Control Engineering and

Instrumentation
(LAB)

Lab # 7
Class: F-20
 Practice Question
Solve it for , Step ramp and parabolic input
clc G=minreal(G);
clear Kv=dcgain(G)
errorR=1/Kv
num=poly([-3 -5]);
den=poly([-8 -7 0]); 'Parabolic'
numP=conv([1 0 0],poly([-3 -5]));
G=tf(num,den); G=tf(numP,den);
T=feedback(G,1);
G=minreal(G);
P=pole(T) Ka=dcgain(G)
errorR=1/Kv
'Step'
Kp=dcgain(G)
error=1/(1+Kp)

'Ramp'
numg=conv([1 0],poly([-3 -5]));
G=tf(numg,den);
 Introduction to Root Locus
 Root locus is a graphical presentation of poles of a closed loop system which gives an
analysis of stability and transient response as a system parameter is varied.
 Feedback control systems are difficult to comprehend , as they heavily rely on
mathematics.
 The root locus gives us the qualitative description of a system’s performance that we
are looking for.
 Root locus is also able to provide solution of systems of order higher than 2.
 The Control System Problem
 The poles of the open loop transfer function are easily found and do not
change with changes in system gain. On the other hand, the poles of the
closed loop transfer function are more difficult to find and they changes
with the change in system gain.
 Example Problem

 Code:

Num=1;
Den=poly([0 -1 -2]);
G=tf(Num,Den);
T=feedback(G,1);
rlocus(T)