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INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

DESIGN & MANUFACTURING, JABALPUR (M.P.)
Lab Manual #1
EC2006: Control Systems

Objective 1. To understand the output response of a 1 st order and 2nd order transfer function using
MATLAB(using code) and analyze the output graph for :
 Step, ramp and impulse inputs.
 Change the values of R, L and C for each of the above inputs
Theory:

Vout
Applying Voltage Division Rule To find out we
Vin
get,
1
2
1 ( √ LC )
2 or . Now from here
s LC + sRC +1 2 R 1
s +s +
L (√ LC)2
we can get
Wn and ζ value and check the output response of the
System is Underdamped, Overdamped, Undamped or
Critically damped.
1 R R C
ωn = and 2 ζωn = . From this we get ω n= √ . If ζ =0 then Undamped, if ζ <1
√ LC L 2 L
then Underdamped, if ζ >1 then Overdamped and if ζ =1 then Critically damped.

Procedure:
Procedure for TF using Xcos:
1. First open Xcos and its Palette browser.
2. From the Palette browser search and import blocks required for the experiment.
3. For this experiment we require Source blocks, transfer function block, clock, gain and scope
blocks.
4. With the help of mouse join the blocks.
5. First give Step input to the transfer function block, open the properties of Clock block by
double clicking on it and set the Period and Initialization Time as per the requirement.
6. Run the simulation and analyze the output graph.
7. For the same TF change the gain value and note the output.
8. Change the values of R, L, C and note the change in time constant for all the inputs in
Observation table and paste the screenshot of all the results.

Procedure for TF using code:

1. First clear the command window using (clc) command (to clear command history use right
click clear).
2. Define the numerator(N) and denominator(D). (Here N = 1 and D = s2 LC+ sRC+1)
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INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

DESIGN & MANUFACTURING, JABALPUR (M.P.)
(For Eg. Check the response for R=10, C=5, L=2)
3. After defining, use (syslin) function to construct the transfer function.
TF= syslin (dom, N, D)
dom : ‘c’ for continuous, ‘d’ for discrete time system
here we will use dom= c

4. Define the time period for which we want to run the program along with step size.
t = 0:0.05:50 (Here we are starting with 0 till 50 with a step size of 0.05)
5. Now give input to the TF defined above using (csim) function.
Output= csim (u, t, system)
csim: is used to simulate time response of linear system
u: input function, t: real vector specifying time, system: TF
6. Now plot the output response wrt time using plot2d function.
7. Change the values of R, L and C and note down the changes observed in time constant and
stability of the system in Observation table.

Observation Table:
R L C Time Constant Stability

Result:
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INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

DESIGN & MANUFACTURING, JABALPUR (M.P.)

Objective 2. To check whether the output response of the system before reduction and after reduction
of the block diagram are same or not.

Theory:
Is a short hand pictorial representation of system between input and output. It is used to obtain the
overall transfer function of the system.

Procedure:
1. First make the above circuit in MATLAB and check the output using a scope.
2. Assume the values of G1,G2,G3,G4,H1and H2 such that output response is stable system.
(For Eg. Check the response assuming G1= 1/(s+1) and other values as 1.
3. Reduce the above block diagram using block reduction rules.
4. Then again check the output response of the reduced block.
5. Conclude the experiment stating whether both the results are same or not.

Observation:
Reduced Transfer function of the above Blocks:
 PDPM

INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

DESIGN & MANUFACTURING, JABALPUR (M.P.)
Result:

Objective 3. To study the output response of DC motor using MATLAB [Xcos].

Theory:
Armature controlled DC motor:
The input voltage V a is applied to the armature which has a resistance of R and inductance of L. The
filed current i f applied to the field is kept constant. The armature voltage controls the motor shaft
output. Let moment of inertia and the viscous friction of motor shaft be (J) and ( K f ) respectively. Let
the angular velocity be w t and angular shift in shaft be θt .

As field current is kept constant so,

τ α ia

τ =K T i a

where K T is motor torque constant expressed in Nm/A.

The applied input voltage V a is being opposed by the back emf e b developed in the armature. The
relationship between e b and the motor speed w t is,

e b α ωt

d θt
e b=K b
dt
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INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

DESIGN & MANUFACTURING, JABALPUR (M.P.)
where K b is the back emf constant expressed in V/(rad/sec)

The related dynamic equations are,

d ia
V a −e b=R i a+ L
dt

d θt
e b=K b or e b=K b ω t
dt

τ =K T i a

d 2 θt d θt
τ =J +Kf
dt 2
dt

d ωt
τ =J + K f ωt
dt

By converting above equations to Laplace and reducing the block diagram we get,

Procedure:
1. First construct the circuit diagram of the DC motor (here Armature-controlled DC motor).
2. Note down the dynamic equations of the circuit and convert it to corresponding Laplace
transform.
3. From the obtained Laplace Equations construct the Block diagram relating to the output θt (s )
and the input V a (s).
4. Reduce the obtained block diagram and check the output using scope for no disturbance and
with disturbance (T d ).
5. Note down the output in observation table.

Initially following values of parameters can be considered:

 PDPM

INDIAN INSTITUTE OF INFORMATION TECHNOLOGY,

DESIGN & MANUFACTURING, JABALPUR (M.P.)
 R=2.0 Ohms
 L=0.5 Henrys
 KT=0.1 Torque constant
 Ke=0.1 Back emf constant
 Bm=0.2 Nms
 Jm=0.02 kg.m2s-2