Task 1: Find out that following systems are either Stable/Unstable, with help of step response and

pole’s location.
1
a) G ( s )=
s +1
1
b) G ( s )=
s−2

Write your answers of Task 1:

Systems↓ / Parameters→ Pole Location Stable /Unstable

a) -1 Stable
b) 2 Unstable

Code
clc;
clear all;
close all;
s=tf('s');
sys=1/(s+1);
pzmap(sys)
sys=1/(s-2);
figure,
pzmap(sys)
Output
Task 2:Find out that following systems are Stable/Unstable/Marginally stable, with help of step
response and pole location.
3
a) G ( s )= 2
s + 2 s+3
6
b) G ( s )= 2
s −2 s−3

Write your answers of Task 2:

Systems↓ / Response → Pole Location Stable/Marginally Stable/Unstable

a) -1+1.4j,-1-1.4j Stable
b) -1,3 Unstable

Code
clc;
clear all;
close all;
s=tf('s');
sys=3/(s^2+2*s+3);
subplot(211),step(sys)
subplot(212),pzmap(sys)
sys=6/(s^2-2*s-3);
figure,
subplot(211),step(sys)
subplot(212),pzmap(sys)
Output

Task 3:Now implement the following systems in unit negative feedback form and find out that closed
loop systems are Stable/Unstable/Marginally stable, with help of step response.
3
a) G ( s )=
s +3 s 2+ 2 s
3

6
b) G ( s )= 3
s +3 s 2+ 2 s
7
c) G ( s )= 3 2
s +3 s + 2 s
 Write your answers of Task 3:

Systems↓ / Response → Stable/Marginally Stable/Unstable

a) Stable
b) Marginally Stable
c) Unstable

Code
clc;
clear all;
close all;
s=tf('s');
sys=feedback(3/(s^3+3*s^2+2*s),1);
subplot(211),step(sys)
subplot(212),pzmap(sys)
sys=feedback(6/(s^3+3*s^2+2*s),1);
figure,
subplot(211),step(sys)
subplot(212),pzmap(sys)
sys=feedback(7/(s^3+3*s^2+2*s),1);
figure,
subplot(211),step(sys)
subplot(212),pzmap(sys)
Output
Task 4:For the system given in figure 1, find equivalent transfer function,

Figure 0: Closed Loop System

K
G ( s )= 2
, H ( s )=1 ;
s ( s+ 2 )

Find the value of gain, K, on paper that will make the system stable, marginally stable and unstable, then
 a) Draw the step response of the system for gain of K-1, where K is value calculated for marginally
stable response
b) Draw the step response of the system for gain of K that yields marginally stable response.
Write your answers and draw step responses for task 4 in a box at the end of this lab.
Write your answers of Task 4:
Case Value of K
Stable 5
Marginally Stable 10
Unstable 20

Simulink Model

Output
Task 5: Implement the transfer function of DC motor from task 3 of lab 6 in unit negative feedback
form. Now study the effect of proportional, integral and derivative components by adding them one by
one in cascade form with forward path with transfer function of DC motor. Also use the analog PID
module of the control system trainer to get the difference in the real time and simulation performance.
θ L ( s)
G ( s )=
Ea (s)

R(s) C(s)
P/I/D G(s)
+
-
Figure 1:Closed Loop System
Simulink Models

Output