Closed Loop Step Response

By Sean Hendrix, Oklahoma State University

Updated by Trevor Eckert


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Overview

This experiment adds feedback to the Open Loop Step Response experiment. The objective is to investigate how feedback changes the system poles and how changes in the pole locations affect the time response of the system. You will estimate such characteristics as settling time, percent overshoot and steady state error. You will verify your calculations through simulations and experiments. Using the Arduino, you will implement a proportional and derivative controller and will find the system response to a step change in the reference motor position. By comparing the theoretical, simulated and experimental responses you will discover the strengths and limitations of linear modeling.

Click on the Handout PDF link in the right sidebar to download the Experiment Handout. It describes all of the steps you will need to perform to complete the experiment. The parts and software needed to run this experiment are the same as those from the Open Loop Step Response experiment. There are some additional parts that are shown if you click the Hardware/Parts link in the right sidebar.

What You Will Learn

This experiment will give you insights into the relationship between system poles and the system time response. After completion of this experiment, you will have a better understanding of the relationship between the theoretical and simulation responses of linear models and the experimental responses of practical physical systems.

Prerequisites

Before running this experiment, you should perform the following experiment: Open Loop Step Response.

Handout PDF

Hardware/Parts

Software/Code

3-D Printer Files