15EI303L Lab Manual

15EI303L- CONTROL SYSTEMS
ENGINEERING LABORATORY
Department of Electronics and

Instrumentation Engineering
Faculty of Engineering and Technology

Department of Electronics and Instrumentation Engineering
SRM Institute of Science and Technology, SRM Nagar
Kattankulathur – 603203
Kancheepuram District
Tamil Nadu
1
CONTENTS
S.No. CONTENTS Page No.

1 Mark Assessment details 3
2 General Instructions for Laboratory classes 4
3 Syllabus 5
4 Introduction to the laboratory 6
5 List of Experiments
5.1 Step, ramp and impulse response 7
5.2 Identification of damping in second order 13
5.3 Time domain analysis 20
5.4 Stability analysis using routh- hurwitz method 24
5.5 Stability analysis of linear system using various graphical methods 27
5.6 Frequency response analysis using bode plot 30
5.7 Frequency response analysis using polar plot 33
5.8 Design of PID Controller for first order and second order systems 36
5.9 Design of PID Controller for speed control of DC Motor System. 41
5.10 Design of PID Based controller for Twin Rotor Multi Input Multi Output 45
System
2
1. MARK ASSESSMENT DETAILS
ALLOTMENT OF MARKS:
Internal assessment = 60 marks
Practical examination = 40 marks
----------------------
Total = 100 marks
----------------------
INTERNAL ASSESSMENT (60 MARKS)
Split up of internal marks
Record 5 marks
Model exam 10 marks
Quiz/Viva 5 marks
Experiments 40 marks
Total 60 marks
PRACTICAL EXAMINATION (40 MARKS)

Split up of practical examination marks
Aim and
25 marks
Procedure
Circuit
30 marks
Diagram
Tabulation 30 marks
Result 05 marks
Viva voce 10 marks
Total 100 marks
3
2. GENERAL INSTRUCTIONS FOR LABORATORY CLASSES
1. Enter the Lab with CLOSED TOE SHOES.
2. Students should wear lab coat.
3. The HAIR should be protected, let it not be loose.
4. TOOLS, APPARATUS and COMPONENT sets are to be returned before

leaving the lab.
5. HEADINGS and DETAILS should be neatly written
i. Aim of the experiment
ii. Apparatus / Tools / Instruments

required
iii. Theory
iv. Procedure / Algorithm /

Program
v. Model Calculations/ Design

calculations
vi. Block Diagram / Flow charts/

Circuit diagram
vii. Tabulations/ Waveforms/ Graph
viii. Result / discussions .
6. Experiment number and date should be written in the appropriate place.
7. After completing the experiment, the answer to pre lab viva-voce questions should
be neatly written in the workbook.
8. Be REGULAR, SYSTEMATIC, PATIENT, AND STEADY.
4
3. SYLLABUS
L T P C
15EI303L Control Systems Engineering Laboratory
0 0 2 1
Co-requisite: 15EI303
Prerequisite: NIL
Data Book /
Codes/Standards NIL
Course Category P PROFESSIONAL CORE CONTROL ENGINEERING
Course designed by Department of Electronics and Instrumentation Engineering
Approval 32nd Academic Council Meeting held on 23rd July, 2016
PURPOSE To apply the concepts of control system and design and verify using software tools
INSTRUCTIONAL OBJECTIVES STUDENT OUTCOMES
At the end of the course, student will be able to
1. Analyze the first and second order systems using time domain
a b
analysis.
2. Analyze the first and second order systems using frequency domain
a b
analysis.
3. Design PID controller a b c e k
4. Design and Implement PID controller for any applications. a b c e k
Contact C-D-
Sl. No. Description of experiments IOs Reference
hours I-O
a) Step, ramp and Impulse response of first order systems.
1. b) Step, ramp and Impulse response of second order 3 C,I 1 1
systems.
2. Identification of damping in second order systems. 3 C,I 1 1
3. Time domain analysis for second order systems 3 C,I 1 1
Stability analysis of linear systems using Routh-Hurwitz
4. 3 C,I 1 1
method
5. Stability analysis of linear systems using Root Locus. 3 C,I 1 1
6. Frequency response analysis using Bode Plot. 3 C,I 2 1
7. Frequency response analysis using Polar Plot 3 C,I 2 1
Design of PID Controller for first order and second order
8. 3 C,D,I,O 3 1
systems.
Design of PID Controller for speed control of DC Motor
9. 3 C,D,I,O 3 2
System.
Design of PID Based controller for Twin Rotor Multi Input
10. Multi Output System. 3 C,D,I,O 3 3
Total contact hours 30
LEARNING RESOURCES
Sl.
REFERENCES
No.
1. LAB manual
2. Guoshinghuang, “PC – based PID speed control in DC Motor”, IEEE, ISBN-978-1-4244-1723-0,2008.
3. “Control of Twin Rotor MIMO System (TRMS) Using PID Controller”, International Journal of Advance
Engineering and Research Development, ISSN:2348-6406, 2015.
Course nature Practical

Assessment Method (Weightage 100%)
Assessment MCQ/Quiz/Viva Model
In- Experiments Record Total
tool Voce examination
semester
Weightage 40% 5% 5% 10% 60%
End semester examination Weightage : 40%
5
INTRODUCTION TO THE LABORATORY
BACKGROUND
Industrial applications of intelligent methods covering a large area from paper and
metallurgical industries to biotechnology and also electronics production and
telecommunications. Applications consist of soft sensors, advanced control and diagnostics
(lime kiln, pulp cooking, bleaching, TMP-refiner, paper machine, blast furnace, converter
plant, continuous casting, solar power plant, waste water processes, bioprocesses, fluidised
bed granulator), electronics production (testing, diagnostics, process analysis and simulation),
rotary drying (pilot-scale process, measurements, and control test bench, distributed
simulation over the web).
DESCRIPTION
Control Engineering Laboratory takes care of teaching at the graduate level in basics
of control and instrumentation, modeling, simulation, and optimization, intelligent methods,
applications in paper, metallurgical and biotechnical processes. For research students,
intelligent methods (fuzzy logic, neural networks, genetic algorithms, expert systems) are the
main area.
CURRENT EQUIPMENT:
This lab is currently equipped with 30 systems with MATLAB 2015. 21 systems
with Dell 9020, Intel core i-5 4570 3.20 GHz processor 4 GB RAM, 500 GB SATA Hard
disk drive and 9 systems with HP ELITEDESK 800 Intel core i-5 4570 processor 4
GBRAM,500 GB Hard disk.
6
Exercise Number: 1
Title of the Experiment: STEP, RAMP AND IMPULSE RESPONSE

Date of the Exercise:
OBJECTIVE (AIM) OF THE EXPERIMENT
To obtain step, ramp, impulse response of first and second order system.
FACILITIES REQUIRED AND PROCEDURE
a) FACILITIES REQUIRED TO DO THE EXPERIMENT:
S.NO APPARATUS QUANTITY

1. Matlab software 1
2. Computer 1
Control system
3. tool box 1
b) THEORY:
Transfer function: It is the laplace of the output divided by the laplace of the input
of a system.
Step-The response of a system (with all initial conditions equal to zero at t= 0-,
i.e, zero state response) to the unit step input is called the unit step response.
Ramp : The ramp function is a unary real function whose graph is shaped like a graph.
c) PROCEDURE:
Enter the program in the editor window. If the program is typed in command
window, the functions should be typed without semi-colon.
Enter the values in the numerator & denominator depending on order of the system.
The syntax used to get transfer function is tf.
The syntax used for impulse is impulse.
Finally save the program and run it.
7
DESIGN PROCEDURE/ DESIGN CALCULATIONS:
Step and Impulse Function
A=input(‘enter numerator’);
B=input(‘enter denominator’);
h = tf(A,B); step(h); impulse(h);
subplot(2,1,1),plot(step(h));
subplot(2,1,2),plot(impulse(h));
Ramp Function
t = -1:0.1:1;
x1= t>0;
u = (t.*x1);
lsim(h,u,t);
STEP RESPONSE:
8
IMPULSE RESPONSE:
RAMP RESPONSE:
9
FIRST ORDER
STEP RESPONSE
IMPULSE RESPONSE:
10
RAMP RESPONSE:
11
Pre lab questions:
1. What is meant by order of a system?
The highest power of the s term in the denominator of the transfer function of the
system is called the order of the system.
2. What is a transfer function?

It is the laplace of the output divided by the laplace of the input of the system.
Post lab questions:
1. What is step response of a system?

The response of a system (with all initial conditions equal to zero at t=0- i.e zero
state response) to the unit step input is called the step response.
2. What is a ramp function?

The ramp function is a unary real function whose graph is shaped like a
ramp.
12
Exercise Number: 2
Title of the Experiment: IDENTIFICATION OF DAMPING IN SECOND ORDER

SYSTEM.
OBJECTIVE (AIM) OF THE EXPERIMENT:
To study and identify the damping in second order system using MATLAB.
FACILITIES REQUIRED:
MATLAB software
PROCEDURE:
1. Open MATLAB software.

2. Type “SIMULINK” in the command window or just go to the simulink library bar. A new
box will open where we can get the output of different responses using block diagrams.
3. In the ‘New Model’ window, add input response, transfer function, scope and workspace.
4. Run the simulink and double click on the scope block.
5. Take the output graph.
THEORY:
The general second order transfer function is G(s) = 2 +2 +

2
Where,
ζ=Damping coefficient
=natural frequency
There are 4 conditions of :
1) When ζ=0, Undamped
2) When 0< < 1, Underdamped
3) When ζ=1, Critically Damped

4) When > ,Over Damped
As the ζ value is varied, the output graph is varied for the various inputs given be it
step, ramp or impulse.
For ‘Undamped’ system, the graph is of continuous wave w.r.t. critical line. The
amplitude differs for different values. If it is high, amplitude is high and vice versa.
For ‘Under Damped’ system, the graph is also a continuous wave but the amplitude
decreases with time and it finally merges with the critical line passing through 1.
13
For ‘Critically Damped’ system, the wave increases gradually and gets in straight line
with the value of 1. This indicates the perfect damping required in a system which is
controllable.
For ‘Over Damped’ system, the wave always remains below or critical line for any
value.
The graph always remains the same for the damping conditions. Just the nature of
waves changes w.r.t. to the
Critically damped system is the commonly used and effective.
With varying values, the amplitude changes. They don’t make any significant
changes. The important factor is ζ.
We can check the damping by using any values in the place of &ζ.
CIRCUIT DIAGRAM / MODEL GRAPH:

100
Undamped Condition (step) G(s)= +
14
Undamped Condition (ramp) G(s)= +
15
Under Damped (step) G(s)=
+ +
Under Damped (ramp) G(s)=

+ +
16
Critically Damped (step) G(s)=
+ +
17
Critically Damped (ramp) ) G(s)=
+ +
18
RESULT:
Thus the importance of Damping Coefficient ζwas studied with its various conditions and for
various values for various inputs.
PRE LAB QUESTIONS:
1) What is steady state error?
2) What is target value?
POST LAB QUESTIONS:
1) What do you mean by order of a system?
19
Exercise Number: 3
Title of the Experiment: TIME DOMAIN ANALYSIS

Date of the Exercise: 28/07/2017
To Analyze the Time Domain specifications of Under damped second order system.
FACILITIES REQUIRED AND PROCEDURE:
FACILITIES REQUIRED TO DO THE EXPERIMENT

Matlab software
A) THEORY:
We can analyze the time domain of the second order under damped system. Peak value, Rise
time, overshoot, settling time and steady point.
The system has some in-built tolerance; therefore, the settling time is achieved when the
wave signal enters this tolerance range. But in some ζ conditions, the wave isn’t actually
merging with reference line but is in continuous wave motion but since it has entered the
tolerance range, it is considered as settled.
B) PROCEDURE:
Open MATLAB software.

Go to ‘New Script’ option which opens the editor window.
Write the generic code for second order transfer function which is :
Num=[25];
Den=[1,2,25];
Y=tf(num,den);
Stepplot(y)
By giving ζ value between 0 and 1 we can have underdamped transfer function.

Changing the numerator and denominator values as per our requirement, we can
generate graphs.
We can measure peak value, overshoot, rise time etc in the graph itself.
C) PROGRAM /COMMAND :
1. num= [10000];
2. den =[1,20,10000];
3. y= tf(num,den);
4. stepplot(y)
20
D) CIRCUIT DIAGRAM / MODEL GRAPH:
1)
2)
3)
21
1) Here, ζ=0.1 and =5
Peak amplitude = 1.53 Rise Time = 0.241 seconds
Overshoot = 52.7 % Settling time = 3.92 seconds

2) Here, ζ=0.05 and = 10
Peak amplitude = 1.85 Rise Time = 0.108 seconds
Overshoot = 0.314 % Settling time = 7.6 seconds

3) Here, ζ=0.1 and = 100
Peak amplitude = 1.73 Rise time = 0.013 seconds
Overshoot = 72.9% Settling time = 0.384 seconds
INFERENCE:
Through the above graphs we understand that if the value is varied in between 0 and
1, the no. of waves may increase or decrease depending on value.
If is taken of very high value, then rise time as well as settling time decreases. And if
it is taken low then, the rise time and settling time are of mediocre range.
If the ζ value is very much decreased then high overshooting takes place and it takes
time to settle, i.e., high peak value is attained.
In some cases we may see that settling time is achieved much before the peak value is
attained. It is because that the ζ value is very close to achieve critical damping
condition.
RESULT:
Thus the time domain of second order underdamped system is analyzed for various
ζ and values. The graphs for the same are also plotted with step response.
PRELAB QUESTIONS:
1) Define peak time and rise time?
2) What is settling time? Give example.

POSTLAB QUESTIONS:
1) What is Frequency Response?
22
Exercise Number: 4
Title of the Experiment: STABILITY ANALYSIS USING ROUTH- HURWITZ METHOD
AIM OF THE EXPERIMENT:
To determine the stability of a system using Routh Hurwitz method.
FACILITIES REQUIRED:
 
 MATLAB software.
 
Computer.
THEORY:
The theory of network synthesis states that any pole of the system lies on the right hand side
of the origin of the s plane, it makes the system unstable. On the basis of this condition A.
Hurwitz and E.J.Routh started investigating the necessary and sufficient conditions of
stability of a system. We will discuss two criteria for stability of the system. A first criterion
is given by A. Hurwitz and this criterion is also known as Hurwitz Criterion for
stability or Routh Hurwitz Stability Criterion. With the help of characteristic equation, we will
make a number of Hurwitz determinants in order to find out the stability of the system. We
define characteristic equation of the system as:
where n determinants for nth order characteristic equation.
PROCEDURE:
Enter the program in the editor window.

Execute the program.
Enter the coefficients of characteristic equation in the command window.
Finally save the program and run it.
The Routh matrix is obtained in the command window.
23
Program:
clear
clc
%% firstly it is required to get first two row of routh matrix
e=input('enter the coefficients of characteristic equation: '); disp('--
----------------------------------------------------------------------- ')
l=length(e);
m=mod(l,2);
if m==0
a=rand(1,(l/2));
b=rand(1,(l/2));
for i=1:(l/2)
a(i)=e((2*i)-
1); b(i)=e(2*i);
end
else e1=[e 0];
a=rand(1,((l+1)/2));
b=[rand(1,((l-1)/2)),0];
for i=1:((l+1)/2)
a(i)=e1((2*i)-
1); b(i)=e1(2*i);
end
end
%% now we genrate the remaining rows of routh
matrix l1=length(a);
c=zeros(l,l1);
c(1,:)=a;
c(2,:)=b;
for m=3:l
for n=1:l1-1
c(m,n)=-(1/c(m-1,1))*det([c((m-2),1) c((m-2),(n+1));c((m-1),1) c((m-1),(n+1))]);
end
end
disp('the routh
matrix:') disp(c)
%% now we check the stablity of system
if c(:,1)>0
disp('System is Stable')
else
disp('System is Unstable');
end
24
OUTPUT:
enter the coefficients of characteristic equation: [1 1 3 1 6] -
------------------------------------------------------------------------
the routh matrix:
1 3 6
1 1 0
2 6 0
-2 0 0
6 0 0
System is Unstable
PRE LAB QUESTIONS:

1. What is meant by the stabitity of a system?
2. How to determine stability of a system?
POST LAB QUESTIONS:
1. Define the Routh Hurwitz rule.
25
Exercise Number: 5
Title of the Experiment: STABILITY ANALYSIS OF LINEAR SYSTEM USING ROOT LOCUS
• To analyze the stability of the system by using Root locus,
• FACILITIES REQUIRED TO DO THE EXPERIMENT:

1. Personal Computer 1
2. Matlab Software 1
• ROOT LOCUS
• THEORY:
The root locus technique is a powerful tool for adjusting the location of closed
loop poles to achieve the desired system performance by varying one or more system
parameters. The path taken by the roots of the characteristics equation when open
loop gain K is varied from 0 to ∞ are called root loci.
• PROCEDURE:
1. Enter the command window of the MATLAB.

2. Create a new M – file by selecting File – New – M – File.
3. Type and save the program.
4. Execute the program by either pressing F5 or Debug – Run.
5. View the results.
6. Analyze the stability of the system for various values of gain.
Problem:
The open loop transfer function of a unity feedback system G(s)=K/s (s 2 +8s+17)
Draw the root locus using MATLAB Software. (Assume K=1).
26
Matlab Program:
% Root locus of the transfer function
G(s)=1/(S^3+8S^2+17S) num=[1];
den=[1 8 17 0];
figure(1);
rlocus(num,den);
Title('Root Locus for the transfer function
G(s)=1/(S^3+8S^2+17S)') grid;
Matlab Output:
27
Pre lab questions:
• Define stability of the system.
• What are the disadvantages of RH criterion?
• How many roots are in the left half of s plane for the equation s 3 - 4s2 + s + 6 ?
Post lab questions:
• Discuss the effects of adding poles and zeros in a closed loop system.
• The transfer function of an unity feedback system is G(s) = k/s(s+2). Find the
centroid and breakaway point.
28
Exercise Number: 6
Title of the Experiment: FREQUENCY RESPONSE ANALYSIS USING BODE PLOT

To analyze the stability of the given linear system using Bode plot .

• BODE PLOT :
THEORY:
The bode plot is a frequency response plot of the transfer function of a system.
A bode plot consists of two graphs. One is plot of the magnitude of a sinusoidal
transfer function versus log ω . The other is plot of the phase angle of a sinusoidal
transfer function versus logω .The main advantage of the bode plot is that
multiplication of magnitude can be converted into addition. Also a simple method for
sketching an approximate log magnitude curve is available.
Problem:
• The open loop transfer function of a unity feedback system G(s)=K/s(s 2 +2s+3)
Draw the Bode Plot. Find (i)Gain Margin (ii)Phase Margin (iii)Gain cross over
frequency (iv)Phase cross over frequency (v) Resonant Peak (vi)Resonant
Frequency (vii)Bandwidth and Check the same results using MATLAB
Software. (Assume K=1)
29
Matlab Program:
%Draw the Bode Plot for the given transfer functionG(S)=1/S(S2+2S+3) %Find (i)Gain
Margin (ii) Phase Margin (iii) Gain Cross over Frequency %(iv) Phase Cross over Frequency
(v)Resonant Peak (vi)Resonant %Frequency (vii)Bandwidth
num=[1 ];
den=[1 2 3 0];
w=logspace(-1,3,100);
figure(1);
bode(num,den,w);
title('Bode Plot for the given transfer function G(s)=1/s(s^2+2s+3)')
grid;
[Gm Pm Wcg Wcp] =margin(num,den);
Gain_Margin_dB=20*log10(Gm)
Phase_Margin=Pm
Gaincrossover_Frequency=Wcp
Phasecrossover_Frequency=Wcg
[M P w]=bode(num,den);
[Mp i]=max(M);
Resonant_PeakdB=20*log10(Mp)
Wp=w(i);
Resonant_Frequency=Wp
for i=1:1:length(M);
if M(i)<=1/(sqrt(2));
Bandwidth=w(i)
break;
end;
end;
Matlab Output:
30
Gain_Margin_dB =15.5630
Phase_Margin = 76.8410
Gaincrossover_Frequency = 0.3374rad/sec
Phasecrossover_Frequency= 1.7321 rad/sec
Resonant_PeakdB = 10.4672
Resonant_Frequency = 0.1000 rad/sec
Bandwidth = 0.5356
Pre lab questions:
• Define frequency response analysis.
• What is Gain margin and phase margin?
Post lab questions:
• What are theadvantages and disadvantages of Bode plot?
• How can you analyse the stability of the system with Bode plot?
31
Exercise Number: 7
Title of the Experiment: FREQUENCY RESPONSE ANALYSIS USING POLAR PLOT

• To analyze the stability of the given linear system using polar plot.

• POLAR PLOT :
THEORY:
The Polar plot provides a simple test for stability of a closed- loop control
system by examining the open-loop system. Stability of the closed-loop control system
may be determined directly by computing the poles of the closed-loop transfer function.
The Polar Criteria can tell us things about the frequency characteristics of the system.
A Polar plot is used in automatic control and signal processing for assessing the stability
of a system with feedback. It is represented by a graph in polar coordinates in which the
gain and phase of a frequency response are plotted. The plot of these phasor quantities
shows the phase as the angle and the magnitude as the distance from the origin. This
plot combines the two types of Bode plot — magnitude and phase — on a single graph
with frequencry as a parameter along the curve.
Problem:
• The open loop transfer function of a unity feedback system G(s)=K/s(s 2 +2s+3)
Draw the Polar Plot. Find (i)Gain Margin (ii)Phase Margin (iii)Gain cross over
frequency (iv)Phase cross over frequency and Check the same results using
MATLAB Software. (Assume K=1)
32
Matlab Program:
%Polar Plot for the Transfer Function G(s)=1/(s+1)^3
num=[1];
den=[1 3 3 1];
figure(1);
polar (num,den)
Title('Polar Plot for the Transfer Function G(s)=1/(s+1)^3')
[Gm,Pm,Wcg,Wcp] = margin(num,den)
grid;
[Gm,Pm,Wcg,Wcp] = margin(num,den);
Gain_Margin = Gm
Phase_Margin = Pm
PhaseCrossover_Frequency = Wcg
GainCrossover_Frequency = Wc
Matlab Output:
Gain_Margin = 8.0011
Phase_Margin = -180
33
PhaseCrossover_Frequency = 1.7322 rad/sec
GainCrossover_Frequency = 0 rad/sec
Pre lab questions:
• What is contour?
• Define the type number and order of the system.
Post lab questions:
• Explain the conditions for stable system in Polar plot.
• State Polar stability criterion.
34
Exercise Number:8
Title of the Experiment: Design of PID Controller for first order and second order systems
OBJECTIVE OF THE EXPERIMENT
To design a PID controller for the following first order and second order system,
1. ()=
( +10)
3.6
2. ()= 2 5
+6 +5
Your design should satisfy the following specifications:

i) Percentage overshoot < 15%.
ii) Rise time < 100 msec.
iii) Settling time < 500 msec.
iv)Zero steady-state error to a step.
d)FACILITIES REQUIRED TO DO THE EXPERIMENT:

S.NO APPARATUS SPECIFICATION QUANTITY
1. PC - 1
2. MATLAB Any version Package
e) THEORY:
Most PID controllers are adjusted on-site and many different types of tuning rules
have been proposed in different literatures. Using these tuning rules, delicate and fine tuning
of PID controllers can be made on-site. Also, automatic tuning methods have been developed
and some of the PID controllers may possess on-line automatic tuning capabilities. Modified
forms of PID control, such as I-PD control and two-degrees-of- freedom PID control, are
currently in use in industry
f) PROCEDURE:
Implement the understanding of effects of Proportional, Integral and Derivative Gains

over the system response.
g) DESIGN PROCEDURE/ DESIGN CALCULATIONS:
Trial and Error basis

If needed use the cascaded controllers like PID with another PID or any
other combinations in series.
35
e) BLOCK DIAGRAM:
f) DESIGN PARAMETERS OF PID CONTROLLERS:
FIRST ORDER SYSTEM:

Kp =
Ki =
Kd =
SECOND ORDER SYSTEM:
Kp =
Ki =
36
Kd =
g) MODEL OUTPUT RESPONSE:
Figure 1: First order uncontrolled open loop response
37
Figure 2: First order controlled closed loop response
Figure 3: Second order uncontrolled open loop response
Figure 4: Second order controlled closed loop response
38
Pre lab questions:
2. What is conventional controller?
2. What is the effect of P, I and D on output response of a system?
Post lab questions:
3. List the advantages of PID over PI controller.

4. What is the effect of addition of poles and zeros to a system?
39
Exercise Number: 9
Title of the Experiment: Design of PID Controller for speed control of DC Motor System.
To design a PID controller for the speed control of DC Motor Control System
represented by the following transfer function,
ɵ(s) = (Kt /Ra B)
Va(s) s[(1+sTa)(1+sTm) + (KbKt/RaB)]
Where kt=0.01
J=0.01
B=1
Kf=1
Kb=1
Ra=1
La=0.5
And
La = Ta Electrical time constant
Ra
J = Tm Mechanical time constant

B
i) Percentage overshoot < 12%.
ii) Rise time < 80 msec.

1. PC - 1
40
b) THEORY:
c) PROCEDURE:

d) DESIGN PROCEDURE/ DESIGN CALCULATIONS:

e) BLOCK DIAGRAM:
Kp =
Ki =
Kd =
41
Figure 1: DC Motor uncontrolled open loop response
Figure 2: DC Motor controlled closed loop response
42
Pre lab questions:
1. What is cascaded controller?

2. What causes instability in system considering the Pole-zero form of a system?
Post lab questions:
3. Discuss the effect of PD controller on system

performance.
4. Summarize the P – Controller and its characteristics.
43
Exercise Number: 10
Title of the Experiment: Design of PID Based controller for Twin Rotor Multi Input
Multi Output System.
To design a PID Based controller for orientation control of Twin Rotor Multi Input
Multi Output System represented by the following transfer function,
3.6
()= 3 + 6 2+ 5
i) Percentage overshoot <20%.

ii) Rise time <120 msec.

1. PC - 1
b) THEORY:
c) PROCEDURE:

44
d) DESIGN PROCEDURE/ DESIGN CALCULATIONS:

e) BLOCK DIAGRAM:
Kp =
Ki =
Kd =
45
Figure 1: TRMS uncontrolled open loop response
Figure 2: TRMS controlled closed loop response
46
Pre-lab questions:
1. What is TRMS?
2. State the purpose of TRMS.
Post lab questions:
3. Discuss the effect of PI controller on system

performance.
4. Discuss the effect of adding zero to open loop transfer function of a system.
47

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15EI303L Lab Manual

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15EI303L- CONTROL SYSTEMS

Department of Electronics and

Faculty of Engineering and Technology

S.No. CONTENTS Page No.

INTERNAL ASSESSMENT (60 MARKS)

Split up of internal marks

PRACTICAL EXAMINATION (40 MARKS)

1. Enter the Lab with CLOSED TOE SHOES.

2. Students should wear lab coat.

3. The HAIR should be protected, let it not be loose.

4. TOOLS, APPARATUS and COMPONENT sets are to be returned before

5. HEADINGS and DETAILS should be neatly written

i. Aim of the experiment

ii. Apparatus / Tools / Instruments

iv. Procedure / Algorithm /

v. Model Calculations/ Design

vi. Block Diagram / Flow charts/

vii. Tabulations/ Waveforms/ Graph

viii. Result / discussions .

6. Experiment number and date should be written in the appropriate place.

8. Be REGULAR, SYSTEMATIC, PATIENT, AND STEADY.

Course nature Practical

Title of the Experiment: STEP, RAMP AND IMPULSE RESPONSE

OBJECTIVE (AIM) OF THE EXPERIMENT

FACILITIES REQUIRED AND PROCEDURE

a) FACILITIES REQUIRED TO DO THE EXPERIMENT:

S.NO APPARATUS QUANTITY

Step and Impulse Function

2. What is a transfer function?

Post lab questions:

1. What is step response of a system?

2. What is a ramp function?

Title of the Experiment: IDENTIFICATION OF DAMPING IN SECOND ORDER

OBJECTIVE (AIM) OF THE EXPERIMENT:

1. Open MATLAB software.

The general second order transfer function is G(s) = 2 +2 +

3) When ζ=1, Critically Damped

CIRCUIT DIAGRAM / MODEL GRAPH:

Undamped Condition (step) G(s)= +

Under Damped (ramp) G(s)=

PRE LAB QUESTIONS:

1) What is steady state error?

2) What is target value?

POST LAB QUESTIONS:

1) What do you mean by order of a system?

Title of the Experiment: TIME DOMAIN ANALYSIS

OBJECTIVE (AIM) OF THE EXPERIMENT

FACILITIES REQUIRED AND PROCEDURE:

FACILITIES REQUIRED TO DO THE EXPERIMENT

Open MATLAB software.

By giving ζ value between 0 and 1 we can have underdamped transfer function.

Peak amplitude = 1.53 Rise Time = 0.241 seconds

Overshoot = 52.7 % Settling time = 3.92 seconds

Peak amplitude = 1.85 Rise Time = 0.108 seconds

Overshoot = 0.314 % Settling time = 7.6 seconds

Peak amplitude = 1.73 Rise time = 0.013 seconds

Overshoot = 72.9% Settling time = 0.384 seconds

1) Define peak time and rise time?

2) What is settling time? Give example.

1) What is Frequency Response?

To determine the stability of a system using Routh Hurwitz method.

where n determinants for nth order characteristic equation.

Enter the program in the editor window.

PRE LAB QUESTIONS: