Lab 2 – MECH 4310.

002
Josiah Rohne
Kingslea Stringham

1.1 Step Response

Step Response to Unit Step Input

0.09
Constructed Function
Matlab Function
0.08

0.07

0.06

0.05
y(t)

0.04

0.03

0.02

0.01

0
0 1 2 3 4 5 6 7 8 9 10
t
1.2 Impulse Response
Impulse Response
0.3
tau = 10
tau = 5
tau = 1
0.25 tau = 0.5
tau = 0.01
Matlab Function

0.2

0.15
[x1,x2]

0.1

0.05

-0.05
0 1 2 3 4 5 6 7 8 9 10
t

1.3 Matlab Functions

State Space of Step Response
0.09

0.08

0.07

0.06

0.05
y(t)

0.04

0.03

0.02

0.01

0
0 1 2 3 4 5 6 7 8 9 10
t
 State Space of Impulse Response
0.3

0.25

0.2

0.15
y(t)

0.1

0.05

-0.05
0 1 2 3 4 5 6 7 8
t

1.4 Linearity of Response

Linearity of Response: Unit Step
0.1
tau = 1
step up
step down
combined step up and down

0.05

0
y(t)

-0.05

-0.1

-0.15
0 1 2 3 4 5 6 7 8 9 10
t
  The plot above demonstrates linearity, which can be visually observed by the graph. The
plot of a unit step up is shifted up compared to the standard tau = 1 graph. Likewise, the
step down plot is shifted down from the standard tau = 1 graph. The combined step up
and step down plot originally goes above the standard tau = 1 graph, then it drops
below the standard tau = 1 graph between t=1 and t=2.

1.5 Effect of the Numerator

Effects of Numerator
0.9
N=1
N=2
0.8 N=10

0.7

0.6

0.5
y(t)

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
t

 The numerator affects the amplitude of the oscillatory behavior and the steady-state
value. For example, based on the graph above, a numerator of 10 has a much larger
amplitude and steady-state value than a numerator of 2 or 1.
 Numerator for SS = 1
1.5

1
y(t)

0.5

0
0 1 2 3 4 5 6 7 8 9 10
t

 Using trial and error, we determined the numerator needed to be 17 in order to

produce a steady-state value of 1 as time approached infinity. This can be seen by the
graph “damping out” to a final value of 1.
 We also used the “dcgain” function in MATLAB to prove that the numerator needed to
be 17.
 Introduction of Zero in TF
4
z = -10
z = -5
z = -2
3 z = -1
z=1
z=2
z=5
2 z = 10

1
y(t)

-1

-2

-3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t

 The graph above depicts second degree ODE behavior when the transfer function
contains a zero “z” in the numerator. The location of this zero affects the amplitude of
the oscillatory behavior and determines if the function increases or decreases when
time begins.
 Note that the stability does not change as the zero changes. With the correct coefficient
in the numerator, we were able to make all of the graphs approach a steady state value
of one as time approaches infinity.
 Note that a positive z value causes the graph to increase right after time begins, and a
negative z value causes the graph to decrease right after time begins.
1.6 Reduced Order Models
Step Function Impulse Function
0.25 3
Original Function Original Function
Reduced Function Reduced Function

2.5
0.2

0.15
1.5
y(t)

y(t)
1
0.1

0.5

0.05
0

0 -0.5
0 1 2 3 0 1 2 3
t t

 The reduced order function provides a good representation of the ODE for a step
function but not an impulse function. As you can see by the plots above, both the
original function and reduced function start at y = 0 when t = 0. However, the reduced
function appears to begin at a much higher value than the original impulse function.
This is due to the fact that the impulse function is an infinite “y” value for an
infinitesimally small “t” value.
1.7 Frequency Response