Research Ideas and Concepts

CE00586-2 Applications of Control Individual Assignment Page 1of 27
CONTENTS
RESEARCH IDEAS AND CONCEPTS ............................................................................................................. 2

THEORITICAL DETAILS ................................................................................................................................. 4
DESIGN OF ALGORITHM FOR MATLAB PROGRAM ............................................................................ 20
MATLAB PROGRAM ....................................................................................................................................... 21
CONCLUSION AND RESULTS ...................................................................................................................... 22
REFERENCE ..................................................................................................................................................... 27
__________________________________________________________________________________________
Level 2 Asia Pacific Institute of Information Technology 2014
RESEARCH IDEAS AND CONCEPTS
Control system are closely related to the concept of automation, but the two fundamental types
of control systems, feed forward and feedback, have classic origin. The loom invented by
Joseph Jacquard of France in 1801. Feedback control, in which information from the process
is used to correct a machines operation, has an even older history. Roman engineers
maintained water levels of their watercourse system by means of floating valves that opened
and closed at appropriate levels.1
Now these days control system is everywhere. The definition of Control system is an
arrangement of elements in a planned manner in which each element cause an effect to produce
a desired output. This cause and effect relationship is governed by a mathematical relation. In
most system there will be an input and an output. Control system is everywhere from our home
to industry. Like washing machine which is a popular electronic home appliance which is found
in every household. A typical washer has switches to adjust and control various functions. The
speed of spinning, the water level in machine and the special settings for different fabrics.
The researcher develops the command for Matlab program for particular function like for
example Bode plot, bode(transfer function).
The list of the command is shown below which are used in this assignment:
tf To create transfer function.
parallel - For parallel connection.
series For series connection.
feedback feedback connection of two system.
step Step response.
bode(transfer function) Bode diagrams of the frequency response.
1
Encyclopedia Britannica, 2013. Control system (technology). [online] Available at:
<http://www.britannica.com/EBchecked/topic/135480/control-system> [Accessed 20
Apr. 2014].
__________________________________________________________________________________________
nyquist(transfer function) Nyquist plot.
rlocus(transfer function) To plot root locus.
stepinfo(transfer function)- To calculate step response.
tf(num,den)- To define transfer function.
But we can define it in this way also, s=tf(s)
Then simply write the transfer function in term of s.
Matlab offers several functions to carry out block diagram manipulations.
Two methods are available:
1. Solution via series, parallel, and feedback commands:
Series(G1,G2) for a cascade connection of G1(s) and G2(s); parallel(G1,G2) for a parallel
connection of G1(s) and G2(s); feedback(G,H,sign) for a closed loop connection with G(s) in
the forward path and H(s) in the feedback path; and sign is -1 for ve feedback or +1 for +ve
feedback.
2. Solution via algebraic operations:
G1G2 for a cascade connection of G1(s) and G2(s); G1+G2 for a parallel connection of G1(s)

and G2(s); 1+ for closed loop ve feedback connection with G(s) in the forward path and

H(s) in the feedback path; 1 for +ve feedback system.
In step response we can calculate via formula also. By using the formula of
1 2
4 tan1
= , =
1 2

(
2
)
= % = 1 100

For Root locus, Bode plot and Nyquist plot we just use the command rlocus(transfer function),
bode(transfer function) and nyquist(transfer function).
__________________________________________________________________________________________
STABILITY ANALYSIS OF CONTROL SYSTEM
An suitable definition of stability with reference to linear control system is if any oscillation
setup in a system in consequence to application of an input are damped out with respect to time,
the system is said to be stable.
For 2nd order system it is observed that if both the roots of the equation is ve then system is
said to be stable. If there is complex roots then the real parts of both the roots to be ve.
But in the case of higher order system, this rule is not applicable. In addition to aforesaid
necessary condition, a sufficient condition is further needed and this sufficient condition is
given by HURWITZ determinants. For evaluating HURWITZ determinants lot of time is
involved. However for evaluation of Hurwitz determinants ROUTH has simplified the
procedure.
Then after NYQUIST modify the ROUTH-HURWITZ criteria is some respects. And gives
characteristics equation 1 + () () = 0 . Er. Hendrik Wade Bode gives a graphical
procedure for determining the stability of a control system. Then finally W.R.Ewans gives his
theory of stability.
THEORITICAL DETAILS
Time Response of a Second Order Control System
A second order control system is one where in the highest power of s in the denominator of its
transfer function equals 2. The response of a second order control system can be underdamped,
critically damped, over damped depending on the value of damping ratio.
A general expression for the transfer function of a second order control system is given by
() 2
= 2
() + 2 + 2
The parameters and are frequency of oscillation, damping ratio and damping
factor respectively.
__________________________________________________________________________________________
Q1. For the second order systems below, find, Ts, Tp, Tr, % overshoot, and plot the step
response using MATLAB.
130
() =
2 + 15 + 130
Solution:
The characteristic equation is 2 + 15 + 130 = 0
Comparing above equation with second order system characteristic equation i.e.
2 + 2 + 2 = 0
The parameters and are damping ratio and natural frequency respectively.
= 130
= 11.40 rad/sec
2 = 15
15 15
= =
2 2 11.40
= 0.65
=Settling time (Time required for the response to reach and stay within 2% to 5% of the
final value.)
4
=

4
=
11.40 0.65
= 0.53
=Peak time (The time needed to reach the maximum overshoot is called peak time.)

= ; = 3.14

__________________________________________________________________________________________

=
1 2
3.14
=
11.40 1 0.652
= 0.360
= Rise time (The rise time is the time needed for the response to reach from 10% to 90% or
0 to 100% of the desired value of the output at the very first instant.
1 2
tan1 1 2

= ; tan1 .
1 2
3.14 0.8567
=
8.66
= 0.263
% = Overshoot (The maximum positive deviation of the output with respect to its desired
value is known as maximum overshoot)

( )
1 2
= 100
0.653.14
= 0.75 100
= 2.72 100
% = 6.5%
S.N0 Parameters Value

1. Damping ratio 0.65
2. Rise time 0.263
3. Peak time 0.36
4. Settling time 0.53
5. % overshoot % 6.5%
__________________________________________________________________________________________
Root Locus
This method is presented for a very general set-up, namely for the case when the closed-loop
system poles are functions of an unknown parameter. In most cases the parameter of interest is
the system static gain K satisfying < < +. However, any other unknown and variable
system parameter affecting pole locations can be used instead of K. The method is known as
the root locus. The importance of the root locus method for control system theory lies in the
fact that the location of the system poles determines the system stability and the system
transient response. In some cases, the desired control system performance can be obtained by
changing only the system static gain K. the stability of a closed loop control system is
determined from the location of the roots of the characteristics equation 1 + () () = 0.
Q2. A plant to be controlled is described by a transfer function
+5
() =
2 + 7 + 25
Obtain the root locus plot using MATLAB.
Solution:
The number of open-loop poles = 2
The two open-loop poles are
7 72 4 1 25
1 , 2 =
21
= 3.5 + 3.57, 3.5 3.57
The number of open-loop zero = 1 ( = 5)
As > , the number of root locus branches = = 2. On the real axis the root locus exists
between = 5 = .
Centroid of the axis

=

__________________________________________________________________________________________
3.5 + 3.57 3.5 3.57 + 5

=
21
= 2
Now, angle of asymptotes:
2 + 1
= 180

For K=1
= 180
For K=2
= 540
The characteristic equation is
2 + 7 + 25 + + 5 = 0
2 + 7 + 25
=
+5
(2 + 7)( + 5) ( 2 + 7 + 25)(1)
=
( + 5)2
Put,
=0 2 2 + 10 + 7 + 35 2 7 25 = 0
= 2 + 10 + 10 = 0
10 102 4 1 10
=
2
= 1.12, 8.87
Here, 1.12 is neglected in this case because the root locus exists only in = 5 =
.
__________________________________________________________________________________________
Nyquist Plot
A stability test for time invariant linear systems can also be derived in the frequency domain.
It is known as Nyquist stability criterion. The number of closed-loop poles is equal to the
number of unstable open-loop poles plus the number of encirclements of the origin of the
Nyquist plot of the complex function. A Nyquist plot is a polar plot of the frequency response
function of a linear system. The number of steps are given below:
Put, =
Then find magnitude and phase angle of the given transfer function.
Calculate magnitude and angle at different value of . Then plot the graph.
Q3. Write a program in MATLAB to obtain the Nyquist plots for the following transfer
function for k = 30.
( + 1)( + 3 + 7)( + 3 7)
() =
( + 1)( + 3)( + 3 + 7)( + 3 7)
Solution:
By simplifying this,

() =
+3
Put, = and = 30
30
() =
+ 3
30
|()| =
2 + 9

() = tan1
2
At = 0
30
|(0)| =
9
__________________________________________________________________________________________
= 10
0
(0) = tan1 =0
2
Magnitude Phase angle

0 10 0
1 9.486 18.43
2 8.320 33.69
5 5.14 59.03
10 2.87 73.30
20 1.48 81.46
50 0.59 86.56
100 0.299 88.08
0 -90
Bode Plot
The Bode plot is a graph of the transfer function of a linear, time-invariant system versus
frequency, plotted with a log-frequency axis, to show the systems frequency response. It is a
combination of a Bode magnitude plot, expressing the magnitude of the frequency gain. Bode
plots are very useful way to represent the gain and the phase of a system as a frequency. The
difficulty in representing the transfer function comes about because we need to plot a
complex number. Bode plots are the most widely used means of displaying and
communicating frequency response information. Frequency response specification kind of
equipment Bode plot is widely used to communicate frequency response specifications. A
bode diagram consists of two graphs:
1. Plot of the logarithm of the magnitude of a sinusoidal transfer function|()|.

2. Plot of the phase angle.
Both are plotted against the frequency (/) on a log with base 10(log10 ) scale
The number of steps are written below to plot the Bode diagram.
__________________________________________________________________________________________
Arrange poles and zeros in terms of .

Identify the corner frequency and arrange in ascending order no matter what comes
first either poles or zero.
The slope will change at each corner frequency by +20 dB/dec and -20 dB/dec for
poles.
The complete conjugate of poles and zeros will change the slope by 40 dB/dec.
For type 1 system draw a line having slope of -20dB/dec upto = and mark this
as 1st corner frequency.
Q4. A PID controller is given by

( + 0.57)2
() = 29.125

Draw a Bode diagram of the controller using MATLAB.
Solution:
Put, =
So,
( + 0.57)2
() = 29.125

2
29.125 (0.57)2 (1 + )
= 0.57

2
9.46 (1 + )
= 0.57

First corner frequency, 1 = 0.57 /
The magnitude of graph starts from (20log10 9.46) + 40 = 59.51 60dB
As the transfer function is type 1 the initial part of the Bode plot is -20dB/dec and the
intersection of the initial part of axis occurs at = = 9.46.

The corner frequency = 0.57 / is due to the 0.57 therefore, the slope of the Bode
plot after this frequency changes to [20 + 20 + 20]dB/dec = 20dB/dec.
__________________________________________________________________________________________
Transfer Function
Transfer function
The transfer function of a system is defined as the ratio of the Laplace transform of the output
to the Laplace transform of the input.
Block diagram: It is used to represent all types of systems. It can be used, together with transfer
functions, to describe the cause and effect relationships throughout the system.
Input (r) Output (c)

Transfer
Function (g)
R(s) = Laplace transform of the input function.
C(s) = Laplace transform of output function.
According to definition transfer function is expressed as,
()
() =
()
The following rules for block diagram reduction technique:
1. When two blocks are in series.
1 2
=
1 2
__________________________________________________________________________________________
2. When two blocks G1,G2 are in parallel then G=G1+G2

3. Moving a takeoff point ahead of the block
()
()
()
4. Moving a takeoff point after the block.
()
()
1
()
__________________________________________________________________________________________
5. Reduce the system shown below to a single transfer function, T(s) = C(s)/R(s) using
MATLAB.
The transfer functions are given as
Solution:
R(s) is input or excitation which operates through a transfer operation termed as transfer
function (denoted as G(s)) and produces an effect resulting in output or responses termed as
controlled variable(denoted as C(s). Thus the cause and effect relationship between the output
and input is related to each other through a transfer function.
8()
6()
R(s)
1()
3()
-
-
7()
C(s)
2() 4()
5()
__________________________________________________________________________________________
Step 1: G3(s), G4(s) are in parallel.

8()
6()
R(s)
1()
3() + 4()
-
-
7()
C(s)
2()
5()
Step 2: Shift the take off point before block G7(s) to a position after block G7(s). Then G6(s)
is the -ve feedback of G7(s).
8()
R(s)
1()
3() + 4() 7()
1 + 6() 7()
-
C(s)
2()
5()
7()
7()
Step 3: [G3(s) + G4(s)], [1+6()7()] are in cascade.
__________________________________________________________________________________________
8()
R(s)
1()
(3() + 4()) 7()
1 + 6() 7()
-
C(s)
2()
5()
7()
(3()+4())7()
Step 4: Shift the take off point from a position before a block to a
1+6()7()
(3()+4())7()
position after the block .
1+6()7()
8()
R(s)
1()
(3() + 4()) 7()
1 + 6() 7()
-
C(s)
(1 + 6() 7())
2()
(3() + 4()) 7()
5()
7()
__________________________________________________________________________________________
(3()+4())7()
Step 5: Now, 8() is the +ve feedback of .
1+6()7()
R(s)
1() (3() + 4()) 7()
1 + 6() 7() C(s)
(3() + 4()) 7()
- 1 8()
1 + 6() 7()
(1 + 6() 7())
2()
(3() + 4()) 7()
5()
7()
(3()+4())7()
1+6()7()
Step 6: 1() and (3()+4())7()
are in cascade.
1 1+6()7() 8()
R(s)
(3() + 4()) 7()
1 + 6() 7() C(s)
1()
(3() + 4()) 7()
- 1 8()
1 + 6() 7()
(1 + 6() 7())
2()
(3() + 4()) 7()
5()
7()
1+6()7() 5()
Step 7: The block 2() (3()+4())7() and 7() are in parallel.
__________________________________________________________________________________________
R(s)
(3() + 4()) 7()
1 + 6() 7() C(s)
1()
(3() + 4()) 7()
- 1 8()
1 + 6() 7()
2() (1 + 6() 7()) 5()

+
(3() + 4()) 7() 7()
Step 8: Hence the block diagram is arranged as

R(s)
(3() + 4()) 7() 1()
1 + 6() 7() C(s)
(3() + 4()) 7()
- 1 8()
1 + 6() 7()
2() (1 + 6() 7()) + 5() (3() + 4())

(3() + 4()) 7()
Step 9: Simplifying,
(3() + 4()) 7() 1()

1 + 6() 7()
(3() + 4()) 7()
1 8()
1 + 6() 7()
(3() + 4()) 7() 1()

=
1 + 6() 7() (3() + 4()) 7() 8()
__________________________________________________________________________________________
Now,
R(s)
(3() + 4()) 7() 1()
C(s)
1 + 6() 7() (3() + 4()) 7() 8()
-
2() (1 + 6() 7()) + 5() (3() + 4())

(3() + 4()) 7()
Step 10: Simplifying,

()
()
(3() + 4()) 7() 1()

1 + 6() 7() (3() + 4()) 7() 8()
(3() + 4()) 7()

2() (1 + 6() 7()) + 5() (3() + 4())
__________________________________________________________________________________________
DESIGN OF ALGORITHM FOR MATLAB PROGRAM
First start Matlab then in editor window click on File-New-Script file option from the main
menu bar. Then after write the program and save it in format of .m.
Q1.
1. Define transfer function.

2. Define T.
3. Apply w = sqrt(130) ; where w= natural frequency.
4. Type zeta= 15/(2*w); where zeta = damping ratio.
5. by the same process ts, tp, tr and mp are calculated.
Q2.
1. Define transfer function

2. Define T
3. Apply root locus command.
4. By left clicking the mouse on the curve it gives the require data.
Q3.
1. Define Transfer function

2. Define G
3. Put k=30
4. Apply Nyquist command.
Q4.
1. Define Transfer function.

2. Define G.
3. Apply bode Command.
Q5.
1. Define transfer function.

2. Define G1,G2.G8.
__________________________________________________________________________________________
3. Apply parallel command to G3 and G4.---------- H1

4. Shift the take off point before G7 to after the G7.-------- H2
5. Apply ve feedback command to G7 and G6.--------- H3
6. Apply series command to H1 and H3.----- H4
7. Shift the takeoff point before the H4 to after the H4.----H5
8. Apply ve feedback to H4 and G8.-----H6
9. Apply series command to G1 and H6.------H7
10. Apply parallel command to H4 and H5-----H8
11. Apply -ve feedback to H7 and H8.
MATLAB PROGRAM
Q1.
clc
s=tf('s')
T=130/(s^2+15*s+130)
% w=natural frequency%
w=sqrt(130)
% zeta=damping ratio%
zeta=15/(2*w)
% ts=settling time%
ts=4/(zeta*w) % zeta*w=damping factor%
% tp=peak time%
tp=pi/(w*sqrt(1-zeta^2)) % w*sqrt(1-zeta^2)=damped frequency%
% tr= rise time%
tr=(pi-atan(sqrt(1-zeta^2))/zeta)/(w*sqrt(1-zeta^2))
% mp=%overshoot%
mp=exp(-pi*zeta/sqrt(1-zeta^2))*100
step(T)
Q2.
% clc used to clear all the screen%
clc
% tf('s') is used to creating transfer function%
s=tf('s')
T=(s+5)/(s^2+7*s+25)
% rlocus is used to plot the root locus%
rlocus(T)
Q3.
%clc this command is used for clear all the screen%
clc
% tf('s') used for defining or creating transfer function%
s=tf('s')
k=30
G=k/(s+3)
__________________________________________________________________________________________
% nyquist(G) is used to find nyquist plot %

nyquist(G)
Q4.
% clc used to clear all the screen%
clc
% tf('s') is used to creating transfer function%
s=tf('s')
G=(29.125*(s+0.57)^2)/s
% bode(G) is used to plot the bode diagram
bode(G)
grid on
Q5.
%clc is used to clear the screen%
clc
% tf('s') is used to define transfer function%
s=tf('s')
G1=1/(s+7)
G2=1/(s^2+3*s+5)
G3=1/(s+8)
G4=1/s
G5=7/(s+3)
G6=1/(s^2+7*s+5)
G7=5/(s+5)
G8=1/(s+9)
%parallel(sys1,sys2) is used to allow parallel property of
block diagram%
H1=parallel(G3,G4)
%feedback(sys1,sys2) is used to allow feedback property of
block diagram%
H2=feedback(G7,G6,-1)
H3=G5/G7
H4=series(H1,H2)
H5=G2/H4
H6=feedback(H4,G8,+1)
H7=series(G1,H6)
H8=parallel(H3,H5)
H9=feedback(H7,H8,-1)
CONCLUSION AND RESULTS
After completing this assignment it should be understood that how the Matlab command are
used to find various parameters. And the concept behind the development of control system
why it is necessary in any field and how it develops. Before development of control system
how people are managed to control anything. After development of control system the main
problem is to find stability of any system. There are many criteria to find the stability of a
__________________________________________________________________________________________
system. Routh Herwitz criteria then after Nyquist then after Bode then root locus all the name
of methods are derived from their scientists name. One fail another carry to find some results.
In this assignment we have to compare both the results of Matlab programming as well as
manual calculation.
Q1.
Matlab result
Theoretical Result:
S.N0 Parameters Value

1. Damping ratio 0.65
2. Rise time 0.263
3. Peak time 0.36
4. Settling time 0.53
5. % overshoot % 6.5%
All the parameters are same except rise time in Matlab program rise time is 0.176 and in
theoretical result rise time is 0.263.
__________________________________________________________________________________________
Q2.
Matlab Program
Theoretical result
The root locus exists only in = 5 = .
Break away point is -8.87
And the graph is on imaginary axis is from
3.5 + 3.57 3.5 3.57.
All the parameters are same in both the cases.
__________________________________________________________________________________________
Q3.
Matlab Program
Q4.
Matlab Program
__________________________________________________________________________________________
Theoretical Result:
First corner frequency, 1 = 0.57 /.
The magnitude of graph starts from (20log10 9.46) + 40 = 59.51 60dB
All the results are same in both the cases.
Q5.
Matlab Program
Theoretical result:
Same as shown in above.
__________________________________________________________________________________________
REFERENCE
Encyclopedia Britannica, 2013. control system (technology). [online] Available at:

<http://www.britannica.com/EBchecked/topic/135480/control-system> [Accessed 20
Apr. 2014].
Erik Cheever, S., 2014. Rules for Constructing Bode Diagrams - Erik Cheever. [online]
Lpsa.swarthmore.edu. Available at: <http://lpsa.swarthmore.edu/Bode/BodeRules.html>
[Accessed 21 Apr. 2014].
Erik Cheever, S., 2014. Why make a root locus plot? - Erik Cheever. [online]
Lpsa.swarthmore.edu. Available at:
<http://lpsa.swarthmore.edu/Root_Locus/RootLocusWhy.html> [Accessed 21 Apr.
2014].
Facstaff.bucknell.edu, 2014. Bode' Plots. [online] Available at:

<http://www.facstaff.bucknell.edu/mastascu/econtrolhtml/freq/freq5.html#SecondOrder
Systems> [Accessed 21 Apr. 2014].
Gopal, M. and Nagrath, I., 2005. Control system Engineering. 4th ed. Delhi: New age
International.
Manke, B., 2013. Linear Control system. 3rd ed. Delhi: Khanna, pp.16,231,289,319,702.
__________________________________________________________________________________________

Research Ideas and Concepts

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Research Ideas and Concepts

Uploaded by

Copyright:

Available Formats

CE00586-2 Applications of Control Individual Assignment Page 1of 27

RESEARCH IDEAS AND CONCEPTS ............................................................................................................. 2

RESEARCH IDEAS AND CONCEPTS

tf To create transfer function.

parallel - For parallel connection.

series For series connection.

feedback feedback connection of two system.

step Step response.

bode(transfer function) Bode diagrams of the frequency response.

nyquist(transfer function) Nyquist plot.

rlocus(transfer function) To plot root locus.

stepinfo(transfer function)- To calculate step response.

tf(num,den)- To define transfer function.

But we can define it in this way also, s=tf(s)

Then simply write the transfer function in term of s.

Matlab offers several functions to carry out block diagram manipulations.

Two methods are available:

1. Solution via series, parallel, and feedback commands:

2. Solution via algebraic operations:

STABILITY ANALYSIS OF CONTROL SYSTEM

Time Response of a Second Order Control System

The characteristic equation is 2 + 15 + 130 = 0

S.N0 Parameters Value

Q2. A plant to be controlled is described by a transfer function

Obtain the root locus plot using MATLAB.

The number of open-loop poles = 2

The two open-loop poles are

= 3.5 + 3.57, 3.5 3.57

The number of open-loop zero = 1 ( = 5)

Centroid of the axis

3.5 + 3.57 3.5 3.57 + 5

Now, angle of asymptotes:

The characteristic equation is

Magnitude Phase angle

1. Plot of the logarithm of the magnitude of a sinusoidal transfer function|()|.

Arrange poles and zeros in terms of .

Q4. A PID controller is given by

First corner frequency, 1 = 0.57 /

The magnitude of graph starts from (20log10 9.46) + 40 = 59.51 60dB

plot after this frequency changes to [20 + 20 + 20]dB/dec = 20dB/dec.

Input (r) Output (c)

R(s) = Laplace transform of the input function.

C(s) = Laplace transform of output function.

According to definition transfer function is expressed as,

The following rules for block diagram reduction technique:

1. When two blocks are in series.

2. When two blocks G1,G2 are in parallel then G=G1+G2

4. Moving a takeoff point after the block.

The transfer functions are given as

Step 1: G3(s), G4(s) are in parallel.

2() (1 + 6() 7()) 5()

Step 8: Hence the block diagram is arranged as

2() (1 + 6() 7()) + 5() (3() + 4())

(3() + 4()) 7() 1()

(3() + 4()) 7() 1()

2() (1 + 6() 7()) + 5() (3() + 4())

Step 10: Simplifying,

(3() + 4()) 7() 1()

DESIGN OF ALGORITHM FOR MATLAB PROGRAM

1. Define transfer function.

1. Define transfer function

1. Define Transfer function

1. Define Transfer function.

1. Define transfer function.