CS Lab Manual

LIST OF EXPERIMENTS
CONTROL SYSTEM LAB

SL.NO NAME OF THE EXPERIMENTS PAGE.NO
TIME RESPONSE ANALYSIS OF LINEAR SIMULATED SYSTEMS

15-25
1
2 PID CONTROLLER TO IMPROVE A SYSTEM'S PERFORMANCE 26-34
3 DESIGN OF LEAD CCOMPENSATOR 35-44
4 FREQUENCY RESPONSE ANALYSIS OF DIFFERENT LINEAR 45-54

DYNAMIC SYSTEM
TO ANALYSE THE STABILITY OF VARIOUS SYSTEMS USING 55-63

5 ROOT LOCUS METHOD
6 D.C. MOTOR POSITION CONTROL SYSTEM 64-105

INDEX
Page Date of Signature of

Sl. Name of the Experiment Remarks
No. Experimen Faculty with
No
t date
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
INDEX for Arrear Experiments
Page Date of Signature of

S. No Name of the Experiment Remarks
No. Experimen Faculty with
t date
1.
2.
3.
4.
5.
CONTROL SYSTEM LABORATORY 3 SOEE

Mark Distribution
MARKS MARKS
SL.NO TOPIC
ALLOTED SECURED
1 Attendance Regularity 10
Preparedness for conduct of
2 20
Exp.
3 Initiative to learn & interact 10
Presentation of Lab. report
4 20
Regularity in Submission
TOTAL 60
SESSIONAL MARKS 60
END SEMESTER MARKS 40
TOTAL MARKS 100
Signature of the Faculty
LABORATORY PRACTICE

I HEAR, I FORGET
I SEE, I REMEMBER
I DO, I UNDERSTAND
PRACTICAL APPROACH IS PROBABLY THE BEST

APPROACH TO GAIN A CLEAR INSIGHT
CODE OF CONDUCT FOR THE LABORATORIES
 All students must observe the Dress Code while in the laboratory.
 Sandals or open-toed shoes are NOT allowed.
 Foods, drinks and smoking are NOT allowed.
 All bags must be left at the indicated place.
 The lab timetable must be strictly followed.
 Be PUNCTUAL for your laboratory session.
 Experiment must be completed within the given time.
 Noise must be kept to a minimum.
 Workspace must be kept clean and tidy at all time.
 Handle all apparatus with care.
 All students are liable for any damage to equipment due to their own
negligence.
 All equipment, apparatus, tools and components must be
RETURNED to their original place after use.
 Students are strictly PROHIBITED from taking out any items from
the laboratory.
 Students are NOT allowed to work alone in the laboratory without
the Lab Supervisor
 Report immediately to the Lab Supervisor if any injury occurred.
 Report immediately to the Lab Supervisor any damages to
equipment.
BEFORE LEAVING THE LAB

 Place the stools under the lab bench.
 Turn off the power to all instruments.
 Turn off the main power switch to the lab bench.
 Please check the laboratory notice board regularly for updates.

GENERAL INSTRUCTIONS
 You should be punctual for your laboratory session and should not
leave the lab without the permission of the teacher.
 Each student is expected to have his/her own lab book where they
will take notes on the experiments as they are completed.
 The lab books will be checked at the end of each lab session. Lab
notes are a primary source from which you will write your lab reports.
 You and your batch mates will work closely on the experiments
together. One partner doing all the work will not be tolerated. All the
Batch mates should be able to explain the purpose of the experiment
and the underlying concepts.
 Please report immediately to the member of staff or lab assistant
present in the laboratory; if any equipment is faulty.

ORGANIZATION OF THE LABORATORY
 It is important that the experiments are done according to the

timetable and completed within the scheduled time.
 You should complete the pre-lab work in advance and utilize the
laboratory time for verification only.
 The aim of these exercises is to develop your ability to understand,
analyze and test them in the laboratory.
 A member of staff and a Technical assistant will be available during
scheduled laboratory sessions to provide assistance.
 Always attempt experiments, first without seeking help, When you
get into difficulty; ask for assistance.
LAB REPORTS
 Note that, although students are encouraged to collaborate during

lab, each must individually prepare a report and submit.
 They must be organized, neat and legible.
 Your report should be complete, thorough, understandable and
literate.
 You should include a well-drawn and labeled engineering schematic
for each circuit Investigated.
 Your reports should follow the prescribed format, to give your report
structure and to make sure that you address all of the important
points.

 Graphics requiring- drawn straight lines should be done with a
straight edge. Well drawn freehand sketches are permissible for
schematics.
 Space must be provided in the flow of your discussion for any
tables or figures. Do not collect figures and drawings in a single
appendix at the end of the report.
 Reports should be submitted within one week after completing a
scheduled lab session.
PRESENTATION
 Experimental facts should always be given in the past tense.
 Discussions or remarks about the presentation of data should
mainly be in the present tense.
 Discussion of results can be in both the present and past tenses,
shifting back and forth from experimental facts to the presentation.
 Any specific conclusions or deductions should be expressed in the
past tense.

REPORT FORMAT
Lab write ups should consist of the following sections:
 Aim: A concise statement describing the experiment and the

results. This is usually not more than 3 sentences. Since the
abstract is a summary of what you have done, it’s a good idea to
write this last.
 Apparatus: Describe what equipment and components you used
to conduct the experiment.
 Theory: Several paragraphs that explain the motivation of the
experiment. Usually in this statement you state what you intent to
accomplish as well as the expected results of the experiment.
 Procedure: Describe how you conducted the experiment
 Results and Analysis: This is the main body of the report. Graphs,
tables, schematics, diagrams should all be included and explained.
Results of any calculations should be explained and shown. State
the results of the experiment. Include any problems encountered.
 Conclusion: Explain how the experiment went, and whether you
were able to achieve the expected results stated in the introduction.
 Precaution: Safety measures should highlighted.
 Discussion: Scope and Practical Application.

SAFETY & PRECAUTIONS
SAFETY – I
1. Power must be switched-OFF while making any connections.
2. Do not come in contact with live wire.
3. Power should always be in switch-OFF condition, EXCEPT while
you are taking readings.
4. The Circuit diagram must be checked by Technical Assistant/ faculty
member before making connections.
5. Circuit connections should be checked by the faculty before
switching on the power.
6. Keep your Experimental Set-up neat and tidy.
7. Check the polarities of meters and supplies while making
connections.
8. Always connect the voltmeter after making all other connections.
9. Check the Fuse and it’s rating.
10. Use right color and gauge of the fuse.
11. All terminations should be firm and no exposed wire.
12. Do not use joints for connection wire.
13. While making 3-phase motor ON, check its current rating from
motor name plate details and adjust its rated current setting on
MPCB (Motor Protection Circuit Breaker) by taking approval of the
faculty.
14. Before switch-ON the AC or DC motor, verify that the Belt load is
unloaded.

15. Before switch-ON the DC Motor-Generator set ON, verify that the
DC motor field resistance should be kept in minimum position.
Whereas the DC generator / AC generator field resistance should
be kept in Maximum position.
16. Avoid loose connections. Loose connections leads to heavy
sparking & damage for the equipment as well as danger for the
human life.
17. Before starting the AC motor/Transformer see that their variacs or
Dimmer-stats always kept in zero position.
18. For making perfect DC experiment connections & avoiding
confusions follow color coding connections strictly. Red color wires
should be used for positive connections while black color wires to
be used for Negative connections.
19. After making DPST switch/ICTPN switch-OFF see that the switch in
switched-OFF perfectly or not. Open the switch door & see the
inside switch contacts are in open. If in-contact inform to faculty for
corrective action.
20. For safety protection always give connections through MCB
(Miniature circuit breaker) while performing the experiments.

SAFETY – II
1. The voltage employed in electrical lab is sufficiently high to
endanger human life.
2. Compulsorily wear shoes.
3. Don’t use metal and jewellery on hands.
4. Do not wear loose dress
5. Don’t switch on main power unless the faculty gives the permission.

TREATMENT AGAINST SHOCK
(Artificial Respiration)
 Place him/her on back. Clear his mouth and throat. Turn his/her
head to side and remove any foreign bodies with fingers.
 Tilt his/her head back by holding lower jaw – this gives a clear air
passage way to his/her lungs and keep tongue out of throat.
 You take deep breath of fresh air. Place mouth over his/her nose.
Hold mouth closed. Blow into nose. Adults-blow fully, children-puff
gently. Watch chest rise. Remove mouth – let chest fall. Continue
until patient resumes breathing.
Note: If chest does not rise when you blow check for obstruction in
his/her throat.
 Listen to the air being exhaled. When flow of air stops blow it again.

Experiment No: 1
AIM OF THE EXPERIMENT: Time Response Analysis of Linear Simulated Systems
OBJECTIVE OF THE EXPERIMENT : To analyze the time response of first and second order linear
Simulated Systems.
PREREQUISITES: Knowledge of System Transfer functions: Types and Order, Time domain
specifications, Time Response.
MATERIALS REQUIRED : Tracing Paper, Graph sheet.
EQUIPMENTS REQUIRED : Linear system simulator, CRO, Probes.
THEORY :
The time response analysis of open loop and closed loop systems are being studied with the help of linear
simulated system.
G(s)
Open Loop
Reference Input Output
+
Reference Input
-
G ( s) Output
T(s)
Closed Loop
Figure: Open Loop and Closed Loop System

In this experiment the dynamics of an Integrator, First-Order and Second Order system is analyzed with the help of step input.
The generalized transfer function is given by:
C (s)
G ( s) 
R(s ) (1)
1. Integrator:
The transfer function is given by

K
G( s) 
s (2)
A. Open Loop
1
R( s) 
The step input s . The output response is given by
c(t )  Kt (3)

Figure: Step response of a Integrator type system

A. Closed Loop
The closed loop transfer function is obtained as:

1
T (s) 
s / K 1 (4)
The system behaves as a First Order system under the
effect of negative feedback. For a unit step input the
response is similar to the open loop response of the
first order system.
2. First Order Type System:
The open loop transfer function is given by
K
G ( s) 
s  1 (5)
A. Open Loop Figure: Response of a damped second order system
The response of the first order system towards unit step input is given by
K K K
C ( s)   
s( s  1) s ( s  1) (6)
The response of the system is given by:

t

c (t )  K (1  e  ) (7)
B. Closed Loop System:
The closed loop system transfer function is given by:

K
T (s) 
s  K  1 (8)
Hence, the output response is similar to the first order system.
Figure:
Open loop response of a first order system
3. Second Order System:
The following is the transfer function for a second order system given by
n2
G( s)  2
s  2 ns  n2 (9)
 is the damping factor and n is natural frequency.
The poles of the system is given by
s  n  jn  
1   2    jd
(10)

Case: 1 Underdamped 
  1
The response of the system is given in Error: Reference source not found.
e nt
c (t )  1  sin(d t   )
(1   2 )
(11)
 (1   ) 
2
  tan 1  
  
The angle  .
Case 2: Critically Damped 

  1
The response of the system is given by
c (t )  1  e  t  tn e  t
n n
(12)
Case 3: Overdamped 
  1
The response of the system is
c (t )  K1e  s1t  K 2 e  s2t (13)
Here
s1 , s2  n  n  1    and K , K
2
1 2 are constants.
Figure: Output of a critically damped
system
Closed Loop:
The open loop transfer function of a Type-1is given by
K
G(s) 
s ( s  1) (14)
The closed loop transfer function is given by
K
T (s)  2
s s K (15)
Figure: Output of a Over damped Second order system
By comparing the derived closed loop transfer function with the generalized transfer function of second
order system
K n2
T ( s)  
 s 2  s  K S 2  2n  n
K /
 i.e n  K /
S K
S2  
 

Figure: The time response specification of a second order system
1. Delay Time (td) - It is the time required for the response to reach 50% of the steady state value for
the first time.
2. Rise time (tr) - It is the time required for the response to reach 100% of the steady state value for
under damped systems. However, for over damped systems, it is taken as the time required for the
response to rise from 10% to 90% of the steady state value.
1  2
  tan 1
  
tr  
n 1   2 n 1   2 (16)
3. Peak Time (tp) - It is the time required for the response to reach the maximum or Peak value of the
response.

tp 
n 1   2 (17)
4. Maximum Peak Overshoot (Mp) - It is defined as the difference between the peak value of the
response and the steady state value. It is usually expressed in percent of the steady state value. If the
time for the peak tp is percent peak overshoot is given by,

c(t p )  c() 
(1 2 )
Mp   100  e  100
c ( ) (18)
5. Settling Time (ts) - It is the time required for the response to reach and remain within a specified
tolerance limits (usually ± 2% or ± 5%) around the steady state value.

4
ts 
n (19)
6. Steady state error (Ess) - It is the error between the desired output and the actual output as or under
steady state conditions. The desired output is given by the reference input r (t) and the steady state
error:
sR ( s)
Ess  lim
s 0 1  G ( s )
(20)
PROCEDURE :
A. Open Loop system :

K1
i) For an integrator type system s .
1. Make simulink model.

2. See the output in scope.
3. Take a screenshot.
K2
ii) For a first order type plant of the form  1s  1
1. Make simulink model.

2. See the output in scope, find the time constant.
3. Find the steady state value of the response which gives the value of
K2 .
4. Write down the transfer function of the plant.

(iii) For the second order plant (Procedure is same as above)
1. Underdamped System:
2. Critically Damped System:
3. Over Damped System
B. Closed loop system :

K K1
G ( s)  1 , T ( s ) 
i) For s s  K1

ii) For the First order closed loop plant: (Same procedure as above)
iii) For the Second Order Closed Loop Plant:

(a) Underdamped System
TABULATION : (Second Order Closed Loop Underdamped Case)
Specifications Simulated Result Theoretical
Rise Time
Peak Time

Settling time
Steady state error
Maximum Peak Overshoot
(b) Critically Damped :
(c) Over Damped:
RESULT : (Observe all the graphs in Scope for various cases separately and Paste here).

CALCULATION:

CONCLUSIONS:
DISCUSSION QUESTIONS:
1. 111Equation Chapter 1 Section 1Define time constant of a first order system.
2. What is the significance of time response analysis?
3. What do you mean by type and order of system?
4. What are different parameters of time response analysis?
NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................
Signature of the faculty

211Equation Chapter 1 Section 1Experiment No: 2
AIM OF THE EXPERIMENT :PID controller to improve a system's performance
OBJECTIVE THE EXPERIMENT : To understand the effect of each of the PID parameters on
the dynamics of a closed-loop system.
MATERIALS REQUIRED : Tracing paper, Graph Sheet
PREREQUISITES : Knowledge of PID controller, transfer function and system types.
PID Action: Refer from Control Systems book
[1] “Control Systems”, Dhanesh. N. Manik, Cengage Learning,:Delhi, pp.179-196.

[2] “Automatic Control Systems”, Benjamin. C. Kuo, Prentice Hall of India: 7 th Edition, pp. 671-678, pp.
691-694, pp.708-710.
[3] “Control Systems”, A. Anand Kumar, Prentice Hall of India, pp.231-248.
Online Resources on Process Reaction curve-
http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction&section=ControlPID#27
CIRCUIT DIAGRAM :
Figure 1: Simulation model diagram for PID controller
THEORY :
The output of a PID controller, which is equal to the control input to the plant/process, is calculated in the
time domain from the feedback error as follows:
(1)
The transfer function of a PID controller is found by taking the Laplace transform of Equation (1).
(2)

Command
Error Output
+
Controller Process
-
Figure 2: Closed loop system block diagram
The Characteristics of the P, I, and D Terms

Increasing the proportional gain ( ) has the effect of proportionally increasing the control signal for the
same level of error. The fact that the controller will "push" harder for a given level of error tends to cause
the closed-loop system to react more quickly, but also to overshoot more. Another effect of increasing
is that it tends to reduce, but not eliminate, the steady-state error.
The addition of a derivative term to the controller ( ) adds the ability of the controller to "anticipate"
error. With simple proportional control, if is fixed, the only way that the control will increase is if the
error increases. With derivative control, the control signal can become large if the error begins sloping
upward, even while the magnitude of the error is still relatively small. This anticipation tends to add
damping to the system, thereby decreasing overshoot. The addition of a derivative term, however, has no
effect on the steady-state error.
The addition of an integral term to the controller ( ) tends to help reduce steady-state error. If there is a
persistent, steady error, the integrator builds and builds, thereby increasing the control signal and driving
the error down. A drawback of the integral term, however, is that it can make the system more sluggish
(and oscillatory) since when the error signal changes sign, it may take a while for the integrator to
"unwind."
The general effects of each controller parameter ( , , ) on a closed-loop system are summarized in
the table below. Note, these guidelines hold in many cases, but not all. If you truly want to know the effect
of tuning the individual gains, you will have to do more analysis, or will have to perform testing on the
actual system.
CL RESPONSE RISE TIME OVERSHOOT SETTLING TIME S-S ERROR
Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Decrease
Kd Small Change Decrease Decrease No Change
PROCEDURE :
1. Create a MATLAB/Simulink model as shown in Fig. 1.

2. Set P, I, D and filter co-efficient (N) values as 1.2, 22, 0.02 and 20. Select transfer function-based
tuning method.
3. Set numerator and denominator of Transfer Fcn as standard 2nd order system with ωn=16 and ζ=0.6.
4. Observe and note down the parameters of different controllers by changing the PID controller block
to P, I, PI, PD and PID.

MODEL GRAPH :
OBSERVATION :
The following are the observations for the parameters of different controllers.
SL.NO Controller Type Rise Time Overshoot Settling Time S-S Error
1 P
2 PI
3 PD
4 PID
CALCULATION:

SPACE FOR TRACING

CONCLUSION:
1. 311Equation Chapter 1 Section 1 What is PID controller ?
2. What is cascade controller?
3. What are the advantages of P,PI,PID controller ?
4. What is the effect of P-I-D controller on the system response?
5. What is steady state error?

NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................

SPACE FOR ROUGH WORK


AIM OF THE EXPERIMENT : Design of lead ccompensator
OBJECTIVE THE EXPERIMENT: To understand the design steps and simulation study of lead
compensator for an uncompensated system
SPECIFICATION. : The open loop transfer function of the uncompensated system with gain
K
G(s) 
s (0.5s  1)
K is . Design a suitable lead compensator so that the static velocity error constant kv is
20sec-1, the phase margin is atleast 55o and the gain margin is atleast 12 dB.
PREREQUISITES : Knowledge of Bode plot
Compensators: Refer from Control Systems book
[1] “Control Systems Engineering”, R. Anandanatarajan and P. Ramesh Babu, SCITECH, 4th edition
[2] “Automatic Control Systems”, Benjamin. C. Kuo, Prentice Hall of India: 7 th Edition, pp. 671-678, pp.
691-694, pp.708-710.
[3] “Control Systems”, A. Anand Kumar, Prentice Hall of India, pp.231-248.
THEORY and MATLAB implementation of lead compensator :
 Lead compensator
A compensator is a component or subsystem in control system that is used to compensate the deficiency in
the performance of the plant. For a given plant and a set of specifications, need to design suitable
compensator such that the overall system will meet the given specifications. Fig. 1 shows the closed loop
uncompensated system. The open loop transfer function (OLTF) of the system or plant is G(s). Fig. 2
shows the closed loop compensated system. Here Gc(s) is the transfer function for compensator which is
connected in cascade with the plant G(s). The compensator can be lead, lag or lag-lead compensators.
1
s
Gc ( s )  K c T  K  Ts  1 ; 0  1
c (1)
s
1  Ts  1
T
Fig. 1. Closed loop uncompensated system Fig. 2. Closed loop compensated system

Fig. 3. Bode plot of lead compensator
The transfer function for lead compensator is shown in (1). The lead compensator has a pole at (-1/αT) and
a zero at (-1/T). As α lies in between 0 to 1, the position of pole is more negative in real axis of s plane than
zero. The Bode plot of lead compensator is shown in Fig.3. The relation between maximum phase shift m
and α can be expressed by equation (2). The frequency m rad/see at which m occurs, can be evaluated by
(3). At this frequency the change in the magnitude of compensated system due to compensator (Δ m) can be
expressed by equation (4).
1 (2)
Sinm 
1
1 (3)
m 
  T rad/sec
 1  (4)
 m  20 log   dB
  
 Design steps of lead compensator

 Step 1: Consider the general transfer function of the lead compensator Gc(s) as shown in equation
(5). As per Fig. 2, the open loop transfer function of the compensated system is as shown in
equation (6).
Gc ( s)  K c
Ts  1
; 0  1
(5)
 Ts  1
Ts  1 K Ts  1 K c K Ts  1 K' (6)
Gc ( s)G ( s)  K c     
 Ts  1 s (0.5s  1)  Ts  1 s(0.5s  1)  Ts  1 s (0.5s  1)
Here K'=KcαK
The given kv=20sec-1
We know that
Ts  1 K' (7)
kv  lim sGc ( s )G ( s )  lim s   20
s 0 s 0  Ts  1 s (0.5s  1)
'
K  20
We can rewrite equation (6) as equation (8)

Ts  1 20 Ts  1 (8)
Gc ( s)G ( s)    G1 ( s)
 Ts  1 s (0.5s  1)  Ts  1
20 20

s (0.5s  1) 0.5s 2  s
 Step 2: Bode plot of G1(s )=
MATLAB code for this Bode plot:
num1=[0 0 20];
den1=[0.5 1 0];
G1=tf(num1, den1)
bode(G1)
Bode Diagram
50
Magnitude (dB)
-50
-90
Phase (deg)
System: S1
-135 Frequency (rad/s): 5.98
Phase (deg): -162
-180
10 -1 10 0 10 1 10 2
Frequency (rad/s)
Fig. 4. Bode plot of G1(s)
From Fig. 4, the phase margin (PM) of G1(s) is 18o. The required PM is 55o as per the given
specification.
To change the PM from 18o to 55o. The required phase lead is 37o

Step 3: To get suitable required phase angle of lead compensator, add 5o to 12o for the right shift of
corner frequency. Therefore suitable required phase angle of the lead compensator is
(37o+10o)=47o
So
m  47o

Step 4: Using equation (2)
1
Sin 47o     0.16
1 

Step 5: Using equation (4)
The change in magnitude due to compensator is

 1 
 m  20 log   dB  8dB
  
From Fig. 4, (-8dB) corresponds to 10rad/see.
So
1 1
m  10rad/sec=   3.9
 T T
So the pole and zeros for lead compensator is (-1/αT = -24.37) and (-1/T= -3.9) respectively in s plane.
 Step6:
We have K'=KcαK
Let consider, Kc=(1/α)=(1/0.16)=6.25
The required lead compensator is

1
s
Ts  1 T  s  3.9 
Gc ( s)  K c  Kc  6.25  
 Ts  1 s
1  s  24.37 
T
The open loop transfer function of the compensated system is
20(0.26s  1)
Gc ( s)G ( s ) 
s (0.5s  1)(0.04 s  1)
Bode plot of compensated system is shown in Fig. 5.

Bode Diagram
50
Magnitude (dB)
0
-50
-100
-90 System: S2
Frequency (rad/s): 10.4
Phase (deg): -122
Phase (deg)
-135
-180
10 -1 10 0 10 1 10 2 10 3
Frequency (rad/s)
Fig. 5. Bode plot of compensated system [ Gc(s)G(s) ]
MATLAB code for this Bode plot:
num2=[5.2 20];
den2=[0.02 0.54 1 0];
GcG=tf(num2,den2)
bode(GcG)
The PM of the compensated system is 58o. This value is greater than the required value 55o.
PROCEDURE:
Run the MATLAB code and verify the above observations.
CONCLUSION:
QUESTIONS:
1. What is compensation?
2. What is lag compensator?
3. What is lag-lead compensators?
K
G(s) 
s ( s  1)
4. Consider a type 1 unity feedback system with an OLTF, . It is specified that kv=20sec-1
o
and PM =40 . Design the lead compensator and verify in MATLAB.
SPACE FOR TRACING

CONCLUSION:
6. 511Equation Chapter 1 Section 1 What is PID controller ?

NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................



Experiment No. 3
AIM OF THE EXPERIMENT: Frequency response analysis of different linear dynamic system
OBJECTIVE OF THE EXPERIMENT: To obtain the gain margin and phase margin of different linear
dynamic system by frequency response method.
MATERIALS REQUIRED : MATLAB Software, Semi Log graph.
PREREQUISITES : Sinusoidal Transfer Function, Bode plot, Frequency Domain

Specifications.
Bode Plot: Refer from Control Systems book
[1] Nise, Norman S. CONTROL SYSTEMS ENGINEERING, (With CD). John Wiley & Sons, 2007.
[2] “Automatic Control Systems”, Benjamin. C. Kuo, Prentice Hall of India: 7th Edition.
[3] “Control Systems”, A. Anand Kumar, Prentice Hall of India.
CIRCUIT DIAGRAM :
Figure 1: Block Diagram of feedback control system
THEORY :
A Bode plot is a graph commonly used in control system engineering to determine the stability of a control
system. A Bode plot maps the frequency response of the system through two graphs – the Bode magnitude
plot (expressing the magnitude in decibels) and the Bode phase plot (expressing the phase shift in degrees).
Gain Margin:
The gain margin refers to the amount of gain, which can be increased or decreased without making the
system unstable. It is usually expressed as a magnitude in dB. The greater the Gain Margin (GM), the
greater the stability of the system
Phase Margin

The phase margin refers to the amount of phase, which can be increased or decreased without making the
system unstable. It is usually expressed as a phase in degrees. The greater the Phase Margin (PM), the
greater will be the stability of the system
Figure 2: Bode Plot with Gain Margin and Phase Margin
1
G.M  where,  pc  phase cross over frequency
( j) H ( j)  pc
1
In dB G.M  20 log
( j) H ( j)  pc
or, G.M  20 log ( j) H ( j)  pc
P.M  G ( j) H ( j) at = gc  (1800 )

where, gc  gain cross over frequency
P.M  1800  G ( j) H ( j) at = gc
Various Test Systems:

Test System-1
The transfer function is G(s) such that
K ( s  2)
G(s) 
( s  3)( s  4)
MATLAB Program:
num=[0 1 2 ];
den=[1 7 12];
bode(num,den)

grid;
title(‘Bode Plot of G(s)=K(s+2)/[(s+3)(s+4)]’)
Test System-2
The 3rd order transfer function (G(s)):
2
G ( s) 
s ( s  1)(1  0.2 s)
MATLAB Program:
num=[2];
den=[0.2 1.2 1 0];
bode(num,den)
grid;
title(‘Bode Plot of G(s)=2/s(s+1)(1+0.2s)’)
PROCEDURE :
5. Write MATLAB program in the MATLAB software.

6. Then save the program to run it.
7. Draw the Bode plot of the system
8. Determine G.M and P.M of the system and check the system stability
9. Take different test system to verify your result
RESULT: (Plot the Bode Diagram. Obtain the result for Gain Margin & Phase Margin).
Bode Plot of G(s)=K(s+2)/[(s+3)(s+4)]

-15
-20
-25
Magnitude (dB)
-30
-35
-40
0
Phase (deg)
-45
-90
-1 0 1 2
10 10 10 10
Frequency (rad/s)

Bode Diagram
Gm = 9.54 dB (at 2.24 rad/s) , Pm = 25.4 deg (at 1.23 rad/s)
50
0
Magnitude (dB)
-50
-100
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)
CALCULATION:
CONCLUSIONS:
1. Define gain margin and phase margin of a linear dynamic system
2. What do you mean by frequency response?

3. What is gain -crossover frequency and phase cross over frequency?
4. What do you mean by system stability?
5. Differentiate between static and dynamic system.
NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................

SPACE FOR TRACING

GRAPH-(SEMI-LOG)



AIM OF THE EXPERIMENT :To analyse the stability of various systems using root locus method
OBJECTIVE THE EXPERIMENT : To plot the root locus for a given transfer function using
MATLAB and investigate the system stability.
MATERIALS REQUIRED : MATLAB Software
PREREQUISITES : Transfer function and system types, System stability, Root locus.
Root Locus: Refer from Control Systems book
[1] Nise, Norman S. CONTROL SYSTEMS ENGINEERING, (With CD). John Wiley & Sons, 2007.
[2] “Automatic Control Systems”, Benjamin. C. Kuo, Prentice Hall of India: 7th Edition.
[3] “Control Systems”, A. Anand Kumar, Prentice Hall of India.
Online Resources on Process Reaction curve-
https://en.wikibooks.org/wiki/Control_Systems/Root_Locus
CIRCUIT DIAGRAM :
Figure 1: Block Diagram of feedback control system
THEORY :
A root loci plot is simply a plot of the zeros and the poles values on a graph with real and imaginary
coordinates. The root locus is a curve of the location of the poles of a transfer function as some parameter
is varied. Such a plot shows clearly the contribution of each open loop pole or zero to the locations of the
closed loop poles. This method is very powerful graphical technique for investigating the effects of the
variation of a system parameter on the locations of the closed loop poles. The closed loop poles are the
roots of the characteristic equation of the system while the locus of the roots as the gain varies from zero to
infinity. From the design viewpoint, in some systems simple gain adjustment can move the closed loop
poles to the desired locations. Root loci are completed to select the best parameter value for stability. A
normal interpretation of improving stability is when the real part of a pole is further left of the imaginary
axis.
A control system is often developed into an equation as shown below:
C (s)
F ( s) 
R( s) (1)
k .( s  z1 ).( s  z2 )....( s  zm )
F ( s) 
( s  p1 ).( s  p2 )....( s  pn ) (2)
N ( s)  k .( s  z1 ).( s  z2 )....( s  zm ) (3)
D( s )  ( s  p1 ).( s  p2 )....( s  pn ) (4)

The open-loop transfer function between the input R(s) and the measured output Y(s) is:
F ( s)  K .G ( s).H ( s)
The closed-loop transfer function is:

C (s ) K .G ( s )
F (s)  
R ( s) 1  K .G ( s).H ( s )
Now, we know that to find the poles of the equation, we must set the denominator to 0, and solve the
characteristic equation. In other words, the locations of the poles of a specific equation must satisfy the
following relationship:
1  K .G ( s).H ( s )  0
K .G ( s ).H ( s )  1
Or
Magnitude of K:
1
| K |
| G ( s ).H ( s ) |
K .G ( s).H ( s )  1800 (or odd multiples of 1800 )
Various Test Systems:

2nd order system:
The transfer function is G(s) such that
K ( s  2)
G(s) 
( s  3)( s  4)
MATLAB Program:
num=[0 1 2 ];
den=[1 7 12];

rlocus(num,den)
grid;
title(‘Root Locus Plot of G(s)=K(s+2)/[(s+3)(s+4)]’)
3rd order System:
The 3rd order transfer function (G(s)):
K ( s  0.4)
G(s) 
s 2 ( s  3.6)
MATLAB Program:
num=[0 0 1 0.4];
den=[1 3.6 0 0];
rlocus(num,den);
grid;
title(‘Root Locus Plot of G(s)=K(s+0.4)/[s^2(s+3.6)]’)
4th order System:
The 4th order transfer function (G(s)):
K ( s  3)
G(s) 
s( s  1)( s 2  4 s  16)
MATLAB Program:
num=[0 0 0 1 3];
den=[1 5 20 16 0];
rlocus(num,den);
grid;
title(‘Root-Locus Plot of G(s)=K(s+3)/[s(s+1)(s^2+4s+16)]’)
PROCEDURE :
10. Write MATLAB program in the MATLAB software.

11. Then save the program to run it.
12. Find the values of K for with roots are on the left hand side of the s-plane.
13. Get the stability of the various systems.
MODEL GRAPH :
Root Locus Curve for 2nd order system:

Root Locus Plot of G(s)=K(s+2)/[(s+3)(s+4)]
0.6
0.999 0.998 0.996 0.991 0.978 0.92
0.4 1
)
-1
0.2 1
Imaginary Axis (seconds
14 12 10 8 6 4 2
0
-0.2 1
-0.4 1
0.999 0.998 0.996 0.991 0.978 0.92

-0.6
-14 -12 -10 -8 -6 -4 -2 0 2
-1
Real Axis (seconds )
Figure 2: Root locus curve for second order system
Root Locus Curve for 3rd order system:
Root Locus Curve for 4th order system:

CALCULATION:

CONCLUSION:
11. 711Equation Chapter 1 Section 1 What are the advantages of root locus method?
12. What do you mean by poles?
13. What is the significance of transfer function?
14. Define stability of any system. What do you mean by asymptotic stability?
NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................



Experiment No: 6
AIM OF THE EXPERIMENT: D.C. Motor position control system
OBJECTIVE OF THE EXPERIMENT : To study the effect of proportional and derivative feedback
on a D.C. Motor position control system.
EQUIPMENTS REQUIRED : Position Control Unit, D.C. Motor Unit, CRO, Probes.
PREREQUISITES : Knowledge of transfer function, time response specifications, effect of

derivative action Theory.
CIRCUIT DIAGRAM :
Figure: Experimental Schematic Diagram
THEORY :
Position 
set point + 
KA KM 1
1 s s
_
-
Error Amplifier Motor
s.KD
Figure: Block Diagram of D.C. Motor Position control system
The input of the system is the desired angular position of the D.C. Motor which may be continuous or a
step signal. The output angular position is sensed with the help of a potentiometer. A tacho generator
attached to the motor shaft in a sense provides a voltage proportional to the speed in a sense here is a
derivative feedback. The error detector is a 4 input single output block. Two of the inputs are for reference
inputs and the other two are meant for position and velocity feedback signals with inputs 180 degrees out
of phase. Forward path gain is adjustable from 0 to 10 and tacho generator gain may be varied from 0 to 1.
The driver circuit is a power amplifier in complimentary symmetry configuration that can drive the motor
in both the directions in full power. Since the response of the mechanical system is too slow for real-time
viewing one needs to use the storage oscilloscope. This is a microprocessor based capture system that can
store the response and plot it in X-Y mode later on.
The D.C. Motor with position output is typically described by
KM
G ( s) 
s ( s  1) (1)
Transfer function of closed loop system with feedback H(s) can be generalized as, G(s) H(s)/1+G(s)H(s).
Therefore, in the presence of a proportional feedback the closed loop transfer function is given as
K AG ( s )
T (s) 
1  K AG ( s ) (2)
1 
Position Set Point (VR)
+
_ KA KM
Error Amplifier 1 s s
Motor
KDs
Figure: Block Diagram of D.C. Motor Position control system with Derivative Feedback
In the presence of Tacho (derivative) feedback the closed loop system for above block diagram is given by
K AG ( s )
T (s ) 
1  K A (1  K D s)G ( s) (3)
By comparing above derived closed loop transfer function with generalized second order system which can
be given as follows,

n2
G(s)  (4)
s 2  2 ns  n2
Figure: Typical step response of a second order system
The time response specifications are as follows:
the first time.
1  0.7
td 
n (5)
  1 2
tr  ,   tan 1 ( )
n 1   2 
(6)
response.

tp 
n 1   2 (7)

c(t p )  c() 
(1 2 )
Mp  100  e  100
c ( ) (8)
4
ts 
n (9)
error:
sR ( s)
Ess  lim
s 0 1  G(s) (10)
PROCEDURE :
Step Response:
1. Set the tacho generator feedback in the motor unit in ‘NEGATIVE’ mode.
K
2. Set A to 2, D
K  0.
3. Compute the time response specifications.
K  3, 4, .
4. Repeat for A
5. Now set A
K  6 , and choose various values of K D  0.1,0.2 and repeat the above observations.
6. Tabulate the results as shown.
7. Compare the results with theoretical predictions.
8. A set of observations is to be taken in positive feedback.
TABULATION :
CASE A: Proportional Feedback
SL.NO KA Mp tp (ms) tr (ms) ξ Ess n (rad / s )

SIMULATION MODEL(for KA=3 and KD=0.1)
RESPONSE(for KA=3 and KD=0.1)

CASE B: Derivative Feedback
tp (ms) tr (ms) n (rad / s )

SL.NO K A kd Mp ξ Ess
RESULT: (State all the obtained values like rise time etc here for various cases separately).

CALCULATION:

CONCLUSIONS:
1. What is a tachogenerator ?
2. What is the significance of position control system?
3. What is the effect of proportional and derivative feedback on the response of the system?
4. What is proportional and derivative feedback?
5. Find the transfer function of a armature controlled DC motor and draw its block diagram
NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................

SPACE FOR TRACING



811Equation Chapter 1 Section 1

SPACE FOR TRACING

CONCLUSION:
15. 911Equation Chapter 1 Section 1 What is PID controller?

NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................



EXPERIMENT NO: 3
AIM OF THE EXPERIMENT : D.C. Motor Speed Control System
OBJECTIVE OF THE EXPERIMENT : To study the effect of derivative feedback on D.C. Motor
Speed Control System.
PREREQUISITES : Time Domain Specifications, Transfer Function
Online Resources D.C. Motor Speed Control System –

http://www.wisc-online.com/Objects/ViewObject.aspx?ID=IAU4506
EQUIPMENTS REQUIRED : D.C. Motor Servo Module, CRO, Probes.
THEORY :
Figure 1: Armature Controlled D.C. Motor Schematic Diagram
DC-motors that are used in feedback controlled devices are called DC-servomotors. Applications of DC-
servomotors abound, e.g., in robotics, computer disk drives, printers, aircraft flight control systems,
machine tools, flexible manufacturing systems, automatic steering control, etc. DC motors are classified as
armature controlled DC-motors and field controlled DC-motors. A schematic representation of an armature
i
controlled DC-motor is given in Figure 1. For an armature controlled DC-motor, the field current f is
T
constant and the torque m generated at the DC-motor shaft is given by:
Tm  KT ia 1010\* MERGEFORMAT ()
T
Where m is the motor Torque Constant in Nm/A. The back e.m.f. induced in the armature due to armature
rotation is directly proportional to the armature angular velocity
d m
Vb = K b
dt 1111\* MERGEFORMAT ()
K b is the back e.m.f constant in Vs/rad. The angular speed m of an armature controlled DC-motor is
V i
controlled by the armature voltage a . The deferential equation relating the armature current a and the
V V
back e.m.f. b to the armature voltage a can be obtained by applying Kirchhoff’s Voltage Law (KVL). In
particular, according to the KVL, at any given instant of time, the algebraic sum of voltages around any
loop in any electric network is zero. Thus, a direct application of the KVL to the armature circuit yields
dia
La  Ra ia  Vb  Va
dt 1212\* MERGEFORMAT ()
Finally, we obtain the deferential equation governing the motion of the mechanical load. First,
note that in most applications, the DC-servomotor shaft is connected to a gear-box of a given
K 1
gear-ratio, g and the load is attached to the output shaft of the gear-box. Applying the moments to the
rotating system one gets the differential equation
d 2 d
J eq 2
 bt  Tm
dt dt 1313\* MERGEFORMAT ()
Taking the Laplace transform of Error: Reference source not found and Error: Reference source not found,
J  Jm  Jl b
here eq is the total inertia, t is the rotational viscous friction. The dynamics of the electrical
L
network can be neglected by assuming the armature inductance a as zero. The final transfer function is
given by
 ( s) KT K A K
  M
Va ( s ) ( Ra J eq s  Ra bt  KT K b )  s  1
1414\* MERGEFORMAT ()
K M is the D.C. gain and  is the mechanical time constant.
VR +
_ KA KM  1 
1 s s
Error Amplifier Motor
KDs
Figure 2: D.C. Motor Speed Control schematic with Derivative (Tacho) feedback

The Overall Transfer Function of the closed loop (Feedback Control System)
 (s) K AKM K
T (s)   
Va ( s) s  K A K M KT  1 s eq  1
In Error: Reference source not found the constants
K AKM
K
1  K A K M KT 1616\* MERGEFORMAT ()

 eq 
1  K A K M KT 1717\* MERGEFORMAT ()
For step input the error constant
K p  lim G ( s) H ( s )  K A K M KT
s 0 1818\* MERGEFORMAT ()
The steady state error
R R
Ess  lim(VR  VT )  
t  1  K p 1  K A K M KT
The transient response for the system is
 t   
1 K A K M KT  t
RK A K M    eq 

 (t )   1  e  
  RK eq  1  e 
1  K A K M KT     2020\* MERGEFORMAT ()
For a square wave of peak-peak value of R as input
1 1
  (12)
2 f ln[1  C ( p  p) 1 ]
R ( p  p ) K eq
where C ( p  p )  Response value
R  p  p   Reference value
and f in Hz
−1 1
2f C( p− p) 1 (Rp-p=Ref voltage=1v,Cp-p=Response value Vt)
ln ⁡[ 1− ]
R( p− p) K eq
PROCEDURE :
A. Open Loop Performance:
V  1V and K A  3. Then the motor will start to run at low speed. Record
1. Set the reference voltage R
2 N
ss 
the speed in RPM 60 . Tacho generator output VT and motor input VM .
2. Repeat with R
V  1V and K A  4,5, 610. and calculate N, VT and VM .
V V K K
3. Plot N vs M and T vs N. Obtained M and T from the linear region.

shaft speed in rad / s V
KM  , KT  T
Motor voltage, VM ss (13)
4. Obtain the open loop motor transfer function as in Error: Reference source not found.
5. Find the Tacho-generator transfer function.
B. Closed Loop Performance:
1. Set
VR  1V and K A  5 , the motor will run in low speed Measure the speed in RPM and the tacho
1
Ess 
V E  VR  VT and the theoretical value
voltage T . Find the ss K A K M KT .
2. Repeat the above step for

K A  5, ,100 .

C. Transient Performance
V  0.5V and K A  5 . Switch on the square wave signal and measure Vs ( p  p ) and VT ( p  p ) .
1. Set s
K AKM
K
2. Find 1  K A K M KT and  eq .
TABULATION :
A. Open Loop System:
SL.NO KA N VT VM 
1 3
2 4
3 5
4 6
5 7
6 8
7 9
8 10
B. close Loop System :
Ess Ess
Sl No. KA N VT
(Theoretical) (Observational)
1 5
2 10
3 15
4 20
5 25
6 50
7 75
8 100

C. Transient Performance :
For
VR  0.5V & K A  5 .
K K
T .F  TF= =¿
1  S eq 1+ τ eq S
RESULT : (State all the obtained values like rise time etc here for various cases separately).
CALCULATION:

CONCLUSIONS:
1. What is the reference voltage given to the speed control system?
2. Write the applications where DC motor speed control has been used?
3. What is the significant of proportional controller in the speed control of DC motor?
4. What is the relationship between speed and armature voltage?
5. Define steady state error. Determine the theoretical value of steady state error?

NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................

GRAPH-4NOS



Experiment No: 4
AIM OF THE EXPERIMENT: Time Response Analysis of Linear Simulated Systems
OBJECTIVE OF THE EXPERIMENT : To analyze the time response of first and second order linear
Simulated Systems.
PREREQUISITES: Knowledge of System Transfer functions: Types and Order, Time domain
specifications, Time Response.
MATERIALS REQUIRED : Tracing Paper, Graph sheet.
EQUIPMENTS REQUIRED : Linear system simulator, CRO, Probes.
THEORY :
The time response analysis of open loop and closed loop systems are being studied with the help of linear
simulated system.
G (s)
Open Loop
Reference Input Output
+
Reference Input
-
G ( s) Output
T(s)
Closed Loop
Figure: Open Loop and Closed Loop System

In this experiment the dynamics of an Integrator, First-Order and Second Order system is analyzed with the help of step input.
The generalized transfer function is given by:
C (s)
G (s) 
R(s) (1)
4. Integrator:
The transfer function is given by

K
G( s) 
s (2)
A. Open Loop
1
R( s) 
The step input s . The output response is given by
c (t )  Kt (3)
Figure: Step response of a Integrator type system

B. Closed Loop
The closed loop transfer function is obtained as:

1
T (s) 
s / K 1 (4)
The system behaves as a First Order system under the
effect of negative feedback. For a unit step input the
response is similar to the open loop response of the
first order system.
5. First Order Type System:
The open loop transfer function is given by
K
G ( s) 
s  1 (5)
C. Open Loop Figure: Response of a damped second order system
The response of the first order system towards unit step input is given by
K K K
C (s)   
s( s  1) s ( s  1) (6)
The response of the system is given by:

t

c(t )  K (1  e )
(7)
D. Closed Loop System:
The closed loop system transfer function is given by:

K
T (s) 
s  K  1 (8)
Hence, the output response is similar to the first order system.
Figure: Open loop response of a first order system

6. Second Order System:
The following is the transfer function for a second order system given by
n2
G( s)  2
s  2 ns  n2 (9)
 is the damping factor and n is natural frequency.
The poles of the system is given by
s  n  jn  
1   2    jd
(10)

Case: 1 Underdamped 
  1
The response of the system is given in Error: Reference source not found.
e nt
c (t )  1  sin(d t   )
(1   2 )
(11)
 (1   2 ) 
  tan 1  
  
The angle  .
Case 2: Critically Damped 

  1
The response of the system is given by
c (t )  1  e nt  tn e nt (12)
Case 3: Overdamped 
  1
The response of the system is
c(t )  K1e  s1t  K 2e  s2t (13)
Here
s1 , s2  n  n  1    and K , K
2
1 2 are constants.
Figure: Output of a critically damped
system
Closed Loop:
The open loop transfer function of a Type-1is given by
K
G(s) 
s ( s  1) (14)
The closed loop transfer function is given by
K
T (s)  2
s s K (15)
Figure: Output of a Over damped Second order system
By comparing the derived closed loop transfer function with the generalized transfer function of second
order system
K n2
T ( s)  
 s 2  s  K S 2  2n  n
K /
 i.e n  K /
S K
S2  
 

Figure: The time response specification of a second order system
the first time.
1  2
  tan 1
  
tr  
n 1   2 n 1   2 (16)
response.

tp 
n 1   2 (17)

c(t p )  c () 
(1 2 )
Mp  100  e 100
c ( ) (18)

4
ts 
n (19)
error:
sR (s )
Ess  lim
s 0 1  G ( s)
(20)
PROCEDURE :
C. Open Loop system :

K1
iii) For an integrator type system s .
4. A 1 V(p-p) square wave is given to the block.
5. Draw the response on a tracing paper which is triangular in shape; find the slope which will be equal
K
to 1 .
K2
iv) For a first order type plant of the form  1s  1
5. Give a 1V (p-p) square wave of known frequency.
6. Draw the response on a tracing paper, find the time constant.
7. Find the steady state value of the response which gives the value of
K2 .

D. Closed loop system :
K K1
G ( s)  1 , T ( s ) 
iv) For s s  K1
1. Apply a 1V(p-p) square wave of known frequency.
2. Find the time constant.
3. Draw the response on a tracing paper.
v) For the First order closed loop plant: (Same procedure as above)
vi) For the second order plant
1. Apply a 1V(p-p) square wave of known frequency.
2. Draw the response on a tracing paper.
3. Obtain the time response specifications like rise time, delay time, peak time, settling time, maximum
peak overshoot, steady state error etc.
TABULATION :
Specifications Experimental Theoretical
Rise Time
Peak Time
Settling time
Steady state error
Maximum Peak Overshoot
RESULT : (State all the obtained values like rise time etc here for various cases separately).
CALCULATION:

CONCLUSIONS:
5. 2111Equation Chapter 1 Section 1Define time constant of a first order system.
6. What is the significance of time response analysis?
7. What do you mean by type and order of system?
8. What are different parameters of time response analysis?
NAME: ....................................................................
ROLL.NO: ................................................................
BRANCH: ..........................SESSION:........................
SECTION: ........................... GROUP : ......................

SPACE FOR TRACING


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LIST OF EXPERIMENTS

CONTROL SYSTEM LAB

TIME RESPONSE ANALYSIS OF LINEAR SIMULATED SYSTEMS

2 PID CONTROLLER TO IMPROVE A SYSTEM'S PERFORMANCE 26-34

3 DESIGN OF LEAD CCOMPENSATOR 35-44

4 FREQUENCY RESPONSE ANALYSIS OF DIFFERENT LINEAR 45-54

TO ANALYSE THE STABILITY OF VARIOUS SYSTEMS USING 55-63

6 D.C. MOTOR POSITION CONTROL SYSTEM 64-105

Page Date of Signature of

Page Date of Signature of

CONTROL SYSTEM LABORATORY 3 SOEE

Signature of the Faculty

CONTROL SYSTEM LABORATORY 4 SOEE

PRACTICAL APPROACH IS PROBABLY THE BEST

BEFORE LEAVING THE LAB

CONTROL SYSTEM LABORATORY 6 SOEE

CONTROL SYSTEM LABORATORY 7 SOEE

 It is important that the experiments are done according to the

 Note that, although students are encouraged to collaborate during

CONTROL SYSTEM LABORATORY 8 SOEE

CONTROL SYSTEM LABORATORY 9 SOEE

Lab write ups should consist of the following sections:

 Aim: A concise statement describing the experiment and the

CONTROL SYSTEM LABORATORY 10 SOEE

CONTROL SYSTEM LABORATORY 11 SOEE

CONTROL SYSTEM LABORATORY 12 SOEE

CONTROL SYSTEM LABORATORY 13 SOEE

CONTROL SYSTEM LABORATORY 14 SOEE

MATERIALS REQUIRED : Tracing Paper, Graph sheet.

EQUIPMENTS REQUIRED : Linear system simulator, CRO, Probes.

Figure: Open Loop and Closed Loop System

The transfer function is given by

CONTROL SYSTEM LABORATORY 15 SOEE

CONTROL SYSTEM LABORATORY 16 SOEE

The closed loop transfer function is obtained as:

The response of the system is given by:

B. Closed Loop System:

The closed loop system transfer function is given by:

CONTROL SYSTEM LABORATORY 17 SOEE

Case 2: Critically Damped 

Figure: Output of a Over damped Second order system

CONTROL SYSTEM LABORATORY 18 SOEE

CONTROL SYSTEM LABORATORY 19 SOEE

A. Open Loop system :

1. Make simulink model.

1. Make simulink model.

CONTROL SYSTEM LABORATORY 20 SOEE

2. Critically Damped System:

3. Over Damped System

B. Closed loop system :

CONTROL SYSTEM LABORATORY 21 SOEE

iii) For the Second Order Closed Loop Plant:

TABULATION : (Second Order Closed Loop Underdamped Case)

Specifications Simulated Result Theoretical

CONTROL SYSTEM LABORATORY 22 SOEE

Steady state error

Maximum Peak Overshoot

(b) Critically Damped :

(c) Over Damped:

CONTROL SYSTEM LABORATORY 23 SOEE

CONTROL SYSTEM LABORATORY 25 SOEE

1. 111Equation Chapter 1 Section 1Define time constant of a first order system.

2. What is the significance of time response analysis?