PRACTICAL FILE

CONTROL SYSTEM 2

LAB INSTRUCTOR
Prof. Preeti

PREPARED AND SUBMITTED BY

1. Mrinalika Singh UE204051

2. Narayan Patel UE204053
3. Piyush Jaiswal UE204056
4. Piyush Keshri UE204057

B.E. Electrical and Electronics Engineering

3rd year ( V - Semester)

UNIVERSITY INSTITUTE OF ENGINEERING AND

TECHNOLOGY
PANJAB UNIVERSITY, CHANDIGARH
 DECLARATION
Our group members, Mrinalika Singh, Narayan Patel, Piyush Jaiswal,
and Piyush Keshri, hereby declare that the experiments under the course
“Control System 2” has been performed by us in fulfillment of the 5th-
semester Control System 2 lab. All the data, scripts, and experimental
results presented in this file are correct to our knowledge. This work has
not been submitted for any other degree/exam/course elsewhere.

Date: Mrinalika Singh (UE204051)

Narayan Patel (UE204053)

Piyush Jaiswal (UE204056)

Piyush Keshri (UE204057)

1
 ACKNOWLEDGEMENT

I would like to thank my institute, the University Institute Of Engineering

And Technology, P.U, for providing us with the equipment and software to
perform the experiments in order to deepen our understanding regarding
the subject Control System 2.

I express my gratitude to Prof. Preeti, our professor, and lab instructor, for
providing us with the required resources and guidance for the execution
and completion of the experiments.

Last but not the least, We would like to thank our group members who
helped each other directly or indirectly with the completion of these
experiments.

MRINALIKA SINGH
NARAYAN PATEL
PIYUSH JAISWAL
PIYUSH KESHRI

2
TABLE OF CONTENTS

S.NO. PARTICULARS Page No.

1. To study the basics of MATLAB (Scripting
and Simulink).
2. To study Derivative controllers for
different parameters/constants
3. To study integral controllers for
different parameters/constants

4.
5.
6.
7.

9.
10.

3
 Experiment - 1

Aim: To study the basics of MATLAB (Scripting and Simulink).

Tools used: Script and Simulink (MATLAB R2017a)

Theory:
MATLAB is a high-level technical computing environment that is suitable for solving
scientific and engineering problems. It has a family of programs that includes a base(main)
program along with a variety of toolboxes.

The various toolboxes are

1. Power System Toolbox
2. Signal Processing Toolbox
3. Control System Toolbox
4. Artificial Intelligence(Fuzzy Toolbox)
5. Neural Network Toolbox, etc.

Specifically, Control System Toolbox has functions to solve control engineering problems.
GUI is also present in higher versions of MATLAB

Problem:
1a. For the given transfer function

Find pole and zero. And show the pole-zero plot.

1b. The block diagram of a control system is shown below where K = 10. Determine the
overall

1c. Find the root locus of the given transfer function

4
1d. Find the damping ratio, damped frequency of oscillating roots, and % overshoot for a
unity step response

Solutions:
la.
Start

Declare the transfer function and store it in a variable.

Use command pole(transfer function) and zero(transfer function) to find poles and zeroes of the given trans

Use command pzplot(transfer function) to find poles of the given transfer function.

End

5
lb.
Start

Declare the transfer function and store it in a variable.

Define variables cloop to define the loop transfer function.

Use command feedback(Cloop1, Cloop2) and pzpIot(transfer function) to find poles of the transfer function

End

6
1c.
Start

Declare the transfer function and store it in a variable.

Use command rIocus(transfer function) to find root locus of given transfer function.

End

7
Id.
Start

Declare the transfer function and store it in a variable.

Use command steppIot(transfer function) to get step response and damp(transfer function) to get spe

End

8
 Pole Dampin g FrequencyTñlTie Constant
(rad/ seconds )(seconds )

0.B0etB0-l.00et00 0.B0e+0B
-2.B0etB0l.00et00 2.B0e+0B 5. €iB e - 81

Step Response

—SD

-20D

—25D

-30D

—35D

-40D 100 150

2D0 250
tame (seconds)

Result:
Pole-Zero Map of the given transfer function and block diagram has been plotted
using MATLAB.
The root locus of the given transfer function is plotted and time specifications are also
calculated.

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 Experiment - 2

Aim: To study Derivative controllers for different parameters/constants

Tools used: Script and Simulink
(MATLAB R2017a).
Theory:

With derivative control the change in controller output from the set point value is
proportional to the rate of change with time of the error signal, i.e. controller output m rate
of change of error.
Thus we can write:

D controller output =I D x rate of change of error

It is usual to express these controller outputs as a percentage of the full range of output and
the error as a percentage of full range.I D is the constant of proportionality and is commonly

referred
to as the derivative time since it has units of time. the type of response that occurs when there
is a steadily increasing error signal. Because the rate of change of the error with time is
constant, the derivative controller gives a constant controller output signal to the correction
element. With derivative control, as soon as the error signal begins to change there can be
quite a large controller output since it is proportional to the rate of change of the error signal
and not its value. Thus with this form of control there can be rapid corrective responses to
error signals that occur.

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Problem:

(2) A unity feedback control system is shown in the fig. By derivative control the
damping ratio is made to be 0.8. determine the values of rise time, peak time and
maximum overshoot for the system?

SOLUTION 2:

Start

Declare the transfer function and store it in a variable.

With the given transfer function through its CE find out damping ratio and through given damping

Use command sys = tf(numerator, denominator) and sys = feedback(G,C,-1)

To find transfer function without controller.

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 Use command sys1=tf(num,den) and sys3= feedback(sys*sys1,1,-1) to find transfer function with co

With the obtained transfer function use command stepplot() to map out all the parameters asked

End

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 .6 Figure 1
File Edit View Insert Tools Desktop Window Help

Step Response
1.6

1.2

D.8
E

D.6

D.4

D 1 4 5 6 7 B
1me (seoonds)

RESULT:
Through the plotted graph we can find out the different parameters of transfer function with
derivative control.
DAMPING RATIO—+ 0.8
RISE TIME—+0.41sec
PEAK TIME—›0.68sec
% MAXIMUM OVERSHOOT—+ 8.12%

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 Experiment - 3

Aim: To study integral controller characteristics for different parameters/constants.

Tools used: Script and Simulink (MATLAB R2017a)

Theory:
Integral control is a second form of feedback control. It is often used because it is able to
remove any deviations that may exist. Thus, the system returns to both steady state and its
original setting. A negative error will cause the signal to the system to decrease, while a
positive error will cause the signal to increase. However, I-only controllers are much slower
in their response time than P-only controllers because they are dependent on more
parameters. If it is essential to have no offset in the system, then an I-only controller should
be used, but it will require a slower response time.

I-only controls are often used when measured variables need to remain within a very narrow
range and require fine-tuning control. I controls affect the system by responding to
accumulated past error. The philosophy behind the integral control is that deviations will be
affected in proportion to the cumulative sum of their magnitude. The key advantage of
adding a I-control to your controller is that it will eliminate the offset. The disadvantages are
that it can destabilize the controller, and there is an integrator windup, which increases the
time it takes for the controller to make changes.

Feedback control system with integral control

The output:-

Error

Problem:
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(3) Consider an Unit step Open loop system having G(s) = ( ) . If we provide an
S 2
integral controller in forward path, determine the values of rise time, peak time
and maximum overshoot for the system?

Ki
R(s) G(s) C(s)

Solution 3:

Start

Declare the transfer function and store it in a variable.

With the given transfer function through its CE find out damping ratio and through given damping ratio

Use command sys = tf(numerator, denominator) and sys = feedback(G,C,-1)

To find transfer function without controller.

Use command sys1=tf(num,den) and sys3= feedback(sys*sys1,1,-1) to find transfer function with con

With the obtained transfer function use command stepplot() to map out all the parameters asked and

End

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 Exp3 roll 51_53_56_57.m -1-
1 s =tf ( 1, [1 2 0] ) ;
2 c =feedback( s, 1, —1) ;
3 damp ( c) ;
4 stepplot(c);
5 g r1d on ;
6 hold on ;
7 1 =tf (3. 1, [1 Of ) ;
8 cloop2 =f eedback ( sv1, 1, —1) ;
9 s tepplot ( c I oop2 ) ;
10 grid on
11 hold on

Command Window
» Exp3_ro 1T_51_53_56_57

Pole Damplng Frequency T1me Const ant

( rad/seconds) ( seconds )

-1.00e+00 1.00e+00 1.00e+00 1.00e+00

-1.00e+00 1.00e+00 1.00e+00 1.00e+00
Step Response(Roll 51,M,fiB,57}

.,.-...„›! .. .r.o„+, '.

,:
*.. .

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