Experiment No.
03
POLES AND ZEROS OF DYNAMIC SYSTEMS
1. Objective(s):
This activity aims to
1. demonstrate the use of Scilab to determine the poles and zeros
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
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. obtain the general form of the step response
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−at
where A 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 second-order system when certain conditions are met. These approximations can be validated using
computer aided tools.
4. Resources:
To perform this activity, a computer workstation with Scilab is required. The control systems toolbox is
needed.
5. Procedure:
Poles and Zeros
1. Scilab. Use the command plzr()to plot the pole-zero map of a system whose transfer function is
defined in the object P. Use the following format:
>> plzr(P)
2. 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
s 2+2 s+2
G ( s )=
s 4 +6 s3 + 4 s 2 +7 s +2
3. Use Scilab 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
s 2+2 s+2
G ( s )=
s 4 +6 s3 + 4 s 2 +7 s +2
Q3.1 Complete the table below using Scilab. Verify the results using hand calculations on separate
sheets of paper.
Transfer Function Poles and Zeros Pole-Zero Plot
2
G ( s )=
s +2
Transfer Function Poles and Zeros Pole-Zero Plot
5
G ( s )=
( s +3 ) ( s+ 6 )
s+5
G ( s )=
( s +10 )2
s3 +7 s2 +24 s+24
G ( s )=
s 4 +10 s3 +35 s 2 +50 s+ 24
s 2 +2 s+10
G ( s )=
s 4 +38 s3 +515 s 2+ 2950 s+ 6000
Q3.2 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
2
G ( s )=
s +2
5
G ( s )=
( s +3 ) ( s+ 6 )
s+5
G ( s )=
( s +10 )2
Transfer Function General Form of the Step
Response
s3 +7 s2 +24 s+24
G ( s )=
s 4 +10 s3 +35 s 2 +50 s+ 24
s 2 +2 s+10
G ( s )=
s 4 +38 s3 +515 s 2+ 2950 s+ 6000
Q3.3 How does the location of the poles and zeros relate to the general form of the step response of the
system?
Course: Experiment No.:
Group No.: Section:
Group Members: Date Performed:
Date Submitted:
Instructor:
6. Data and Results:
Q3.1 Complete the table below using Scilab. Verify the results using hand calculations on separate
sheets of paper.
Transfer Function Poles and Zeros Pole-Zero Plot
2
G ( s )=
s +2
5
G ( s )=
( s +3 ) ( s+ 6 )
s+5
G ( s )=
( s +10 )2
s3 +7 s2 +24 s+24
G ( s )=
s 4 +10 s3 +35 s 2 +50 s+ 24
s 2 +2 s+10
G ( s )=
s 4 +38 s3 +515 s 2+ 2950 s+ 6000
Q3.2 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
s 2+2 s+2
G ( s )=
s 4 +6 s3 + 4 s 2 +7 s +2
2
G ( s )=
s +2
5
G ( s )=
( s +3 ) ( s+ 6 )
s+5
G ( s )=
( s +10 )2
s3 +7 s2 +24 s+24
G ( s )=
s 4 +10 s3 +35 s 2 +50 s+ 24
Transfer Function General Form of the Step Response
s 2 +2 s+10
G ( s )=
s 4 +38 s3 +515 s 2+ 2950 s+ 6000
Q3.3 How does the location of the poles and zeros relate to the general form of the step response of the
system?
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7. Conclusion:
Assessment rubric for the conduct of laboratory experiments
Performance Indicators 1 2 3 Points
Members do not follow Members follow good Members follow good
Conduct experiments in good and safe and safe laboratory and safe laboratory
accordance with good and laboratory practice in practice most of the practice at all times in
safe laboratory practice. the conduct of time in the conduct of the conduct of
experiments. experiments. experiments.
Members are able to
Members are able to
Members are unable to operate the equipment
Operate equipment and operate equipment and
operate the equipment and instruments with
instruments with ease instrument with
and instruments. ease and with minimum
supervision.
supervision.
The group has
Analyze data, validate complete data,
The group has
experimental values against validates experimental
The group has complete data but has
theoretical values to determine values against
incomplete data. no analysis and valid
possible experimental errors, theoretical values, and
conclusion.
and provide valid conclusions. provides valid
conclusion.
Total Score
Mean Score = (Total Score /3)
Percentage Score = (Total Score / 9) x 100%
