Advanced Engineering Lab

INDEX
SL.

PAGE

NO.

NAME OF THE EXPERIMENTS

TIME AND FREQUENCY RESPONSE OF FIRST ORDER SYSTEM

TIME AND FREQUENCY RESPONSE OF SECOND ORDER

3
4
5
6
7
8
9
10

SYSTEM...
PHASE LAG NETWORK
PHASE LEAD NETWORK
TRANSFER FUNCTION OF AC SERVOMOTOR
DISPLACEMENT MEASUREMENT USING LVDT
STUDY OF SYNCHRO TRANSMITTER AND RECEIVER
MATLAB I....
MATLAB II
TRANSFER FUNCTION OF A DC MOTOR.

EXPERIMENT NO:1
TIME AND FREQUENCY RESPONSE OF FIRST ORDER SYSTEM

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NO.

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AIM:
1. To obtain the time (step) response of given first order system (R=1k & C=0.1F)
experimentally and hence determine the time constant. Also compare the result with
theoretical value.
2. To obtain the frequency (sinusoidal) response of given first order system (R=1 k &
C=0.1 F) experimentally and hence determine the corner frequency. Also compare
the result with theoretical value.
APPARATUS REQUIRED:
Breadboard, resistor (1k), capacitor (0.1 F), probes, CRO
THEORY:
A first order electrical system is shown in figure.
ei
And

(t)

iR+
e 0 ( t )=

1
idt
----- (1)
C

1
idt
C

------ (2)

Taking Laplace Transform on both sides of equations (1) and (2) ,

1
Ei ( s )=I ( s ) +
I (s )
CS
OR
Ei ( s )=I ( s ) [R+
And

Eo ( s )=

1
]
CS ----- (3)

1
I (s )
----- (4)
CS

E 0 ( s)
1
Transfer function , G(s) = E i ( s ) = 1+ RCS
Where , =RC is called the Time Constant
G(s) =
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1
1+ S

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Step Response
e i ( t )=1 for t 0
= 0 fot t <0
1
Ei ( s )=
s
1
1 1
E 0 ( s ) = . G ( s )=
S
s 1+ s

ie ,

1
1
E0 ( s )=
=
s 1+ s s
1
s+

Taking Inverse Laplace transform on both sides ,

e 0 ( t )=1et

For R = 1k and C=0.1 F , =RC =0.1 ms

e 0 ( t )=1et

for t 0

It can be seen that when the response reaches 63.2% , t=0.1ms or time constant =0.1ms.
k
In general , a first order system is represented by the transfer function 1+ sT where k
is known as the steady state gain and T is the time constant. The step response of a first order
t /
system with steady state gain k is given by c(t)= (1- e
). If the gain k is greater than 1 , the

output will be amplified and gain if k<1 , the output will get attenuated . Thus if steady state gain
is 5 for a step input , steady state value of c(t) will be 0.5.
Frequency Response
In frequency response analysis , a sinusoidal input is given to the system .Then for a first
1
order system, the sinusoidal transfer function G(j )= 1+ jwT where T= .

|G ( jw )|=

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1
1+ 2 T 2

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G( jw ) =

1
1+ 2 T 2

= G ( j )=tan1 (T )
The bode magnitude plot for the above system is a straight line having slope -20db/dec for

frequencies much higher than

0 dB. Here

1
T . For frequencies much less than

1
T

, the magnitude is

1
T is called the corner frequency.

PROCEDURE:
Time response: A square wave input of unit magnitude is given to the system using a
function generator. The frequency shall be less than 20 Hz. The output is observed using CRO.
Obtain the value of the time constant from the step response. Plot the observed output
For the theoretical response for different values of t, obtain the output using the expression given
in eqn no:1
Frequency Response: A sine wave input of unit magnitude is given to the system using a
function generator. The frequency is varied from 20 Hz to 5 kHz. For each frequency find the
magnitude gain and phase difference (lissajous pattern).The output is observed using CRO. Plot
the observed output (bode plot). Find the corner frequency.
RESULTS:
Obtained the time response of given first order system experimentally and compared the
result with the theoretical value
Time response
Time constant
Frequency response
Corner frequency

Theoretical

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Experimental

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CIRCUIT DIAGRAM:

PLOT:
Step response

TABULAR COLUMN:
Time response (experimental)
Sl.No.

Time (ms)

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Output Voltage (V)

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Time response (theoretical)

Sl. No.

Time (ms)

Output Voltage (V)

Frequency response (experimental)

Frequency (Hz)

Ei (V)

Eo (V)

Gain (db)

Frequency response (theoretical)

Frequency (Hz)

=2f

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Gain( db)

Phase(deg)

Phase (deg)

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EXPERIMENT NO: 2
TIME AND FREQUENCY RESPONSE OF A SECOND ORDER SYSTEM

AIM:
1. To obtain the natural frequency of oscillation and damping factor of the given series RLC
circuit with R=500ohms;L=1H and C=0.1micro Farad
2. To draw the experimental step response and frequency response of the system by
conducting suitable experiments.
3. Also to draw the theoretical step response and frequency response of the system.
4. Compare the theoretical and experimental time domain and frequency domain
parameters.
COMPONENTS REQUIRED:
Resistor(500 ); inductance box; capacitor (0.1microfarad);bread board; connecting
wires; CRO; function generator
THEORY:
A second order system can be represented by the transfer function
n

G(s) = s +2 n s+ n
2

Where

an d

are the two parameters that describes the dynamic behavior of the system .

is the damping ratio and

is the undamped natural frequency of the system. It is the

frequency at which the system would oscillate if the damping were reduced to zero ie. When

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=0 , the system is called an undamped system. If

is between 0 and 1 the system is said

to be underdamped. For 0< <1 , the system response exhibits , decaying oscillation of
frequency

= n 1 2

approaching zero.

where

approaches

n
n

is the damped natural frequency with

with

approaching one. The system response

approaches the final value without overshooting it and consequently there are no oscillations.
The effect of increasing damping ratio beyond its critical value is to make the system response
sluggish. System with

> 1

are called over damped system. The parameter

may be

obtained from the physical parameter of the system. A typical second order system is given in
figure. Note that R =560

, L= 1 H and C =0.1 F. Let us obtain the TF of the given

system.By applying KVL we get,

ei

di 1
(t) iR+ L dt + C i dt ----- (1)

And

e 0 ( t )=

1
idt
C

------ (2)

Taking Laplace Transform on both sides of equations (1) and (2) , we get
E 0 ( s)
1
R
1
=
/[s 2+ +
]
Transfer function , G(s) = E i ( s )
LC
LS LC

[ ]

n
General TF of a second order system is

s 2+2 n s+ n
n=

Therefore =

R
C / L
2

STEP RESPONSE

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1
LC

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To find step response, let us find

Eo ( s ) when e i (t) is a step . ie.

Eo ( s )

= [ s +2 n s+ n

* S

Taking Inverse Laplace transform , we get ,

e 0 ( t )=1[ e

n t

t sin ( n t + ) ] / 1z

= n 1

( 1z )/
=tan 1
2

Maximum overshoot ,

Time for

M p=e

1z2

n 1z 2
M p=t p= /

For the given values of RL and C , calculate the theoretical values.

FREQUENCY RESPONSE

G(j ) =

Dividing by

Put

2
n

2
[ 1+2 j
+ j
]
n
n

( )( )

u
n =

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E i ( s )=

1
S

Advanced Engineering Lab

G(j

1
)=G(ju)= (1+ j 2 u+ j 2 u2)

1
(1u +2 j u)
2

1u

2
2 u
+( 2 u)2
tan 1 (
)
2

<
1u

Condition for maximum gain is when u=

12 2

2
= ( n ) , = n 12

2
The frequency corresponding to maximum gain is called resonant frequency , r = n 12

Gain at resonant frequency ,

M r=

1
2 1 2

PROCEDURE:
Time response: A square wave input of unit magnitude is given to the system using a
function generator. The frequency shall be less than 20 Hz. The output is observed using CRO.
Plot the observed output. Find the time domain parameters like rise time, peak time, maximum
overshoot and settling time for 2% error.
Frequency Response: A sine wave input of unit magnitude is given to the system using a function
generator. The frequency is varied from 20 Hz to 5kHz. For each frequency find the magnitude
gain and phase difference (lissajous pattern).The output is observed using CRO. Plot the
observed output (bode plot). Find the frequency domain parameters like resonant peak and
resonant frequency.
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RESULTS:
Time domain and frequency domain response of the 2 nd order system were obtained by
conducting suitable experiments. Comparison of theoretical and experimental results are given
below.

Time domain
Parameter

Theoretical

experimental

Theoretical

experimental

Rise time
Peak time
Maximum overshoot
Settling time

Frequency domain
Parameter

CIRCUIT DIAGRAM:

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TIME RESPONSE:

Damping response of a first order system

TABULAR COLUMN:

Time response (experimental)

Sl. no

Time (sec)

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Output voltage(V)

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Time response (theoretical)

Sl. no

Time (sec)

Output voltage(V)

Frequency response(experimental)

Sl.no

Ei (V)

Eo (V)

Gain in dB 20 log(Eo/Ei)

Frequency response (theoretical)

Natural frequency of oscillation=
Sl.no

Frequency (Hz)

Angular

U=/n

frequency

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Gain in
dB

Phase

Phase (deg)

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EXPERIMENT NO: 3
PHASE LAG NETWORK

AIM:
1. To design a compensating network and to draw the experimental bode plot by conducting
suitable experiment to provide a maximum phase lag of 31 degrees at 408Hz
2. To draw the theoretical bode plot

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3. Compare the theoretical and experimental results

4. Also obtain the pole-zero plot of the designed lag network
COMPONENTS REQUIRED:
Resistor (47k, 22k); capacitor (0.01F), bread board, connecting wires, CRO, function
generator
THEORY:
A compensator with the characteristics of a lag network is called as lag compensator. If a
sinusoidal signal is applied to the lag network, then in steady state the output will have a phase
lag with respect to the input. A lag compensator is basically a low pass filter and so it attenuates
high frequency noise signals. If the pole introduced by the compensator is not cancelled by a
zero in the system, then lead compensation increases the order of system by one.
The general form of a transfer function of a lead compensator is given by
1
T
Gc ( s ) =
1
s+
T
s+

On comparing with the circuit the values are obtained as

T=

R2 C

R 1+ R 2
R2

PROCEDURE:
For obtaining the gain and phase plots experimentally, make the connections with the
designed values as shown in the circuit diagram. The input signal is a sine wave of varying
frequency and can be fed from a function generator. Vary the frequency from 20 Hz to 5kHz.The
magnitude of the input voltage may be kept at constant. Corresponding to each frequency the
output signal value is noted. The phase angle measurements are obtained from lissajous pattern
(x-y mode)
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RESULTS:
A compensating network to provide a maximum phase lag of 31 degrees at 408Hz was
designed and drawn the theoretical and experimental plot. Theoretical and experimental results
are compared. Also drawn the pole-zero plot .
parameter

Theoretical

Maximum phase angle

Frequency corresponding to
maximum phase angle
Corner frequencies

CIRCUIT DIAGRAM:

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experimental

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FREQUENCY RESPONSE AND POLE- ZERO PLOTS OF LAG COMPENSATOR:

TABULAR COLUMN:
Freqency response (experimental)
Sl.no

Frequenc

Ei (V)

Eo (V)

y (Hz)

Gain in
dB

Phase
(deg)

Frequency response (theoretical)

Sl.no

Frequency (Hz)

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Gain in db

Phase difference

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EXPERIMENT NO: 4
PHASE LEAD NETWORK

AIM:
1. To design a compensating network and to draw the experimental bode plot by conducting
suitable experiment to provide a maximum phase lead of 31 at 600Hz
2. To draw the theoretical bode plot
3. Compare the theoretical and experimental results

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4. Also obtain the pole-zero plot of the designed lead network

COMPONENTS REQUIRED:
Resistor (47k, 22k), capacitor (0.01F), bread board, connecting wires, CRO, function
generator
THEORY:
A compensator with the characteristics of a lead network is called as lead compensator. If
a sinusoidal signal is applied to the lead network, then in steady state the output will have a
phase lead with respect to the input. A lead compensator is basically a high pass filter and so it
amplifies high frequency noise signals. If the pole introduced by the compensator is not
cancelled by a zero in the system, then lead compensation increases the order of system by one.
The general form of a transfer function of a lead compensator is given by
1
T
Gc ( s ) =
1
s+
T
s+

On comparing with the circuit the values are obtained as

T=

R1 C

R2
R 1+ R 2

PROCEDURE:
For obtaining the gain and phase plots experimentally, make the connections with the
designed values as shown in the circuit diagram. The input signal is a sine wave of varying
frequency and can be fed from a function generator. Vary the frequency from 20 Hz to 5kHz.The
magnitude of the input voltage may be kept at constant. Corresponding to each frequency the
output signal value is noted. The phase angle measurements are obtained from lissajous
pattern(x-y mode)
RESULTS:
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Advanced Engineering Lab

A compensating network to provide a maximum phase lead of 31 degrees at 600Hz was

designed and drawn the theoretical and experimental plot. Theoretical and experimental results
are compared. Also drawn the pole-zero plot.

Parameter

Theoretical

Maximum phase angle

Frequency corresponding to
maximum phase angle
Corner frequencies

CIRCUIT DIAGRAM:

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experimental

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FREQUENCY RESPONSE AND POLE- ZERO PLOT OF LEAD NETWORK:

TABULAR COLUMN:
Frequency response (theoretical)

Sl.no

Frequenc

Ei (V)

Eo (V)

y (Hz)

Frequency response (experimental)

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Gain in
dB

Phase
(deg)

Advanced Engineering Lab

Sl.no

Frequency (Hz)

Gain in db

Phase difference

EXPERIMENT NO:5
TRANSFER FUNTION OF AC SERVOMOTOR

AIM:
To determine the constants k1 and k2 and thereby obtaining the transfer function of ac
servomotor. Also draw the block diagram of AC Servomotor transfer function.
APPARATUS REQUIRED:
Ac servomotor kit, patch chords, loads.
THEORY:

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An ac servomotor is basically a two phase induction motor except for certain special
features. A two phase servomotor differs in the following ways from a normal induction motor:
1. The rotor of servomotor is built with a high resistance, so that its X/R ratio is small which
results in linear speed torque characteristics while a normal induction motor has a curved
characteristics.
2. The excitation voltage applied to two stator windings should have a phase difference of
90 degrees.
The stator consists of two pole pairs each carrying a winding. One winding is called as reference
winding and the other is called as control winding. The exciting current in the winding should
have a phase displacement of 90 degrees. The supply used to drive the motor is single phase and
so a phase advancing capacitor is connected to one phase to produce a phase difference of 90
degrees. The rotor is usually a squirrel cage type or drag cup type. The squirrel cage rotor is
made of laminations and the rotor bars are placed on the slots and short circuited at both ends by
end rings.
The speed-torque curves of ac servomotor are non linear except in the low speed region.
In order to derive a transfer function for the motor, some linearising approximations are made.
The transfer function of an AC servomotor is given below:
Km
(s)
=
E c (s) s ( m s+1)

K m=

m=

K1
=motor gainconstant
B+ K m

J
=motor time constant
B+ K 2

PROCEDURE:
Connections are done. The reference voltage is kept at 230V and the control voltage is
adjusted to 115 V. Apply the load step by step till the motor speed reaches zero. For each load
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setting note down the values of speed and load. Draw the torque speed characteristics and after
obtaining the constants substitute in equation for transfer function.
RESULTS:
The transfer function of ac servomotor is determined and obtained as..
The block diagram of ac servomotor transfer function is

CONNECTION DIAGRAM:

TABULAR COLUMN:
1. Control Voltage = 55 V

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Advanced Engineering Lab

Sl.No.

Load (kg)

Speed (rpm)

Torque (Nm)

Load (kg)

Speed (rpm)

Torque (Nm)

2. Control Voltage = 110 V

Sl.No.
CALCULATIONS:

EXPERIMENT NO: 6
DISPLACEMENT MEASUREMENT USING LVDT

AIM:
To measure the displacement using the given linear variable differential transducer
(LVDT).Also plot the LVDT characteristics(output voltage Vs displacement),% error Vs actual
reading, actual reading Vs indicator reading.
APPARATUS REQUIRED
LVDT trainer kit, voltmeter
THEORY:
LVDT works under the principle of mutual induction, and the displacement which is a
non-electrical energy is converted into an electrical energy. The LVDT operation does not require
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an electrical contact between the moving part (probe or core assembly) and the coil assembly, but
instead relies on electromagnetic coupling.
LVDT consists of a cylindrical former where it is surrounded by one primary winding in the
centre of the former and the two secondary windings at the sides. The number of turns in both the
secondary windings are equal, but they are opposite to each other, i.e., if the left secondary
windings is in the clockwise direction, the right secondary windings will be in the anti-clockwise
direction, hence the net output voltages will be the difference in voltages between the two
secondary coil. When the core is displaced toward the top, the voltage in the top secondary coil
increases as the voltage in the bottom decreases. The resulting output voltage increases from zero.
This voltage is in phase with the primary voltage. When the core moves in the other direction, the
output voltage also increases from zero, but its phase is opposite to that of the primary. The phase of
the output voltage determines the direction of the displacement (up or down) and amplitude indicates
the amount of displacement. A synchronous detector can determine a signed output voltage that
relates to the displacement.

PROCEDURE:
1. Connect the power supply chord to 230V,50Hz supply. Switch on the instrument by
pressing down the toggle switch. The display show indicates that the instrument is ON
2. Allow the instrument to continue for initial warm up
3. Rotate the micrometer core (screw gauge arrangement) till it reads 10. Adjust the CAL
(potentiometer) key on the front panel of the kit so that display reads zero. Now the
instrument is calibrated. As the core of LVDT moves the display reads displacement in
mm
4. Rotate the micrometer core in steps of 2mm in forward and backward direction upto
10mm and tabulate the readings. Ensure the calibration is correct before changing the
direction. The micrometer will show the exact displacement given to the LVDT core. The
display will read the displacement sensed by LVDT. Tabulate the readings and the plot
the graphs.
RESULTS:
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The displacement using LVDT is measured and the characteristics are plotted.

CONSTRUCTIONAL DIAGRAM:

CHARACTERISTICS OF LVDT:

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TABULAR COLUMN:

Sl.no

Micrometer Actual

Indicator

Output

Error

reading

reading

reading

voltage

reading

(mm)

(mm)

(mm)

(mV)

(mm)

SAMPLE CALCULATIONS:
Micrometer reading =
Actual reading=
Indicator reading =
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in % error

Advanced Engineering Lab

Error =actual reading-indicator reading=

%error= {(actual reading-indicator reading)/actual reading}*100=

EXPERIMENT NO:7
STUDY OF SYNCHRO TRANSMITTER AND RECEIVER

AIM:
1. To set the electrical zero of a synchro transmitter
2. To plot the variation of synchro transmitter stator voltage with rotor position (synchro
transmitter characteristics)
3. To study the position of synchro transmitter-receiver set and to plot the variation of
angular position of synchro receiver with synchro transmitter
APPARATUS REQUIRED:
Synchro transmitter-receiver set, patch chords, voltmeter
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THEORY:
The term synchro refers to an inductive device which works on the principle of rotating
transformer. A synchro system is formed by the inter connection of the device called the synchro
transmitter and the synchro control transformer. They are called as synchro pair. The synchro
pair measures and compares two angular displacements and its output voltage is approximately
linear with angular difference of axis of both the shafts.
The synchro transmitter consists of a stator and rotor. The stator is similar to the stator of a three
phase alternator with windings 120 degree apart. The rotor is of dumbell construction with a
single winding. A single phase ac excitation voltage is applied to rotor through slip rings. The
constructional feature of synchro control transformer is similar to that of synchro transmitter
except that its rotor is made cylindrical.
PROCEDURE:
1. Connect the main supply to the set. Switch on the main supply for the circuit. Energize
the rotor of transmitter. Starting from the zero position rotate the rotor of transmitter and
note the voltage Vs1s2.The angle at which Vs1s2 becomes zero is called electrical zero of
transmitter.
2. To plot the synchro transmitter characteristics note the voltage Vs1s2,Vs2s3,Vs3s1 for
one complete rotation of rotor. Plot the three voltages with respect to the rotor position.
3. To study the position of synchro-transmitter set connect the stators of transmitter and
receiver (clockwise mode and anticlockwise mode).as the rotor of transmitter is rotated
the receiver rotor also rotates. Note the angular positions of both transmitter and receiver
and plot the observation.
RESULTS:
The electrical zero of transmitter and receiver is ..The variation of synchro
transmitter stator voltage with rotor position is plotted. Also studied the variation of angular
position of synchro receiver with synchro transmitter.

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Advanced Engineering Lab

CONSTRUCTIONAL DIAGRAM:

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Advanced Engineering Lab

TABULAR COLUMN:
Electrical zero=..
Transmitter characteristics
Position
Sl.no

of

transmitter

Transmitter stator voltage

Vs1s2(V)

Vs2s3(V)

rotor(degrees)

Study of transmitter-receiver set

1.Clockwise mode
Transmitter position (deg)

Receiver position(deg)

2.Anticlockwise mode
Transmitter position(deg)

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Receiver position(deg)

Vs3s1(V)

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CHARACTERISTICS:

EXPERIMENT NO: 8
MATLAB 1

INTRODUCTION

MATLAB (matrix laboratory) developed by MathWorks is a high-level language and interactive

environment for numerical computation, visualization, and programming. MATLAB is used to
analyze data, develop algorithms, and create models and applications. The language, tools, and
built-in math functions enable you to explore multiple approaches and reach a solution faster
than with spreadsheets or traditional programming languages, such as C/C++ or Java. MATLAB
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can be used for a range of applications, including signal processing and communications, image
and video processing, control systems, test and measurement, computational finance, and
computational biology.

1. Write a MATLAB program to obtain the time and frequency response of first order
system with a time constant of 0.1ms.Obtain the time domain and frequency domain
specifications
Transfer function=1/(1+sT)
T=0.1s
TF=1/(1+0.1s)
>>num=[1]
>>den=[0.1 1]
>>g=tf(num,den)
Transfer function=
>>step(g)
Rise time=
Settling time=
Time constant=
>>bode(g)
[gm pm wcp wcg]=margin(s)
gm=
pm=
wcp=
wcg=
The given first order system is.......

% time response of the system

% frequency response of the system

2. Write a MATLAB program to obtain the time and frequency response of second order
system with natural frequency of oscillation as 25 rad/sec and damping ratio as
i.
10(overdamped)
ii.
1(critically damped)
iii.
0.1(under damped)
iv. 0(undamped)
v. -1(negative damping)
Obtain the time domain and frequency domain specifications.

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Advanced Engineering Lab

Transfer function = s 2+2 +

n
n
S

n=
25 rad/sec
i)

10(overdamped)

625
TF= 1+500 s+625
>>num=[ ]
>>den=[ ]
>>s1=tf(num,den)
>>step(s1)
Rise time=
Settling time=
Time constant=
>>bode(s1)
[gm pm wcp wcg]=margin(s)
gm=
pm=
wcp=
wcg=

% time response of the system

% frequency response of the system

ii) 1(critically damped)

iii)

625

TF= 1+50 s+625

>>num=[ ]
>>den=[ ]
>>s2=tf(num,den)
>>step(s2)
Rise time=
Settling time=
Time constant=
>>bode(s2)
[gm pm wcp wcg]=margin(s)
gm=
pm=
wcp=
wcg=

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% time response of the system

% frequency response of the system

Advanced Engineering Lab

iv) 0.1(under damped)

625
TF= 1+5 s+625
>>num=[ ]
>>den=[ ]
>>s3=tf(num,den)
>>step(s3)
Rise time=
Settling time=
Time constant=
>>bode(s3)
[gm pm wcp wcg]=margin(s)
gm=
pm=
wcp=
wcg=

% time response of the system

% frequency response of the system

v) 0(undamped)

625
TF= 1+0 s+625
>>num=[ ]
>>den=[ ]
>>s4=tf(num,den)
>>step(s4)
Rise time=
Settling time=
Time constant=
>>bode(s4)
[gm pm wcp wcg]=margin(s)
gm=
pm=
wcp=
wcg=

% time response of the system

% frequency response of the system

vi) -1 (negative damping)

625
TF= 150 s+ 625
>>num=[ ]
>>den=[ ]
>>s5=tf (num, den)
>>step (s5)
Dept. Of EEE, College Of Engineering, Thalassery

% time response of the system

Advanced Engineering Lab

Rise time=
Settling time=
Time constant=
>>bode(s5)
[gm pm wcp wcg]=margin(s)
gm=
pm=
wcp=
wcg=

3. A

unity

feedback

system

% frequency response of the system

has

open

loop

transfer

function

as

G(s)=8/

[s*(s+0.3)*(s+1)].Write a MATLAB program to obtain the bode plot and hence compute
the gain margin, phase margin, gain cross over frequency, and phase cross over
frequency. Also comment on the stability of the system.

1.

G ( s )=

8
s( s+0.3 )( s +1 )

>> num= [ ]
>>den= [ ]
>>g= tf (num,den)
Transfer function=
0r
>>s= tf(s);
>>g=8/(s*(s+2)*(s+1))
Transfer function=
>>bode(g)
>> [gm pm wcp wcg]= margin(g)
gm=
pm=
wcp=
wcg=

The given system is.......

4. Use MATLAB program to determine the range of K for stability of unity feedback system
whose open loop transfer function is G(s)=K/[s*(s+1)(s+2)]

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Advanced Engineering Lab

G ( s )=

K
s (s( s+2 )( s +1 ) )

Let K=1
>>s =tf(s);

>> h

1
s(s( s+2 )( s +1 ))

transfer function=
>>rlocus(h)
Value of gain K for which the system is stable is ........

5. By nyquist stability criteria determine the stability of closed loop system whose open
loop transfer function is given by G(s)H(s)=(s+2)/[(s+1)(s-1)].Use MATLAB program
Nyquist stability criterion
>>s =tf(s);
>> g=(s+2)/((s+1)*(s-1))
Transfer function=
>>nyquist(g)
The given system is .......

6. A unity feedback control system has open loop transfer function as G(s)=24/
[s*(s+2)*(s+4)].Design a lag compensator to satisfy the phase margin as 80 degrees.
Write a MATLAB program to obtain the transfer function of the compensated system.
Compare the bode plots of uncompensated and compensated systems
Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

G ( s )=

24
s( s+2 )( s +4 )

>>s =tf(s);
>>g= 24/(s*(s+2)*(s+4))
Transfer function=
>> [gm pm wcp wcg]= margin(g)
gm=
pm=
wcp=
wcg=
phase margin of uncompensated system is......
Design of lag compensator:desired phase margin

New phase margin

d = .
n= d

+ = 80+5=85

gcn
New gain cross over frequency =

New phase of G(j at

gcn
= gcn

n=180 + gcn
gcn=85180 =95
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Advanced Engineering Lab

gcn=

.......... rad/sec

At

gcn

gain

% from phase plot corresponding to gcn

A gcn

is ......

% gain corresponding to

gcn

from

magnitude plot
20 log= A gcn
= .

Therefore
gcn

10
1
=
T

T=.......
Pc=1/

T =

1
T
Gc ( s )=
1
s+
T
s+

There for Gc(s)=.........

% transfer function of lag compensator

>>num =[ ]
>>den =[ ]
>>h=tf(num,den)
>>Gc=g*h
>> [gm pm wcp wcg]= margin(Gc)
Dept. Of EEE, College Of Engineering, Thalassery

%transfer function of compensated system

Advanced Engineering Lab

gm=
pm=
wcp=
wcg=
phase margin of compensated system =........

7. A unity feedback control system has open loop transfer function as G(s)=K/
[s*(1+0.1s)*(0.2s+1)].Design a lag compensator to satisfy the phase margin as 40 degrees
and velocity error constant as 30.Write a MATLAB program to obtain the transfer
function of the compensated system. Compare the bode plots of uncompensated and
compensated systems
G ( s )=

K
s( 1+0.1 s )( 0.2 s+1 )

K v =lim s G ( s ) H (s)=lim s
s 0

s0

K
s( 1+ 0.1 s )( 0.2 s+ 1 ) = 30

K =30

G ( s )=

30
s( 1+0.1 s )( 0.2 s+1 )

>>s =tf(s);
>>g= 30/(s*(s+2)*(s+4))
Transfer function=
>> [gm pm wcp wcg]= margin(g)
Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

gm=
pm=
wcp=
wcg=
phase margin of uncompensated system is......
Design of lag compensator:-

d =40

desired phase margin

n= d

New phase margin

+ = 40+5=45

gcn
New gain cross over frequency =

New phase of G(j at

gcn
= gcn

n=180 + gcn
gcn=40180 =135
gcn=

.......... rad/sec

At

gcn

gain

% from phase plot corresponding to gcn

A gcn

is ......

magnitude plot
20 log= A gcn
Dept. Of EEE, College Of Engineering, Thalassery

% gain corresponding to

gcn

from

Advanced Engineering Lab

Therefore

= .

gcn

10
1
=
T

T=.......
Pc=1/

T =

1
T
Gc ( s )=
1
s+
T
s+

There for Gc(s)=.........

% transfer function of lag compensator

>>num =[ ]
>>den =[ ]
>>h=tf(num,den)
>>Gc=g*h

%transfer function of compensated system

Transfer function=
>> [gm pm wcp wcg]= margin(Gc)
gm=
pm=
wcp=
wcg=
phase margin of compensated system=........

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

8. A unity feedback control system has open loop transfer function as G(s)=4/
[s*(1+2s)].Design a lead compensator to satisfy the phase margin as 40 degrees. Write a
MATLAB program to obtain the transfer function of the compensated system. Compare
the bode plots of uncompensated and compensated systems
G ( s )=

4
s ( 1+2 s )

>>num= [ ]
>>den= [ ]
>>g= tf(num,den)
Transfer function=
>>bode(g)
>>[gm pm wcp wcg]= margin(g)
gm=
pm=
wcp=
wcg=
phase margin of uncompensated system =.......
Design of lead compensator:desired phase margin

m = d a

d =40

+ = 40+5=

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Advanced Engineering Lab

1sin m
= ..
1+ sin m

dB magnitude corresponding to

m=20 log 1 / =.........

m corresponding to dB magnitude =.............

% from magnitude plot of uncompensated

system

T=

1
m

= .

Pc=1/ T =
1
T
Gc ( s )=
1
s+
T
s+

There for Gc(s)=.........

% transfer function of lead compensator

>>num= [ ]
>>den= [ ]
>>h= tf(num,den)
Transfer function=
>>Gc=g*h

%transfer function of compensated system

Transfer function=
>>bode(Gc)

>>[gm pm wcp wcg]= margin(Gc)

gm=

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

pm=
wcp=
wcg=
phase margin of compensated system is...........

EXPERIMENT NO: 9
MATLAB II
INTRODUCTION
Simulink, developed by MathWorks, is a data flow graphical programming language tool for
modeling, simulating and analyzing multidomain dynamic systems. Its primary interface is
a graphical block diagramming tool and a customizable set of block libraries. It offers tight
integration with the rest of theMATLAB environment and can either drive MATLAB or be
scripted from it. Simulink is widely used in control theory and digital signal processing for
multidomain simulation and Model-Based Design

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

1. Represent the transfer function and state space model of armature controlled dc motor
and field controlled dc motor in block diagram. Hence obtain the speed and current
profile for an input of 100 V using SIMULINK. Also find the frequency response in each
case. Use the following data.
Armature resistance=0.05 ohm
Armature Inductance= 0.2 mH
Torque constant=0.2Nm/A
Field resistance=50 ohms
Field inductance = 1 H
Moment of inertia of motor =0.1Kgm2/rad
Frictional coefficient=0.2Nm/rad/sec

2. An isolated system has the following parameter

Turbine time constant= Tt=0.5ms
Governor time constant Tg=0.2ms
Load inertia constant=H=5 sec
Governor speed regulation=0.4
a) The load varies by 0.8% for a 1 % change in frequency that is 0.8. The turbine related
output is 250MW at normal frequency of 50 Hz. A sudden load change of 50 MW
(APL=0.2pu) occurs. Construct a simulink block diagram and obtain frequency
deviation response. Find steady state deviation.
b) The LFC system is equipped with the secondary integral controller loop for automatic
generation control. Set integral controller gain to Ki=7. Construct the simulink block
diagram and obtain the frequency deviation.

RESULTS:
Represented the transfer function of armature controlled DC motor with block
diagram. Obtained the current and speed profile of 100V using simulink.

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

Obtained the response of an isolated system with LFC with and without the PI
controller.

EXPERIMENT NO: 10
TRANSFER FUNCTION OF A DC MOTOR

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

AIM:
To obtain the transfer function of the given DC shunt motor under constant field
excitation.
THEORY:
The major phenomenon influencing the steady state and transient performance of a DC
motor are :
1) The rise and fall of armature and field currents and the electromagnetic interaction
between these circuits .
2) The electromechanical behavior of the rotational system characterized by moment of
inertia , friction and damping (due to mechanical and core losses , load torque etc. )
For constant filed excitation , the control input is the armature supply and output is
the speed. Let Ra ,La be the armature resistance and inductance. E b be the back emf
developed. Let T be the torque developed by the motor , W be the effective moment of
inertia and damping of the rotating system. The armature input voltage at any time,
V= RaIa (t) + La d ia /dt (t) + Eb(t) ---------------------- (1)

But , Eb (t) = Kb w(t)

Taking laplace transform,
V(s) = (Ra+s La ) Ia(s) + Kb s w(s) -------------------- (2)
The torque developed is proportional to flux and armature current ie . T Ia
T = Kt Ia
T = Kt Ia(s) ------------------------------ (3)
The torque developed is balanced by relation offered by rotating system .
T ( t )=J

Dept. Of EEE, College Of Engineering, Thalassery

dw
+ B(t )
dt

Advanced Engineering Lab

T ( s )= ( Js+ B ) ( s )

------------------ (4)

Equating (3) and (4)

K t I a ( s ) =( Js +B ) ( s )
(s)
Kt
=
V (s) BRa ( 1+ sTa ) ( 1+ sTm ) + KbKt

Where , Ta =

La
Ra , Tm =

J
B

Kt

and K = BRa

There are 2 gain constants Kb and Kt .Both corresponds to constant field excitation and have the
same numerical value.
P=Eb Ia but Eb=K b
ie. P=Kb Ia
P/ = KbIa -------------------------------- (5)
But , P/ = T and T =KtIa --------------------------------- (6)
From (5) and (6)
K b Ia=Kt Ia

ie . Kb = Kt

The coefficient is obtained by conducting a no load test keeping the field current constant and
varying the voltage applied to the armature over a wide range so as to run the machine at rated

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

spped down to 20 % of rated spped . Eb v/s characteristics is a straight line through the
origin , slope of which given Kb.
To evaluate B , plot P/ v/s where P is the power input to the armature . To evaluate J ,
retardation test is conducted at no load. Keeping the field excitation constant as before .
During the deceleration

d
+ B+ A=0
dt

J =(A + B) /(

dw
=( 1 2)/(t 2t 1)
dt

d
)
dt

from retardation test .

During acceleration there is no developed torque. Constant A is the virtual load torque and is
neglected in the derivation of TF.
PROCEDURE:
(A) To find Ra :
Set up the circuit as shown in figure. Switch on the supply with rheostat in maximum
position. Now by varying the rheostat, note down the voltage and current readings.
(B) To find Z :
Set up the circuit as shown in figure. Switch on the supply with the rheostat in the maximum
position. Varying the rheostat and note down the voltage and current readings.
La = Z 2Ra2
La= Z2 Ra2 /
(C) No load and retardation test

Dept. Of EEE, College Of Engineering, Thalassery

Advanced Engineering Lab

Do the connections as per the circuit diagram. Keeping switch S closed, the field rheostat in
the minimum position and the armature rheostat in the maximum position. Swich on the supply.
Motor is started by cutting out the armature rheostat. Then the field rheostat is varied to get rated
spped. The readings of armature rheostat, the speed is reduced and the motor readings are noted.

RESULTS:
The transfer function of a given dc shunt motor under constant field excitation is obtained.

Dept. Of EEE, College Of Engineering, Thalassery