3)(s + 6)

G(s) =

s+5
(s + 10)

zero = -5
pole1 = -10
pole2 = -10

G(s) =

s + 7s + 24s + 24
s + 10s + 35s + 50s + 24

G(s)
=

s + 2s + 10
s + 38s + 515s + 2950s + 6000

zero1 = -2.7306 + 2.8531i

zero2 = -2.7306 - 2.8531i
zero3 = -1.5388 + 0.0000i
pole1 = -4
pole2 = -3
pole3 = -2
pole4 = -1

zero1 = -1 + 3. 0000i
zero2 = -1 - 3.0000i
pole1 = -15
pole2= -10
pole3 = -8
pole4 = -5

Q1.4(b) Using the poles and zeros obtained in the previous questions, write the general form of the
step responses of the system whose transfer functions are given below.
Transfer Function
General Form of the Step Response

G(s) =

s + 2s + 2
s + 6s + 4s + 7s + 2

G(s) =

G(s) =

2
s+2

5
(s + 3)(s + 6)

G(s) =

s+5
(s + 10)

G(s) =

s + 7s + 24s + 24
s + 10s + 35s + 50s + 24

G(s)
=

s + 2s + 10
s + 38s + 515s + 2950s + 6000

Q1.4(c) How does the location of the poles and zeros relate to the general form of the step response
of the system?

Q2.1(a) Use the MATLAB commands and the LabVIEW VI to complete the table below. On a separate
sheet, roughly sketch the time response of each of the system.
Damping
Time Response Parameters
Ratio /
Transfer Function
Natural
%
Frequency
a)
G(s) =

5
s+5

b)
G(s) =

20
s + 20

c)
G(s) =

20
s + 6s + 144

d)
G(s) =

9
s + 9s + 9

e)
G(s) =

100
s + 100

G(s) =

225
(s + 15)

f)

g)
G(s) =

24.542
s + 4s + 24.542

h)
G(s) =

245.42
(s + 10)(s + 4s + 24.542)

i)
G(s) =

73.626
(s + 3)(s + 4s + 24.542)

j)
G(s) =

s+2
s + 3s + 36

G(s) =

s2
s + 3s + 36

k)

l)
G(s) =

s+3
(s + 2)(s + 3s + 10)

G(s) =

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

m)

n)
G(s) =

s + 2.1
(s + 2)(s + s + 5)

Q2.1(b) Comment on the results for the system (a) and (b). Check the values obtained using the VI
with the results of the formula. 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.

Q2.1(c) 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.

Q2.1(d) 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?

Q2.1(e) 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.

Q2.1(f) 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?

Q.2.1(g) Plot the responses of systems (a) through (o) on separate sheets of paper. Screenshots for
such plots may be provided.
Q4.1(a) Using MATLAB, determine the poles and zeros, plot and analyze the time response
characteristics of the system given above. Complete the table below.
Closed-loop Transfer Function
Poles and Zeros
Pole-Zero Plot

Time Response Characteristics

%

Time Response Plot

Q5.1(a) Using LabVIEW, determine the poles and zeros, plot and analyze the time response
characteristics of the system given above. Complete the table below.
Closed-loop Transfer Function
Poles and Zeros
Pole-Zero Plot

Time Response Characteristics

%

Time Response Plot

7. Conclusion:

8. Assessment:
1. In typical conventional aircraft, longitudinal flight model linearization results in transfer functions with two
pairs of complex conjugate poles. Consequently, the natural response for these airplanes has two modes
in their natural response. The short period mode is relatively well-damped and has a high-frequency
oscillation. The plugoid mode is lightly damped and its oscillation frequency is relatively low. For
example, in a specific aircraft the transfer function from wing elevator deflection to nose angle (angle of
attack) is (McRuer, 1973)
(s)
26.12(s + 0.0098)(s + 1.371)
=
(s + 8.99 10 s + 3.97 10 )(s + 4.21s + 18.23)
(s)
a. Determine the poles and zeros of this system and plot them on the complex s-plane.
b. Sketch the step response of the wing elevator deflection to a step nose angle input. Determine the
time response parameters.
c. On the plot of the response, label which is the short period mode and which is the phugoid mode.
Which of the poles cause the short period and the phugoid responses, respectively?
2. Assume that the motor whose transfer function is G(s) =

is used in a position control system.

a. Obtain the systems pole-zero plot, the type of the response of the system to the step input, the plot
of the step response, and obtain the systems damping ratio and natural frequency, and if applicable,
the settling time, percent overshoot, rise time and peak time.
b. It is wanted that the time response of the position control system be improved. In order to do just that,
an amplifier and a tachometer are inserted into the loop, as shown in the figure below. Investigate the
effects of the addition of the amplifier and the tachometer on the response of the system.

c. Find the values of K and K to yield a16% overshoot and a settling time of 0.2 seconds. Determine
the rest of the time response parameters

COURSE:____________________________
SECTION: ___________________________
INSTRUCTOR: ____________________________
EXPERIMENT NO.: ____________________
TITLE:
_______________________________________________

MEMBERS:
______________________________________________
________________________________________________________
________________________________________________________
________________________________________________________
________________________________________________________

PERFORMANCE
BEGINNER
INDICATORS
1
LABORATORY PERFORMANCE
Experimental Set-up
Members are unable to set-up the
materials.

ACCEPTABLE
2

PROFICIENT
3

Members are able to setup the

materials with supervision.

Time Management/
Conduct of Experiment

Members do not finish on time with

incomplete data.

Members finish on time with

incomplete data.

Cooperative and Teamwork

Members do not know their tasks and

have no defined responsibilities.
Group conflicts have to be settled by
the teacher.

Members defined responsibilities most

of the time. Group conflicts are
cooperatively managed most of the
time.

Neatness and Orderliness

Messy workplace during and after the

experiment.

Ability to do
independent work
Student Outcomes ( d1)
Conduct experiments in
accordance with good and
safe laboratory practice. (x2)
Operate equipment and
instruments with ease. (x2)

Members require supervision by the

teacher.

Clean and orderly workplace with

occasional mess during and after the
experiment.
Members require occasional
supervision by the teacher.

Members are able to setup the

material with minimum
supervision.
Members finish ahead of time
with complete data and time to
revise data.
Members are on tasks and
have defined responsibilities at
all times. Group conflicts are
cooperatively
managed at all times.
Clean and orderly workplace at
all times during and after the
experiment.
Members do not need to be
supervised by the teacher.

Members do not follow good and safe

laboratory practice in the conduct of
experiments.
Members are unable to operate the
equipment and instruments.

Analyze data, validate

The group has incomplete data.
experimental values against
theoretical values to determine
possible experimental errors,
and provide valid conclusions.
(x2)
Discussion of Results, Conclusion and Assessment Task

Members follow good and safe

laboratory practice most of the time in
the conduct of experiments.
Members are able to operate
equipment and instrument with
supervision.
The group has complete data but has
no analysis and valid conclusion.

Discussion of Results (x2)

Ideas are not in reference to the

result/data
gathered
during
experiment. Not clear, incomplete and
too short.

Ideas are in reference to result/data

gathered during experiment. Clear, but
not complete and too short.

Conclusion (x3)

Ideas are inappropriate to the

experiment objectives and intended
learning outcomes.
Not clear, incomplete and too short.

Ideas are somehow appropriate to the

experiment objectives and intended
learning outcomes.
Clear but not complete and too short.

Assessment Task

Answers to questions were incorrect.

Majority of the questions were

answered correctly.

Total
Mean score
Percentage score

Total score/17
(Total score/51) x 100%

Evaluated by:

CAYETANO D. HIWATIG
Printed Name and Signature of Faculty Member

Date

Members follow good and safe

laboratory practice at all times
in the conduct of experiments.
Members are able to operate
the equipment and instruments
with ease and with minimum
supervision.
The group has complete data,
validates experimental values
against theoretical values, and
provides valid conclusion.

Ideas are taken from the

result/data gathered during the
experiment.
Very clear, complete and
sufficient to form a discussion.
Ideas
are
very
much
appropriate to the experiment
objectives
and
intended
learning outcomes.
Very clear, complete and
sufficient to form a conclusion.
All questions were correctly
answered.

SCORE