Control Systems Lab

P2

Submitted By:
Syed Muhammed Baqir Naqvi (170984)
Muhammed Inam Anwar (170966)
Qazi Ahasan Nawaz (171008)
Class/Sec: BEEP 5A
Submitted To: Engr. Hussain Asif
Instructor’s Remarks:

Submission Time: In Late in Working Days

Time 0 1 2 3 4 5

Marks: Total Marks Obtained Marks

Additional Remarks: _______________________________________

________________________________________________________

Instructor’s Signature: _____________

 Lab No 10
Introduction to Root Locus
1. Objectives:
To verify the effect of open loop poles and zeros upon the shape of the root locus and to verify the root locus
as a tool for estimating the effect of open-loop gain upon the transient response of closed-loop systems. To
use MATLAB to design the gain of a controller via root locus.

2. Procedures:
2.1. Lab Task 1:
 Using MATLAB’s SISO Design Tool, set up a negative unity feedback system with.

 Root locus of following system where roots of system shows stable behavior.

 To produce a root locus. We, set up the zero at -6 using SISO Design Tool’s compensator function by
simply dragging a zero to -6 on the resulting root locus. Print the root locus for the zero at -6. Move
the zero to the following locations and print out a root locus at each location: -2, -1.5, -1.37, and -1.2.
Zero at -6:
 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.
 System at with zero at -6 shows this response.
Zero at -2:
 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.

 As system shifts towards origin Settling time increases also rise time.
Zero at -1.5:
 Root locus of following system where roots of system shows stable behavior.
 Step response following above root locus system shows stable behavior for this.

 Further pushing system toward right settling time increases shows system is shifting from stability.
Zero at -1.37:
 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.
 We observe similar behavior as it move further to right.
Zero at -1:
 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.

 As settling time reach 17.5sec it shows maximum level of settling time.

2.2. Lab task 2:

 Using MATLAB’s SISO Design Tool, set up a negative unity feedback system with

 to produce a root locus. Open the LTI Viewer for SISO Design Tool to show step responses. Using the
values of K specified in Prelab2, record the percent overshoot and settling time and print the root loci
and step response for each value of K.
Gain at 20:
 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.
 Gain 50:

 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.

 As gain increases system moves toward the instability thus increases stability and settling time and
possibly frequency ѡ d .
Gain 85:
 Root locus of following system where roots of system shows stable behavior.
 Step response following above root locus system shows stable behavior for this.

 As gain increases system moves toward the instability thus increases stability and settling time and
possibly frequency ѡ d .

Gain 200:

 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.
  As gain increases system moves toward the instability thus increases stability and settling time and
possibly frequency ѡ d .
Gain 7000:
 Root locus of following system where roots of system shows stable behavior.

 Step response following above root locus system shows stable behavior for this.

 As gain increases system moves toward the instability thus increases stability and settling time and
possibly frequency ѡ d .

Learning Outcomes:
 We were able familiarize ourselves with MATLAB’s SISO Design Tool.
 We saw as zero moves towards right from left half plane it cross pond to increase in system overshoot
and settling time.
 Also when gain is increased system is pushed toward instable behavior i.e. more settling time with
more overshoot and probably more oscillations.