CONTROL SYSTEM LAB - I

LABORATORY MANUAL

B. Tech, Semester - VI

(RIC-653)

Session: 2019-20, Even Semester

Name
Roll. No.
Group/ Batch

JSS MAHAVIDHYAPEETHA
JSS Academy of Technical Education
Department of Electronics & Communication Engineering
C-20/1, Sec-62 NOIDA
 JSS Academy of Technical Education – NOIDA
Control System Lab-I Manual (RIC-653)

VISION OF THE INSTITUTE

JSS Academy of Technical Education Noida aims to become an Institution of excellence in

imparting quality outcome-based education that empowers the young generation with
knowledge, skills, research aptitude and ethical values to solve contemporary challenging
problems.

MISSION OF THE INSTITUTE

The mission of JSS Academy of Technical Education, Noida is to

 Develop a platform for achieving globally acceptable level of intellectual acumen and
technological competence
 Create an inspiring ambience that raises the motivation level for conducting quality
research
 Provide an environment for acquiring ethical values and positive attitude

VISION OF THE DEPARTMENT

To cultivate an environment for students to learn in the field of Electronics and

Communication Engineering for their global acceptability for employment, higher
education, research and sensitize them towards social responsibilities.

MISSION OF THE DEPARTMENT

M1: To provide quality and contemporary education in the domain of Electronics and
Communication engineering through periodically updating, adding the curricula and lab
facilities.
M2: Collaborate with industry and provide necessary research inputs to students for project
work.
M3: Setting up research facility in the area of VLSI, Embedded and Electrical Communication.
M4: To transform students for working in multicultural global environment.

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PROGRAMME EDUCATIONAL OBJECTIVE

PEO 1: A graduate to demonstrate fundamental knowledge and skills required for pursuing
higher education and functioning effectively as an entry-level professional.
PEO 2: A graduate to have effective communication skills in both oral and written form to
articulate technical knowledge, ideas and proposals.
PEO 3: A graduate be able to work collaboratively within a team and have an understanding of
leadership and be prepared to lead a team.
PEO 4: A graduate to acknowledge his/her responsibilities to the society globally and the need
to behave ethically and morally are willing to engage in services/activities beneficial to the
society.
PEO 5: A graduate to demonstrate an understanding of the elements of entrepreneurship, such
as active discovery and exploration of opportunities, prudent risk taking and experimentation of
novel ideas or methods.

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PROGRAMME OUTCOMES
Engineering Graduates will be able to:

PO1: Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering
problems.

PO2: Problem analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of mathematics,
natural sciences, and engineering sciences.

PO3: Design/development of solutions: Design solutions for complex engineering problems and
design system components or processes that meet the specified needs with appropriate
consideration for the public health and safety, and the cultural, societal, and environmental
considerations.

PO4: Conduct investigations of complex problems: Use research-based knowledge and research
methods including design of experiments, analysis and interpretation of data and synthesis of
the information to provide valid conclusions.

PO5: Modern tool usage: Create, select and apply appropriate techniques, resources and modern
engineering and IT tools including prediction and modeling to complex engineering activities
with an understanding of the limitations.

PO6: The engineer and society: Apply reasoning informed by the contextual knowledge to
assess societal, health, safety, legal and cultural issues and the consequent responsibilities
relevant to the professional engineering practice.

PO7: Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts and demonstrate the knowledge of and need for
sustainable development.

PO8: Ethics: Apply ethical principles and commit to professional ethics and responsibilities
and norms of the engineering practice.

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PO9: Individual and team work: Function effectively as an individual and as a member or
leader in diverse teams and in multidisciplinary settings.

PO10: Communication: Communicate effectively on complex engineering activities with the

engineering community and with society at large, such as, being able to comprehend and write
effective reports and design documentation, make effective presentations and give and receive
clear instructions.

PO11: Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a member and
leader in a team, to manage projects and in multidisciplinary environments.

PO12: Life-long learning: Recognize the need for and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological change.

Program Specific Outcomes. (PSOs)

PSO 1: Professional Skills:
Able to develop and implement electronics and communication engineering based
technological solutions to the issues related to development of our communities.
PSO 2 Successful Engineering Practice:
Able to associate the learning of basic & advanced courses in the field of Electronics &
Communication along with state of art automation tools for successful engineering
practice.
PSO 3: Successful Career & Entrepreneurship:
Able to project his / her work in oral and written form and while doing so demonstrate
adoption and practice of professional ethics along with social and environmental
concerns.

COURSE OUTCOMES

Student will be able to

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C323.1: Understand the basics of Mat lab and familiarize with control system tool box for
designing various LTI systems.

C323.2: Design, analyze various models of the systems in time domain and evaluate different
response parameters

C323.3: Analyze stability from root locus of the given model of the system.

C323.4: Design, analyze various models of the systems in frequency domain and evaluate
different response parameters.

MAPPING OF CO-PO and PSO

PO PO PO PSO1 PSO2 PSO3
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO 8 PO 9
10 11 12

C323.1 2 2 2 2 1 1 3 3 3 1 3 2 2 2
C323.2 2 2 2 2 1 1 3 3 3 1 3 2 2 2
C323.3 2 2 2 2 1 1 3 3 3 1 3 2 2 2
C323.4 2 2 2 2 1 1 3 3 3 1 3 2 2 2

UNIVERSITY SYLLABUS FOR LAB

1. Different Toolboxes in MATLAB, Introduction to Control Systems Toolbox or its

equivalent open source freeware software like Scilab using Spoken Tutorial MOOCs.
2. Determine transpose, inverse values of given matrix.

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3. Plot the pole-zero configuration in s-plane for the given transfer function.
4. Determine the transfer function for given closed loop system in block diagram
representation.
5. Plot unit step response of given transfer function and finds delay time, rise time, peak
time and peak overshoot.
6. Determine the time response of the given system subjected to any arbitrary input.
7. Plot root locus of given transfer function, locate closed loop poles for different values of
k. Also find out ωd, ωn for given root.
8. Create the state space model of a linear continuous system.
9. Determine the State Space representation of the given transfer functions.
10. Plot bode plot of given transfer function. Also determine the relative stability by
measuring gain and phase margins.
11. Determine the steady state errors of a given transfer function.
12. Plot Nyquist plot for given transfer function and to discuss closed loop stability. Also
determine the relative stability by measuring gain and phase margin.

Spoken Tutorial (MOOCs):

Spoken Tutorial MOOCs, ‘Course on Scilab’, IIT Bombay (http://spoken-tutorial.org/)

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DESIGN PROBLEMS

EXPERIMENTS BEYOND SYLLABUS

13. DC SPEED CONTROL SYSTEM

(a) To study D.C. speed control system on open loop and close loop.

(b) To study Transient performance by adding another time signal at the input of control
Circuit.

(c) To study how current breaking eddy is being rejected by close and open loop.

14. PID CONTROLLER

(a) To observe open loop performance of building block and calibration of PID controls.

(b) To study P, PI and PID controller with type 0 system with delay.

(c) To study P, PI and PID controller with type 1 system.

15. LINEAR SYSTEM SIMULATOR

(a) Open loop response

(i) Error detector with gain (ii) Time constant (iii) Integrator

(b) Close loop system

(i) First order system (ii) Second order system (iii) Third order system

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INDEX

S.No. TITLE OF EXPERIMENT PAGE No.

Different Toolboxes in MATLAB, Introduction to Control Systems Toolbox

1. or its equivalent open source freeware software like Sci-lab using Spoken 11
Tutorial MOOCs.
2. Determine transpose, inverse values of given matrix. 12
3. Plot the pole-zero configuration in s-plane for the given transfer function. 18
Determine the transfer function for given closed loop system in block diagram
4. 20
representation.

Plot unit step response of given transfer function and find delay time, rise
5. 22
time, peak time and peak overshoot.
Determine the time response of the given system subjected to any arbitrary
6. 25
input.
Plot root locus of given transfer function, locate closed loop poles for
7. 28
different values of k. Also find out ωd, ωn for given root.

8. Create the state space model of a linear continuous system. 30

9. Determine the State Space representation of the given transfer functions. 32

Plot bode plot of given transfer function. Also determine the relative stability
10. 34
by measuring gain and phase margins.

11. Determine the steady state errors of a given transfer function. 36

Plot Nyquist plot for given transfer function and to discuss closed loop
12. stability. Also determine the relative stability by measuring gain and phase 38
margin.

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DESIGN PROBLEMS & MINI PROJECT 40

EXPERIMENTS BEYOND SYLLABUS 46

DC SPEED CONTROL SYSTEM

(a) To study D.C. speed control system on open loop and close loop.
(b) To study of Transient performance, another time signal is added at
13. 46
the input of control Circuit.
(c) To study how current breaking eddy is being disturbance rejected
by close and open loop.
PID CONTROLLER
(a) To observe open loop performance of building block and
14. calibration of PID Controls. 52
(b) To study P, PI and PID controller with type 0 system with delay.
(c) To study P, PI and PID controller with type 1 system.
LINEAR SYSTEM SIMULATOR
(a) Open loop response
15. (i) Error detector with gain, (ii) Time constant, (iii) Integrator 57
(b) Close loop system
(i) First order system (ii) Second order system (iii) Third order

Experiment No-1

Aim: Study of different Toolboxes in MATLAB, Introduction to Control Systems Toolbox or its
equivalent open source freeware software like Sci-lab using Spoken Tutorial MOOCs.

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Experiments based on different toolboxes in MATLAB Software:

1. INTRODUCTION TO MATLAB.

2. DIFFERENT VERSIONS OF MATLAB

3. BASIC HARDWARE REQUIREMENTS

4. DIFFRENECE BETWEEN TOOLBOXES AND SIMULINK.

5. INTRODUCTION TO TOOLBOXES

6. DIFFRENECE BETWEEN SCRIPTS AND FUNCTION.

7. BASICS FUNCTION USED IN MATLAB

8. INTRODUCTION TO CONTROL SYSTEMS TOOLBOX.

9. BASICS FUNCTIONS USED IN CONTROL SYSTEM TOOLBOXES.

10. PLOTTING 2-D & 3-D GRAPHS IN MATLAB

Experiment No-2a

1. AIM: To determine transpose, inverse values of given matrix.

2. PRE-EXPERIMENT QUESTIONS:

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Differentiate the following function

(a) /., ./, .\ and /.

(b) .*, *.

3. SOFTWARE USED: Matlab 7.6

4. PROGRAM FLOW: Write the Matlab Script using the following program flow

Define a square matrix A of order n

Use command ‘inv’ and A’ to find

inverse and transpose of matrix A

Use loop control logic to find the

rank

Plot the rank in bar chart form

Program Flow 2.1

5. RESULTS/ CONCLUSION:

Experiment No-2b

1. AIM: To type u = [2 3 1 4], v = [4 3 2 1], w=[2 4 1 6] and give a Matlab command to create
matrix A that has row u,v & w.

2. SOFTWARE USED: Matlab 7.6

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3. PROGRAM FLOW : Write the Matlab Script using the following program flow

Initialize the matrix u, v and w

Generate a zero matrix A of 3×4

Create the new matrix A by replacing

the elements with u, v and w

Program flow 2.2

4. RESULT/CONCLUSION:

Experiment No-2c

1. AIM: To display cylinder structure using of subplot & mesh command.

2. SOFTWARE USED: Matlab 7.6

3. PROGRAM FLOW : Write the Matlab Script using the following program flow

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Initialize an array ‘t’ from 0 to 2 

Generate a cosine function using

array ‘t’

Use the command ‘cylinder’ to

find three coordinates of cylinder

Plot the three coordinates using

command ‘subplot’ and ‘mesh’

Generate 3 dimension cylindrical

structure using three coordinates
and ‘mesh’ command

Plot the cylindrical structure

Program Flow 2.3

4. RESULTS/CONCLUSION:

Experiment No-2d

1. AIM: To plot the functions of sin (t) and cos(t) showing all the commands used along with
plot like legend, text, title.

2. SOFTWARE USED: Matlab 7.6

3. PROGRAM FLOW: Write the Matlab Script using the following program flow

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Initialize an array ‘t’ from 0 to 4 

Use the command ‘sin’ and ‘cos’ to find the sin

and cosine values. Save these values in
variables

Plot the sin and cosine function w.r.t time on

same window with different colors

Label the plot using ‘title’ and ‘axis’ commands

Program flow 2.4

4. RESULT/CONCLUSION:

Experiment No-2e

1. AIM: Using command Polyval, plot the values of arbitrary chosen polynomial.

2. SOFTWARE USED: Matlab 7.6

3. PROGRAM FLOW: Write the Matlab Script using the following program flow

Generate a matrix p of order n ×m

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Initialize an array variable x

Use the command ‘polyval’ to find the

polynomial values. Save these values
in variables y

Plot the values of y w.r.t x

Program Flow 2.5

4. RESULT/CONCLUSION:

5. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.
(b) Always use command ‘close all’ in scripts where graphical results are expected.
(c) Don’t save the scripts by the Matlab defined function name.
(d) Don’t use the Matlab defined function name as a variable name.

6. POST- EXPERIMENT QUESTIONS:

(a)Differentiate between scripts and function.

(b) Why LTI systems are preferred in modeling?

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Experiment No-3a

1. AIM: To display the given transfer function:

s
T ( s) 
s  2s  10
2

2. PRE- EXPERIMENT QUESTIONS:

(a) Define zero state and zero input response.

(b) What is the practical significance of poles and zeros?

3. SOFTWARE USED: Mat lab 7.6

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4. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Initialize numerator and denominator

variables

Use the command ‘tf’ to find the

transfer function

Save the function values in variables

and display them

Program Flow 3.1

5. RESULT/CONCLUSION:

Experiment No-3b

1. AIM: To Plot the pole-zero configurations in s-plane for the given transfer function:
s
T ( s) 
s  2s  10
2

2. SOFTWARE USED: Matlab 7.6

3. PROGRAM FLOW: Write the Matlab Script using the following program flow

Generate pole zero gain transfer

function G

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Use the command ‘pzmap’ to plot the

pole and zero of transfer function

Label the axis and title

Program Flow 3.2

4. RESULT/CONCLUSION:

5. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Matlab defined function name.

(d) Don’t use the Matlab defined function name as a variable name.

6. POST- EXPERIMENT QUESTIONS:

(a) How the state space model is advantageous than LTI systems ?

(b) How the conversions among different models are done in Matlab ?

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Experiment No-4a

1. AIM: To determine the transfer function for given closed loop system in block diagram
representation.

2. PRE- EXPERIMENT QUESTIONS:

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(a) What is the significance of mathematical modelling of LTI systems?

(b) Why Laplace transform is suitable for modelling?

3. SOFTWARE USED: Matlab 7.6

4. PROGRAM FLOW: Write the Matlab Script using the following program flow

Generate numerator and denominator

polynomials for block F, C, G and S

Define the transfer function for both

forward and feedback blocks

Use command ‘series’, ‘parallel’ and

‘feedback’ for reducing the blocks in
single block

bProgram Flow 4.1

5. RESULT/CONCLUSION:

Experiment No-4b

1. AIM: For an ordinary differential equation generate in state-space model

2. SOFTWARE USED: Mat lab 7.6

3. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Generate the Matrix A, B, C, D

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Use the command ‘ss’ to generate state

space transfer function

Program Flow 4.2

4. RESULT/CONCLUSION:

5. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.
(b) Always use command ‘close all’ in scripts where graphical results are expected.
(c) Don’t save the scripts by the Mat lab defined function name.
(d) Don’t use the Mat lab defined function name as a variable name.
6. POST-EXPERIMENT QUESTIONS:
(a) Give the advantages of Block diagram reduction over Signal flow graph.
(b) How the self-loop is different from simple loop?

Experiment No-5a

1. AIM: To plot unit step response of given transfer function and find delay time and rise time.

s 1
T ( s) 
s 2  2 s  10

2. PRE- EXPERIMENT QUESTIONS:

(a) What is the effect of adding a zero to a system?
(b) Differentiate between sluggish and slow system.
(c) Why the test input signals are preferred for system analysis?
(d) How the type of a system is different from order of system ?

3. SOFTWARE USED: Mat lab 7.6

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4. PROGRAM FLOW: Write the Mat lab Script using the following flow chart

Generate the numerator and

denominator polynomial

Use the command ‘tf’ to generate

transfer function. Save the transfer
function in variable T

Use the command ‘step’ to find the

step response

Find the rise time and delay time

from the graph or by the formula

Program Flow 5.1

5. RESULT/CONCLUSION:

Experiment No-5b

1. AIM: To plot unit step response of given transfer function and find peak time and peak overshoot.

s 1
T (s) 
s  2 s  10
2

2. SOFTWARE USED: Mat lab 7.6

3. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Generate the numerator and

denominator polynomial

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Use the command ‘tf’ to generate

transfer function. Save the transfer
function in variable T

Use the command ‘step’ to find the

step response

Find the peak overshoot and peak

time form the graph or by the
formula

Program Flow 5.2

4. RESULT/CONCLUSION:

5. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.
(b) Always use command ‘close all’ in scripts where graphical results are expected.
(c) Don’t save the scripts by the Matlab defined function name.
(d) Don’t use the Mat lab defined function name as a variable name.

6. POST- EXPERIMENT QUESTIONS:

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(a) Why the Mat lab function for ramp response is not defined?
(b) What is the significance of overshoot in system analysis?
(c) Differentiate 3% and 5% settling time.
(d) What is the importance of transient response in system analysis?

Experiment No-6a

1. AIM: To determine the time response for a second order unity feedback system for step input.

1
T ( s) 
s2  s  4

2. PRE- EXPERIMENT QUESTIONS:

(a) What is transient response of a system?

(b) What is steady state response of a system?

3. SOFTWARE USED: Mat lab 7.6

4. PROGRAM FLOW: Write the Mat lab Script using the following program flow

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Generate the numerator and

denominator polynomial

Use the command ‘tf’ to generate

transfer function. Save the transfer
function in variable T

Use the command ‘step’ to find the

step response

Find the rise time, delay time, peak

overshoot and peak time form the
graph or by the formula

Program Flow 6.1

5. RESULT/CONCLUSION:

Experiment No-6b

1. AIM: To ddetermine the time response for a second order unity feedback system for impulse
input.

1
T (s) 
s2  s  4
2. SOFTWARE USED: Mat lab 7.6

3. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Generate the numerator and

denominator polynomial

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Use the command ‘tf’ to generate

transfer function. Save the transfer
function in variable T

Use the command ‘impulse’ to find

the impulse response

Find the rise time, delay time, peak

overshoot and peak time form the
graph or by the formula

Program Flow 6.2

4. RESULT/CONCLUSION:

5. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.
(b) Always use command ‘close all’ in scripts where graphical results are expected.
(c) Don’t save the scripts by the Mat lab defined function name.
(d) Don’t use the Mat lab defined function name as a variable name.

6. POST- EXPERIMENT QUESTIONS:

(a) What do you mean by rise time?
(b) Derive expression of rise time for a unity feedback 2nd order control system.

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(c) Why is less overshoot desired for practical systems?

Experiment No-7

1. AIM: To plot root locus of given transfer function, locate closed loop poles for different
values of k. Also find ωd and ωn for a given root.

2. PRE-EXPERIMENT QUESTIONS:

(a) What is the effect of feedback on zeros?

(b) How relative stability is different from absolute stability?

3. SOFTWARE USED: Mat lab 7.6

4. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Generate&
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Define the transfer function for both

the blocks in forward path

Use command ‘series’ and ‘feedback

‘for finding the overall transfer
function

Use commands ‘pzmap’,’rlocus’ and

‘step’ for finding pole zero, step and
root locus plot

Program Flow 7.1

5. RESULT/CONCLUSION:

6. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Mat lab defined function name.

(d) Don’t use the Mat lab defined function name as a variable name.

7. POST- EXPERIMENT QUESTIONS:

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(a) If the root locus doesn’t cross the imaginary axis then system is stable for what values of k?

(b) How breakaway point is obtained in root locus?

Experiment No-8

1. AIM: To determine the State space model of a linear continuous system.

For simplicity, let's assume the reference is zero, r = 0. The input is then U=-kx

The state-space equations for the closed-loop feedback system are, therefore

X’=AX+BU ; Y=CX

2. PRE-EXPERIMENT QUESTIONS:

(a) What State space model?

(b) Define observability and controllability of the state space model.

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3. SOFTWARE USED: Mat lab 7.6

4. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Put t=0:0.01:2,u=0.001*ones(size(t))

Use the SS command as

ss(A-B*K,B,C,0) to find state
space equation

Use command lsim and

axis ([0 2 -4E-6 0]) for the result

Program Flow 8.1

5. RESULT/CONCLUSION:

6. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Mat lab defined function name.

(d) Don’t use the Mat lab defined function name as a variable name.

7. POST- EXPERIMENT QUESTIONS:

(a) Explain the state variable equations for the LTI system.

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Experiment No-9
1. AIM: To determine the State Space representation of the given transfer functions.

2. PRE-EXPERIMENT QUESTIONS:

(a) What zero input response (ZIR)?

(b) What is Zero state Response (ZSR)?

3. SOTWARE USED: Mat lab 7.6

4. PROGRAM FLOW: Write the Mat lab Script using the following program flow

Create the transfer function model.

Convert this model to a state-space

model. Using ss command

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Examine the size of the state-space

model.

Program Flow 9.1

5. RESULT/CONCLUSION:

6. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Mat lab defined function name.

(d) Don’t use the Mat lab defined function name as a variable name.

7. POST- EXPERIMENT QUESTIONS:

(a) How to convert state space model into transfer function model?
(b) Convert the third order differential equation into state space model:

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Experiment No-10

1. AIM: To plot Bode plot of given transfer function. Also determine the relative stability by
measuring gain and phase margins.

s 1
T (s) 
s  2s  10
2

2. PRE-EXPERIMENT QUESTIONS:

(a) Define the relationship between time and frequency domain parameters of a system

(b) How the resonance frequency is related to poles and zeros of the system?

3. SOFTWARE USED: Matlab 7.6

4. PROGRAM FLOW: Write the Matlab Script using the following program flow

Generate numerator and denominator

polynomial

Define the overall transfer function

of the system

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Use command ‘bode’ to plot the bode

plot

Use commands ‘allmargin’ for gain

and phase margin and ‘step’ to show
time characteristics

Program Flow 10.1

5. RESULT/CONCLUSION:

6. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Matlab defined function name.

(d) Don’t use the Matlab defined function name as a variable name.

7. POST- EXPERIMENT QUESTIONS:

(a) What is significance of Cross over frequencies?

(b) What is the value of gain and phase margin for stable system?

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Experiment No-11

1. AIM: To determine the steady state errors of a given transfer function.

2. PRE-EXPERIMENT QUESTIONS:

(a) What are Position, Velocity and Acceleration Constants?

(b) What is difference between order and type of the system?

(c) Derive the steady state error for 2nd order system.

3. SOFTWARE USED: Matlab 7.6

4. PROGRAM FLOW: Write the Matlab Script using the following program flow

Generate numerator and denominator

polynomial

Define the overall transfer function

of the system

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Use the formula for Kp,KV,Ka

Use the formula for steady state

error as ess for Kp,KV,Ka

Program Flow 11.1

5. RESULT/CONCLUSION:

6. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Matlab defined function name.

(d) Don’t use the Matlab defined function name as a variable name.

7. POST- EXPERIMENT QUESTIONS:

(a) What is Optimal Steady State Error?

(b) What is difference between dynamic and static errors?

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Experiment no-12

1. AIM: To plot the Nyquist plot for given transfer functions and discuss closed loop stability.
Also determine the relative stability by measuring gain and phase margin.

(2s  1)
T (s) 
s 2  3s  2

2. PRE- EXPERIMENT QUESTIONS:

(a) What is polar plot ?
(b) What is Nichols chart ?

3. SOFTWARE USED: Matlab 7.6

4. PROGRAM FLOW: Write the Matlab Script using the following program flow

Generate numerator and denominator

polynomial for two different transfer
function

Define the overall transfer function

of the system

Use command ‘nyquist’ to plot the

Nyquist plot

Use commands ‘allmargin’ for gain

and phase margin and hence discuss
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Program Flow 12.1

5. RESULT/CONCLUSION:

6. PRECAUTIONS IN WRITING SCRIPT:

(a) Always write command ‘clc’ and ‘clear all’ before starting a program to clear the
command window and memory respectively.

(b) Always use command ‘close all’ in scripts where graphical results are expected.

(c) Don’t save the scripts by the Mat lab defined function name.

(d) Don’t use the Mat lab defined function name as a variable name.

7. POST- EXPERIMENTS QUESTIONS:

(a) What is nyquist criterion? How they are relating the poles and zeros of the system?

(b) What are frequency domain specifications?

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DESIGN PROBLEMS

1. You throw a ball straight up in the air with an initial speed of 25 m/s [g = 9.8 m/s 2].
Design a Matlab code to find:

(a) How long does it take to reach the highest point?

(b) How high does the ball rise from the release point?

(c) At what time(s) will it be 25 m above the release point?

2. Consider the simple mechanical system shown. Three forces

influence the motion of the mass, namely, the applied force, the
frictional force, and the spring force.

With the system initially at rest, a force of 25 Newton is applied at time

t = 0. Assume that the mass M=1 Kg, frictional coefficient B= 5
N/m/sec., and the spring constant K= 25 N/m. Simulate the above system over the interval 0 to 3
sec. Plot the

(a) Time

response of this translational system

(b) Velocity vs displacement graph

3. Consider the position control system shown in Fig below:

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KA = preamplifier gain

Design a Matlab code for generating time domain characteristics & compare this with a unity
feedback.

4. Ships
in

turbulent seas incur motion about their roll axis (as shown below). Stabilizing fins, which can be
positioned by a closed-loop control system, can be used to reduce this motion. Components
describing this system include fin actuators, sensors, and roll dynamics. For roll dynamics, which
relates the roll-angle output θ(s) to disturbance-torque input TD(s), is given by

 (s) 2.25
 2
TD ( s) ( s  0.5s  2.25)

Using MATLAB do the following:

(a) Find the natural frequency, damping ratio, peak time, settling time, rise time, and percent
overshoot.

(b) Find the analytical expression for the output response to a unit step input in voltage.

(c) Plot the response found in (b).

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5. M

ost manufacturing welding situations involve many uncertainties, including dimensions of

the part, joint geometry, and the welding process itself.   To ensure weld quality, sensors
are therefore necessary.   Some such systems, as described by figure , use a vision system
to measure the geometry of the puddle of melted metal.   Here, it is assumed that the rate of
feeding the wire to be melted is constant.

Using MATLAB do the following:

(a) Determine a second-order model for the closed-loop system.

(b) Find the overshoot and peak time of the system with gain K = 10 using both
the second-order model and original system, then compare the results. (Assume a step
input.)

(c) Using the second-order model, select a gain K so that the settling time is less than 4
seconds and the peak time is less than 5 seconds, while ensuring a minimal overshoot
(less than 1%).  Simulate the original system for this gain and compare the results.

6. The goal of vertical takeoff and landing (VTOL) aircraft is to achieve operation from
relatively small airport and yet operate as normal aircraft in level flight. An aircraft taking
off in a form similar to a missile (on end) is inherently unstable. A control system using
adjustable jets can control the vehicle, as shown in the figure below.

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Use MATLAB to:

(a) Find and plot closed loop poles in s-plane and discuss their location for K=100.

(b) Determine the range of gain K for which the system is stable, marginally stable and
unstable.

(c) Determine and plot the roots of the characteristic equation for gain K obtained in
part "b", which makes the system to be marginally stable and for selected gain K
that makes the system unstable including poles locations from part "a" giving full
comment.

(d) Plot step responses of the system for K=100, selected system gain, which makes the
system to be unstable and the obtained gain K in part "b" which makes the system
to be marginally stable, giving comments on the obtained results.

7. A robot tennis player is shown below and a simplified control system for θ(t) is shown
below. The goal of the control system is to attain the best step response while attaining a high
Kv for the system.

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Using MATLAB do the following:

(a) Plot the Nyquist diagram for the above unity feedback system with the open loop transfer

function for K=1.

(b) Use the Nyquist diagram to find the range of gain K for stability.

(c) Find the value of gains K1 and K2 for selected Kv1=0.325 and Kv2=0.45 and plot the
step output responses for the obtained  K1 and K2.

(d) Plot on the same graph the step responses for each case of gains K1 and K2 obtained in
part (3) and for the best selected value of gain K. 

8. A space telescope is to be launched to carry out astronomical experiments, the pointing

control system is desired to achieve 0.01 minute of arc and track solar objects with apparent
motion up to 0.21 arc minute per second. The system is illustrated in figure and the control
system is shown in system as well. Assume that τ1 = second and τ2 =0

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(a) Determine the gain K = K1 K2 required so that the response to a step command is as rapid
as reasonable with an overshoot of less than 5%

(b) Determine the steady state error of the system for a step and a ramp input.

(c) Determine the value of K1 K2 for an ITAE optimal system for 1) step input 2) ramp input.

MINI PROJECT

Consider modeling of DC Motor shown in figure below:

The motor Physical Parameters are:

(J) Moment of inertia of the rotor 0.01 kg.m^2

(b) Motor viscous friction constant 0.1 N.m.s
(Ke) Electromotive force constant 0.01 V/rad/sec
(Kt) Motor torque constant 0.01 N.m/Amp
(R) Electric resistance 1 Ohm
(L) Electric inductance 0.5 H
and the design requirements are:

 Settling time less than 2 seconds

 Overshoot less than 5%

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 Steady-state error less than 1%

Write a Matlab Program to find
(a) LTI characteristics
(b) PID control response
(c) Draw the root locus and find the loop gain, add a lag controller
(d) Draw the Bode plot, add the proportional gain find the close loop response
(EXPERIMENTS BEYOND SYLLABUS)
EXPERIMENT No-13

1. AIM: DC SPEED CONTROL SYSTEM

(a) To study D.C. speed control system for an open loop and close loop case.

(b) To study of transient performance, another time signal is added at the input of control
circuit.

2. EQUIPMENT REQUIRED:

1. DC Motor speed control: Rated Voltage : 12 V

Torque : 50 gm-cm
Maximum Speed: 2500 rpm
Rated Current : 200 mA at no load & 290 mA at full load.
2. Digital Volt Meter (DVM): 19.99 Full scale deflection meter.
3. Tachogenerator: Tacho constant of 0.5 V/100 rpm
4. Slotted disk : generated 12 pulses for every revolution
5. Driver circuit: unity gain power amplifier
6. Power and signal source: Square wave oscillator of 1 Hz

3. THEORY: The experiment is carried in two steps.

(a) Open loop performance
(b) Closed loop performance
In first case motor is run without feedback.The amplifier gain factor is kept at
minimum gain.
A basic block diagram of DC Motor speed control system is shown in figure 13.1.The
transfer function(open loop) of Armature controlled DC motor is given by

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 (S ) KM
 …(13.1)
V ( S ) s ( sT  1)

Where Km = motor gain and T is mechanical time constant.

The overall closed loop transfer function is given by
ɷ(s)/VR=KA.Km/(ST+KA+KmKT+1) ……(13.2)

Figure 13.1: Basic Block diagram of DC motor speed control system

This equation is descebring the first order type-0 system whose steady state error and
response is given by KP=KAKTKm.,
Where KA=Amplifier gain and KT= Tachogenerator gain
We can find steady state error from measurment of VR and Vp.
Steady error eSS = lim
t  (VR-VT) = R/(1+Kp) …(13.3)
The steady state errror is going to decrease iof KA is going to increase. For Ru(t)
For a square wave of input R(p-p), time constant T for open loop system is given by
1 1
T .
2f VT …..(13.4)
ln(1  )
VM K M KT

Where VM(p-p) = KA-VS(P-P).

For closed loop system T is given by
1 1
T .
2f VT -----
ln(1  )
VM K eff

(13.5)

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K K K
Where K eff  1  K K K
A M T

A M T

One of the feedback control system is to redcue the effect of external disturbance.The

ST  1
disturbance transfer function is given by(VR=0) = ST  1  K K K . For a unit step
A M T

disturbance, the steady state output speed is given by

D
M  …….(13.6)
K A K M KT  1

Thus the stedy state speed change caused by an external disturbance should reduce as the gain
KA is increased. Also the performance is superior for open loop system(KT=0).
4. PROCEEDURE:
FOR OPEN LOOP CASE:
(a) Signal And References:
1. Feedback terminals must left open. KA may varied form 0 to 100 using 10 turn
potentiometer.Thus 1 turn may corresponds to 0 to 10.
2. Set KA=0.Connect DVM to measure the range of the variation of refrence voltage VR.
3. Switch on the square wave signal Vs. Measure the amplitude and frequency(1 Hz)
using CRO. Amplitude must measure with time base switched off and for frequecny count
the no of pulses on CRO in 60 sec using a watch.
(b) Motor and Tachogenerator :
1. Set VR=1 V, KA=3, Record speen N in rpm and Tachogenerator output VT.
2. Repeat VR=1 and KA=1,5……10 and tabulate measured motor voltage V M(VRXKA).

2
Steady state motor speed in rpm (or m  N  in radian per sec) and tachogenerator
60

output VT .
3. Plot N vs VM and VT vs N. Obtain KM and KT from the linear region of the curves.
Motor gain constant KM = shaft speed in rad/sec( m )/ Motor voltage (VM) and

V
Tachogenerator constant KT   Volt-sec/rad.
T

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4. To calculate motor time constant, swicth on the V s, set VR and KA so that VM lies
between 3-8 V(CRO must kept in DC input mode).
KM
5. Calculate motor transfer function
sT  1

(c) Disturbance Calculation:

1. Set KA=5,VR=1200 rpm and brake setting=0
2. Record motor speed variation for different setting of eddy current brake.
3. Calculate % decrease in speed at each setting of the brake strating from no braking

Figure 13.2: Motor characterstics curve

Figure 13.3: Tachogenerator characterstics curve

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FOR CLOSED LOOP CASE:

(a) Steady state error:
1. Set VR=1 and KA=5, measure motor speed in N rpm, VT and steady state error
(-VR-VT).
2. Repeat above for KA=5.10……..1000
3. Compare steady state error from equation 13.3 in each case

(b) Transient performance:

1. Set VR=0.5 V, KA=5, Switch on the square wave signal and measure V s and VT (p-p).
Calculate system time constant with R= Vs and C=VT
K K K
2. The value of K must be calculated form Ke ff  K K K  1 after substituing VT   KT in
A M T

A M T

equation 13.2
(c) Disturbance rejection:
1. Set KA=5, VR=1200 rpm short circuit the feedback terminal and brake setting=0.
2. Record the speed for different setting of eddy current brake. Calculate % derease in
speed at each setting of the brake.Repeat above for KA=10, 50,100.
3. Copmare the % decrease in speed at various brake setting for open loop, closed loop
with KA=5 and 10.

5. OBSERVATION TABLE:
(a) For Open Loop Performance:
Motor and Tachogenerator charactertics VR=1 V
Experimental
Sl No. KA setting N(rpm) VT Volt VM Volt
KA-VM/VR
1 3 731 0.54 3 3
2 4 1261 1.01 4 4
. .
. .
8 10 2292 1.75 10 10

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Graphs of N vs and V M and VT are shown in figure 13.2 and 13.3. From the linear region K M
and KT are obtained. The open loop time constant is obtained from equation 13.4.
1
T  1.997 sec
0.04 1
2  0.82 ln |1   |
0.8 0.19

Where f= 0.82 Hz, VM =0.8 V, VT=40 mV

(b) For closed loop Performance:

(i) Steady state error VR=1V

Experimental Theoritical
Sl No. KA setting N(rpm) VT Volt
ess =(VR-VT )Volt ess=1/(1+KAKMKT)

1 5 538 0.41 0.59 0.433

2 10 854 0.65 0.35 0.2764
. .
. .
8 100 1245 0.95 0.05 0.03
(ii) System time constant

VR=0.5 V DC, f=0.82 Hz, KA=5, Vs=480 mV, VT=120 mV

K A K M KT 5  0.19
Ke ff  =  0.487
K A K M KT  1 1  5  0.19

1 1
Te ff    846ms
2  0.82 ln(1  1 120
 )
0.487 480

(iii) Disturbance rejection

Speed=1200 rpm at brake position=0 i.e no load

Brake setting 0 1 2 3 4

Open loop system,rpm 1207 1198 1022 669 658

Closed loop,rpm(KA=5) 1197 1190 1149 1037 1035

Closed loop,rpm(KA=10) 1205 1200 1177 1106 1103

6. RESULT AND CONCLUSION:

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EXPERIMENT No-14
1. AIM:

(a) To observe open loop performance of building block and calibration of PID Controls.
(b) To study P, PI and PID controller with type 0 system with delay.
(c) To study P, PI and PID controller with type 1 system.
2. EQUIPMENT REQUIRED: PID controller setup, CRO and connecting leads.

3. THEORY:

Position control systems may be of AC, DC, or hybrid type. In a DC system, the error signal
will be DC, and a DC servomotor is used. This position control system has 10-turn input and
output pots which convert position into a proportional electrical voltage. Pots have dial to read
the position. A 5 V supply, which is internally generated in the module, is used to excite both the
pots. A small permanent magnet DC motor is used to control the output position. To improve the
torque, the motor shaft is coupled to the output pot through gears. A clutch mechanism is
provided to prevent damage to the output pot in case the motor runs continuously. The motor and
output pot have been put in a separate enclosure. The input pot is also placed in a separate
enclosure. The controller has proportional (P), integral (I), and derivative (D) components. By
individually switching on/off, gain of these blocks can be changed. The servo-amplifier outputs a
positive or negative voltage depending upon the polarity of the error signal. This voltage drives
the motor in either direction depending upon the polarity of error signal.

P Controller: If the controller is a simple amplifier with a constant gain K, then, it is said to be a
P-controller since the output of the controller is proportional to the error input. The study state
error of the control system can be decreased by using a higher value of K. But as K is increased,
the output tends to oscillate. For very large values of K the output may become unstable.

P-D Controller: In case of P-D controller, the controller outputs a signal which has a component
proportional to the derivative of the error signal. When the derivative gain is increased, it
increases damping in the system causing a reduction in the amplitude of oscillations. The P-D

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controller increases the bandwidth, and reduces the rise time and settling time of the step
response of the system.

P-I Controller: In case of P-I controller, the controller outputs a signal which has a component
proportional to the integral of the error signal. By proper design of P-I controller transient and
steady state error performances of the system can be improved-I controller decreases rise time
but increases the settling time of the system.

4. CIRCUIT CONNECTION DIAGRAM:

Figure 14.1 PID Controller study module

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Figure 14.2 DC position control using PID Controller circuit diagram

Figure 14.3 Block diagram of DC position control system with PID controller

5. PROCEDURE:

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(a) Carefully observe the study Module and familiarize with different blocks and terminals
given on the panel.
(b) Observe that how switches can be operated to include / exclude P,I, and D components of
the controller and how individual gains can be adjusted by operating the pots.
(c) Make connection to realize the position control system shown in figure 14.2.

P Controller:

(a) Switch ON power supply to the system.

(b) First include only P controller
(c) Now for any three gains of the P controller, measure the steady state error when a step
input is given. Step input can be approximately realized by suddenly changing the input
pot dial reading. If the motor runs in a direction so as to increase the steady state error,
then, controller output should be taken from the other terminal. The controller has output
terminals marked as 00 and 1800.
(d) Record steady state error and observation about the transient behavior in Table 14.1.

P-D Controller:

(a) Keep the P controller gain constant at its maximum.

(b) Now for any three gains of D controller, measure the steady state error when a step input
is given.
(c) Record steady state error and observation about the transient behavior in Table 14.1.

P-I Controller:

(a) Keep the P controller gain constant at its maximum.

(b) Now for any three gains of I controller, measure the steady state error when a step input
is given.
(c) Record steady state error and observation about the transient behavior in Table 14.1.
(d) Switch OFF to the system.

6. OBSERVATIONS:

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Table 14.1: Observations regarding P, P-D, and P-I controllers

Gain Steady state Error Remarks about transient behaviour

P-D

P-I

7. RESULT AND CONCLUSIONS:

8. PRECAUTIONS:

(a) Do not keep CRO in XY mode for long time.

(b) Take the reading carefully and accurately.
(c) Apply the required signal to the kit to avoid error.
(d) Switch off the kit when not in use.

EXPERIMENT No-15

1. AIM: To study LINEAR SYSTEM SIMULATOR

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(a) Open loop response

(i) Error detector with gain, (ii) Time constant, (iii) Integrator
(b) Close loop system
(i) First order system (ii) Second order system (iii) Third order system

2. EQUIPMENT REQUIRED: Study Module, 15 V, 1 A Dual Power Supply, Digital

Multimeter, Dual trace CRO with connecting leads

3. THEORY:
(i) Time Response Variation of output of system with respect to time for a given input is called
time response. One of the important standard input test signals is unit step. Response of the
system when unit step is applied is called unit step response. Figure 15.1 show the block diagram
of second order system respectively. In this experiment we study the unit step response of the
system. For second order system, the simplest example is a series R-L-C circuit. The block
diagram for second order system is shown in figure 15.1. We study the unit step response of the

second order system for different values of damping ratio (  ) and natural frequency ( n ) of

oscillation. When  < 1, then, the output has damped oscillations before coming to rest and the
system is said to be under-damped. When  > 1, then, the output does not oscillate, but
sluggishly comes to rest and the system is said to be over damped. When  = 1, then the system
is said to be critically damped. The closed loop transfer function for the second order system is
given by;
1 2n 2n
Y  s   R  s  .T  s    2  …..(15.1)
s s  2n s  n2 s3  2n s 2  2n s

where G(s) is the open loop transfer function. When the input is a unit step, r(t)= u(t). so,
R(s)= 1/s .Therefore, the step response is given by ;

1 2n 2n
Y  s   R  s  .T  s    2  …..(15.2)
s s  2n s  n2 s3  2n s 2  2n s

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R(s) Y(s)
 n2
s s  2 n 

Figure 15.1: Block diagram of Second order system

(ii) Frequency response:

Graph of gain in dB and phase difference between output and input, both plotted v/s frequency is
called frequency response of the system. To plot this, we need to apply sinusoidal excitation of
variable frequency. Therefore, we use the circuit as shown in figure 15.2. Audio frequency
generator gives variable frequency sinusoidal supply. Phase angle meter provided in the study
module measures the phase difference between the input and output. It also indicates whether the
output is leading or lagging with respect to the input. The gain is given by 20 log [I v 2max I / I
v1max I]. Here, v1max and v2max are the maximum values of input and output respectively which can
be measured using a dual channel CRO.

Figure 15.2 Block diagram of first order closed loop system

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c(t)
r(t)

 
t

c(t)  K 1  e T 

Κ  
sT  1
t t
r(t) c(t)

1/s
c(t)=Kt

Figure 15.3 Unit step response of first order system

4. CONNECTION DIAGRAM:

Figure 15.4 Step response circuit assembly

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Control System Lab-I Manual (RIC-653)

Figure 15.5 Second order system module

5. PROCEDURE:

(a) Step response

1. First adjust the pot to make the circuit under-damped. The value of resistance should be
checked using multimeter. After this, make connections on the panel of Study Module
to realize the circuit shown in figure 15.4. Connect dual power supply to the Study
Module
2. Now switch ON the power to the module and CRO. The time response is displayed on
the CRO. Record this waveform.
3. Now, switch OFF power to the module. Remove the connections of the pot. Adjust it to
make the circuit critically damped. Verify the value of resistance using multimeter. Now
switch ON the power to the module and CRO. The time response is displayed on the
CRO. Record this waveform.

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Control System Lab-I Manual (RIC-653)

Frequency Response:
1. Adjust the plot to make the system under-damped. Verify the value of resistance using
multimeter. Connect the circuit shown in figure 15.5.
2. Switch ON power. Vary frequency of input accordingly to Table 15.1 and take readings
of V1max , V2max and phase angle. If the output is leading with respect to input, then,
take it as positive. If it is lagging, then, take it as negative.
3. Switch Off power and plot gain and phase angle on a semi-log sheet.
4. You may repeat the above steps for critically damped and over-damped cases. Then,
enter the values in Tables 15.2 and 15.3 respectively.
5. OBSERVATION TABLE:
Table 15.1 Frequency response data of under-damped second order system

Phase difference
f ( Hz) V1max V2max Gain (dB)
(degree)

Table 15.2 Frequency response data of over -damped second order system

Phase difference
f (Hz) v1max v2max Gain (dB)
(Degree)

Table 15.3 Frequency response data of critically damped second order system

Phase difference
f (Hz) v1max v2max Gain (dB)
(degree)

7. RESULT AND CONCLUSION:

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