395 Ics Matlab

INDUSTRIAL CONTROL SYSTEM LAB
EXPERIMENT NO: 01
AIM OF THE EXPERIMENT: Computation of Z-transform, inverse Z-transform, Laplace

transform & Inverse Laplace transform using MATLAB.
SOFTWARE USED: MATLAB 2017a

1. Simple z transformation of 5^t
syms t
p=ztrans (5^t);
pretty(p)
z
-----
z–5
2. Simple z transformation of ‘cos(5*t)’ and output by any other variable.
clear
clc
syms t x;
p=ztrans (cos(5*t),x);
pretty(p)
x (x - cos(5))
-------------------
2
x - cos(5) x 2 + 1
3. Simple z transformation of 'cos(a*t)' and output by any other variable.

clear
clc
syms t x a;
p=ztrans (cos(a*t),t,x);
pretty(p)
GUIDED BY SUBMITTED BY
ASST.PROF B.S.DASH MANOJ KR. MANDAL
ASST.PROF S.S PATTANAIK REDG.NO: 1501227395
x (x - cos(a))
-------------------
2
x - cos(a) x 2 + 1
4. Simple z transformation & plot of simple function

clear
clc
syms t z;
x1_t=(t/4)*( heaviside(t)-heaviside(t-4) );
x2_t=1*heaviside(t-4);
x_t=x1_t+x2_t;
ezplot(x_t,[-2,10]);
p=ztrans (x_t,t,z);
pretty(simplify(p))
3 2
z +z +z+1
---------------
3
4 z (z - 1)
5. Simple laplace transformation of 5^t

syms t
p=laplace (t^3);
pretty(p)
6
--
s4
6. Simple Laplace transformation of 'cos(5*t)' and output by any other variable.
clear
clc
syms t x;
p=laplace (cos(5*t),x);
pretty(p)
x
-------
x 2 + 25
7. Simple Laplace transformation of 'cos(a*t)' and output by any other variable.

clear
clc
syms t z a;
p=laplace(cos(a*t),t,z);
pretty(p)
z
-------
2 2
a +z
8. Simple Laplace transformation & plot of simple function

Clear
clc
syms t z s;
x1_t=(t/4)*( heaviside(t)-heaviside(t-4) );
x2_t=1*heaviside(t-4);
x_t=x1_t+x2_t;
ezplot(x_t,[-1,9]);
p=laplace (x_t,t,s);
pretty(simplify(p))
exp(-4 s) - 1
- -------------
4s2
9. Simple inverse z transform.
Clear
clc
syms z t;
p=(z*z+2*z)/(z^2++7*z+12);
x=iztrans(p,z,t);
pretty(x)
2 (-4) t - (-3) t
10. Simple inverse laplace transformation.

clear
clc
syms s t;
p=(s+2)/(s^2++7*s+12);
x=ilaplace(p,s,t);
pretty(x)
exp(-4 t) 2 - exp(-3 t)
EXPERIMENT NO: 02
AIM OF THE EXPERIMENT: Computation of interconversion between state model, transfer
function model & zero pole model using MATLAB.
1. Compute transfer function model and zero pole model from state space model.
clear
clc
a=[0 1 0;0 0 1;-160 -56 -14];

b=[0;1;14];
c=[1 0 0];
d=[0];
[num, den]=ss2tf(a,b,c,d)
display('The transfer function is')
printsys(num,den,'s')
display('The zeros, poles and multiplying factor/gain are')
[z, p, k]=ss2zp(a,b,c,d)
num = 0 0 1.0000 28.0000

den = 1.0000 14.0000 56.0000 160.0000
The transfer function is

num/den = s + 28
-------------------------
s^3 + 14 s^2 + 56 s + 160
The zeros, poles and multiplying factor/gain are
z = -28.0000
p=
-2.0000 + 3.4641i
-2.0000 - 3.4641i
-10.0000 + 0.0000i
k=1
2. Compute state model and pole zero model of a transfer function.

clear
clc
num=[0 1 2 3];
den=[1 3 3 1
display('The transfer function is');
display('The state model matrices are');
[a, b, c, d]=tf2ss(num,den)
display('The zeros, poles and gain/multiplying factor are');
[z, p, k]=tf2zp(num,den)

num/den =
s^2 + 2 s + 3
---------------------
s^3 + 3 s^2 + 3 s + 1
The state model matrices are
a=
-3 -3 -1
1 0 0
0 1 0
b=
1
0
0
c=
1 2 3
d=
0
The zeros, poles and gain/multiplying factor are

z=
-1.0000 + 1.4142i
-1.0000 - 1.4142i
p=
-1.0000 + 0.0000i
-1.0000 - 0.0000i
-1.0000 + 0.0000i
k=
1
3. Computation of state model and transfer function model from pole zero model.
clear
clc
zero=[-3];
pole=[-1 -2];
gain=[1];
[num,den]=zp2tf(zero, pole, gain);
display('The transfer function is');
display('The state model matrices are');
[a, b, c, d]=zp2ss(zero,pole, gain)

num/den =
s+3
-------------
s^2 + 3 s + 2
The state model matrices are

a=
-3.0000 -1.4142
1.4142 0
b=
1
0
c=
1.0000 2.1213
d=
0
EXPERIMENT NO: 03
AIM OF THE EXPERIMENT: Wap to compute state transition matrix of any square matrix
using MATLAB.
clear
clc
A=[0 1;-2 -3];
[nr,nc]=size(A);
if nr~=nc
display('The matrix entered is not a square matrix & state transition matrix can not be found for
it.')
else
syms s
I=eye(nr);
phi=inv((s*I-A));
display('The required state transition matrix is given below');
stm=ilaplace(phi);
pretty(stm)
clear A nr nc s I phi stm
end
The required state transition matrix is given below

/ 2 exp(-t) - exp(-2 t), exp(-t) - exp(-2 t) \
| |
\ exp(-2 t) 2 - 2 exp(-t), exp(-2 t) 2 - exp(-t) /
EXPERIMENT NO: 04
AIM OF THE EXPERIMENT: Wap to compute state equation from state model and initial
condition for SISO system using MATLAB.
clear
clc
A=[0 1;-2 -3];
B=[0;1];
initial_state=[0;0];
syms tou t s
[nr,nc]=size(A);
if nr~=nc
disp('As the state matrix is not a square matrix state equation can not be computed.')
else
I=eye(nr);
phi_s=inv(s*I-A);
stm1=ilaplace(phi_s);
end
a_ans_1=stm1*initial_state;
b1=subs(stm1,t,t-tou);
b2=b1*B;
b3=int(b2,tou,0,t);
final_ans=a_ans_1+b3;
pretty(final_ans)
/ 2\
| exp(-2 t) (exp(t) - 1) |
| ----------------------- |
| 2 |
| |
\ exp(-2 t) (exp(t) - 1) /
EXPERIMET NO: 05
AIM OF THE EXPERIMENT: computes the solution of output equation for unit step function.
clear
clc
A=[0 1 0;0 0 1;-1 -5 -6];
B=[0;0;1];
J=[-2+j*4 -2-j*4 -10];
Qc=[B A*B A*A*B]
p=rank(Qc);
[nr,nc]=size(A);
if p~=nr
disp('The state model entered above is uncontrollable');
else
disp('The state feedback gain matrix is')
K=acker(A,B,J)
end
Qc =
0 0 1
0 1 -6
1 -6 31
The state feedback gain matrix is
K=
199 55 8
EXPERIMENT NO: 06
AIM OF THE EXPERIMENT: Computes the solution of output equation for unit step
function.

clear
clc
A=[-1 -0.5;1 0];
B=[0.5;0];
C=[1 0];
D=0;
u=3;
initial_state=[0;0];
syms tou t s
[nr,nc]=size(A);
if nr~=nc
disp('As the state matrix is not a square matrix state equation can not be computed.')
else
I=eye(nr);
phi_s=inv(s*I-A);
stm1=ilaplace(phi_s);
end
a_ans=stm1*initial_state;
b1=subs(stm1,t,t-tou);
b2=b1*B;
b3=int(b2,tou,0,t);
state_ans=a_ans+b3;
final_ans=C*state_ans+D*u;
pretty(final_ans)
/t\ / t\
sin| - -| exp| - - |
\2/ \ 2/
EXPERIMENT NO: 07
AIM OF THE EXPERIMENT: WAP to compute observer gain matrix for SISO system using
MATLAB.
clear;
clc;
A=[0 1;20.6 0];
C=[1 0];
P=[-8 -8];
[nr, nc]=size(A);
if (nr~=nc)
disp('The state matrix entered is not a square matix.')
end
Qc=[C; C*A];
n=rank(Qc);
if (n==nr)
K=acker(A',C',P)';
disp(K);
end
16.0000
84.6000
EXPERIMENT NO: 08
AIM OF THE EXPERIMENT: Determination of Limit cycle oscillation of system with relay
nonlinearity.
EXPERIMENT NO: 09
AIM OF THE EXPERIMENT: Determination of Limit cycle oscillation of system with
saturation nonlinearity.
EXPERIMENT NO: 10
AIM OF THE EXPERIMENT: Determination of Limit cycle oscillation of system with
backlash nonlinearity.

395 Ics Matlab

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395 Ics Matlab

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INDUSTRIAL CONTROL SYSTEM LAB

AIM OF THE EXPERIMENT: Computation of Z-transform, inverse Z-transform, Laplace

SOFTWARE USED: MATLAB 2017a

3. Simple z transformation of 'cos(a*t)' and output by any other variable.

4. Simple z transformation & plot of simple function

5. Simple laplace transformation of 5^t

6. Simple Laplace transformation of 'cos(5*t)' and output by any other variable.

7. Simple Laplace transformation of 'cos(a*t)' and output by any other variable.

8. Simple Laplace transformation & plot of simple function

10. Simple inverse laplace transformation.

a=[0 1 0;0 0 1;-160 -56 -14];

num = 0 0 1.0000 28.0000

The transfer function is

2. Compute state model and pole zero model of a transfer function.

The transfer function is

The zeros, poles and gain/multiplying factor are

The transfer function is

The state model matrices are

The required state transition matrix is given below

SOFTWARE USED: MATLAB 2017a

The state feedback gain matrix is

SOFTWARE USED: MATLAB 2017a

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