Lab Report

SS1: Representation, Analysis and Control for Dynamic Systems

Name: Ashwin Kumaar Raviraj

Objective:
The aim of this experiment introduce to open-loop and closed-loop control system. We have tried
to learn how to use MATLAB scripts to create mathematical model of a DC motor by open loop
and closed loop control systems and we create SIMULINK model of a DC motor similarly. Finally
we have observed outputs and discussed differences and similarities between open loop and closed
loop control systems.

Open loop controller:

Closed loop controller:

Results:
Non-linear relationship between input and output

Relationship between input and output

300
Rotational Speed [deg/s]

250

200

150

100

50

0
11 11.5 12 12.5 13 13.5 14 14.5
Input Voltage [V]

Open Loop Controller

Sensitivity of controller to a model error

Yaw
Rotational Speed Rotational Speed Percent reduction
Control
[deg/s] with tape [deg/s] in rotational speed
(Input)
 120 109 80 26.61%

140 135 98 27.41%

160 150 120 20.00%

180 176 135 23.30%

200 183 149 18.58%

220 211 185 12.32%

240 235 205 12.77%

Closed Loop Controller

Closed-loop controller without model error

Time taken to reach YawRef: 4.002s
 Closed-loop controller with model error
Time taken to reach YawRef: 4.295s

Sensitivity vs Gain