EE355 Control Systems

Laboratory

Laboratory Report Submitted for the Degree of

Bachelor of Technology in
Electrical and Electronics Engineering

Submitted By
Aakash Salunkhe
Roll No. 212EEE1030

Under the supervision of

Dr. Sreeraj E S
Associate Professor

Department of Electrical and Electronics

Engineering
National Institute of Technology Goa
January - May, 2025
 Time Domain Analysis of First and Second
Order Circuits Software And Hardware
22EEE1030

1 Experiment 1:Matlab Simulation (Software)

2 AIM
To perform time domain analysis on first and second order circuits in MAT-
LAB/SIMULINK.

3 Software Used
MATLAB 2024a

4 Theory
• Time domain analysis of first-order circuits involves studying how volt-
age and current change over time in circuits containing resistors and
either inductors or capacitors (RL or RC circuits).

• Second order circuits (RLC circuits) contain two energy storage ele-
ments and are represented by second-order differential equations.

For a first-order RC circuit, the output equation is:

Vout (t) = Vs (1 − e−t/τ ) (1)

where τ = RC is the time constant.

For a second-order circuit, the governing equation is:

d2 V dV
2
+ 2ζωn + ωn2 V = 0 (2)
dt dt

1
 where ζ is the damping ratio and ωn is the natural frequency.
The rise time is given by:
π−θ
tr = (3)
ωd
The peak time is given by:
π
tp = (4)
ωd
p
where ωd = ωn 1 − ζ 2 .
The maximum overshoot is given by:
− √ πζ
Mp = e 1−ζ 2 × 100% (5)
The damping Frequency is given By:
p
ωd = ωn 1 − ζ 2 (6)
The Undamped Frequency is given By:
r
1
ωn = (7)
LC

5 Circuit Diagrams

Figure 1: Seriers RC Circuit

Figure 2: Series RLC Circuit

2
 Figure 3: Parallel RLC Circuit

6 Theoretical Calculation
6.1 Given Data
• θ = 1.318 radians

• ζ = 0.25

• ωn = 10 radian/sec

6.2 Damped Natural Frequency

p
ωd = ωn 1 − ζ 2 (8)
√
ωd = 10 1 − 0.252 (9)
ωd = 9.68 rad/s (10)

6.3 Peak Time (tp)

π π
tp = = = 0.325 seconds (11)
ωd 9.68

6.4 Maximum Overshoot (MP)

√−ζπ
MP = e 1−ζ 2 × 100% (12)
M P = e−0.8111π × 100% (13)
M P = 44.43% (14)

3
6.5 Rise Time (Tr)
π−θ π − 1.318
Tr = = = 0.1883 seconds (15)
ωd 9.68

7 Procedure
1. Open MATLAB and create a new Simulink model.
2. Build the first-order circuit using components like Resistor, Capaci-
tor/Inductor, Voltage Source, and Scope.
3. Set block parameters and run the simulation to observe results.
4. Modify the model to create a second-order circuit (RLC) and analyze
different damping scenarios.
5. Compare the simulation results with theoretical calculations.

8 Observations
8.1 Series RC Circuit

R (ohms) τ (ms) tr (ms)

100 0.01 22
200 0.02 44
500 0.05 110

Table 1: Series RC Circuit Observations

Figure 4: RC Circuit Time Response

4
8.2 Series RLC Circuit

R (ohms) τ tr (ms) tp (ms) %Mp

0 0 148 300 100
5 0.25 173 322 44.56
20 1 390 - -
24 1.2 491 - -

Table 2: Series RLC Circuit Observations

Figure 5: Series RLC Circuit Time Response

8.3 Parallel RLC Circuit

R (ohms) τ tr (ms) tp (ms) %Mp

0 0 148 300 100
20 0.25 173 322 44.56
5 1 391 - -
4.1667 1.2 492 - -

Table 3: Parallel RLC Circuit Observations

5
Figure 6

Figure 7

Figure 8

6
8.4 Observations Of Time Domain Analysis of First
and Second Order Circuits
Increasing the damping ratio slows down the circuit’s response.
The order of component connection affects the output.
Ignoring internal resistance makes the simulation differ from real systems.
Higher resistance increases damping, making the system slower.
Series and parallel RLC circuits behave the same if the damping ratio is the
same.
An undamped system keeps oscillating without reducing overshoot.

9 Conclusion
– RC and RL Circuits: These first-order circuits exhibit expo-
nential responses characterized by a time constant (τ = RC for
RC circuits and τ = L/R for RL circuits). When a step input is
applied, the voltage across a capacitor (in an RC circuit) or the
current through an inductor (in an RL circuit) changes gradually
rather than instantaneously due to energy storage in capacitors
and inductors.
– RLC Circuits: These second-order circuits exhibit responses
that depend on the damping factor (ζ). They can be under-
damped (oscillatory), critically damped (fastest response without
oscillation), or overdamped (slow, non-oscillatory response). The
natural frequency (ω0 ) and damping ratio influence how quickly
the circuit settles to a steady state. In the second-order RLC cir-
cuit, the transient response was observed to be heavily influenced
by the damping ratio:
• At = 0.25 (underdamped), the system exhibited pronounced
oscillations and a 44.43% overshoot.
• At = 1 (critically damped), the response was stable and reached
the final value quickly without oscillations.
• At = 1.2 (overdamped), a slower, gradual response with an
extended settling time was observed.

Understanding these time-domain responses is crucial for designing sta-

ble circuits, predicting transient behaviors, and optimizing electrical
networks for various applications.

7
Experiment 2: Time domain analysis of First
and Second order circuits (Hardware)
Aim
To perform time domain analysis on first and second order circuits (Hard-
ware).

Components Used

Components Specifications
Decade Resistor Box 1 - 100 k, 2 W
Decade Inductor Box 100 µH - 10 H, 1 A
Decade Capacitor Box 100 pF - 10 µF, 310 V
Function Generator 1 V, 1 Hz, square wave
Digital Oscilloscope –
Voltage Measurement Probes –
BNC –
LCR Meter –

Table 4: Components Used

Theory
• Time domain analysis of first-order circuits involves studying how volt-
age and current in a circuit change over time, where the circuit contains
a resistor and only one type of storage element, either an inductor or
a capacitor, i.e., RL or RC circuits.

• Second-order circuits are RLC circuits that contain two energy stor-
age elements. They can be represented by a second-order differential
equation.

First Order RC Circuit

The output equation can be expressed as:

v(t) = Vf 1 − e−t/τ


(16)

8
Second Order Circuit
The output equation can be expressed as:

d2 i(t) di(t) i(t)

L + R + = V (t) (17)
dt2 dt C
The rise time is given by:
π−θ
tr = (18)
ωd
The peak time is given by:
π
tp = (19)
ωd
p
where ωd = ωn 1 − ζ 2 .
The maximum overshoot is given by:
− √ πζ
Mp = e 1−ζ 2 × 100% (20)

The damping Frequency is given By:

p
ωd = ωn 1 − ζ 2 (21)

The Undamped Frequency is given By:

r
1
ωn = (22)
LC

Circuit Diagrams

Figure 9: Series RC Circuit

9
 Figure 10: Series RL Circuit

Figure 11: Series RLC Circuit

Theoretical Calculations
RC circuit Time Constant RL circuit Time Constant
L
τ = RC, R = 10KΩ, C = 10µF τ=R , R = 50Ω, L = 1H
After substituting the values: After substituting the values:
1
τ = 10K × 1 × 10−6 = 10ms τ= = 20ms
50
r
1
ωn =
LC
Here, L = 1H & C = 2µF

ωn = 707.106 rad/sec
R
ζ= = 0.0297
L × 2 × ωn
The formula for maximum overshoot (Mp ):
√−πζ
Mp = e 1−ζ 2 × 100 = 97.07%

10
 π
tp = = 4.44ms
ωd
√
1−ζ 2
π − arctan ζ
tr = = 2.266ms
ωd

Procedure
1. Connect the circuit according to the given diagram.

2. Set the function generator in square waveform mode with Vmax = 1,

Vmin = 0, and frequency = 1 Hz.

3. Connect the DSO accordingly in the circuit to get the output waveform.

4. For the series RLC circuit, set R = 0 and measure the maximum over-
shoot. Calculate the parasitic resistance of the system.

5. Vary the value of R and measure the different values of parameters.

6. Repeat the same for RC and RL circuits.

Observations
Series RC Circuit

R (ohms) C (µF) τ (Theoretical) (ms) τ (Practical) (ms) % Error

10K 1 10 12 16.6%

Table 5: Series RC Circuit Observations

Series RL Circuit

R (ohms) L (H) τ (Theoretical) τ (Practical) % Error

0+30* 1 33.3 33.2 0.3%
20+30* 1 20 21.4 7%

Table 6: Series RL Circuit Observations

11
Series RLC Circuit

R (ohms) Time Constant (τ ) Td (ms) Tr (ms) Mp (mV) Tp (ms) Ts (ms)

0+42* 0.066 3.6 5.6 740 10 190
586+42* 0.994 - 24 - - -
880+42* 1.4578 - 55.20 - - -

Table 7: Series RLC Circuit Observations

Figure 12: Time Constant for RC

Figure 13: Rise Time
Circuit

Figure 14: RLC Circuit (Over- Figure 15: Time Constant Of RLC
damped) Circuit (Underdamped)

12
 Figure 17: RLC Circuit (Critically
Figure 16: Settling Time
Damped)

Figure 19: Maximum Peak Over-

Figure 18
shoot

Figure 20: Rise Time Figure 21: Peak Time

13
Discussion
• As the value of the damping ratio increased, the circuit took more time
to reach from 10% to 90% of the final steady-state value.

• In the case of the RLC circuit, if the connection is in the R-C-L form,
the output is inverted.

• Since this was a simulation, the effect of internal resistance was ignored,
making the simulation results different from practical systems.

• Increasing resistance increased the damping ratio, making the system

more sluggish.

• For series and parallel RLC circuits, specifications (rise time, peak time,
maximum overshoot) remained the same when the damping ratio was
unchanged.

• Effect of Capacitance and Inductance: Increasing capacitance in

an RLC circuit reduced the natural frequency, leading to a slower re-
sponse, while increasing inductance resulted in lower damping and a
more oscillatory response.

• Energy Dissipation: In the overdamped case, energy dissipation was

more significant, reducing oscillations but prolonging the settling time.

• Impact of Initial Conditions: Different initial conditions (e.g., ini-

tial charge on the capacitor or initial current in the inductor) affected
the transient response significantly.

• Resonance Behavior: In underdamped RLC circuits, reducing re-

sistance led to stronger oscillations and resonance effects, which could
cause large transient overshoots.

• Effect of Non-Ideal Components: In practical circuits, parasitic

resistances and inductances would further alter the response, deviating
from ideal simulation results.

• Settling Time Variation: The settling time depended not only on

damping but also on the choice of component values, affecting when
the circuit reached steady-state conditions.

14
Conclusion
• Achieving a completely undamped system is impossible due to the
internal resistance of real inductors.

• Measuring maximum overshoot when R = 0 helped estimate the

internal resistance of inductors.

• A higher damping ratio caused the system to take longer to transi-

tion between 10% and 90% of the steady-state value, making it slower.

RL Circuit
• The time constant τ was determined by observing the voltage across
the resistor, as there was no current probe available.

RC Circuit
• The capacitor’s charging rate followed the relation τ = RC, which was
verified experimentally.

Impact of Component Arrangement & Parasitic Effects

• In an R-C-L connection, the output was inverted compared to other
configurations.

• Internal resistance was neglected in simulations, which led to differ-

ences between simulated and practical results.

Key Takeaways
• The experiment reinforced theoretical concepts and provided hands-
on experience with transient responses.

• Parasitic elements (like resistance in inductors) significantly impact

real-world circuit behavior.

• Damping ratio plays a crucial role in shaping system response and

settling time.

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