Experiment No.

2
Defining linear -time invariant systems in TF (transfer function)
and ZPK (zero-pole-gain) forms.
Contents
1. Objective 1
2. Expected outcome of experiment 1
3. Equipment’s required 1
4. Theory 2
5. Exercise 4
6. Observation 4
7. Conclusion 4

1. Objective:

This experiment is not a comprehensive introduction or a reference manual. Instead, it focuses

on the specific features of MATLAB that are useful for control engineering experiments. The
lab sessions are used with one main goal: to allow students to become familiar with computer
software (e.g., MATLAB) to solve control application problems. This experiment is designed
to apply the knowledge gained from the experiment no. 1 to define the linear-time invariant
systems in TF and ZPK forms.

2. Expected outcome of the experiment:

1. Use of control system toolbox for defining the linear time invariant systems in various
forms.
2. Use of Simulink for defining the linear time invariant systems in various forms.

3. Equipment’s required:
This table shows equipment’s for one group

Sl. No Unit Quantity

1 Computer with compatible configuration 1
2 MATLAB Software 1
3 MATLAB license As required

4. Theory:
In order to simplify the commands, the Control System Toolbox can also use data-structures.
The Linear systems are represented by three main models: transfer function, zero-pole-gain
and state space models.

𝑠 𝑚 + 𝑏𝑚−1 𝑠 𝑚−1 + 𝑏𝑚−2 𝑠 𝑚−2 + ⋯ + 𝑏2 𝑠 2 + 𝑏1 𝑠1 + 𝑏0

𝐺𝑡𝑓 (𝑠) =
𝑎𝑛 𝑠 𝑛 + 𝑎𝑛−1 𝑠 𝑛−1 + 𝑎𝑛−2 𝑠 𝑛−2 + ⋯ + 𝑎2 𝑠 2 + 𝑎1 𝑠1 + 𝑎0

1
 (𝑠 − 𝑧1 )(𝑠 − 𝑧2 ) … (𝑠 − 𝑧𝑚 )
𝐺𝑧𝑝𝑘 (𝑠) = 𝑘
(𝑠 − 𝑝1 )(𝑠 − 𝑝2 ) … (𝑠 − 𝑝𝑛 )

𝒙̇ = 𝑨𝒙 + 𝑩𝒖
𝒚 = 𝑪𝒙 + 𝑫𝒖

Let the transfer function model is

2 2
𝐺(𝑠) = =
𝑠2 + 3𝑠 + 1 (𝑠 + 1)(𝑠 + 2)

The above defined G(s) transfer function can be defined as a LTI data-structure:

» num = 2

» den = [1, 3, 2]

» Gtf = tf(num,den)

Similarly, the other models can be defined.

» Gzpk = zpk([],[-1, -2],2)

» A = [-3, -1; 2, 0], B = [1; 0], C = [0, 1], D = 0

» Gss = ss(A, B, C, D)

The models can be converted to the other models.

» Gzpk1 = zpk(Gtf) : Conversion from transfer function (tf) to zero-pole-gain (zpk) form.

» Gss1 = ss(Gtf) : Conversion from transfer function (tf) to state space (ss) form.

» Gtf1 = tf(Gss) : Conversion from state space (ss) to transfer function (tf) form.

The models consist of parameters. The parameters can be listed by

» get(Gtf)

» get(Gzpk)

» get(Gss)

The parameters (properties) can be accessed too. The 'v' flag means that the result is in vector
format.

» [num1, den1] = tfdata(Htf, 'v')

or they can be accessed directly

2
» num2 = Htf.num{1}

Or

» p1 = Hzpk.p{1}(1)

» a1 = Hss.a

Simulink

When creating a new file and copying the different blocks, the parameters of the blocks should
be changed to the required values. SIMULINK uses the variables defined in the MATLAB
workspace.

To create a simulation in Simulink

o Start MATLAB.
o Start Simulink.
• Create the Simulink block diagram of linear time invariant systems as given and find
their responses.

5. Exercise: Following are the exercise questions but are not limited to.
5.1. Defining the transfer function form:
• For the following, transfer function given by
𝑠+2 𝑠−2 100 𝑠−1
𝐺(𝑠) = 𝑠+5; 𝐺(𝑠) = 𝑠+5; 𝐺(𝑠) = 𝑠2 +5𝑠+100; 𝐺(𝑠) = 𝑠2 +5𝑠+100

• Covert the transfer function model form into the zpk and state-space model form.

5.2. Defining the state space form:

• For the state equation given below.
̇
−20 −129 −290 1
𝑥̇ = [ 1 0 0 ] 𝑥 + [0 ] 𝑢
0 1 0 0
𝑦 = [0 0 1]𝑥

• For the same above system convert into the transfer function model form and the zpk
model form.

5.3. Create the Simulink block diagrams for the following.

1 100
𝐺(𝑠) = 𝑠+20 in series with 𝐻(𝑠) = 𝑠2 +5𝑠+50

3
6. Observation:
Save the responses (screenshots of programs and Simulink diagrams) after execution and
attach to your lab record.

7. Conclusion:
Write in your own words the conclusion of performing this experiment. Write about what you
learned from this experiment.