LABORATORY MANUAL

PC-BTE506 – Control System Laboratory

Department of Electrical Engineering

SARDAR PATEL COLLEGE OF ENGINEERING

MUNSHI NAGAR ANDHERI (WEST), MUMBAI – 400 058

2020-2021

NAME OF THE STUDENT :

BRANCH :

EXAM SEAT NO. :

SEMESTER :

BATCH :
 GENERAL INSTRUCTIONS

1.1 INTRODUCTION
This manual provides the operating instructions in a simplified form and leads
students through a prescribed set of experiments aimed at demonstrating the
basic principles of control systems. It is essential that students read these
preliminary sections in order to understand the purpose of each experiment.
Objectives of the course are:
• To illustrate concepts of control system course by experiment / simulation.
• To familiarize students with transient-response and frequency-response of a
control system, and to investigate various controller configurations.
• To give the students the opportunity to practice engineering report writing
and teamwork.
• To train the students to use engineering tool, MATLAB / SCILAB, to create
and extend its functions as necessary.

1.2 LAB REGULATIONS

• The lab will be performed in a group of 2 students per computer. Each group
must use the same computer for the entire session.
• Every group member must participate while performing the experiments.
• Every student must prepare and submit an individual report to the lab
instructor at the subsequent lab session. Marked reports will be returned at
the subsequent session. The marking guideline is given later in the manual.
Late submissions will be penalized. The deadline for the final report
submission will be provided by the lab instructor.
• Reports should be neat, concise, original and meaningful.
1.3 RULES TO BE OBSERVED IN THE LAB
• Students are expected to treat the lab equipment with due respect.
Disciplinary action will be taken against any student caught misusing the lab
such as making marks on benches or other equipment.
• Students must show seriousness in performing the lab and not be a source
of disturbance to neighboring stations. Cell phones must be switched off and
students are not allowed to exit the lab to hold cell-phone conversations.
• Bags must be put away from the work area. Keep the workspace clean.
• At the end of each session, make sure that all scrap papers, pens, etc. are
removed and that the lab equipment is switched off according to procedures
given.

1.4 MISSED LABS AND MAKEUP PROCEDURE

A student who misses a lab must attend another lab to make up for the
missed experiment.

1.6 LAB TEST

The lab test is a two hour test based on individuals, not for groups,
normally in the week following the last experiment.

1.7 MARKING GUIDELINE

As per the scheme total 25 marks are there for this course. The average of
the all experiments will be reported on a maximum of 15 and the lab test
on a maximum of 10. Lab reports will be graded on a scale of 15 with the
approximate percentage weightings shown:
 Table 1.1: Grading guideline

Sr. No Activity Marks

1 Participation: Attendance and Lab Performance 5
2 Organization and Presentation: write-up, Proper Tabulation, 5
Calculations, Simulations, neatly hand drawn graphs
3 Discussion and Summary: Technical discussion of obtained 5
results, error calculations, experimental / theoretical
correlations, Meaningful conclusion

1.8 REFERENCE
i. Modern Control Systems, Norman Nise.
ii. Modern Control Systems, Nagrath Gopal
Course Code: PC-BTE506 (AY 2019-20)

Course:-Control System Laboratory

Course Objectives:
1. Time response, frequency response and state variable analysis
2. Introduction to controllers and compensators
3. Introduction to optimum and nonlinear control
4. Identify the applications of control system.

Course Outcomes:
Students will demonstrate the ability to Simulate and analyze
1. First, second and higher order systems
2. Bode plot, Nyquist plot, solution of state equations, non-linear system
3. Compensator controller and observer designs
4. Develop managerial skills

Course Contents:

Modul Details Hours

e
Simulation assignments to study, analyze or design
1 First, Second and Higher order systems’ 02
performance in frequency domain
2 Study of second order system with different 02
damping ratio and natural frequency of oscillations
3-4 Bode plot, Nyquist plot analysis 04
5-7 Analysis of different compensators 04
7-8 Study of state space model 04
8-10 Analysis of different controllers 04
11 Non linear system analysis 04
Each student will write a technical report on application or further research based
on various concepts of control system theory. The student has to present the
same.

Basics of Simulating Control Systems with Simulink and MATLAB

Simulink Basics
Simulink is a graphical tool that allows to simulate systems.

Placing Components
To place a component, drag it from the component library browser to the model
space. To make a connection, hold down CTRL and click on the arrows on each
block that you wish to connect. To connect multiple lines to a single block, hold
down CTRL and click on the line already attached to the block and then make the
second connection.

Components
For most of the systems in-built blocks are available in Simulink’s component
library. In particular, the components we should be familiar with are:
• Continuous library
Integrator – integrates a signal
State-Space – used to add a system block in state-space form
Transfer Fcn – used to add a system block in transfer function form
• Math Operations library
Gain – a constant gain
Sum – used to add two or more signals
Trigonometric Function – used to place trigonometric elements
• Signal Routing library
Mux – used to multiplex signals together in order to plot them on one graph
• Sinks library
Scope – used for viewing system output
To workspace – used to transfer a signal data to MATLAB workspace.
• Sources library
ramp – generates a ramp signal
Sine Wave – generates a sinusoid
Step – generates a unit step signal
Components in detail:
Gain: To modify a ’Gain’ component, double-click on the component. The ’Gain’
parameter can be either a number or can be an expression.

Sum: The ’Sum’ component is equivalent to a summing junction in a block

diagram. To add more input nodes or change the sign of an input node, double-
click on the ’Sum’ component and modify the text in the ’List of Signs’ parameter.
To add two signals set ’List of Signs’ to ‘++’ and to get difference of two signals,
change the ’List of Signs’ parameter to ‘+−’. To add three signals at summing input
node, change the text to ‘+ ++’.

To Workspace: The ’To Workspace’ component sends data to the MATLAB

workspace where you can plot it or process it as and when required. To set this
up, double-click on the component and change the ’Save format’ parameter to
’Array’. Also, set the ’Variable name’ parameter to something descriptive, such as
’yout’. Simulink also automatically exports the time in the MATLAB variable ’tout’.
This allows you to plot the output in MATLAB using the standard ’plot’ command,
and also allows you to edit the plots.

Transfer Fcn: To modify a ’Transfer Fcn’ component, double-click on the block.

The ’Numerator’ and ’Denominator’ parameters are the coefficients of the
polynomials of the numerator and denominator of the transfer function.
The coefficients are in order of decreasing power. For instance, if ’Numerator’ is
set to ’[1 2 3]’, then the numerator of the transfer function is s2 + 2s + 3.
The best way to learn Simulink is by doing.

MATLAB Basics

Before you begin the next sections, it would be a good idea to run the MATLAB
Control System Toolbox demo. This is done by typing “demo(’toolbox’,’control’)”
at the MATLAB prompt. Aside from the basic MATLAB plotting commands, you
should become familiar with the following commands:
• tf – This command is used to enter transfer functions. For example, to enter the
s+ 2
transfer function H ( s)= you would type H=tf([1 2],[1 0 5]). The first parameter
s 2 +5
is a row vector of the numerator coefficients. Similarly, the second parameter is a
row vector of the denominator coefficients.
• conv – This command is used to convolve two polynomials. It is particularly
useful for determining the expanded coefficients for factored polynomials. For
example, this command can be used to enter the transfer function
s+2
H (s)=
(s+1)(s−3)
by writing H=tf([1 2],conv([1 1],[1 -3])).
• series or * – This command is used to combine two transfer functions that are in
series. For example, if H(s) and G(s) are in series, they could be combined with the
command “T=G*H” or “T=series(G,H)”.
• feedback – This command is used to combine two transfer functions that are in
feedback. For example, if G(s) is in the forward path and H(s) is in the feedback
path, they could be combined with the command “T=feedback(G,H)”.
• step – This command is used to plot the step response of a system. For example,
“step(T)” would plot the step response of the system T (s). By default it will plot
step response assuming input to be a unit step signal. If you want to get step
response for a step signal of magnitude A then first set the amplitude to A using
command opt = stepDataOptions('StepAmplitude',100); and then execute
step(T,opt);
•stepinfo(sys) computes the step-response characteristics for a dynamic system
model sys. The function returns the characteristics in a structure containing the
fields:
o RiseTime — Time it takes for the response to rise from 10% to 90% of
the steady-state response.
o SettlingTime — Time it takes for the error |y(t) - yfinal| between the
response y(t) and the steady-state response yfinal to fall to within 2%
of yfinal.
o SettlingMin — Minimum value of y(t) once the response has risen.
o SettlingMax — Maximum value of y(t) once the response has risen.
o Overshoot — Percentage overshoot, relative to yfinal).
o Undershoot — Percentage undershoot.
o Peak — Peak absolute value of y(t)
o PeakTime — Time at which the peak value occurs.
 lsim simulates the time response of continuous or discrete linear systems to
arbitrary inputs. When invoked without left-hand arguments, lsim plots the
response on the screen.
 pzmap(sys) creates a pole-zero plot of the continuous or discrete-
time dynamic system model sys
 rlocus – This command is used to plot the root locus of a SISO open-loop
model. The root locus gives the closed-loop pole trajectories as a function of
the feedback gain k (assuming negative feedback). Root loci are used to study
the effects of varying feedback gains on closed-loop pole locations.
 bode – This command is used to plot the frequency response. For example,
“bode(T)” would plot the frequency response of the system T (s).
 nyquist function creates a Nyquist plot of the frequency response of a dynamic
system model. When invoked without left-hand arguments, nyquist produces a
Nyquist plot on the screen. Nyquist plots are used to analyze system
properties including gain margin, phase margin, and stability.
 nichols function creates a Nichols chart of the frequency
response. A Nichols chart displays the magnitude (in dB) plotted against the
phase (in degrees) of the system response. Nichols charts are useful to
analyze open- and closed-loop properties of SISO systems.
 Index
Sr. Title Date of Page Grade/ Sign with
N performance No. Remark date
o
1 Mathematical Modelling of
Physical System (Speed Control)
2 Mathematical Modelling and
Analysis of RLC Network
3 First order system analysis
4 Second order system analysis –
part I
5 Second order system analysis –
part II
6 Analysis of Under-damped
systems
7 Effect of zero location
8 Block Diagram Reduction
9 Root Locus
10 Bode Plot
11 Nyquist Plot
12 Introduction to PID Controller
13 State Space
14 Non-Linear System Analysis

This is to certify that Ms./ Mr. _______________________________________ ,

Exam Seat No: ____________ of class T. Y. BTech Electrical has successfully
completed the laboratory work in Control System Laboratory (PC-BTE506).
Course Instructor HOD Electrical

Exp. 1: Mathematical Modelling of Physical System (speed control system)

Objectives:
1) To obtain model of a given system in the form of block diagram and
transfer function and determine the output for a given input.
2) To learn use of MATLAB in solving such models.

List of Equipment/Software: MATLAB

System Details:
 1

Fig 1.

Procedure:

1) Derive model of the given system in block diagram and transfer function
form.
2) Calculate the response of the system for a given input applied to the
system.
3) Write a MATLAB program to obtain response of the system. (use functions
tf, step, lsim , stepinfo)
4) Create a Simulink model of the system and obtain the response.
Calculations: Model derivation and response calculation

Printout: Program, Simulink Model and Results generated.

Observations:

Parameter Theoretical result MATAB script result MATAB Simulink result

Nature of
response*
Steady
state value
*- exponential / damped oscillatory response

Conclusions:

Exp. 2: Mathematical Modelling and Analysis of RLC Network

Objectives:
1) To obtain model of a RLC network in the form of transfer function and
determine the output for a given input.
2) To use MATLAB for plotting the system response.

List of Equipment/Software: MATLAB

System Details: Series RLC network excited by 100 V source applied at t=0.
Voltage across capacitor Vo(t) is output of the system. Take R=1ohm, L=1H, C=1F.

Procedure:
1) Derive model of the given system in block diagram and transfer function
form.
2) Calculate the response of the system for a given input applied to the
system.
3) Write a MATLAB program to obtain response of the system for step and
sinusoidal inputs. (use functions step, lsim , stepinfo)
4) Create a Simulink model of the system and obtain the response.

Calculations: Model derivation and response calculation

Printout: MATLAB Program, Simulink Model and Results.

Observations:

Parameter Theoretical MATAB script MATAB

result result Simulink result
Nature of response*
Steady state value
Peak time
Rise time
% overshoot
Settling time
*- exponential / damped oscillatory response

Conclusions:
Questions:
1) What is the order of the system?
2) What are the initial conditions in the system?
3) What parameters you can measure from the plots?
4) What different types of responses are possible?

Exp. 3: First order system analysis

Objectives: To study the effect of pole location on the performance of first order
system.

List of Equipment/Software: MATLAB

System Details:
Input u(t) output c(t)
Procedure:
1) Calculate the response of the system for unit step input.
2) Calculate Steady state value, Rise time and settling time for given values of
k and a in table below.
3) Write a MATLAB program to obtain response of the system for step input.

Calculations:

Theoretical results:

Parameter Steady state value Rise time Settling time

K= 10 a= 2
K= 5 a= 2
K= 1 a=2

K= 5 a= 2
K= 5 a= 7
K= 5 a= -2

Printout: MATLAB Program, Results (pole-zero plot and time response).

Observations:

Parameter Steady state value Rise time Settling time

K= 10 a= 2
K= 5 a= 2
K= 1 a=2
K= 5 a= 2
K= 5 a= 7
K= 5 a= -2

Conclusions:

Questions:
1) What is the effect of gain?
2) What is the effect of pole location?
3) When is the system unstable?

Additional work:
MATLAB code to Simulate and plot the response of the multiple systems for same
input (for eg. square wave):
H = [tf([2 5 1],[1 2 3]);tf([1 -1],[1 1 5])]; % Create the matrix of transfer functions
[u,t] = gensig('square',4,10,0.1); % generate the square wave for 10 seconds
considering sampling time of 0.1 second with period of four seconds.
lsim(H,u,t) % simulate the system with given input.

Exp. 4: Second order system analysis – part I

Objectives: To study the effect of damping ratio and natural frequency on the
performance of second order system.

List of Equipment/Software: MATLAB

System Details:
Input u(t) Output c(t)
Procedure:
1) Calculate the response of the system for unit step input.
2) Calculate Steady state value, Peak time, Rise time, %overshoot and settling
time for given values of ξ and ω nin table below.
3) Write a MATLAB program to obtain response of the system for step input.

Calculations:

Theoretical results:
ξ ω n Steady Peak Rise % Settling *Nature of
state value time (s) time (s) overshoot time (s) response
0.5 2
1 2
2 2
0 2
-2 2
0.5 4
0.5 8
*under-damped / over-damped / critically damped / oscillatory / unstable

Printout: MATLAB Program, Results (pole-zero plot and time response).

Observations:

ξ ω n Steady Peak Rise % Settling *Nature of

state value time (s) time (s) overshoot time (s) response
0.5 2
1 2
2 2
0 2
-2 2
0.5 4
0.5 8
*under-damped / over-damped / critically damped / oscillatory / unstable

Conclusions:

Questions:
1) What is the effect of damping ratio?
2) What is the effect of natural frequency?
3) When is the system unstable?
4) Can you relate the pole zero locations with system response?

Exp. 5: Second order system analysis – part II

Objectives: To study the effect pole location on the performance of second order
system.
List of Equipment/Software: MATLAB

System Details:
Input u(t) output c(t)
Procedure:
1) Calculate the response of the system for unit step input.
2) Write a MATLAB program to obtain response of the system for step input.

Calculation of response:

Printout: MATLAB Program, Results (pole-zero plot and time response).

Observations:

s1 s2 Steady Peak Rise % Settling Nature of

state value time (s) time (s) overshoot time (s) response
2 3
2+j3 2-j3
j3 -j3
3 3
-2 3
-2+j3 -2-j3
Conclusions:

Questions:
1) What is the effect of pole location?
2) When is the system unstable?
3) Can you relate the pole zero locations with system performance?
4) Which system is fastest?
Exp. 6: Analysis of Under-damped systems

Objectives: To study the effect pole location on the performance of under-

damped second order system.

List of Equipment/Software: MATLAB

System Details:
Input u(t) Output c(t)
Procedure:
1) Calculate the response of the system for unit step input.
2) Calculate Steady state value, Peak time, Rise time, %overshoot and settling
time for given values of a and b in table below.
3) Write a MATLAB program to obtain response of the system for step input.

Calculations:

Theoretical results:
a b ξ ωn Steady Peak Rise % Settling
state value time (s) time (s) overshoot time (s)
1 1
1 2
1 3
1 1
2 1
3 1
0.75 1
1.5 2
2.25 3

Printout: MATLAB Program, Results (pole-zero plot and time response).

Observations:

a b ξ ωn Steady Peak Rise % Settling

state value time (s) time (s) overshoot time (s)
1 1
1 2
1 3
1 1
2 1
3 1
0.75 1
1.5 2
2.25 3

Conclusions:

Questions:
1) What is the effect of pole location?
2) Can you relate the pole zero locations with system performance?
3) Which system is fastest?

Exp. 7: Effect of zero location

Objectives: To study the effect zero location on the performance of second order
system.

List of Equipment/Software: MATLAB

System Details:
Input u(t) Output c(t)
Procedure:
1) Write a MATLAB program to obtain response of the system for different
values of zero locations for unit step input.
2) Complete the table given in observations section.

Printout: MATLAB Program, Results (pole-zero plot and time response).

Observations:
a=1; b=2;

z Steady state Peak time Rise time % overshoot Settling

value (s) (s) time (s)
2
7
-4

Conclusions:

Questions:
1) What is the effect of zero location on system performance?
2) Does zero have any effect on stability?

Exp 8: Block Diagram Reduction

Objective: To reduce linear systems block diagram using series, parallel and
feedback configuration and obtain resultant transfer function.

List of Equipment/Software: MATLAB

System Details: A satellite single-axis altitude control system can be represented
by the block diagram in the figure given. The variables ‘k’, ‘a’ and ‘b’ are controller
parameters, and ‘J’ is the spacecraft moment of inertia. Suppose the nominal
moment of inertia is ‘J’ = 10.8*108, and the controller parameters are k=10.8*108,
a=1, and b=8, obtain θ dynamics.

Input applied θd = 100 step change.

Procedure:
1) Obtain resultant transfer function of the system.
2) Calculate step response of the system.
3) Write a MATLAB program to obtain response of the system for given input.

Printout: MATLAB Program and response of system.

Conclusion:

EXp. 9: Root Locus

Objective: To sketch the root locus for a given linear system.
List of Equipment/Software: MATLAB
System Details:
s+ 2 1 s+2
GH1(s) = 2 GH2(s) = GH3(s) = 2
s + 4 s+3 s + 5 s 2+ 8 s
3
s (s +2 s+ 4)
Procedure:
1) Draw root locus on graph paper for a given transfer function.
2) Verify the values using MAT LAB.
Printout: MATLAB Program and response of system.

Results:
System 1 System 2 System3
Theore Simulati Theore Simula Theoreti Simula
tical on tical tion cal tion
Number of branches
Break away/ break in
point
Intersection with jω
axis
range of K for
Stability

Conclusion:

Root locus exp:

clc; clear all; close all;

s=tf('s');
G = (s+2)/(s*(s*s+2*s+10))
%G = 1/(s^3+5*s*s+8*s)
H=1;
rlocus(G*H)
 Exp. 10: Bode Plot
Objective: To sketch bode plot for a given linear system.
List of Equipment/Software: MATLAB
System Details:
2
s +2 s s+5
GH1(s) = GH2(s) =
2
s + 8 s+ 15 s 2+ 2 s

Procedure:
 1) Draw bode plots on semi-log paper for the given transfer function & find
Gain margin, Phase margin and their corresponding frequencies.
2) Verify the above values using MATLAB.
Observations:
System1 System2
Theoretical Simulation Theoretical Simulation
Gain Margin
Phase Margin
gain cross over frequency ωcg
phase cross over frequency
ωcp

Conclusion:

Bode plot exp-

clc; clear all; close all;

s=tf('s');
G = (s+2)/(s*(s*s+2*s+10)) %G = 1/(s^3+5*s*s+8*s)
H=1;
sys=G*H;
bode(G*H);
grid on;
[Gm,Pm,Wcg,Wcp] = margin(sys)
 Exp. 11: Nyquist Plot

Objective: To sketch the Nyquist plot for a given linear system.

List of Equipment/Software: MATLAB
System Details:
6 6
GH1(s) = 2 GH2(s) = 3 2
s + 7 s+ 12 s + 7 s +12 s

Procedure:
 1) Draw Nyquist plot on graph paper.
2) Plot Nyquist plot using MATLAB.
Observations:
System1 System2
Theoretical Simulation Theoretical Simulation
Gain Margin
Phase Margin

Conclusion:

Exp 12 : Introduction to PID controller

Objective: Study the three term (PID) controller and its effects on the feedback
loop response. Investigate the characteristics of the each of proportional (P), the
integral (I), and the derivative (D) controls.

List of Equipment/Software: MATLAB

System Details:

Consider plant to be a spring-mass-damper system modelled as

with u(t)=Force f(t) , x(t)= displacement, M = 10kg , b = 10 N.s/m, k = 5 N/m.

Procedure:
1) Simulate open loop system and observe the response for unit step input.
2) Simulate the closed loop system and observe the response for unit step
input.
3) Simulate the closed loop system with proportional controller and observe
the response for unit step input.
4) Simulate the closed loop system with PI controller and observe the
response for unit step input.
5) Simulate the closed loop system with PD controller and observe the
response for unit step input.
6) Simulate the closed loop system with PID controller and observe the
response for unit step input.

Printout: MATLAB Program, Results (pole-zero plot and time response).

Observations:

Open Loop Rise Time Overshoot Settling Time S-S Error

Response
Kp = 20 Ki = 20 Kd = 10

CL Response Rise Time Overshoot Settling Time S-S Error

No controller
P controller
PI controller
PD controller
PID controller

Conclusions:

Questions:
1) What is the effect P controller?
2) What is the effect I controller?
3) What is the effect D controller?
4) Does gain of the controller affect the performance of the system and
how?

PID matlab code-

clc; clear all; close all;
s=tf('s');
m=10;
b=10;
k=5;
sys = 1/(m*s*s+b*s+k)
H=1;
subplot(3,2,1)
step(sys);
subplot(3,2,2)
pzmap(sys);

sys1=feedback(sys,H)
subplot(3,2,3)
step(sys1);
subplot(3,2,4)
pzmap(sys1);

kp=20;
C=kp;
sys2=feedback(C*sys,H)
subplot(3,2,5)
step(sys2);
subplot(3,2,6)
pzmap(sys2);

figure;
ki=20;
C=kp+(ki/s);
sys3=feedback(C*sys,H)
subplot(3,2,1)
step(sys3);
subplot(3,2,2)
pzmap(sys3);

kd=10;
C=kp+(kd*s);
sys4=feedback(C*sys,H)
subplot(3,2,3)
step(sys4);
subplot(3,2,4)
pzmap(sys4);

C=kp+(ki/s)+kd*s;
sys5=feedback(C*sys,H)
subplot(3,2,5)
step(sys5);
subplot(3,2,6)
pzmap(sys5);

Exp. 13: Linear System Analysis with state space model

Objective: To obtain state space model and step response of a given linear
system.
List of Equipment/Software: MATLAB
System Details: Consider a RLC network with R=1 ohm, L= 1H and C=1F.

Procedure:
1) Obtain state space model of the system considering current flowing
through the inductor i(t)  and the voltage across capacitor Vo(t) as state
variables.
2) Write a program to get state space model of the system.
3) From the state space model obtain transfer function.
4) Calculate Eigen values of the system.
5) Obtain state space model in modal from.
6) Plot the unit step response of the system.
Printout: MATLAB Program and response of system.

Conclusion:

clc;
clear all;
close all;
R=0.5;
L=2;
C=1;

A=[-1/R -1/L; 1/C 0];

B=[1/L;0];
C=[0 1];
D=0;
sys=ss(A,B,C,D)

[n,d]=ss2tf(A,B,C,D)
disp('Transfer function ');
sys1=tf(n,d)
disp('Eigen values of system ')
eig(A)
disp('System in modal form ');
canon(sys,'modal')
step(sys)
figure
step(sys1)

Exp. 14: Non - Linear System Analysis

Objective: To obtain state space model of a given non-linear system and get the
response of the system.
List of Equipment/Software: MATLAB
System Details: Consider a simple pendulum system with m= 0.5 kg, l= 1m.

(1)

(2)

State equations of system are (1) and (2) where k =0.01 N-m-sec, g= 9.8 m/sec 2.

Printout: MATLAB Program and response of system.

Conclusion:

Nonlinear system code –

function dxdt = odefun(t,x) Main code

m=0.5;
l=1; %program to simulate pendulum
g=9.8; system
k=0.01; clc; clear all; close all;
[t,x] = ode23(@odefun,[0 20],[2;
dxdt = zeros(2,1); 0]);
dxdt(1) = x(2); %Plot the solutions for x1 and
dxdt(2) = - (g/l)*sin(x(1))- x2 against t.
(k/m)*x(2); plot(t,x(:,1),'-o',t,x(:,2),'-*')
title('Solution of simple pendulum
system');
xlabel('Time t');
ylabel('Solution x');
legend('x_1','x_2')

Lab: FREQUENCY RESPONSE OF A SECOND ORDER SYSTEM

Objective: To determine frequency response of a second order system and

evaluation of frequency domain specifications.
List of Equipment/Software: Second order system study unit, function generator,
wires, multi-meter and CRO.
Circuit Diagram:

Theory: The frequency response of a system or a component is normally

performed by keeping the amplitude A fixed and determining B and Ø for a
suitable range of frequencies where steady state output may be represented as
c(t) = B sin(wt + Ø). Without the knowledge of transfer function, the frequency
response of stable open loop system can be obtained experimentally. We can use
the data obtained from measurements on the physical system without deriving its
mathematical model. Rather mathematical model of the system can be obtained
using frequency response.

Procedure:
1. Connections are made as per the circuit diagram.
2. A sinusoidal signal with amplitude of 1V is applied to the circuit.
3. The frequency is varied in steps and at each step frequency, phase angle,
output is noted down.
4. A frequency response characteristic is plotted.
5. From the graph note down M R, ωR , ωC .
6. Plot the frequency response of the system on semi-log paper
7. Compare it with theoretical frequency response.
Conclusion: