Lab Report | 3

EEE-Control Systems

Lab #03

To Measure Time-Domain Performance of the System and the Effect of

Disturbance in a Closed-Loop Control System using LabVIEW

Name Muhammad Afzaal

Registration Number FA18-BEE-093

Class FA18-BSEE-E

Instructor’s Name Sir Abubakar Talha Jalil

Lab Report | 3

LAB # 3:To Measure Time-Domain Performance of the System and the Effect
of Disturbance in a Closed-Loop Control System using LabVIEW

Objectives
 To Measure performance of the system through time domain performance parameters
using LabVIEW/MATLAB
 To compare the performance of an open-loop and closed-loop system by measuring the
Effect of Disturbance, using LabVIEW/MATLAB

Requirements
Software

 MATLAB

Methodology
 In this lab we understand the concept of disturbance and performance in closed loop and
open loop systems.
 Time-domain performance parameters are generally given in terms of the transient
response of a system to a given input signal. The most common step response
performance measures are percent overshoot (𝑃.𝑂), rise time (𝑡𝑟), peak time (𝑡𝑝), settling
time (𝑡𝑠) and steady-state error (𝑒𝑠𝑠). We familiarize the concept of these performance
measures from our response.
 In this lab first of all we performed the disturbance analysis of open loop system of
armature controlled DC motor and calculate the steady state speed also find the rise time,
settling time, peak time and overshoot. After that by applying feedback path to the system
with transfer function and we also performed the performance analysis and find the
performance parameters. Performed this analysis for both open loop and closed loop
systems by using MATLAB.
 We understand with many applications of closed loop control system such as Electric
Traction Motor Control, Mobile Robot Steering Control and Speed Tachometer System.

Conclusion
After this lab I am able to perform the disturbance and performance analysis of open loop
and closed loop systems. Also find the performance parameters of open loop and closed loop
systems. Also observed the effect of disturbance on the in control systems by using MATAB.
Lab Report | 3

In-Lab Tasks
The open-loop block diagram description of the armature-controlled DC motor with a load torque
disturbance, Td(s), is shown in Figure 3.9. The values for various parameters are given below.

Ra = 1 Kt = 10 Kb = 0.1 J = 2 b = 0.5

Task-1: Disturbance Analysis

1. Calculate the steady state speed of the motor due to disturbance (ideally it should be zero) in the above
system, assume the system to be linear (which means you can ignore the input while calculating the effect
of disturbance, as per superposition principle). Note this value in Table 3.1. Attach snapshots

2. Now apply a feedback path to the system with transfer function of the feedback block to be 𝐾𝑡𝑎𝑐 = 1
and calculate the steady state speed due to disturbance. Again Note this value in Table 3.1. Attach
snapshots

3. Compare these values. What conclusion can be drawn based on these values?

Solution
%FA18-BEE-093
%Disturbance Analysis
%Part-1
clc
clear all
close all
Ra=1
kt=10
kb=0.1
j=2
b=0.5
num=[1]
den=[j b]
sys=tf(num,den)
sys1=(-kb)*kt/Ra
a=feedback(sys,sys1,1)
open=-1*a
stepinfo(open)
[y,t]=step(open)
z=length(t)
plot(y)
steady_state_speed=y(z)
Output
Lab Report | 3

Solution
%FA18-BEE-093

%Part-2
clc
clear all
close all
Ra=1
kt=10
kb=0.1
j=2
b=0.5
gain=1
num=[1]
den=[j b]
sys1=tf(num,den)
sys2=((-54-kb)*(kt/Ra))
m1=-feedback(sys1,sys2,1)
[y,t]=step(m1)
stepinfo(m1)
steady_state_speed=y(length(t))
plot(y)
Output
Lab Report | 3

Task-2: Performance Analysis

1. Now apply step input to the system used in part 1 of 3.5.1(Assume disturbance to be zero) and find out
the values performance parameters in the system. Note these values in Table 3.1. Attach snapshot
2. Calculate the performance parameters of the system used in Part 2 of 3.5.1. Note these values in Table
3.1. Attach snapshot
3. Compare the results obtained in Part 1 and 2 of this section.
Solution
%FA18-BEE-093
%part 1
clc
clear all
close all
ra=1
kt=10
kb=0.1
j=2
b=0.5
num=kt
dnum=[ra*j ra*b]
sys=tf(num,dnum)
sys1=kb
sys2=feedback(sys,sys1)
[y,t]=step(sys2)
plot(y)
stepinfo(sys2)
Lab Report | 3

Output

Solution
%FA18-BEE-093
%part 2
clc
clear all
close all
ra=1
kt=10
kb=0.1
j=2
b=0.5
num=kt
dnum=[ra*j ra*b]
sys=tf(num,dnum)
sys1=kb
sys2=feedback(sys,sys1)
sys3=sys2*54
sys4=feedback(sys3,1)
[y,t]=step(sys4)
plot(y)
stepinfo(sys4)
Lab Report | 3

Output

Table3.1
Parameter Symbol Value Unit

Rise Time of OL System Tr 0.0081 s

Peak Time of OL System Tp 0.0390 s
Settling Time of OL System Ts 0.0144 s
Percentage Overshoot of OL P.O 0 _
System
Steady State Error of OL System ess V
Steady State Value of OL System Vss V
Rise Time of CL System Tr 0.0081 s
Peak Time of CL System Tp 0.0390 s
Settling Time of CL System Ts 0.0144 s
Percentage Overshoot of CL P.O 0 _
System
Steady State Error of CL System ess V
Steady State Value of CL System Vss -0.0018 V
Lab Report | 3

Post-Lab Task
Task-2
To study the effects of damping ratio on the performance measures, consider the following
second-order single-loop unity feedback system.

Find the step response of the system for values of ωn = 1 and ζ = 0.1, 0.4, 0.7, 1.0 and 2.0. Plot
all the results and fill the following table.

Solution
%FA18-BEE-093
clc
clear all
close all
wn=1
z=input('enter z:')
G=tf([wn^2],[1 2*z*wn 0])
sys=feedback(G,1)
step(sys)
Output

When ξ=0.1

ξ Rise Peak Time Settling Time Percent

Time Overshoot

0.1 1.6 3.14 47.1 71%

0.4 2.19 1.25 12.2 25%
0.7 3.22 4.28 7.33 5%
1 8.1 8.1 8.1 0%
2 20 20 20 0%
Lab Report | 3

Task-3

Solution
%FA18-BEE-093
clc
clear all
close all
k=input('enter Ka:');
g=tf([1],[1 20 0]);
G=series(g,5*k);
G_f=feedback(G,1);
step(G_f)

Output
When ka=20

Ka 20 40 60 80 100
PO 0 4% 11% 16% 21%
Ts 0.25 0.45 0.56 0.48 0.42
Lab Report | 3

Task-4

Solution
%FA18-BEE-093
clc
clear all
close all
k=input('ennter k');
Gc=tf([11 k],1);
G=tf([1],[1 1 0]);
% a R to Y
TF_ry=feedback(series(Gc,G),1)
% b Dto Y
TF_dy=feedback(G,Gc)
step(TF_ry)
figure
step(TF_dy)