NUST School of Electrical Engineering and Computer Science

Faculty Member: Neelma Naz Date: February 21, 2023

Semester: 6th Section: BEE-12D

Department of Electrical Engineering

EE-379 : Control Systems

LAB 3: System Modeling

Pre-lab Lab Report Viva

Student name Reg. No. Total/15
Marks /5 Marks /5 Marks / 5
Fiza Ayub 350075

Zawata Afnan Asif 356752

EE-379: Control Systems, Lab 03

Prepared By: Dr. Ammar Hasan , Engr . Saqib Nazir & Engr. Tawakal

Page 1
Lab 3: System Modeling and Simulation in Simulink

Introduction
Finding a mathematical model of a system is the process of modelling. A mathematical
model describes a system and aids in our comprehension of its behaviour. Often, the
initial step in controller design is to obtain a model.

Objective:

 In this lab, we will learn how a model can be derived from the ground up.
 We will also learn how to find a transfer function of a system from a set of
differential equations.
 How to display transfer functions in MATLAB, Simulink and Labview

Exercise 1

Using equations (9) and (10), make a model of the rotary inverted pendulum in Simulink.
For the parameters, use the values given in the table above, which are for the QNET
inverted pendulum available in our control laboratory.

EE-379: Control Systems, Lab 03 Page 2

Exercise 2 (Pre-lab)

Use the set differential equations and the Laplace transforms to find the following
transfer functions (Perform this on paper and attach scans/photos in lab report).
i. Transfer function between the speed and voltage of the motor
ii. Transfer function between the position and voltage of the motor
iii. Transfer function between the position of the pendulum and voltage of the of
the attached motor

EE-379: Control Systems, Lab 03 Page 3

Exercise 3

Using the things you have learnt in lab 1, create all the transfer functions of Exercise 2 in
MATLAB.

Part 1:
kt = 0.0334;
ke = 0.0334;
R = 8.70;
J = 1.80e-6;
L = 0;
b = 0;
num = [kt]; %(coefficients of numerator)
den = [(L*J) (R*b+R*J) (R*b+kt*ke)]; %(coefficients of denominator)
G1 = tf (num,den) %(make transfer function)
Answer:

Part 2:
kt = 0.0334;
ke = 0.0334;

EE-379: Control Systems, Lab 03 Page 4

R = 8.70;
J = 1.80e-6;
L = 0;
b = 0;
num = [kt]; %(coefficients of numerator)
den = [(L*J) (R*b+R*J) (R*b+kt*ke) 0]; %(coefficients of denominator)
G1 = tf (num,den) %(make transfer function)

Answer:

Part 3:

Answer:

EE-379: Control Systems, Lab 03 Page 5

Exercise 4

Using the things you have learnt in lab 1, create all the transfer functions of Exercise 2 in
Simulink using the Transfer function block.

Exercise 5

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EE-379: Control Systems, Lab 03 Page 9

 Conclusion:

In this lab, we learnt how to derive transfer functions from set of differential
equations. We also leant the implementation of equations on Simulink.
Moreover, we also practiced implementing transfer functions on Simulink,
MATLAB and lab view.

EE-379: Control Systems, Lab 03 Page 10