65 CD PDF

Dept of EEE, SBIT, Khammam
DO’S AND DON’TS IN THE LAB

DO’S:-
1. Proper dress has to be maintained while entering in the Lab. (Boys with Tuck in and shoes,
girls with apron and cut shoe)
2. Students should carry observation notes and record completed in all aspects.
3. Correct specifications of the equipment have to be mentioned in the circuit diagram.
4. Student should be aware of operating equipment.
5. Students should be at their concerned experiment table, unnecessary moment is restricted.
6. Student should follow the indent procedure to receive and deposit the equipment from the
Lab Store Room.
7. After completing the connections Students should verify the circuits by the Lab Instructor.
8. The reading must be shown to the Lecturer In-Charge for verification.
9. Students must ensure that all switches are in the OFF position, all the connections are
removed.
10. All patch cords and stools should be placed at their original positions.
DON’Ts:-
1. Don’t come late to the Lab.
2. Don’t enter into the Lab with Golden rings, bracelets and bangles.
3. Don’t make or remove the connections with power ON.
4. Don’t switch ON the supply without verifying by the Staff Member.
5. Don’t switch OFF the machine with load.
6. Don’t leave the lab without the permission of the Lecturer In-Charge.
JAWAHARLAL NEHRU TECHNOLOICAL UNIVERSITY HYDERABAD

(A60290) CONTROL SYSTEMS AND SIMULATION LAB
II YEAR B.TECH. EEE -II SEM
The following experiments are required to be conducted compulsory experiments:

1. Time Response of Second order system
2. Characteristics Synchros
3. Programmable logic controller- study and verification of the truth tables of logic gates,
simple Boolean expressions and application of speed control of motor.
4. Effect of Feedback on DC servo Motor
5. Transfer Function of DC Motor
6. Transfer Function of DC Generator
7. Temperature controller using PID
8. Characteristics of Servo Motor
Any two simulation experiments are to be conducted:

9. Effect of P, PD, PI, PID Controller on a second order system
10. Lag and Lead compensation- Magnitude and phase plot
11. A. Simulation of P, PI, PID controller.
B. Linear system analysis ( time domain analysis, error analysis) using suitable
software
12. Stability analysis (Bode, Root Locus, Nyquist) of linear Time Invariant system using
MATLAB.
13. State space model for classical transfer function using MATLAB- Verification.
14. Design of Lag and Lead compensation for a given system and with specification using
suitable software
REFERENCE BOOKS:
Manuals or related software
CONTROL SYSTEMS & SIMULATION LAB

INDEX
Date of Signature of the

S.NO Name of the Experiment
Experiment faculty with date
1. Time Response of Second order system
2 Characteristics Synchro
3 3.1 PLC Logic Gates Simulation
3.2 PLC – Boolean Expression
3.3 PLC Speed Control of Motor
4 Effect of Feedback on DC servo Motor
5 Transfer Function of DC Motor
Effect of P,PD,PI,PID Controller on a second order

6
system
7 7.1 Lag compensation
7.2 Lead Compensation
8 Transfer Function of DC Generator
9 Temperature controller using PID
10 Characteristics of Servo Motor
11 12.1 Root Locus
12.2 Bode Plot
12.3 Nyquist Plot
12 Time response of First order equation
State space model for Classical Transfer

13
Function
CONTROL SYSTEMS & SIMULATION LAB

CONTROL SYSTEMS & SIMULATION LAB 1

CIRCUIT DIAGRAM:
CIRCUIT DIAGRAM:

1. LINEAR SECOND ORDER SYSTEM

AIM: To study the time response of a second order system and to determine the time domain
specifications for a unit step signal.
APPARATUS REQUIRED:
1. Linear simulator kit 1no
2. CRO 1no
3. CRO Probe 1no
4. Connecting wires As per required
THEORY:
Delay Time (td): The time that the system output response takes for the step input to reach 50%
of its final value is called Delay time
Rise Time (tr): The rise time is the time required for the response to rise from 10% to 90%,
 For undamped second order system, the o% to 100% rise time is normally used.
 For overdamped system, the 10% to 90% rise time is commonly used.
Peak Time (tp): The time that the system output response more than 100% is called peak time
Maximum Peak over shoot (Mp): The ratio of maximum value of the step excited output to the
final output is called maximum peak over shoot.
c(Tp ) − c(∞)
Mp = × 100%
c(∞)
Settling time (ts): The time required for the step response to settle down and stay within a
specified tolerance of the final value. Tolerance is usually taken as either 2 or 5%

TABULAR COLUMN:
S. No Gain(KA) Rise time(tr) Peak time (tp) %μp
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
MODEL GRAPHS:


GRAPH:

PROCEDURE:
1. Connect the connections as per the circuit diagram.
2. Adjust the input square wave such that the magnitude of the wave is 1V (peak to peak).
3. By varying the forward gain (K) we can observe the corresponding time response on the
CRO.
4. Trace the response on the trace paper and find the time domain specifications.
VIVA QUESTIONS:
1. What is the standard form of second order equation?
2. What is equation of damping ratio or damping factor?
3. What is meant by time constant?
4. Define?
a. Critically damped
b. Under damped
c. Over damped
d. Un damped
5. What is the equation of settle time?
RESULT:

CIRCUIT DIAGRAM:
CIRCUIT DIAGRAM:

2. SYNCHRO TRANSMITTER & RECEIVER PAIR

AIM: To study the characteristics of Synchro Transmitter and Synchro reactive pair.
APPARATUS REQUIRED:
1. Synchro Transmitter and Synchro reactive pair 1no
2. Multi meter (digital ) 1no
3. Patch Cards 3no
THEORY:
Basically synchros are electro mechanical devices or electromagnetic transducer which
produces an output voltage depending upon angular position of the rotor. A Synchro system is
formed by interconnection of the devices called the synchro transmitter and the synchro control
transformer. The synchro pair measures and compares two angular displacements and its output
voltage is approximately linear with angular difference of the axis of both the shafts. They can be
used in the following two ways. i. To control the angular position of load from a remote place /
long distance.
A synchro is, in effect, a transformer whose primary-to-secondary coupling may be varied

by physically changing the relative orientation of the two windings. Synchros are often used for
measuring the angle of a rotating machine such as an antenna platform. In its general physical
construction, it is much like an electric motor. The primary winding of the transformer, fixed to
the rotor, is excited by an alternating current, which by electromagnetic induction, causes
currents to flow in three Y-connected secondary windings fixed at 120 degrees to each other on
the stator. The relative magnitudes of secondary currents are measured and used to determine
the angle of the rotor relative to the stator, or the currents can be used to directly drive a receiver
synchro that will rotate in unison with the synchro transmitter. In the latter case, the whole
device may be called a selsyn.
Synchro systems were first used in the control system of the Panama Canal in the early
1900s to transmit lock gate and valve stem positions, and water levels, to the control desks. Fire-
control system designs developed during World War II used synchros extensively, to transmit
angular information from guns and sights to an analog fire control computer, and to transmit the
desired gun position back to the gun location. Early systems just moved indicator dials, but with

the advent of the amplidyne, as well as motor-driven high-powered hydraulic servos, the fire
control system could directly control the positions of heavy guns.
Smaller synchros are still used to remotely drive indicator gauges and as rotary position
sensors for aircraft control surfaces, where the reliability of these rugged devices is needed.
Digital devices such as the rotary encoder have replaced synchros in most other applications.
Selsyn motors were widely used in motion picture equipment to synchronize movie cameras and
sound recording equipment, before the advent of crystal oscillators and microelectronics. Large
synchros were used on naval warships, such as destroyers, to operate the steering gear from the
wheel on the bridge
PROCEDURE:
Synchro Transmitter:
1. Connect the mains supply to the system with the help of cable provided. Do not connect
any patch cords to terminals marked “S1, S2 and S3”.
2. Switch on main supply for unit.
3. Starting from zero position, note down the voltage between stator winding terminals
i.e.Vs1s2, Vs2s3 andVs3s1 in a sequential manner. Enter the readings in a tabular form and
plot a graph of angular position of rotor voltages for all three phases.
4. Note that zero position of the stator coincides with Vs3s1 voltage equal to zero voltage. Do
not disturb this condition.
5. Synchro Transmitter and Receiver Pair:
6. Connect the mains supply cable.
7. Connect S1, S2 and S3 terminals of transmitter to S1,S2 and S3 of Synchro receiver by

patch cords provided respectively.
8. Switch on SW1 and SW2 and also switch on the mains supply.
9. Move the pointer i.e. rotor position of Synchro transmitter TX in steps of 30 degrees and
observe the new rotor position. Observe that whenever TX is rotated, the Tr-rotor follows it
for both the directions of rotations and their positions are in good agreement.
10. Enter the input angular position and output angular position in the tabular form and plot a
graph.

TABULAR COLUMN:
Synchro Transmitter:
S.No Ө(angle) Vs1s2 Vs2s3 Vs3s1
Synchro Transmitter Receiver Pair:

S.No Transmitter(angle) Receiver(angle)

MODEL GRAPH:
RESULT:
VIVA QUESTIONS:
1. What is a synchro pair?
2. What is meant synchro transmitter and receiver?
3. What are the applications of synchros?
4. What are the other names of synchros?
5. What is the operation of synchro pair?


BLOCK DIAGRAM

3. LOGIC GATE SIMULATION

AIM: To study the performance of logic gates by using Programmable Logic controller.
APPARATUS REQUIRED:
1. PLC-4D trainer kit 1no
2. Digital Inputs 1no
3. 6 Digital Output 1no
THEORY:
Initially in normal condition output is Q , selection set is inv, or, and, exor gate function. When no
t condition output is 𝑄 , section set is NOR, NAND, EXNOR gates function.
The following Truth Table compares the logical functions of the 2-input logic gates.
PROCEDURE:
1. Connect the Digital inputs from the PLC panel to the plc trainer logic gate simulation
using path cards.
2. Connect DI‐0 to DI‐5 on the PLC trainer to DI‐0 to DI‐5 on the application panel.

3. Connect DO‐0 to DO‐1 on the PLC trainer to DO‐0 to DO‐1 on the application panel.
4. Connect 24V power supply and Ground to the respective terminals matching the terminal
color.
TIMING DIAGRAM:

RESULT:

BLOCK DIAGRAM

3. BOOLEAN ALGEBRA
AIM: To study the performance of Boolean algebra by using Programmable Logic controller.
APPARATUS REQUIRED:
THEORY:
Boolean algebra (Demorgan’s Theorem) panel is an experimental module where the program is
written in LD to prove Demorgan’s theorem that LHS of an equation is equal to RHS for three
inputs. Two LED's are given to indicate the status of LHS and RHS of the equation. If the LED's in
ON it indicates 1 if LED is off it indicates 0. Digital inputs DI -0 (X0) to DI-5 (X5) are used as two
switches and DO-0 (Y0) to DO3 (Y3) are used as output to LED.
PROCEDURE:
1. Connect the Digital inputs from the PLC panel to the SAP panel using patch cards.
2. Connect DI-0 and DI-1 on the PLC trainer to DI-0 and DI-1 on the application panel
respectively. DO-0 on the PLC trainer to DO-0 on the application panel.
color.

TIMING DIAGRAM:

RESULT:

BLOCK DIAGRAM:

3. SPEED CONTROL DC MOTOR

AIM: To study the performance of Speed control of DC motor by using Programmable Logic
controller.
APPARATUS REQUIRED:
THEORY:
DC Motor Control using relays is a working model it has a DC motor fixed on the panel. Ladder
Program is written to control the motor direction of rotation and timer control. The panel is an
experimental module two relays are used inside to control the direction of motor. These relays
are driven using Digital output of PLC. Two toggle switch are provided as input to PLC to select
the Direction of rotation and timer control mode.
Digital inputs DI -0 (X0) to DI-3 (X3) are used switches and DO-0 (Y0) to DO-3(Y3) are used as
output to RELAYS.
PROCEDURE:
1. Connect the Digital inputs from the PLC panel to the SAP panel using patch cards.
2. Connect DI-0 to DI-3 on the PLC trainer to DI-0 to DI-3 on the application panel
respectively And DO-0 and DO-1 on the PLC trainer to DO-0 and DO-1 on the application
panel.
color.

TIMING DIAGRAM:
VIVA QUESTIONS:
1. What is meant by PLC?
2. How to control speed of a DC motor by using PLC?
3. What are advantages of PLC?
4. What is meant by timing diagram?

RESULT:

CIRCUIT DIAGRAM:
CIRCUIT DIAGRAM:

4. EFFECT OF FEEDBACK ON DC SERVO MOTOR

AIM: To study the performance characteristic of a DC motor angular position control system.
APPARATUS REQUIRED:
DC position control system module 1no
THEORY:
Feedback occurs when outputs of a system are routed back as inputs as part of a chain of cause-
and-effect that forms a circuit or loop. The system can then be said to feed back into itself. The
notion of cause-and-effect has to be handled carefully when applied to feedback systems.
"Simple causal reasoning about a feedback system is difficult because the first system influences
the second and second system influences the first, leading to a circular argument. This makes
reasoning based upon cause and effect tricky, and it is necessary to analyze the system as a
whole."
PROCEDURE:
1. Before switching on the mains, see that the switches SW3, SW4 (On the LHS panel) are in
down ward position i.e. ON position.
2. Keep the input potentiometer P1 in 10 degree position.
3. Adjust the Potentiometer P3 (amplifier gain Adj.) in mid position.
4. Now switch ON the main unit LED ‘R’and LED “G” should glow.
Without Stabilizing Feedback (SW1 in off position i.e. Tacho out.)

1. Now slowly advance the input potentiometer P1 in clockwise direction. The output
potentiometer along with load will be seen to be following the change in the input
potentiometer.
2. When the input is disturbed, the null indicator will be showing some indication but when
it may be noted that when input pot is moved in anticlockwise Direction, the output pot
P2 also moves in the reverse direction.
3. Step change in Input:
4. Keep the pot P1 at around 180 degree position. Pot P2 also will be in the same position.

5. Now change the input pot in a step fashion by about 60 to 80 degrees (in fact
approximating step input) , The output will be observed to change in oscillatory mode
before it settles to a final position.
6. The tendency for oscillations is found to be dependent on the amplifier gain setting. For
high gain there are too many oscillations where as low gain oscillations are reduced but
with static error.
With Stabilizing Feedback:

1. Now put the SW1 switch in lower position .i.e Tacho in position .SW2 must be in down
ward position i.e degenerative mode. Keep P4 in fully anti clock wise direction, output
again indicates oscillations.
2. Now take the pot P1 to 180˚ position, effect the step input change in one of the direction,
output again indicates oscillations.
3. Now advance the tacho gain pot(P4) in clockwise direction the output now is observed to
follow the input in a smooth fashion without oscillation. If the tacho gain pot (P4 )is too
much advanced, the output now follows input in a sluggish fashion indicating over
damped system. Now take the pot P1 to 180 degree position.
4. Now the switch SW2 in upward position i.e. regenerative mode. Now if the pot P1 is
disturbed, the output pot P2 is found to oscillate continuously around desired position as
the amount of feedback is adjusted the frequency and amplitude of output is observed to
vary.
5. Warning: - Do not operate the DC position control in the regenerative mode for long
time. This can damage the pontiometers.
6. Bring the switch SW2 in down ward position.

OBSERVATIONS:
Plot the output angle versus input for both system i.e. with out and with stabilizing feed back by
looking to the nature of rotation of the output potentiometer and disc mounted on it.
Input angular Output angular

Without stabilizing
Sl No position in position in
Feed back Remarks
degrees degrees
Tendency for
01 15 13
oscillations
02 30 29 As above
03 90 87 As above
04 180 178 As above
05 270 268 As above
Note that these are typical readings and there can be piece to piece variation because the
servomotor pots are having linearity of +/_ 1%. It is better to operate in the region of 15 degrees
to 330 degrees to avoid zero crossing and possible damage of potentiometers
Input angular Output angular With stabilizing Remarks

Sl No position in position in Feed back SW2 in degenerative
degrees degrees SW1 down ward mode
Systems oscillates
01 60 around 60 degrees
positions
02 120 As above Around 120
* Do not operate this mode for long time

PRECAUTIONS:-
1. Please do not cross zero degree position by moving pot P1 i.e. do not operate between
330 degrees and 10 degrees.
2. Do not try to rotate output potentiometer by hand. This may damage the potentiometer.
3. Students should note the following: Try to understand the function of output
potentiometer.
4. The null indicator indicates a small deviation from zero indication at various positions of
angle ø1 and ø2.This is so because of backlash in the gear, friction and the fact that some
definite torque is required to be produced by the motor, so that the system can be set in
to rotation. More over this torque goes on changing from position to position
5. Hence this error observes the effect of change in amplifier gain. Higher the gain, smaller
is the error. When system is not using, keep Sw3 Sw4 in off position.(Upward position) to
avoid heating and possible damage of the power stage
RESULT:
VIVA QUESTIONS:
1. What is meant by feed back?
2. What is meant by positive feedback and negative feedback?
3. What is meant servo motor?
4. What is difference between a dc motor and Dc servo motor?
5. What are applications of Dc servo motor?


CIRCUIT DIAGRAM:
ARMATURE CONTROLLED DC MOTOR:
SPEED ARMATURE BY CONTROLLED DC MOTOR:
FIELD CONTROLLED OF DC MOTOR:

5. TRANSFER FUNCTION DC MOTOR

AIM: To determine the transfer function of the Dc Motor with armature controlled method
and field controlled method
APPARATUS:
1. DC motor- kit 1no
2. Connecting wires as per required
THEORY:
Mathematically transfer function is defined as the ratio of Laplace transform of output
(response) of the system to the Laplace transform of input (excitation or driving function), under
the assumption that all initial conditions are zero. The transfer function of the system then,
𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑙𝑓 𝑜𝑢𝑡𝑝𝑢𝑡 𝐶(𝑠)

𝑇 𝑆 = =
𝐿𝑎𝑝𝑎𝑙𝑐𝑒 𝑡𝑟𝑎𝑠𝑛𝑓𝑜𝑟𝑚 𝑜𝑓 𝑖𝑛𝑝𝑢𝑡 𝑅(𝑠)
Speed Control Methods of DC Motor
1. Flux Control Method

It is already explained above that the speed of a dc motor is
inversely proportional to the flux per pole. Thus by decreasing
the flux, speed can be increased and vice versa. To control the
flux, a rheostat is added in series with the field winding, as
shown in the circuit diagram. Adding more resistance in
series with the field winding will increase the speed as it
decreases the flux.
In shunt motors, as field current is relatively very small, Ish2R loss is small and, hence, this
method is quite efficient. Though speed can be increased above the rated value by reducing flux
with this method, it puts a limit to maximum speed as weakening of flux beyond the limit will
adversely affect the commutation.

CIRCUIT DIAGRAM:

2.Armature Control Method

Speed of a dc motor is directly proportional to the back
emf Eb and Eb = V - IaRa. That means, when the supply
voltage V and the armature resistance Ra are kept
constant, speed is directly proportional to the armature
current Ia. Thus, if we add a resistance in series with the
armature, Ia decreases and, hence, the speed also
decreases. Greater the resistance in series with the
armature, greater the decrease in speed.
3. Voltage Control Method

a) Multiple voltage control: In this method, the shunt field is connected to a fixed exciting voltage
and armature is supplied with different voltages. Voltage across armature is changed with the
help of a suitable switchgear. The speed is approximately proportional to the voltage across the
armature.
b) Ward-Leonard System:M2 is the motor whose speed control is required.M1 may be any AC
motor or DC motor with constant speed.G is a generator directly coupled to M1
This system is used where very sensitive speed control

of motor is required (e.g electric excavators, elevators
etc.). The arrangement of this system is as shown in the
figure. In this method, the output from the generator G
is fed to the armature of the motor M2 whose speed is
to be controlled.
The output voltage of the generator G can be varied from zero to its maximum value by means of
its field regulator and, hence, the armature voltage of the motor M2 is varied very smoothly.
Hence, very smooth speed control of the dc motor can be obtained by this method.

TABULAR COLUMN:
Armature Controlled Dc Motor: Radius , R=6.5 cm
S.No 𝑰𝑳 , 𝑭𝟏 𝑭𝟐 N rpm 𝑻 = 𝑭𝟏 ~𝑭𝟐 𝟔. 𝟓 × 𝟗. 𝟖𝟏𝑵 − 𝒄𝒎
Speed Control by Armature Voltage Control:

𝟐𝜫𝑵
S. No 𝑰𝒂 amps N rpm V volts 𝑬𝒃 = 𝑽 − 𝑰𝒂 𝑹𝒂 𝝎=
𝟔𝟎
Field Control Method:

S. No 𝑰𝒇 amps 𝑰𝒂 amps V volts N rpm T=𝑰𝒇 𝑰𝒂 N-M

PROCEDURE:
Armature Controlled DC Motor:

1. Make the Circuit connections as per the circuit diagram.
2. Connect 220V fixed DC supply to the field of DC motor and brake drum belt should be
loosened.
3. Start the motor by applying 0-220V variable DC supply from the controller till the motor
rotates at its rated speed
4. Note down meter readings which indicates no load reading
5. Apply load in steps up to rated current of the motor and note down corresponding
𝐼𝐿 , 𝑁, 𝐹1 , 𝑎𝑛𝑑 𝐹2
Speed Control by Armature Voltage Control:

1. Make the Circuit connections as per the circuit diagram.
2. Connect 220V fixed DC supply to the motor field keep the armature control pot at its
minimum position and switch at OFF position.
3. Switch ON the MCB, switch ON the armature control switch. Vary the armature voltage
and note down the speed and the corresponding meter readings.
4. Repeat the same for different armature voltages.
5. Transfer Function Field Controlled of DC Motor:
6. Make the connections as given in the circuit diagram.
7. Motor field voltage should be maximum and belt is loosened.
8. Switch ON the supply to the controller unit. Switch ON the armature supply. Vary the
armature voltage till the motor speed comes to rated speed and note down the readings
9. Vary the field supply till we obtain 20% above rated speed of motor and note down the
readings.

MODEL GRAPH:
Armature Controlled Dc Motor: Speed Control by Armature Voltage Control:
𝐾𝑇
The overall Transfer function of armature controlled DC motor is T.F= 𝑠 𝑅𝑎 +𝑠𝐿 𝑎 𝑠𝐽 𝑚 +𝑓𝑚 +𝐾𝑇 𝐾𝐵
𝐾𝑓
The overall Transfer function of field controlled DC motor is T.F= 𝑠 𝑅𝑓 +𝑠𝐿 𝑓 𝑠𝐽 𝑚 +𝑓𝑚
Where
𝑅𝑎 =15Ω 𝐿𝑎 = 135𝑚𝐻 𝑅𝑓 = 400Ω 𝐿𝑓 = 21𝐻
J= Moment of inertia 0.024Kg-m2
𝑓𝑚 = 𝑐𝑜𝑒𝑓𝑓𝑖𝑒𝑐𝑖𝑛𝑡 𝑜𝑓 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛0.8
𝑘𝑏 = Back EMF constant
𝑘 𝑇 = Torque constant
𝐸𝑏 = Back EMF
𝐼𝑎 = Armature current
T= Torque developed
RESULT:

VIVA QUESTIONS:
1. Define transfer function?
2. What do you understand by system modeling?
3. Is the concept of Transfer function is applicable to non linear systems also? Is T.F
independent of the input of the system?
4. What are the advantages of using armature controlled DC motor?
5. What are the advantages of using field controlled DC motor?
6. Give the advantages of DC motor for control system applications.

GRAPH:


CIRCUIT DIAGRAM:
CIRCUIT DIAGRAM:

6. PID CONTROLLER
AIM: To study the performance characteristics of an analog PID controller using simulated
system.
APPARATUS REQUIRED:
1. PID controller KIT 1no
2. CRO 1no
THEORY:
A proportional–integral–derivative controller (PID controller) is a control loop feedback
mechanism (controller) commonly used in industrial control systems. A PID controller
continuously calculates an error value e(t){\display style e(t)} as the difference between a
desired set point and a measured process variable and applies a correction based on
proportional, integral, and derivative terms, (sometimes denoted P, I, and D respectively) which
give their name to the controller type.
 P accounts for present values of the error. For example, if the error is large and positive,
the control output will also be large and positive.
 I accounts for past values of the error. For example, if the current output is not
sufficiently strong, the integral of the error will accumulate over time, and the controller
will respond by applying a stronger action.
 D accounts for possible future trends of the error, based on its current rate of change.
As a PID controller relies only on the measured process variable, not on knowledge of the
underlying process, it is broadly applicable.[2] By tuning the three parameters of the model, a PID
controller can deal with specific process requirements. The response of the controller can be
described in terms of its responsiveness to an error, the degree to which the system overshoots a
set point, and the degree of any system oscillation. The use of the PID algorithm does not
guarantee optimal control of the system or even its stability.
Some applications may require using only one or two terms to provide the appropriate system
control. This is achieved by setting the other parameters to zero. A PID controller is called a PI,
PD, P or I controller in the absence of the respective control actions. PI controllers are fairly
common, since derivative action is sensitive to measurement noise, whereas the absence of an
integral term may prevent the system from reaching its target value.

TABULAR COLUMN:
P -Controller:
S. No Kp X Y Steady state error Peak over shoot
P –I Controller:
S. No Ki X Y Steady state error Peak over shoot

PROCEDURE:
P-Controller:
1. Make connections as shown in fig with process made up of time delay and time constant
blocks.
2. Notice that the CRO operation in the X-Y mode ensures stable display even at low
frequencies.
3. Set input amplitude (square wave) to 1V (P-P) frequency to the low value.
4. For various values of Kp=0.2, 0.4………measure from the screen the values of peak
5. Overshoot and steady state and tabulate.
P-I Controller:
1. Make connections for 1- order type-0 system with time delay.
2. Set input amplitude (square wave) to 1V (P-P) frequency to the low value and Ki to zero.
3. For Ki=0.2 say observe and record Overshoot and steady state error and tabulate.
4. Now increase Ki in small steps and record peak over shoot and steady state error.
P-I- D Controller:
1. Make connections for 1- order type-0 system with time delay.
2. Set input amplitude (square wave) to 1V (P-P) frequency to the low value and
3. Kp=0.6, Ki =0.06,Kd=0.to zero
4. The system shows fairly large overshoot record the peak overshoot and steady state
error.
5. Now increase Kd in small steps and record peak over shoot and steady state error.

P –I-D Controller:
S. No Kd X Y Steady state error Peak over shoot
CALCULATIONS:
𝑖
𝑠𝑡𝑒𝑝 −𝑥
[∵ 𝑠𝑡𝑒𝑝 𝑖 𝑝 = 1V]
𝑝
Steady state error= 𝑠𝑡𝑒𝑝 𝑖/𝑝
𝑦−𝑥
Peak over shoot = 𝑦
× 100
MODEL GRAPHS:

RESULT:
VIVA QUESTIONS:
1. What is meant by a controller?
2. What is meant by PID controller?
3. What is meant by PI controller?
4. What is meant by PD controller?
5. Why ID controllers are not practically?

GRAPH:


CIRCUIT DIAGRAM:
CIRCUIT DIAGRAM:

7. LAG COMPENSATION
AIM: To design a Lag compensation network theoretically and practically
APPARATUS REQUIRED:
1. Lag –lead compensation Module 1no
2. Connecting Wires As per required
THEORY:
A lead–lag compensator is a component in a control system that improves an

undesirable frequency response in a feedback and control system. It is a fundamental building
block in classical control theory. Lead–lag compensators influence disciplines as varied as
robotics, satellite control, automobile diagnostics, and laser frequency stabilization. They are an
important building block in analog control systems, and can also be used in digital control. Given
the control plant, desired specifications can be achieved using compensators. I, D, PI, PD, and
PID, are optimizing controllers which are used to improve system parameters (such as reducing
steady state error, reducing resonant peak, improving system response by reducing rise time). All
these operations can be done by compensators as well.
Both lead compensators and lag compensators introduce a pole–zero pair into the open loop
transfer function. The transfer function can be written in the Laplace domain as
𝑌 𝑠−𝑍
=
𝑋 𝑠−𝑝
where X is the input to the compensator, Y is the output, s is the complex Laplace transform
variable, z is the zero frequency and p is the pole frequency. The pole and zero are both typically
negative, or left of the zero in the complex plane. In a lead compensator, |z|<|p|, while in a lag
compensator |z|>|p|. A lead-lag compensator consists of a lead compensator cascaded with a
lag compensator. The overall transfer function can be written as
𝑌 𝑠 − 𝑍1 (𝑠 − 𝑍2 )
=
𝑥 𝑠 − 𝑝1 (𝑠 − 𝑝2 )
Typically|𝑝1 |>|𝑧1 |>|𝑧2 |>|𝑝2 |, where 𝑧1 and 𝑝1 are the zero and pole of the lead compensator
and z2 and p2 are the zero and pole of the lag compensator. The lead compensator provides
phase lead at high frequencies. This shifts the root locus to the left, which enhances the
responsiveness and stability of the system. The lag compensator provides phase lag at low
frequencies which reduces the steady state error.

The precise locations of the poles and zeros depend on both the desired characteristics of the
closed loop response and the characteristics of the system being controlled. However, the pole
and zero of the lag compensator should be close together so as not to cause the poles to shift
right, which could cause instability or slow convergence. Since their purpose is to affect the low
frequency behavior, they should be near the origin.
TABULAR COLUMN:
𝑽𝒊𝒏 Peak 𝑽𝒐𝒖𝒕 Lag Ø Gain
S. No Frequency Calculated Practical Calculated Practical
V Peak V
𝑉𝑜𝑢𝑡
Practical gain = 𝑉 𝑖𝑛
Theoretical Lag Ø=𝑡𝑎𝑛−1 𝜔𝑅𝐶
1
Gain = RC
2
1
ω2 + RC
PROCEDURE:
1. Switch ON the Mains supply to the unit. Observe the sine wave signal by varying
frequency and amplitude potentiometer.
2. Now make the networks connections depending on Lag networks.
3. Now vary the frequency and note down frequency, phase angle difference and output V
pk for different frequencies and enter the readings in the tabular column.
4. Now calculate the theoretical values of phase angle difference and gain. Compare this
with the measured values.

5. Plot the graph of ph. Angle v/s frequency and gain v/s frequency.
6. Repeat the same for different values of R & C.
7. Repeat the same for different sine wave amplitude.
8. The time interval between input and output waves is measured and tabulated.
9. Readings are tabulated by varying the frequency of input waveform, experiment is

repeated.
RESULT:

CIRCUIT DIAGRAM:

7. LEAD COMPENSATION
AIM: To design a Lead compensation network theoretically and practically
APPARATUS REQUIRED:
1. Lag –lead compensation Module 1no
THEORY:
A lead–lag compensator is a component in a control system that improves an
undesirable frequency response in a feedback and control system. It is a fundamental building
block in classical control theory. Lead–lag compensators influence disciplines as varied as
robotics, satellite control, automobile diagnostics, and laser frequency stabilization. They are an
important building block in analog control systems, and can also be used in digital control. Given
the control plant, desired specifications can be achieved using compensators. I, D, PI, PD, and
PID, are optimizing controllers which are used to improve system parameters (such as reducing
steady state error, reducing resonant peak, improving system response by reducing rise time). All
these operations can be done by compensators as well.
Both lead compensators and lag compensators introduce a pole–zero pair into the open loop
transfer function. The transfer function can be written in the Laplace domain as
𝑌 𝑠−𝑍
=
𝑋 𝑠−𝑝
where X is the input to the compensator, Y is the output, s is the complex Laplace transform
variable, z is the zero frequency and p is the pole frequency. The pole and zero are both typically
negative, or left of the zero in the complex plane. In a lead compensator, |z|<|p|, while in a lag
compensator |z|>|p|. A lead-lag compensator consists of a lead compensator cascaded with a
lag compensator. The overall transfer function can be written as
𝑌 𝑠 − 𝑍1 (𝑠 − 𝑍2 )
=
𝑥 𝑠 − 𝑝1 (𝑠 − 𝑝2 )
Typically|𝑝1 |>|𝑧1 |>|𝑧2 |>|𝑝2 |, where 𝑧1 and 𝑝1 are the zero and pole of the lead compensator
and z2 and p2 are the zero and pole of the lag compensator. The lead compensator provides
phase lead at high frequencies. This shifts the root locus to the left, which enhances the
responsiveness and stability of the system. The lag compensator provides phase lag at low
frequencies which reduces the steady state error.

The precise locations of the poles and zeros depend on both the desired characteristics of the
closed loop response and the characteristics of the system being controlled. However, the pole
and zero of the lag compensator should be close together so as not to cause the poles to shift
right, which could cause instability or slow convergence. Since their purpose is to affect the low
frequency behavior, they should be near the origin.
TABULAR COLUMN:
𝑽𝒐𝒖𝒕 Lag Ø Gain
S.no Frequency 𝑽𝒊𝒏 Peak V
Peak V Calculated Practical Calculated Practical
THEORETICAL CALCULATIONS:
∅ = 𝑡𝑎𝑛−1 1 𝜔𝑅𝐶
𝑗𝜔𝑅𝐶 𝑉𝑜𝑢𝑡
𝐺𝑎𝑖𝑛 = 1+𝑗𝜔𝑅𝐶 or 𝑉 𝑖𝑛
Where
𝑉𝑜𝑢𝑡 𝑅 1 2
= ∴𝑍= ω2 +
𝑉 𝑖𝑛 𝑍 RC

PROCEDURE:
1. Switch ON the Mains supply to the unit. Observe the sine wave signal by varying
frequency and amplitude potentiometer.
2. Now make the networks connections depending on Lead networks.
3. Now vary the frequency and note down frequency, phase angle difference and output V
pk for different frequencies and enter the readings in the tabular column.
4. Now calculate the theoretical values of phase angle difference and gain. Compare this
with the measured values.
5. Plot the graph of ph. Angle v/s frequency and gain v/s frequency.
6. Repeat the same for different values of R & C.
7. Repeat the same for different sine wave amplitude.
8. The time interval between input and output waves is measured and tabulated.
9. Readings are tabulated by varying the frequency of input waveform, experiment is

repeated.
RESULT:
VIVA QUESTIONS:
1. What is meant by compensator?
2. What is the necessity of a compensator to be introduced in a system?
3. What are the different types of compensators used in control systems?
4. What are the most widely used series compensators?
5. What is a lag compensator?
6. What is a lead compensator?
7. What are advantages of lag lead compensators?
8. What are the limitations of lag compensator?
9. What are effects of lead compensation?

CIRCUIT DIAGRAM:
Separately excited DC Generator:
Self excited DC Generator:

8. TRANSFER FUNCTION DC GENERATOR

AIM: To determine the Transfer function of separately excited & self excited Dc Generator.
APPARATUS:
1. Dc Motor-Generator Module 1no
THEORY:
Mathematically transfer function is defined as the ratio of Laplace transform of output
(response) of the system to the Laplace transform of input (excitation or driving function), under
the assumption that all initial conditions are zero. The transfer function of the system then,
𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑙𝑓 𝑜𝑢𝑡𝑝𝑢𝑡 𝐶(𝑠)

𝑇 𝑆 = =
𝐿𝑎𝑝𝑎𝑙𝑐𝑒 𝑡𝑟𝑎𝑠𝑛𝑓𝑜𝑟𝑚 𝑜𝑓 𝑖𝑛𝑝𝑢𝑡 𝑅(𝑠)
Generally DC generators are classified according to the ways of excitation of their fields. There
are three methods of excitation.
 Field coils excited by permanent magnets – Permanent magnet DC generators.
 Field coils excited by some external source – Separately excited DC generators.
 Field coils excited by the generator itself – Self excited DC generators.
When the flux in the magnetic circuit is established by the help of permanent magnets then it is
known as Permanent magnet DC generator.
Separately Excited DC Generator

These are the generators whose field magnets are energized by some external dc source such as
battery . A circuit diagram of separately excited DC generator is shown in figure.
Ia = Armature current
IL = Load current
V = Terminal voltage
Eg = Generated e

CIRCUIT DIAGRAM:

Voltage drop in the armature = Ia × Ra (R/sub>a is the armature resistance)
Let, Ia = IL = I (say) Then, voltage across the load,
V = IRa Power generated,
Pg = Eg×I Power delivered to the external load, PL = V×I.
Self-excited DC Generators
These are the generators whose field magnets are energized by the current supplied by
themselves. In these type of machines field coils are internally connected with the armature. Due
to residual magnetism some flux is always present in the poles. When the armature is rotated
some emf is induced. Hence some induced current is produced. This small current flows through
the field coil as well as the load and thereby strengthening the pole flux. As the pole flux
strengthened, it will produce more armature emf, which cause further increase of current
through the field. This increased field current further raises armature emf and this cumulative
phenomenon continues until the excitation reaches to the rated value. According to the position
of the field coils the self-excited DC generators may be classified as…
 Series wound generators
 Shunt wound generators
 Compound wound generators
TABULAR COLUMN:
Separately Self excited

S. No
𝑰𝒇 Amps 𝑬𝒈 volts 𝑰𝒇 Amps 𝑬𝒈 Volts

Field resistance: 𝑅𝑓 −400Ω
Field inductance: 𝐿𝑓 −21H
𝐾𝑔
𝐿𝑓
Transfer function of DC Generator = 𝑅𝑓
𝑆+ 𝐿 𝑓
∆𝑬𝒈
𝑲𝒈 = ∆𝑰𝒇
PROCEDURE:
Separately excited DC Generator:

1. Make the connections as per the circuit diagram.
2. Connect 220V fixed DC supply to the field of DC motor
3. Connect 100-220V variable DC supply to the Generator field.
4. Connect 0-200V variable Dc supply to the armature.
5. Switch on the MCB keeping armature voltage control pot at its minimum position &
ON/OFF switch at OFF position and also variable field voltage pot at its maximum
position.
6. Now switch ON the Armature control switch and vary the armature control
potentiometer till the motor rotates at its rated speed.
7. Note down 𝐼𝑓 and 𝐸𝑔 and eneterd in the tabular column.
8. Now vary the generator field supply and note down 𝐸𝑔 for different 𝐼𝑓 s and entered in
the tabular column.
9. Draw graph of 𝐸𝑔 v/s 𝐼𝑓
Self excited DC Generator:

1. Make the connections as per the circuit diagram.
2. Connect 220V fixed DC supply to the field of DC motor
3. Connect 0-200V variable Dc supply to the armature.
4. Connect Rheostat of 700Ω/1A in series with the field of generator.

5. Switch on the MCB keeping armature voltage control pot at its minimum position &
ON/OFF switch at OFF position and also variable field voltage pot at its maximum
position.
6. Now switch ON the Armature control switch and vary the armature control
potentiometer till the motor rotates at its rated speed.
7. Note down 𝐼𝑓 and 𝐸𝑔 and eneterd in the tabular column.
8. Now vary the generator field supply and note down 𝐸𝑔 for different 𝐼𝑓 s and entered in
the tabular column.
9. Draw graph of 𝐸𝑔 v/s 𝐼𝑓
MODEL GRAPH:
∆𝑬𝒈
𝑲𝒈 =
∆𝑰𝒇
RESULT:
VIVA QUESTIONS:
1. Define transfer function?
2. What do you understand by system modeling?
3. Is the concept of Transfer function is applicable to non linear systems also? Is T.F
independent of the input of the system?
4. What are the advantages of using separately excited DC generator?
5. What are the advantages of using self excited DC generator?
6. Give the advantages of DC generator for control system applications.

GRAPH:


CIRCUIT DIAGRAM:

9. TEMPERATURE PID CONTROLLER

AIM: To study the performance of the PID controller used to control the temperature of an oven.
APPARATUS:
1. Temperature PID controller kit 1no
THEORY:
As the name implies, a temperature controller - often called a PID controller is an instrument
used to control temperature. The temperature controller takes an input from a temperature
sensor and has an output that is connected to a control element such as a heater or fan. To
accurately control process temperature without extensive operator involvement, a temperature
control system relies upon a controller, which accepts a temperature sensor such as a
thermocouple or RTD as input. It compares the actual temperature to the desired control
temperature, or set point, and provides an output to a control element.
The controller is one part of the entire control system, and the whole system should be analyzed
in selecting the proper controller. The following items should be considered when selecting a
controller:
1. Type of input sensor (thermocouple, RTD) and temperature range
2. Type of output required (electromechanical relay, SSR, analog output)
3. Control algorithm needed (on/off, proportional, PID)
4. Number and type of outputs (heat, cool, alarm, limit)
A proportional–integral–derivative controller (PID controller) is a control loop feedback

mechanism (controller) commonly used in industrial control systems. A PID controller
continuously calculates an error value e(t){\displaystyle e(t)} as the difference between a desired
setpoint and a measured process variable and applies a correction based on proportional,
integral, and derivative terms, (sometimes denoted P, I, and D respectively) which give their
name to the controller type.

CIRCUIT DIAGRAM:

PROCEDURE:
1. Connections are made internally.
2. Switch on the supply to the kit.
3. Note down the actual temperature
4. Now set temperature above the actual temperature, switch on the stop clock and take
the readings of actual temperature for every 10 secs.
5. Continue this process actual temperature equals to set temperature
6. Switch off the supply.
PRECAUTIONS:
1. Always set temperature must be greater than the actual temperature.
2. After setting the set temperature we should immediately start the stop clock.
TABULAR COLUMN:
S. No Actual Temperature °𝒄 Set temperature °𝒄 Time in sec

MODEL GRAPH:
RESULT:
VIVA QUESTIONS:
1. What is meant by a controller?
2. What is meant by PID controller?
3. What is meant by PI controller?
4. What is meant by PD controller?
5. Why ID controllers are not practically?
6. What is meant by temperature controller?
7. How temperature will control by using PID controller?
8. What are the factors should consider while selecting a controller?

GRAPH:

CIRCUIT DIAGRAM
Series Connected Magnetic Amplifier:
Parallel Connected magnetic Amplifier:
Self saturated connection magnetic Amplifier:

CIRCUIT DIAGRAM:
MODEL GRAPH:

10. CHARACTERISTICS OF AC SERVOMOTOR

AIM: To study the speed torque characteristics of 2-Ø AC servo motor.
APPARATUS:
1. AC servo motor kit 1no
2. Multi meter 1no
THEORY:
A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or
linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for
position feedback. It also requires a relatively sophisticated controller, often a dedicated module
designed specifically for use with servomotors. Servomotors are not a specific class of motor
although the term servomotor is often used to refer to a motor suitable for use in a closed-loop
control system. Servomotors are used in applications such as robotics, CNC machinery or
automated manufacturing.
Basically, servo motors are classified into AC and DC servo motors depending upon the nature of
supply used for its operation. Brushed permanent magnet DC servo motors are used for simple
applications owing to their cost, efficiency and simplicity. These are best suited for smaller
applications. With the advancement of microprocessor and power transistor, AC servo motors
are used more often due to their high accuracy control.
AC Servo Motors: AC servo motors are basically two-phase squirrel cage induction motors and
are used for low power applications. Nowadays, three phase squirrel cage induction motors have
been modified such that they can be used in high power servo systems.
The main difference between a standard split-phase induction motor and AC motor is that the
squirrel cage rotor of a servo motor has made with thinner conducting bars, so that the motor
resistance is higher. Based on the construction there are two distinct types of AC servo motors,
they are synchronous type AC servo motor and induction type AC servo motor. Synchronous-type
AC servo motor consist of stator and rotor. The stator consists of a cylindrical frame and stator
core. The armature coil wound around the stator core and the coil end is connected to with a

CIRCUIT DIAGRAM:

lead wire through which current is provided to the motor. The rotor consists of a permanent
magnet and hence they do not rely on AC induction type rotor that has current induced into it.
And hence these are also called as brushless servo motors because of structural characteristics.
When the stator field is excited, the rotor follows the rotating magnetic field of the stator at the
synchronous speed. If the stator field stops, the rotor also stops.
With this permanent magnet rotor, no rotor current is needed and hence less heat is produced.
Also, these motors have high efficiency due to the absence of rotor current. In order to know the
position of rotor with respect to stator, an encoder is placed on the rotor and it acts as a
feedback to the motor controller. The induction-type AC servo motor structure is identical with
that of general motor. In this motor, stator consists of stator core, armature winding and lead
wire, while rotor consists of shaft and the rotor core that built with a conductor as similar to
squirrel cage rotor.
Working Principle of AC Servo Motor: The schematic diagram of servo system for AC two-
phase induction motor is shown in the figure below. In this, the reference input at which the
motor shaft has to maintain at a certain position is given to the rotor of synchro generator as
mechanical input theta. This rotor is connected to the electrical input at rated voltage at a fixed
frequency.

The three stator terminals of a synchro generator are connected correspondingly to the terminals
of control transformer. The angular position of the two-phase motor is transmitted to the rotor
of control transformer through gear train arrangement and it represents the control condition
alpha. Initially, there exist a difference between the synchro generator shaft position and control
transformer shaft position. This error is reflected as the voltage across the control transformer.
This error voltage is applied to the servo amplifier and then to the control phase of the motor.
With the control voltage, the rotor of the motor rotates in required direction till the error
becomes zero. This is how the desired shaft position is ensured in AC servo motors. Alternatively,
modern AC servo drives are embedded controllers like PLCs, microprocessors and
microcontrollers to achieve variable frequency and variable voltage in order to drive the motor.
Mostly, pulse width modulation and Proportional-Integral-Derivative (PID) techniques are used to
control the desired frequency and voltage. The block diagram of AC servo motor system using
programmable logic controllers, position and servo controllers is given above.
PROCEDURE:
1. Study all the controls on the front panel
2. Initially keep load control switch at OFF position, indicating that the armature circuit of
dc machine is not connected to auxiliary dc supply- 12V dc. Keep servomotor supply also
at OFF position.
3. Ensure load potentiometer and control voltage auto transformer at minimum position.
4. Now switch ON mains supply to the unit and also AC servomotor supply switch. Vary the
control voltage transformer. You can observe that the AC servomotor will starts rotating
and speed will be indicated by the tachometer in the front panel.
5. With load switch in OFF position, vary the speed of the AC servomotor by moving the
control voltage and note down back emf generated by the dc machine (Now working as
dc generator or tacho). Enter the readings in tabular form.
6. Now with load switch at OFF position, switch ON AC servomotor and keep the speed in
the minimum position. You can observe that the AC servomotor starts moving wit speed
being indicated by varying the auto transformer and set the speed for maximum speed.
Now switch ON the load switch and start loading AC servomotor by varying the load
potentiometer slowly. Note down the corresponding readings of Ia, speed and control
voltage.

TABULAR COLUMN:
S.No Speed in RPM Back EMF Eb in Volts
S.No Speed in RPM Ia in Amps Back EMF Eb in V Power in watts Torque in N-m
𝑃 × 1.019 × 104 × 60
𝑇=
2𝜋𝑁

RESULT:
VIVA QUESTIONS:
1. What is meant by servo motor?
2. What are the different types of servo motors?
3. What is meant by servo mechanism?
4. What is meant by AC servo motor?
5. What is the working principal of servo motor?

GRAPH:


11. ROOT LOCUS

1
AIM: Consider a third order system whose transfer function is G(s) = 𝑠 3 +2𝑠 2 +5𝑠+2. Obtain Root
Locus plot and hence find the value of open loop gain of K of closed loop system for a
damping factor f 0.2 and plot the step response of the closed loop system with this value
of K using MATLAB program.
APPARATUS REQUIRED;
Software - MATLAB
PROGRAM:
%Root locus
XMIN=-6;
XMAX=6;
YMIN=-6;
YMAX=6;
AXIS([XMIN XMAX YMN YMAX]); % to scale axis.
n= [0 0 0 1]; %numerator polynomial of G(S)
d=[1 2 5 1]; %denominator polynomial of G(s).
sys=tf(n d);
rlocus(sys); %command to plot root locus.
Sgrid(0.2, 0.01); %command to plot constant zeta line.
K=rlocusfind(sys); %command to get k from root locus.
Figure; % to activate the current
t= 0:0.01:20; % time axis.
n= [0 0 0 k]; % numerator polynomial of closed loop G(S)
d= [1 2 5 1+k]; %denominator polynomial of closed loop G(s).
c=step(n, d, t); % step response.
Plot(t, c); % plot of the response.

OUTPUT:

GRAPH:


12. BODE PLOT

1
AIM: Consider a third order system whose transfer function is G(s) = 𝑠 3 +2𝑠 2 +5𝑠+2. Obtain Bode
plot and hence find the gain margin and phase margin using MATLAB program.
APPARATUS REQUIRED:
Software - MATLAB
PROGRAM:
Clear all;
clc; num=[0 0 0 1];
den=[1 2 5 2];
sys=tf(num, den);
bode(sys);
margin(sys); % this command will display the GM and PM above bode plot
[p,q]= margin(num, den);
disp(‘gain margin in db=’);
disp(20*log10(p));
disp(‘phase margin=’);
disp(q);
OUTPUT:

GRAPH:



12. NYQUIST PLOT

1
AIM: Consider a third order system whose transfer function is G(s) = 𝑠 3 +2𝑠 2 +5𝑠+2. Obtain
Nyquist plot and hence find the gain margin and phase margin using MATLAB program.
APPARATUS REQUIRED:
Software - MATLAB
PROGRAM:
Clear all;
clc; num=[0 0 0 1];
den=[1 2 5 2];
sys=tf(num, den);
nyquist(sys);
[p,q]= margin(num, den);
disp(’Gain margin in linear scale=’);
disp(‘gain margin in db=’);
disp(20*log10(p));
disp(‘phase margin=’);
disp(q);
OUTPUT:

VIVA QUESTIONS:
1. What is meant by stability?
2. What is meant by centroid?
3. What is meant asympotodes?
4. What is meant by Gain margin?
5. What is meant Phase margin?
6. What are different type’s stabilities?

GRAPH:


13. TIME RESPONSE OF FIRST ORDER SYSTEM

AIM: Find the time response of a first order system for three typical trial values of time
constant and hence prove by simulation as time constant increases settling time also
increases.
T1=2.5; T2=1; T3=0
APPARATUS REQUIRED;
Software - MATLAB
PROGRAM:
% Step response of the first order system
Clear all;
t=0: 0.2:15;
n1=[0 1];
T1=2.5;
d1=[T1 1];
c1=step(n1, d1, t);
n2=[0 1];
T2=1;
d2=[T2 1];
C2=step(n2, d2, t);
n3=[0 1];
T3=0;
d3=[T3 1];
c3= step(n3, d3,t);
plot(t, c1, t, c2, t, c3);
title(‘Time response of first order system’);
ylabel(‘c(t)’);
xlabel(‘Time in sec’);
gtext(‘T=0’);
gtext(‘T=1’);

OUTPUT:
VIVA QUESTIONS:
1. What is meant by time domain analysis?
2. What is the first order equation?
3. What is the second order equation?
4. What is meant by damping ratio?
5. What is meant by time constant?

GRAPH:


14. STATE SPACE

AIM: Obtain the transfer function of a system whose state model matrices is
−2 1 0 0
𝐴 = 0 −3 1 𝐵= 0 𝐶= 0 1 0 𝐷= 0
−3 −4 −5 1
APPARATUS REQUIRED;
Software – MATLAB
THEORY:
MATLAB (matrix laboratory) is a multi-paradigm numerical computing environment and fourth-
generation programming language. It is developed by MathWorks, MATLAB allows matrix
manipulations, plotting of functions and data, implementation of algorithms, creation of user
interfaces, and interfacing with programs written in other languages, including C, C++,C#, Java,
Fortran and Python. Although MATLAB is intended primarily for numerical computing, an
optional toolbox uses the MuPAD symbolic engine, allowing access to symbolic computing
abilities. An additional package, Simulink, adds graphical multi-domain simulation and model-
based design for dynamic and embedded systems.
OUTPUT:

PROGRAM:
clear all;
clc;
A=[-2 1 0; 0 -3 1; -3 -4 -5];
B=[0; 0; 1] c=[0 1 0];
D=[0];
Y=impulse(A, B, C, D);
Plot(y); xlabel(‘t’);
Y label(‘output’);
Title(‘impulse response’);
VIVA QUESTIONS:
1. What is meant by state space analysis?
2. What are advantages of state space?
3. What is meant by state diagram?
4. What is meant by state model?
5. What is meant by Square, transpose & identity matrix?

GRAPH:

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Dept of EEE, SBIT, Khammam

DO’S AND DON’TS IN THE LAB

3. Correct specifications of the equipment have to be mentioned in the circuit diagram.

4. Student should be aware of operating equipment.

5. Students should be at their concerned experiment table, unnecessary moment is restricted.

8. The reading must be shown to the Lecturer In-Charge for verification.

3. Don’t make or remove the connections with power ON.

4. Don’t switch ON the supply without verifying by the Staff Member.

5. Don’t switch OFF the machine with load.

JAWAHARLAL NEHRU TECHNOLOICAL UNIVERSITY HYDERABAD

II YEAR B.TECH. EEE -II SEM

The following experiments are required to be conducted compulsory experiments:

4. Effect of Feedback on DC servo Motor

5. Transfer Function of DC Motor

6. Transfer Function of DC Generator

7. Temperature controller using PID

8. Characteristics of Servo Motor

Any two simulation experiments are to be conducted:

Manuals or related software

CONTROL SYSTEMS & SIMULATION LAB

Date of Signature of the

1. Time Response of Second order system

3 3.1 PLC Logic Gates Simulation

3.2 PLC – Boolean Expression

3.3 PLC Speed Control of Motor

4 Effect of Feedback on DC servo Motor

5 Transfer Function of DC Motor

Effect of P,PD,PI,PID Controller on a second order

7 7.1 Lag compensation

7.2 Lead Compensation

8 Transfer Function of DC Generator

9 Temperature controller using PID

10 Characteristics of Servo Motor

11 12.1 Root Locus

12.2 Bode Plot

12.3 Nyquist Plot

12 Time response of First order equation

State space model for Classical Transfer

CONTROL SYSTEMS & SIMULATION LAB

CONTROL SYSTEMS & SIMULATION LAB 1

CONTROL SYSTEMS & SIMULATION LAB 2

1. LINEAR SECOND ORDER SYSTEM

3. CRO Probe 1no

4. Connecting wires As per required

CONTROL SYSTEMS & SIMULATION LAB 3

S. No Gain(KA) Rise time(tr) Peak time (tp) %μp

CONTROL SYSTEMS & SIMULATION LAB 4

CONTROL SYSTEMS & SIMULATION LAB 5

CONTROL SYSTEMS & SIMULATION LAB 6

2. What is equation of damping ratio or damping factor?

3. What is meant by time constant?

5. What is the equation of settle time?

CONTROL SYSTEMS & SIMULATION LAB 7

CONTROL SYSTEMS & SIMULATION LAB 8

2. SYNCHRO TRANSMITTER & RECEIVER PAIR

2. Multi meter (digital ) 1no

3. Patch Cards 3no

A synchro is, in effect, a transformer whose primary-to-secondary coupling may be varied

CONTROL SYSTEMS & SIMULATION LAB 9

2. Switch on main supply for unit.

5. Synchro Transmitter and Receiver Pair:

6. Connect the mains supply cable.

7. Connect S1, S2 and S3 terminals of transmitter to S1,S2 and S3 of Synchro receiver by