DEPARTMENT OF ELECTRONICS ENGINEERING

Experiment No. 5
2019-20

Semester T.E. Semester V – Electronics Engineering

Subject Digital Control System
Subject Professor In-charge Dr. Anjali Deshpande
Laboratory Programming Laboratory

Student Name SARVESH .P. KHANDAGALE

Roll Number 16103A0047
Grade and Subject
Teacher’s Signature

Experiment 5
Number
Experiment Design of a Controller based on Root Locus for the given specifications and
Title compare the step responses
Resources / Hardware: Software: Matlab/Simulink
Apparatus
Required

Objectives Problem: Block Diagram of a discrete control system is given as below. For
(Skill Set / this system design a controller such that the dominant closed loop poles have
Knowledge a damping ratio of 0.5, settling time 2 sec with a 2% tolerance band.
Tested / Obtain discrete domain TF with T=0.2 sec and
Imparted) 1. Sketch Root locus and step response for uncompensated system
2. Implement a discrete controller and repeat 1 for compensated system
3. Develop a Simulink model and obtain step response
Theory of With Sample and Hold circuit in loop, with T=0.2 sec
Operation The z domain transfer function for uncompensated system is

0.02(𝑧 + 0.93)
𝐺(𝑧) =
(𝑧 − 1)(𝑧 − 0.82)
Nature of controller/compensator
(𝑧 + 𝑎)
𝐺𝐷 (𝑧) = 𝐾
(𝑧 + 𝑏)
The parameters of controller are designed from the root locus by considering
the desired dominant pole location. The compensator transfer function to
achieve this is
(𝑧 − 0.85)
𝐺𝐷 (𝑧) = 10.75
(𝑧 − 0.253)
Block
Diagram

Simulink
Diagram
Pulse
Generator Scope1
Scope3

10.85z-8.82 1
In S/H
z-0.253 s2 +s
Step1 Discrete Zero-Order Transfer Fcn
Sample
Transfer Fcn Hold
and Hold

Scope

Matlab Code clear all;

close all;
clc;
z=tf('z',0.2);
Gp=0.02*(z+0.93)/((z-1)*(z-0.82));
sys=feedback(Gp,1)
figure(1)
rlocus(Gp);
title('Root locus of Uncompensated System');
z=tf('z',0.2);
Gcomp=10.75*(z-0.82)/(z-0.253);
sys_comp=feedback(Gp*Gcomp, 1);
figure(2)
rlocus(Gp*Gcomp);
title('Root locus of Compensated system');
figure(3),
subplot(2,1,1), step(sys);
title('Step Response of Uncompensated system');
figure(3),
subplot(2,1,2), step(sys_comp);
title('Step Response of Compensated system');
Waveforms/Fi
gures/Graphs
Root locus of Uncompensated System
2

1.5

0.5

Imaginary Axis 0

-0.5

-1

-1.5

-2
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis

Root locus of Compensated system

2

1.5

0.5
Imaginary Axis

-0.5

-1

-1.5

-2
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Conclusion With the addition of a controller in the system we observe that the settling
time is close to the desired value (2 seconds ) .

Peak Overshoot = 23% (for Uncompensated System)

Damping factor = 0.4237 (for Uncompensated system)

Peak Overshoot = 16% (for Uncompensated System)

Damping factor = 0.503 (for Compensated system)