CS Lab Manual Original

SRIT, ANANTAPUR ELECTRICAL & ELECTRONICS ENGINEERING
LAG AND LEAD COMPENSATION

AIM: To design, implement and study the effect of lag and lead compensation network for a
given network and draw their graphs of phase margin and magnitude
APPARATUS:
SNO APPARATUS QUANTITY
1 Compensation design kit 1
2 CRO 1
3 DRB 1
4 DCB 1
5 BNC probes few
6 PATCH cards few
PROCEDURE:
As a first step the magnitude frequency and phase frequency plots are to be sketched
from experimental data
1. Disconnect the compensation terminals and apply an input, say 1-v P-P to the plant
from the built in sine wave source. Vary the frequency and calculate plant gain in db
and phase angle in degree at each frequency. Sketch the bode diagram on the semi log
graph paper
2. From the frequency end of the magnitude plot obtain the error co-efficient and the
steady error
3. Calculate the forward path gain K necessary to meet the steady state error
specifications
4. Set the above value of k, short the compensation terminals and observe the step
response of the closed loop system. Compute the time domain performance
specifications namely
M p , T p , Ess and ξ
5. Shift up the magnitude curve by

20 log 10 and obtain the value of margin compare with
the given specifications of phase margin.
CONTROL SYSTEMS LAB MANUAL Page 1

FOR LAG NETWORK:

1. From the bode plot find frequency where phase margin actual pm specified t safety
Wg
margin(5 to 10) from that find the new gain cross over frequency new
Wg
2. Measure gain at new this must equal to the high frequency attenuation of the
network that is
20log b compute b
3. Choose
Z c =−1/T at approx 0.1 W gnew and Pc =−1/ βT accordingly
4. Write the transfer function G(s) and calculate R1,R2 and C
5. Implement Gc ( s) with the help of a few passive components and the amplifier
provided for this purpose the gain of the amplifier must be let at unity
6. Insert the compensator and determine the step response of the compensated system
which obtain the values of

FOR LEAD NETWORK:
1. From the bode diagram obtained calculate the required phase lead as phase needed
0 0
(φm )=Pm specified−Pm available+safetym arg in(5 to10 )
( 1−sin φm )
α=
2. Calculate alpha for the lead network from ( 1+ sin φm )
3. Calculate new gain cross over frequency

Wg
new such that
|G|Wgnew =10 logα [g] this
step ensures that maximum phase lead shall be added at the new gain cross over
frequency
1 1
=√ α =W m / √ α
4. The cross over frequencies are now calculated from T , αT
5. Implement Gc ( s) with the help of a few passive components and the amplifier
1
provided for this purpose the gain of the amplifier is to be set to α
6. Insert the compensation and determine experimentally the phase margin of the plant
with compensator
7. Observe the step response of the compensated system obtain the values of

FOR LAG COMPENSATOR:
Tabular column for lag compensator:

Sno A B Xo Yo gain (db) Phase
FOR LEAD COMPENSATION:

Tabular column for lead compensator:
Sno A B Xo Yo gain (db) phase
PRECAUTIONS:
1. Take the readings without any error
2. Connections should be neat and tight
3. Don’t exceed the maximum ratings of the machine
RESULT:

LINEAR SYSTEM SIMULATOR
AIM: To study the time response of simulated linear systems and to calculate the studies
with theoretical results
APPARATUS:
1 Linear system simulator 1
2 CRO 1
3 Multimeter 1
4 Probes Few
5 Connecting wires Few
PROCEDURE:
FOR FIRST ORDER SYSTEM:
1. Connect the circuit as shown in figure
2. Apply a unit step signal of magnitude 1v and observe the corresponding output in the
CRO
3. Find total amplitude of the wave and multiplier with 0.632 corresponding to that time
to get the time constant
4. Now increase the gain of the system find the time constant for each gain and tabulate
the values obtained.
TO FIND STEADY STATE ERROR:
1. Change the input to the system for step signal to ramp signal
2. Connect the output to X-channel of CRO and connect output to the Y-channel of the
CRO and keep in X-Y mode
3. Find the amplitude of pattern which gives the steady state error
4. Increase the gain of the system and find Ess for each gain
PROCEDURE FOR SECOND ORDER SYSTEM:
2. Apply a unit step signal input of magnitude 1v and observe corresponding output in
CRO
3. Note down the

T d ,T r ,T p ,T s and %M p from CRO for different gains
4. Find for each gain and compare them with theoretical values.
Circuit diagram:

For first order:
For second order:
Formulae:

1+0. 7 ξ
T d=
Wn
π−θ
T r=
Wd
π
T p=
Wd
C(Tp )−C ( α )
%M p = ∗100
C( α )
4
T s =4 T = for 2 %tolerance
ξ∗W n
3
T s =3T = for 5 % tolerance
ξ∗W n /
PRECAUTIONS:
1. Avoid loose connections
2. Experimental values on CRO screen are to be taken with at most accuracy.
RESULT:

PID CONTROLLER
AIM: To study the performance characteristics of an analog PID controller using Simulated
systems
APPARATUS:
1. PID controller kit
2. CRO
3. Connecting Patch Cards
4. BNC probes
PROCEDURE:
P-CONTROLLER
1. Make the connections as shown in figure with the process made up of time delay and
time constant blocks. Notice that the CRO operation in the x-y mode ensures stable
display at low frequencies.
2. Set input amplitude (square wave) to 1V (p-p) for to the low value.
3. For various values of Kc=0.2,0.4,…..measure from the screen the values of peak
overshoot and steady state error & tabulate the readings
PI-CONTROLLER
1. Make the connections for first order type-0 system with time delay with proportional
and integral block connection
2. Set input amplitude to 1v (p-p) , frequency to a low value and Ki to zero
3. For Kc=0.6 observe and record the peak overshoot and steady state error
4. With Kc as above increase Ki in small steps and steady state error.
PID-CONTROLLER
1. Make the connections as shown in figure with proportional integral and derivative
blocks connected.
2. Set input amplitude to 1v(p-p) frequency to a low value Kc=0.6, Ki=0.06, Kd=0
3. The system shows a fairly large overshoot record the peak overshoot and steady state
error repeat the above steps for non-zero value of Kd
Kc=p-p square wave output/p-p square wave input
Ki (max) = 4*f*(p-p) triangular wave amplitude output in volts/p-p square wave
amplitude in volts
Kd= (p-p) square wave output/4*f*(p-p) triangular wave input

MODEL GRAPHS:
CIRCUIT DIAGRAM:

TABULAR COLUMN: P-controller

Sno Kp X Y Steady state error % peak overshoot
PI-controller
Sno Ki X Y Steady state error % peak overshoot
PID-controller
Sno Kd X Y Steady state error % peak overshoot
PRECAUTIONS:
1. take the readings without any error
2. connections should be neat and tight
3. don’t exceed the maximum ratings of the device
RESULT:
PROGRAMMABLE LOGIC CONTROLLER

AIM: To verify the truth tables of logic gates using Programmable Logic Controller.

APPARATUS: PLC circuit kit, Patch cards

PROCEDURE:
OR GATE
If any one of the input I1 or I2 is true then the output Q1 is true
1. Connect S1 to I1, S2 to I2
2. Connect output coil Q1 to RED indicator
3. Enter the program as shown
4. Process either S1 or S2 and observe the states of output coil Q1
AND GATE
If Input I1&I2&I3 is True Output Q1 Is True
1. Connect S1 to I1, S2 to I2, S3 to I3
4. Process either S1 or S2 or S3 and observe the states of output coil Q1
NOT GATE
If input I1 is true output Q1 is false and vice versa
1. Connect S1to I1
4. Process either S1 or S2 or S3 and observe the states of output coil Q1
NOR LOGIC
If both inputs I1 & I2 are false output Q1is true else Q1 is false
3. Process either S1 or S2 or both and observe the states of output coil Q1
NAND LOGIC
If both inputs I1 & I2 are two outputs is false else output Q1 is true
EX-OR LOGIC
If either input I1 or I2 is true output Q1 is true else Q1 is false
PRECAUTIONS:
1. Make the connection of I1 & I2 in some logic gates correctly to get the output
2. Write the program correctly to get the output.
AND
A B OUTPUT
0 0 0 A
B O/P
0 1 0
1 0 0
1 1 1
OR
A B OUTPUT
0 0 0 NAND
0 1 1 A B OUTPUT A O/P
1 0 1 B
0 0 1
1 1 1 0 1 1 A
B O/P
1 0 1
1 1 0
NOR
A B OUTPUT
0 0 1 A
0 1 0 O/P
B
1 0 0
1 1 0
EXOR
A B OUTPUT
0 0 0
A O/P
0 1 1
B
1 0 1
1 1 0
NOT
INPUT OUTPUT
0 1
A O/P
1 0
OR LOGIC:
AND LOGIC:

NOT LOGIC:
NOR LOGIC:
NAND LOGIC:
EX-OR LOGIC:

RESULT:
EXPERIMENT NO: 05 DATE:

ROOT LOCUS FROM TRANSFER FUNCTION USING MATLAB
AIM: To plot the root locus from given transfer function

k ( s+1 )
G(s ) H (s )=
s( s+1 )(s 2 + 4 s +16 )
PROGRAM:
>>%-----------root locus--------
>> num=[0 0 0 1 3];
>>den=[1 5 20 16 0];

>>rlocus(num,den);
k ( s+1 )
G(s ) H (s )=
Title (root locus plot of s( s+1 )(s 2 + 4 s +16 ) )
BODE PLOT FROM A GIVEN TRANSFER FUNCTION USING MATLAB

AIM: To plot the bode plot from given transfer function using mat lab
10
G( s )=
s2 + s +3
PROGRAM:
>>num=10;
>>den=[1 1 3 ];
>>bode(num,den);
10
G( s )=
Title (bode plot for the given s2 + s +3 )
RESULT:

ROOT LOCUS FROM THE STATE SPACE ANALYSIS
AIM: To plot the root locus from the state space analysis for the given system
A= [0 1 0
0 0 1
-160 -56 -14]
B= [0
1
-14]
C= [1 0 0]

D= [0]
PROGRAM:
>>A=[0 1 0 ; 0 0 1; -160 -56 -14];
B=[0;1;-14];
C=[1 0 0 ];
D=[0];
K=0;0.1;400;
Rlocus(A,B,C,D,K);
Title (root locus for the given state space analysis is)

CHARACTERISTICS OF SYNCHRO’S
AIM: To study the Synchronous transmitter & receiver pair

APPARATUS:
1. Synchronous transmitter & receiver pair
2. DMM
3. Connecting wires
PROCEDURE:
STUDY OF SYNCHRO TRANSMITTER:

1. Connect the main supply to the system with the help of cable provided do not inter
connect S1,S2,S3 & S1’,S2’,S3’
2. Switch on the main supply for the unit and transmitter rotor supply
3. Starting from zero position, note down the voltage between stator winding terminals
that is Vs1s2, Vs2s3, Vs1s3 in a sequential manner. enter reading in a tabular column
and plot a graph of angular position Vs rotor voltage for all the three phases
4. Note that zero position of the start rotor coincide withVs3s1 voltage equal to zero
voltage do not disturb this condition.
STUDY OF SYNCHRO TRANSMITTER /RECIECVER PAIR:
1. Connect supply mains to the cable
2. Connect S1,S2,S3 terminals of transmitter to S1’,S2’,S3’of synchro receiver by patch
cards provided respectively
3. Switch on rotor supply of both transmitter & receiver and also switch ON main supply
4. Move the pointer that is rotor position of synchro transmitter in steps of 30 and
observe new rotor position observe that when ever transmitter rotor is rotated the
receiver rotor follows it for both the directions of rotations and their position are in
good agreement
5. Enter the input angular position and output angular position in the tabular column &
plot the graphs.
PRECAUTIONS:
1. Handle the pointer for both the rotors in a gentle manner
2. Do not attempt to pull out the pointer
3. Do not short rotor or stator terminals
CIRCUIT DIAGRAM:

Rotor angular position:
TABULAR COLUMN:
SNO Rotor position Vs3s1 Vs1s2 Vs2s3
SNO Transmitter angular position Receiver angular position

TIME RESPONSE OF FIRST & SECOND ORDER SYSTEMS
AIM: To study the time response of simulated linear systems and to calculate the studies
with theoretical results
APPARATUS:
1 Linear system simulator 1
2 CRO 1
3 Multimeter 1
4 Probes Few
5 Connecting wires Few

PROCEDURE:
FOR FIRST ORDER SYSTEM:
6. Apply a unit step signal of magnitude 1v and observe the corresponding output in the
CRO
7. Find total amplitude of the wave and multiplier with 0.632 corresponding to that time
to get the time constant
8. Now increase the gain of the system find the time constant for each gain and tabulate
the values obtained.
TO FIND STEADY STATE ERROR:
5. Change the input to the system for step signal to ramp signal
6. Connect the output to X-channel of CRO and connect output to the Y-channel of the
CRO and keep in X-Y mode
7. Find the amplitude of pattern which gives the steady state error
8. Increase the gain of the system and find Ess for each gain
PROCEDURE FOR SECOND ORDER SYSTEM:
6. Apply a unit step signal input of magnitude 1v and observe corresponding output in
CRO
7. Note down the

T d ,T r ,T p ,T s and %M p from CRO for different gains
8. Find for each gain and compare them with theoretical values.
Circuit diagram:

For first order:
For second order:
Formulae:
1+0. 7 ξ
T d=
Wn
π−θ
T r=
Wd
π
T p=
Wd
C(Tp )−C ( α )
%M p = ∗100
C( α )

4
T s =4 T = for 2 %tolerance
ξ∗W n
3
T s =3T = for 5 % tolerance
ξ∗W n
PRECAUTIONS:
1. Avoid loose connections
2. Experimental values on CRO screen are to be taken with at most accuracy.
RESULT:

TRANSFER FUNCTION OF DC MOTOR
AIM: To determine the transfer function of dc motor by

1. Armature controlled method
2. Field controlled method
APPARATUS:
SNO APPARATUS RANGE QUANTITY
1 Dc motor 0.5 hp/220v 1

2 Rheostat 100ohms/10A 1
3 Voltmeter (0-220)V mi 1
4 Ammeter (0-5)A mi 1
5 Tachometer (0-9999)rpm 1
6 Connecting wires ----------- few
PROCEDURE:
MEASUREMENT OF ARMATURE RESISTANCE:
1. Connect the circuit as per the circuit diagram
2. Keep the field circuit open and motor shaft should not rotate
3. Vary the input voltage from(0-100)v from the controller and note down the armature
current and voltmeter readings
4. Calculate resistance R=V/I
5. Repeat the same for different input voltages
6. The average value gives the armature resistance
MEASUREMENT OF ARMATURE INDUCTANCE:
2. Vary the input voltage (ac) from the controller and note down voltmeter and ammeter
readings
3. Calculate Za ,Xa and La
5. The average value gives the la value
MEASUREMENT OF FIELD RESISTANCE:

2. Keep the armature winding open
3. Vary the DC supply from controller and note down the voltmeter and ammeter
readings V/I ratio will give the field resistance
4. Repeat the same for different input voltages and find field resistances
5. The average value gives the field resistance

MEASUREMENT OF ARMATURE RESISTANCE:

2. Keep the armature winding open
3. Vary the AC supply from controller and note down the voltmeter and ammeter
readings and enter the tabular column
4. Calculate Zf, Xf and Lf
ARMATURE CONTROLLED DC MOTOR
2. Connect 220V fixed dc supply to the field of dc motor and brake belt should be
loosened
3. Start the motor by applying(0-220)V variable dc supply from the controller till the
motor rotates at its rated speed
4. Apply load in steps up to rated current of the motor and note down the corresponding
I1,N,F1,F2 readings
SPEED CONTROL BY ARMNATURE VOLTAGE CONTROL:
2. Connect 220V fixed DC supply to the motor field keep the armature control pot at its
minimum position and switch at off position
3. Switch on the MCB switch on the armature control switch vary the armature voltage
note down the speed and the corresponding meter readings
4. Repeat the same for different armature voltages
TRANSFER FUNCTION OF FIELD CONTROLLED DCMOTOR:
1. Make the connections as per the circuit diagram
2. Motor field voltage should be in maximum and belt is loosened
3. Switch on the supply to the controller unit switch on the armature supply vary the
armature voltage till the motor speed comes to rated speed and note down meter
readings
4. Vary the field supply till we obtain 20% above rated speed of the motor and note
down the readings
Measurement of armature resistance:

Measurement of armature inductance:
Measurement of field resistance:
Measurement of field inductance:

Armature controlled DC motor speed control:
Transfer function of field controlled dc motor:
Expected graphs:

PRECAUTIONS:
1. Take the readings without any error
2. Connections should be neat and tight
3. Don’t exceed the maximum ratings of the machine
RESULT:

STATE SPACE TO TRANSFER FUNCTION USING MAT LAB
AIM: to determine transfer function for the given state space representation
APPARATUS:
System MATLAB software
PROGRAM:
A=[ 13 24];
1
[]
B= 2
C= [2 3 ]
D=[ 0]
[num,den]]=ss2ff(A,B,C,D)
T=ff(num,den)
∞= ss(A,B,C,D)
RESULT:
EXPERIMENT NO: 11(a) DATE:

BODEPLOT FROM A GIVEN TRANSFER FUNCTION USING MAT LAB
AIM: To plot the bodeplot from the given transfer function using MATLAB
APPARATUS:
PROGRAM:
Num=10;
Bode(num,den);
T=tf(num,den)
[Gm,Pm]=margin(t)
10
Title(‘bode plot for the given G(s)= s 2+ s+3 )
RESULT:
EXPERIMENT NO: 11(b) DATE:

NYQUIST PLOT FROM A GIVEN TRANSFER FUNCTION USING MAT LAB
AIM: To plot the nyquist plot from the given transfer function using MATLAB
APPARATUS:
PROGRAM:
Num = 10;

Den=[1 1 3];
Nyquist(num,den);
T=tf(num,den)
RESULT:
EXPERIMENT NO: 11(c) DATE:

ROOT LOCUS FROM A GIVEN TRANSFER FUNCTION USING MAT LAB
AIM: To plot the root locus from the given transfer function using MATLAB
APPARATUS:
PROGRAM:
Num=[0 0 0 1 3];

Den=[1 5 20 16 0];
Rlocus (num,den);
Title (‘root locus plot of G(s)H(s)= █ (k (s @=1))/█ ( s (s @+1)(s 2+ 4 s+16))
RESULT:

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SRIT, ANANTAPUR ELECTRICAL & ELECTRONICS ENGINEERING

LAG AND LEAD COMPENSATION

5. Shift up the magnitude curve by

CONTROL SYSTEMS LAB MANUAL Page 1

FOR LAG NETWORK:

which obtain the values of

3. Calculate new gain cross over frequency

CONTROL SYSTEMS LAB MANUAL Page 2

FOR LAG COMPENSATOR:

Tabular column for lag compensator:

FOR LEAD COMPENSATION:

CONTROL SYSTEMS LAB MANUAL Page 3

Tabular column for lead compensator:

Sno A B Xo Yo gain (db) phase

CONTROL SYSTEMS LAB MANUAL Page 4

LINEAR SYSTEM SIMULATOR

3. Note down the

CONTROL SYSTEMS LAB MANUAL Page 5

For first order:

For second order:

CONTROL SYSTEMS LAB MANUAL Page 6

CONTROL SYSTEMS LAB MANUAL Page 7

CONTROL SYSTEMS LAB MANUAL Page 8

CONTROL SYSTEMS LAB MANUAL Page 9

TABULAR COLUMN: P-controller

PROGRAMMABLE LOGIC CONTROLLER

CONTROL SYSTEMS LAB MANUAL Page 10

APPARATUS: PLC circuit kit, Patch cards

CONTROL SYSTEMS LAB MANUAL Page 12

CONTROL SYSTEMS LAB MANUAL Page 13

EXPERIMENT NO: 05 DATE:

AIM: To plot the root locus from given transfer function

CONTROL SYSTEMS LAB MANUAL Page 14

BODE PLOT FROM A GIVEN TRANSFER FUNCTION USING MATLAB

EXPERIMENT NO: 06 DATE:

CONTROL SYSTEMS LAB MANUAL Page 15

EXPERIMENT NO: 07 DATE:

AIM: To study the Synchronous transmitter & receiver pair

CONTROL SYSTEMS LAB MANUAL Page 16

CONTROL SYSTEMS LAB MANUAL Page 17

Rotor angular position:

SNO Rotor position Vs3s1 Vs1s2 Vs2s3

SNO Transmitter angular position Receiver angular position

EXPERIMENT NO: 08 DATE:

CONTROL SYSTEMS LAB MANUAL Page 18

7. Note down the

CONTROL SYSTEMS LAB MANUAL Page 19

For first order:

For second order:

CONTROL SYSTEMS LAB MANUAL Page 20

EXPERIMENT NO: 09 DATE:

AIM: To determine the transfer function of dc motor by

1 Dc motor 0.5 hp/220v 1

MEASUREMENT OF FIELD RESISTANCE:

CONTROL SYSTEMS LAB MANUAL Page 22

MEASUREMENT OF ARMATURE RESISTANCE:

CONTROL SYSTEMS LAB MANUAL Page 23

Measurement of armature inductance:

Measurement of field resistance:

Measurement of field inductance:

CONTROL SYSTEMS LAB MANUAL Page 24

Armature controlled DC motor speed control:

Transfer function of field controlled dc motor: