Dayalbagh Educational Institute (Deemed University), Agra

Department of Electrical Engineering

Subject: Control System Lab Session: 2020-21 Instructor: Dr. Rajeev Kumar Chauhan
Experiment 6

TILLE : STUDY THE EFFECT OF ADDITION OF POLES TO THE FORWARD PATH

TRANSFER FUNCTION OF A CLOSED LOOP SYSTEM
OBJECTIVE : To study
I. Effect of addition of poles to forward path of a open loop system.
II. Effect of addition of poles to forward path of a closed loop system.

The forward path transfer function of general second order system is given by,
FPTF G(s)  wn2
s(s  2w
n
)
Addition of pole to forward path transfer function:
When we add a pole, the transfer function becomes,

G '(s) n w2

s(s  2wn ) T p s 1 
 2
s(s  2wn  P)
wn )(s
C( s) G '  s  G 's
R(s) 1 G '  s  H (s) 1 G '  s 

C(s) 2
wn P
R(s) 
3 2
s   P  2wn  s  2wn Ps 
2
w P n

Example 1. Consider a open loop system having forward path transfer function of
G(S)=1/S*(S+2). Write a MATLAB code to show the effect of addition of poles at -1, -0.5, -
0.25.

Gnew(S)=[1/S*(S+2)]*[1/(TpS+1)]

MATLAB CODE :
n1=1
d1=[1 2 0]
g1=tf(n1,d1)
t1=feedback(g1,1)
step(t1,'r')
hold on
Tp=1
P1=[Tp 1]
d2=conv(d1,P1)
g2=tf(n1,d2)
t2=feedback(g2,1)
step(t2,'g')
hold on
Tp=2
P2=[Tp 1]
d3=conv(d1,P2)
g3=tf(n1,d3)
t3=feedback(g3,1)
step(t3,'b')
hold on
Tp=4
P3=[Tp 1]
d4=conv(d1,P3)
g4=tf(n1,d4)
t4=feedback(g4,1)
step(t4,'m')

Observation Table:

Tp Tr Tp Ts %Mp

1
2
4

Example 2. Consider a closed loop system having overall transfer function of T(S)=1/(S2+
0.6S+1). Write a MATLAB code to show the effect of addition of zeros at -2, -1, -0.5.

MATLAB CODE:
n1=1
d1=[1 0.6 1]
t1=tf(n1,d1)
step(t1,'r')
hold on
Tp=1
P1=[Tp 1]
d2=conv(d1,P1)
t2=tf(n1,d2)
step(t2,'g')
hold on
Tp=2
P2=[Tp 1]
d3=conv(d1,P2)
t3=tf(n1,d3)
step(t3,'b')
hold on
Tp=4
P3=[Tp 1]
d4=conv(d1,P3)
t4=tf(n1,d4)
step(t4,'m')

Observation Table:

Tp Tr Tp Ts %Mp

1
2
4