Linear LAB Report - 1

LINEAR CONTROL SYSTEM LAB MANUAL
EACT 533
ETHIOPIAN TECHNICAL UNIVERSITY
LABORATORY REPORT FOR LINEAR

CONTROL SYSTEM
Department of Electrical
Automation
And Control
Engineering
SUBMIT TO
Dr. Saravana Kumar Gurusamy,
Associate Professor
SUBMITED BY
GAROMA EDOSA BONA
ID No- MRT /560/13
1
Submitted by: - Garoma Edosa Bona
EACT 533
EXPERIMENT – 1
Obtain Pole, zero, gain values of the transfer functions given below. Also verify your result
theoretically
Obtain Transfer function of the systems (Theoretically & Practically).

1. Poles = -1+i, -1-i, -4. Zeros = -2, -5, gain = 1
2. Poles = -1+4i, -1-4i, -5. Zeros = -8, -5, gain = .75
Solution-(1.1)
MATLAB Code
>> num = [1]
den=[1 1 4]
g = tf (num,den)
[z,p,k] = tf2zp(num,den)
pzmap(g)
Output:
num =
1
den =
1 1 4
g=
1
-----------
s^2 + s + 4
Continuous-time transfer function.
z=
0×1 empty double column vector
p=
-0.5000 + 1.9365i
-0.5000 - 1.9365i
k=
1
2
EACT 533
Fig-1
Solution-(1.2)
MATLAB Code
>> num = [5]
den=[1 0 9]
g = tf (num,den)
pzmap(g)
num =
5
den =
1 0 9
g=
5
-------
s^2 + 9
z=
p=
0.0000 + 3.0000i
0.0000 - 3.0000i
k=
5
3
EACT 533
Fig-2
Solution (1.3)
MATLAB Code
>> num = [1]
den= conv([1 3 5], [1 8 15])
g = tf (num,den)
pzmap(g)
num =
1
den =
1 11 44 85 75
g=
1
---------------------------------
s^4 + 11 s^3 + 44 s^2 + 85 s + 75
z=
p=
-5.0000 + 0.0000i
-3.0000 + 0.0000i
-1.5000 + 1.6583i
-1.5000 - 1.6583i
k=
1
4
EACT 533
Fig-3
Solution 1.4
MATLAB Code
p= [-1+i -1-i -4]
z= [-2 -5]
k=1
[num,den]= zp2tf(z',p',k)
g=tf(num,den)
pzmap(g)
p=
-1.0000 + 1.0000i -1.0000 - 1.0000i -4.0000 + 0.0000i
z=
-2 -5
k=
1
num =
0 1 7 10
den =
1 6 10 8
g=
s^2 + 7 s + 10
----------------------
s^3 + 6 s^2 + 10 s + 8
5
EACT 533
Fig-4
Solution 1.5
MATLAB Code
>> p= [-1+4i -1-4i -5]
z= [-8 -5]
k=0.75
[num,den]= zp2tf(z',p',k)
g=tf(num,den)
pzmap(g)
Output
p=
-1.0000 + 4.0000i -1.0000 - 4.0000i -5.0000 + 0.0000i
z=
-8 -5
k=
0.7500
num =
0 0.7500 9.7500 30.0000
den =
1 7 27 85
g=
0.75 s^2 + 9.75 s + 30
-----------------------
s^3 + 7 s^2 + 27 s + 85
6
EACT 533
Fig-5
DISCUSSION:
1. What do you mean by poles?
Poles are the value(s) for z where the denominator of the transfer function equals zero. The
complex frequencies that make the overall gain of the filter transfer function infinite.
2. What is the significance of transfer function?

A transfer function is also known as the network function is a mathematical representation, in
terms of spatial or temporal frequency, of the relation between the input and output of a (linear
time invariant) system. The transfer function is the ratio of the output Laplace Transform to the
input Laplace Transform assuming zero initial conditions. Many important characteristics of
dynamic or control systems can be determined from the transfer function.The transfer function
provides a basis for determining important systemresponse characteristics without solving the
complete differential equation.
For the design of a control system, it is important to understand how the

system of Interest behaves and how it responds to different controller
designs. The Laplace transform, as discussed in the Laplace Transforms
module, is a valuable tool that can be used to solve differential equations
and obtain the dynamic response of a system. Additionally, the Laplace
7
EACT 533
transform makes it possible to obtain information relating to the

qualitative behavior of the system response without actually solving for
the dynamic response.
EXPERIMENT - 2
Obtain step and impulse response of the following systems with unity feedback connection.
Also verify your result theoretically
Solution 2.1
Step response
MATLAB Code
>> num = [1];
den = [1 11]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')
Output
den =
1 11
g=
1
------
s + 11
8
EACT 533
Fig-6
Impulse response
>> num = [1];
den = [1 11]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output
MATLAB Code
den =
1 11
g=
1
------
s + 11

t=
1
------
s + 12
9
EACT 533
Fig -7
Solution 2.2
Step response
MATLAB Code
>> num = [1];
den = [1 2]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')
Output
den =
1 2
g=
1
-----
s+2
t=
1
-----
s+3
10
EACT 533
Fig-8
Impulse response
MATLAB Code
>> num = [1];
den = [1 2]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
den =
1 2
g=
1
-----
s+2
t=
1
-----
s+3
11
EACT 533
Fig-9
DISCUSSION:
In RL circuit voltage across the inductor decreases with time while in the RC circuit voltage across the
capacitor increase with time. Those current in RL circuit has the form as voltage RC circuit. The both rise
their final value exponentially according to
𝑡𝑅
1 − 𝑒− 𝐿
EXPERIMENT - 3
Obtain step and impulse response of the following systems with unity feedback connection.
Also verify your result theoretically
Solution 3.1
MATLAB Code
>> num = [1 9];
den = conv([1 4], [1 8])
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
12
EACT 533
Output
den =
1 12 32
g=
19
---------------
s^2 + 12 s + 32
t=
19
---------------
s^2 + 12 s + 51
Fig-10
Solution 3.2
MATLAB Code
>> num = [1];
den = [1 3 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output
den =
1 3 4
g=
1
-------------
s^2 + 3 s + 4
t=
1
-------------
13
EACT 533
s^2 + 3 s + 5
Fig-11
DISCUSSION:
1. What do you mean by rise time? Derive its expression for a unity feedback 2nd order control system
Rise time (tr) The rise time is the time required for the response to rise from 10% to 90%, 5%
to 95%, or 0% to 100% of its final value. For under-damped second-order systems, the 0% to
100% rise time is normally used. For over-damped systems, the 10% to 90% rise time is
commonly used.
Rise time(tr)The rise time is the time required for the response to rise from 10% to 90%, 5%
to 95% ,or 0% to 100% of its final value. For under-damped second-order systems, the 0% to
100% rise time is normally used. For over-damped systems, the 10% to 90% rise time is
commonly used.
The expression of under damped second order control system with unit step in put function,
Again , as per definition , the magnitude of out put signal at rise time is 1.That is C(t)= 1, hence
14
EACT 533
2. Why is less overshoot desired for practical systems?

Overshoot can cause of distortion and intended to decrease the response time of the circuit .the
presence or absence of over shoot and magnitude is a function of a circuit design parameter is
known as damped.
For the system to be stable the rise time must be less so that the speed of response is maximum
peak overshoot should be less
EXPERIMENT – 4
Obtain bode diagram of the following transfer function. Also verify your result theoretically.
Solution 4
MATLAB Code
>> num = [0.08 0.16]
den = conv([0.2 1 0],[0 0.1 1])
g = tf(num,den);
bode(g)
margin(g)
Output
num =
0.0800 0.1600
den =
15
EACT 533
0 0.0200 0.3000 1.0000 0
Fig-12
DISCUSSION:
1. What do you mean by GM & PM?

Gain Margin and Phase Margin of a system indicate the relative stability
of the closed loop system formed by applying unit negative feedback to
systems. Gain Margin the amount of gain variance required to make the
loop gain unit at the frequency wcg where the phase angle is 180
degree .
2. How GM & PM affects system?
➢ Gain Margin: The greater the Gain Margin (GM), the greater the stability of the
system. 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
magnitude in dB. We can usually read the gain margin directly from the Bode
plot (as shown in the diagram above). This is done by calculating the vertical
distance between the magnitude curve (on the Bode magnitude plot) and the x-
axis at the frequency where the Bode phase plot = 180°. This point is known as
the phase crossover frequency.
➢ Phase Margin :The greater the Phase Margin (PM), the greater will be the
stability of the system. 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. We can usually read the phase margin directly
from the Bode plot (as shown in the diagram above). This is done by calculating
16
EACT 533
the vertical distance between the phase curve (on the Bode phase plot) and the
x-axis at the frequency where the Bode magnitude plot = 0 dB. This point is
known as the gain crossover frequency .
3. What is gain cross over frequency?

The gain cross over is the frequency at which the open loop gain first
reaches the value 1 and so is 0.005 Hz. Thus, the phase margin is 180
degree – 120 degree = 60 degree.
EXPERIMENT – 5
Obtain Root Locus Plot of the following transfer function. Also verify your result theoretically.
Solution 5
MATLAB Code
>> num = [1 6]
den = conv([1 3],[1 6])
g = tf(num,den);
rlocus(g)
Output
num =
17
EACT 533
1 6
den =
1 9 18
Fig-13
DISCUSSION:
1. What is relative stability? How can you measure relative stability using Root locus?
Relative stability it is measure of how fast the transient dies out in the system . Relative
stability is related to settling time. A system having pole away from the left haif of
imaginary axis is considered to be relativily more stable compaired to a system having
poles closed to imaginary axis.
2. What do you mean by break away point?
A break away point is the point on a real axis segment of the root locus between to
real poles where the to real closed loop poles meet and diverge to become complex
conjugates.
3. What is asymptotic line?
An asymptotic line is a kind of boundary between positive and nagetive curvature on
a surface .
18
EACT 533
EXPERIMENT – 6
Obtain Nyquist Plot of the following transfer function. Also verify your result theoretically.
Solution-6
MATLAB Code
>> num = [1 8]
den =conv([1 3 0],[0 1 6])
g = tf(num,den)
nyquist(g)
Output
num =
1 8
den =
0 1 9 18 0
g=
s+8
------------------
s^3 + 9 s^2 + 18 s
19
EACT 533
Fig-14
DISCUSSION:
1. What is nyquist contour?
The nyquist contour is a closed contour in the S – plane which completely in closes the
entire right hand haif of S- plane. In order to in close the complete RHS of S- plane a large
semi circle path drawn with diameter along jω axis and center at the origin. The radius of
the semi circle is treated as nyquist.
2. What is polar plot?
Polar plot is a plot which can be drawn between magnitude and phase .
The polar plot is a plot whitch can drawn between the magnitude the phase angle of G (jω)
H(jω) by varying ω from 0 to ∞.
3. How it differs from Nyquist plot?
Polar plot is a plot of magnitude versus phase angle in complex plane . (i.e locus of magnitude
traced by the phase by varying frequency from 0 to ∞ ).
EXPERIMENT – 7
7.1 Consider a unity feedback system with forward path transfer function
Show the effect of addition of a PD controller on the system performance.
Solution-7
MATLAB Code
num=1;
den=[1 1.6 0];
g1=tf (num,den)
t1=feedback(g1,1)
step(t1,'g')
hold on
num1=10;
den1=[1 1.6 0];
g2=tf (num1,den1)
t2=feedback(g2,1)
step(t2,'m')
hold on
Kp=500;
Kd=50;
numc=[Kd Kp];
numo=conv(numc,num)
deno=den
20
EACT 533
g3=tf(numo,deno)
t3=feedback(g3,1)
step(t3,'b')
hold on
Kp=500;
Kd=10;
numc=[Kd Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t4=feedback(g3,1)
step(t4,'y')
hold on
Kp=500;
Kd=.05;
numc=[Kd Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t5=feedback(g3,1)
step(t5,'r')
hold on
Output
g1 =
1
-----------
s^2 + 1.6 s
t1 =
1
---------------
s^2 + 1.6 s + 1
g2 =
10
-----------
s^2 + 1.6 s
t2 =
10
----------------
21
EACT 533
s^2 + 1.6 s + 10
numo =
50 500
deno =
1.0000 1.6000 0
g3 =
50 s + 500
-----------
s^2 + 1.6 s
t3 =
50 s + 500
------------------
s^2 + 51.6 s + 500
numo =
10 500
deno =
1.0000 1.6000 0
g3 =
10 s + 500
-----------
s^2 + 1.6 s
t4 =
10 s + 500
------------------
s^2 + 11.6 s + 500
numo =
0.0500 500.0000
deno =
1.0000 1.6000 0
g3 =
0.05 s + 500
------------
s^2 + 1.6 s
22
EACT 533
t5 =
0.05 s + 500
------------------
s^2 + 1.65 s + 500
Fig-15
Show the effect of addition of a PI controller on the system performance.
Solution-7.2
MATLAB Code
>> num=1;
den=[1 1.6 0];
g1=tf (num,den)
t1=feedback(g1,1)
step(t1,'g')
hold on
num1=10;
den1=[1 1.6 0];
g2=tf (num1,den1)
t2=feedback(g2,1)
step(t2,'m')
hold on
23
EACT 533
Kp=500;
Ki = 1
numc=[Kp Ki];
denc= [1 0]
numo=conv(numc,num)
deno=conv(den,denc)
g3=tf(numo,deno)
t3=feedback(g3,1)
step(t3,'b')
hold on
Kp=500;
Ki = 100
numc=[Kp Ki];
denc= [1 0]
numo=conv(numc,num)
deno=conv(den,denc)
g3=tf(numo,deno)
t4=feedback(g3,1)
step(t4,'r')
hold on
Kp=500;
Ki = 500
numc=[Kp Ki];
denc= [1 0]
numo=conv(numc,num)
deno=conv(den,denc)
g3=tf(numo,deno)
t5=feedback(g3,1)
step(t5,'g')
hold on
Output
g1 =
1
-----------
s^2 + 1.6 s
t1 =
1
---------------
s^2 + 1.6 s + 1
g2 =
10
24
EACT 533
-----------
s^2 + 1.6 s
t2 =
10
----------------
s^2 + 1.6 s + 10
Ki =
1
denc =
1 0
numo =
500 1
deno =
1.0000 1.6000 0 0
g3 =
500 s + 1
-------------
s^3 + 1.6 s^2
t3 =
500 s + 1
-------------------------
s^3 + 1.6 s^2 + 500 s + 1
Ki =
100
denc =
1 0
numo =
500 100
deno =
1.0000 1.6000 0 0
g3 =
500 s + 100
-------------
s^3 + 1.6 s^2
25
EACT 533
t4 =
500 s + 100
---------------------------
s^3 + 1.6 s^2 + 500 s + 100
Ki =
500
denc =
1 0
numo =
500 500
deno =
1.0000 1.6000 0 0
g3 =
500 s + 500
-------------
s^3 + 1.6 s^2
t5 =
500 s + 500
---------------------------
s^3 + 1.6 s^2 + 500 s + 500
26
EACT 533
Fig-16
Show the effect of addition of a PID controller on the system performance.
Solution-8
MATLAB Code
>> num=1;
den=[1 1.6 0];
g1=tf (num,den)
t1=feedback(g1,1)
step(t1,'g')
hold on
num1=10;
den1=[1 1.6 0];
g2=tf (num1,den1)
t2=feedback(g2,1)
step(t2,'m')
hold on
Kp=500;
Ki=1;
Kd=10;
numc=[Kd Ki Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t3=feedback(g3,1)
27
EACT 533
step(t3,'b')
hold on
Kp=500;
Ki=1;
Kd=5;
numc=[Kd Ki Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t4=feedback(g3,1)
step(t4,'y')
hold on
Kp=500;
Ki=1;
Kd=.01;
numc=[Kd Ki Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t5=feedback(g3,1)
step(t5,'r')
hold on
Output
g1 =
1
-----------
s^2 + 1.6 s
t1 =
1
---------------
s^2 + 1.6 s + 1
g2 =
10
-----------
s^2 + 1.6 s
t2 =
28
EACT 533
10
----------------
s^2 + 1.6 s + 10
numo =
10 1 500
deno =
1.0000 1.6000 0
g3 =
10 s^2 + s + 500
----------------
s^2 + 1.6 s
t3 =
10 s^2 + s + 500
--------------------
11 s^2 + 2.6 s + 500
numo =
5 1 500
deno =
1.0000 1.6000 0
g3 =
5 s^2 + s + 500
---------------
s^2 + 1.6 s
t4 =
5 s^2 + s + 500
-------------------
6 s^2 + 2.6 s + 500
numo =
0.0100 1.0000 500.0000
deno =
29
EACT 533
1.0000 1.6000 0
g3 =
0.01 s^2 + s + 500
------------------
s^2 + 1.6 s
t5 =
0.01 s^2 + s + 500
----------------------
1.01 s^2 + 2.6 s + 500
Fig-17
30
EACT 533
31

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Linear LAB Report - 1

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LINEAR CONTROL SYSTEM LAB MANUAL

ETHIOPIAN TECHNICAL UNIVERSITY

LABORATORY REPORT FOR LINEAR

Obtain Transfer function of the systems (Theoretically & Practically).

Continuous-time transfer function.

2. What is the significance of transfer function?

For the design of a control system, it is important to understand how the

transform makes it possible to obtain information relating to the

Continuous-time transfer function.

2. Why is less overshoot desired for practical systems?

den = conv([0.2 1 0],[0 0.1 1])

0 0.0200 0.3000 1.0000 0

1. What do you mean by GM & PM?

3. What is gain cross over frequency?

Continuous-time transfer function.

Show the effect of addition of a PD controller on the system performance.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Show the effect of addition of a PI controller on the system performance.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Show the effect of addition of a PID controller on the system performance.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

Continuous-time transfer function.

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