EE208 Lab Manual

Manual for Experiments on
CONTROL ENGINEERING LABORATORY
(Course Material for EE208)
Content
s
1. Dynamic response of transfer functions on MATLAB platform.
2. Dynamic response studies on a V/f controlled induction motor drive.
3. Controller design on MATLAB platform using analog root loci.
4. Position control by a servomotor actuator.
5. Controller design on MATLAB platform by analog frequency response.
6. Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.
7. Controller design on MATLAB platform using discrete root loci.
8. Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.

9. Controller design on MATLAB platform by discrete frequency response.
10. Performance of a stepper motor as servo and drive

actuator.
11. State feedback controller design on MATLAB platform.
12. Simulation and control design on Simulink as a CAD interface to MATLAB.

Experiment 1
Dynamic response of transfer functions on MATLAB

platform.
Background
:
The most fundamental and time tested approach to design and analysis in the broad technology discipline
of systems and control, happens to be in terms of system output dynamics over time in response to
standard inputs.
In case of strictly linear systems, such studies can be conveniently conducted in terms of transfer
functions o r transfer matrix ( depending on whether the system is SISO or MIMO, respectively), either in
analog or digital domain.
Further, by theoretical background we know that several useful design and analytical performance
measures have evolved from dynamic response concepts, such as peak overshoot, peak time, delay time,
settling time, etc.
Objective:
The project requires analysis and discussion of dynamic response of a given linear analog system in terms
of different performance measures.
Tutorial: (to be covered in not more than an hour)
In the MATLAB platform, go through the procedural steps as described for:
• Control system modeling with model objects:

https://www.mathworks.com/help/control/ug/control-system-modeling-with-model-objects.html
• Connecting models:
https://www.mathworks.com/help/control/examples/connecting-models.html
• Creating discrete-time models:

https://www.mathworks.com/help/control/examples/creating-discrete-time-models.htm
l
Elements of the software for familiarisation:
a. Models: Continuous-time zero/pole/gain model; sample time;

discrete-time transfer function.
b. Functions: append, connect, feedback, frd, grid, isdt, parallel, pid, series, ss, step,
stepplot, sumblk, tf, zpk.
c. Precedence rule: frd > ss > zpk > tf > pid.
Project: (to be covered in about two lab hours or with additional study hours, if required.)
The second order analog OLTF (which has no zeros) of an oven temperature system is provided, for
which a given PD controller is to be considered in (a) cascade, and (b) feedback.
Note that in either configuration of the controller, the CL root loci are identical. However, their step
response is always different for the two cases of (a) and (b) !
For observations and

discussions:
Complete a comparison table using the step responses of (a) and (b) including
• the percentage overshoot,

• the time to first peak,
• the settling time, and
• the steady-state error.
Comment on the results, and explain the reason for the differences in the response.
If the OL gain of the oven temperature OLTF is prone to variation, investigate the effect of this on the
four quantities listed above.
You are expected to draw as detailed conclusions as possible, but all in terms of the step response.
Experiment 2
Dynamic response studies on a V/f controlled induction motor

drive.
Background
:
The control systems categorised as electric drives a re essentially combination of a motor, a driving power
electronic converter, and control system blocks dedicated to the latter. The motivation to develop and use
such systems have evolved out of the fact that any motor has some “default” characteristic torque/speed
variation as decided by its electromagnetics, and these are not always satisfactory for all applications. The
power electronic converter allows us to manipulate the input electrical variables (voltage, current),
thereby resulting in modified (hopefully, for the better in some way !) torque/speed variations.
The above is however easier said than done, and during the course of a drive development, various
nonlinearities and linearities may have to be accommodated - sometimes eliminated and, on occasions,
deliberately included to achieve some performance feature. As the overall system becomes complicated,
the dominant dynamics of the combination can change in unexpected ways - again sometimes by
intention, and at others without !1
As a bit of thought will show you, in practically all examples of electric drives, the response of speed to
electrical output of the converter ( voltage or current) becomes one of the most dominant dynamics. The
reason is partly due to the fact that this is usually the slowest of all dynamics, and sustains for the longest
time. Second, while it is invariably decided by the rotor inertia, other electromagnetic nonlinearities affect
it seriously. Eddy current damping in the rotor core, and core saturation are two such effects.
In the present experiment, we study a very common form of drive that works on three phase induction
motors - the so called V/f control. Revisiting the equivalent circuit of the three phase induction motor,
note that the stator back emf per phase is proportionate to a product of flux per pole and frequency. If the
stator series branch is of relatively low impedance (as is a common design practice for motors of high
efficiency), then at constant flux this amounts to maintaining the terminal voltage proportionate to the
stator frequency.
The commercial Siemens SINAMICS V20 d rive provided to us creates a DC power source by rectifying a
single phase AC (diode based full bridge rectifier), with electrolytic capacitors (internal - these parts are
enclosed and not available to you) to stabilise the DC bus voltage. The DC bus feeds power to a three
phase inverter, whose output three phase AC voltage and frequency can be controlled as
• Constant V/f (up to rated output voltage Vmax) so as to maintain the core flux just at the “knee point” of
the saturation curve.
• Constant output voltage (once Vmax is reached) The specs for the overall drive are: input
230VAC , 50Hz , output 3 Phase 0-230VAC, 0-50Hz.
The motor connected is rated at 0.5hp, 1440rpm, three phase, 230VAC, 50Hz, 1.7A. On its shaft you will
observe an electromagnetic proximity sensor that feeds an electrical signal proportionate to the shaft speed
to the drive controller, so that you get to see the rpm on a panel display.
1
For those interested, you have a complete elective course on the subject of electric drives that is made available to you at an
appropriate
semester.
1
Objective:
a. To study various aspects of steady state performance by the Siemens V20 V/f drive on a three phase
o evaluate the dominant speed time constant under different steady state V/f
induction motor. b. T
operating points of the
drive.
Tutorial:
You will get many application websites on this drive, but the basic one is:
https://www.industry.usa.siemens.com/drives/us/en/electric-drives/ac-drives/standard-drives/
Sinamics-v20/pages/v20.aspx
Project
:
Objective
“a”:
General instructions: ◆ Provide the required single phase 230V AC , 50Hz power supply to the panel .
◆ Before starting the operation of AC drive trainer make sure that initial settings are done on VFD (the
VFD is Siemens’ commercial name for the Voltage-Frequency-Display).
◆ Power on the mains, the AC drive, and the rpm indicator.
Operations for the Manual mode: ◆ To operate the motor in Hand mode (which is a manual control
mode), long press both multifunction (M) and OK keys simultaneously for more than about 2s. The
symbol of a hand will be displayed on the screen, indicating the Hand m ode. ◆ If the same keys (M and
OK) are pressed longer than required by the Hand mode, the drive enters the Jog mode, which is
indicated by a blinking hand symbol. In the Jog mode, start and stop function as usual, but the motor
always works at a constant inverter frequency (hence, synchronous speed). ◆ Long press (more than
about 2s) the multifunction (M) button to get out of the setting t o home
screen at any point. ◆ The green (1) and red (0) buttons on the VFD can be used to respectively start
and stop the motor at
any time. ◆ The frequency (hence synchronous speed) can be raised or lowered respectively by the
UP and
DOWN keys on the
VFD.
Short press (less than 2s) the multifunction (M) button to flip
Operations for the Automatic mode: ◆
between sequentially appearing
successive screens or the settings screens. ◆ Settings can be navigated through by the UP and
DOWN keys. ◆ Long press (more than 2s) the multifunction (M) button to reach the Home s creen. A
second long press (more than 10s) takes you to the Cn007 macro, which decides operation in Automatic
Under Cn007 macro, move to option setting P1000.
mode. ◆
• Setting P1000 to “2” allows the option of continuous frequency control (hence synchronous
speed control) by the potentiometer knob provided.
2
• Setting P1000 to “10” allows the option of manual frequency control ( hence synchronous speed
control) as in the Manual m ode described above.
• Setting P1000 to “12” allows a choice of options between continuous frequency control a nd manual
frequency c ontrol (synchronous speed control accordingly). In this setting, control by the potentiometer
knob provided has a high priority over the latter. If the potentiometer is set to zero, the control
automatically becomes as described for Manual. ◆ The settings screens can be exited by long pressing
the multifunction (M) button. ◆ Once out of the settings,
◆ Switch D1 can be used to start or stop the motor drive, and ◆ Switch D2 can be used to
choose forward rotation, and D3 for reverse rotation. (Before changing between D2 and D3,
always make sure that D1 is off, that is, the motor should not be running.)
Objective “b”:
We now evaluate the dominant first order time constant of the drive/motor under different settings of the
inverter output frequency (recall that V/f control is in operation as described at the end of the Background
section).
• In Automatic mode (Cn007 macro settings), set P1000 to “2” (continuous frequency control).
• With D1 off, switch D2 or D3 to choose motor direction.
• Set the potentiometer at some value of inverter frequency.
• Turn on D1. As the motor attains the expected steady speed, record different values of speed attained at
different instances from D1 switching (use the timer or stopwatch on your mobile for the timing). To get
the complete response you may have to repeat this process several times.
• Obtain the effective time constant f or the step startup of speed from the complete response recorded.
• Note that while the dominant dynamics are always first order (maybe second order sometimes !), the
time constants at each frequency setting (V/f in operation) need not be the same !

discussions:
Objective
“a”:
For each direction of rotation, tabulate: i. Inverter frequency ii. Inverter voltage (recall V/f is in effect) iii.
Internal DC link voltage (ideally this should be constant between the rectifier and inverter, but is it ?) iv.
Inverter current (since the motor shaft is not loaded, the inverter only feeds the free running current to
the motor, which should again be ideally constant and negligible).
Your discussion and comments should be in terms of the non-idealities observed and the internal aspects
of the drive and motor that affect the results tabulated.
Objective “b”:
For each direction of rotation, inverter frequency a nd inverter voltage ( V/f i s in effect), tabulate the
dominant time constant (or time constants) for speed dynamics.
3
Discuss the internal linearities and nonlinearities that affect the response. Further to be noted and
discussed is the effect of different voltage-frequency s ettings as per V/f.
4
Experiment 3
Controller design on MATLAB platform using analog root

loci.
Background
:
We have had ample briefing on CL pole plots in the theory course particularly in the context of time
domain control designs, so not much remains to be said about the concepts involved.
Here we first examine the power of MATLAB in implementation of the technique, followed by a realistic
project on the same.
Objective:
The project requires design of a cascade feedback controller for a given analog transfer function,
according to desired specifications.
A sensitivity analysis for variation of key parameters is further required.
• Root locus design: h ttps://www.mathworks.com/help/control/ug/root-locus-design.html
a. App: controlSystemDesigner('rlocus',* )
b. Functions/keywords: r locus; rlocusplot; getoptions;setoptions; sgrid; plotoptions; tf; zpk.
The specified third order analog OLTF is to be fitted with a PID controller to realise given specifications
for a second order CLTF.
Once the system is automated however, it is found that each of the parameters in the denominator
polynomial are prone to variation up to !20% of the original values.

discussions:
By detailed root locus studies and results tabulated therefrom, analyse and discuss the impact of the
parameter variations (considered one at a time) on the CLTF behaviour.
5
Your discussions should involve actual real time performance such as overshoot,
underdamping/overdamping, settling, etc. (not simply a statement in terms of CL poles and zeros.) The
interpretations in terms of CL poles a re more important than the poles themselves !
6
Experiment 4
Position control by a servomotor

actuator.
Background
:
A servomotor is a closed-loop position controller t hat uses position feedback to control its motion
and final position. The input to its control is a signal (either analog or digital) representing the
position reference f or the output shaft.
The motor is paired with some type of encoder to sense position and speed for feedback. In the
simplest case, only the position is measured. The measured position o f the output is compared to the
position reference ( can be for regulation o r tracking applications). As the two position values
approach each other, the error signal reduces to zero and the motor stops.
The very simplest servomotors use position-only sensing via a potentiometer and bang-bang
control2 of

their motor; the motor either rotates at rated speed to realise a change, or is stopped. This
type of servomotor is not widely used in industrial motion control, but it forms the basis of the
simple and cheap servos used for radio-controlled models.
More sophisticated servomotors use optical rotary encoders t o measure the speed of the output shaft
and a variable-speed drive. Both augmentations, usually in combination with a PID control
algorithm, allow the servomotor to follow position reference i n lesser response time and with greater
precision.
Objective:
Performance evaluation of a Mitsubishi 230V AC servomotor, controlled by the Mitsubishi MR-JE-40AS

servo controller.
Tutorial:
For those interested, details of the controller are available as:

https://dl.mitsubishielectric.com/dl/fa/document/manual/servo/sh030128/sh030128j.pdf
Project
:
1. Power on the system. 2. Turn on the 24V power supply to the graphic operation controller by the
ON switch. 3. Power the servomotor the MOTOR ON switch. Position Control will be displayed on
the human
machine interface
screen.
2
The term bang-bang control refers to a simple ON/OFF type control that switches depending on whether the output error is
positive or negative. Very cheap to implement, the control is found to be useful in a large range of not-so-sensitive applications.
7
4. Press right arrow (t) to go to next screen. Screen 2 will be displayed where we can set
Servomotor speed b y using function keys (F1-F5) followed by Enter (↵ ) key. The value of speed as
sensed by the photoelectric sensor will be displayed on the same screen. 5. Direction of servo motor
will be decided by FWD/F2 and REV/F4 keys. 6. K1-K8 keys are used as ‘FUNCTION KEYS’as
well as ‘ACTION DISPLAY KEYS’.
Specifically, the motor can be stopped by K3 key. 7. Before using position mode always
execute homing operation by K5 key. 8. Once the homing is done press right arrow ( t) key to go to
Screen 3 (Position screen). The position reference, as well as the current position as sensed are
displayed on this screen. will find set angle as well as current angular position. We may set the
position reference b y function keys (F1-F5) and press Enter ( ↵ ) key. 9. Press K4 key to enable
position mode. Direction of rotation can be selected by F2 (FWD) and
F4 (REV) keys. 10. (Turn off all switches once
the study is complete.)
he speed limit and position limit of this servomotor are set at 2000 rpm a nd 360o ,
Precautions: T
respectively
.

discussions:
• In Screen 2, set different values of reference speed ( within the specified limit), run the servomotor, and
record the sensed value of servomotor speed by the bang-bang control implemented. Discuss and explain
the percentage error trend that is observed across the range permissible.
• In Screen 3, set different values of reference p osition (within the specified limit), run the servomotor,
and record the sensed value of servomotor position b y the bang-bang control implemented. (Remember to
precede each experiment by the homing as mentioned in #7 above.) Discuss and explain the percentage
error trend that is observed across the range permissible.
• Discuss why it becomes essential to stay within the speed and position limits mentioned in the
precautions as above.
8
Experiment 5
Controller design on MATLAB platform by analog frequency response.
Background
:
Check out the advantages of bandwidth b ased frequency domain designs, as covered in your lecture
course !
A problem of medical origin is presented below, where you need to decide external control for patients
with respiratory issues.
Objective:
The project requires design of a cascade ventilator transfer function f or a given analog respiratory system
transfer function, according to desired specifications provided.

• Frequency-Domain Characteristics on Response Plots:

https://www.mathworks.com/help/control/ug/system-characteristics-on-response-plots.htm
l
• Frequency response of a SISO system:

https://www.mathworks.com/help/control/ug/frequency-response-of-a-siso-system.htm
l
• Frequency response of a MIMO system:

https://www.mathworks.com/help/control/ug/frequency-response-of-a-mimo-system.htm
l
a. Functions/keywords: b ode; bodeoptions; bodeplot; freqresp; sigma; sigmaplot; tf; zpk.
b. Tools: P
lot customization:
https://www.mathworks.com/help/control/analysis-plot-customization.html
A respiratory ventilator is to be designed as a cascade controller to the human respiratory system. The
OLTF of this system has the analog first order transfer function of the lungs ( to be provided), cascaded to
the third order transfer function of blood circulation ( to be provided), the output of which is the
carbon-dioxide concentration in blood vessels. Chemoreceptors i n the human brain sense the
carbon-dioxide concentration and provide a feedback to the brain to motor control ventilation to the
9
lungs. The chemoreceptors s erve as a simple gain block (to be provided) for the sensing action in the
feedback path.
• For the typical value of chemoreceptor gain provided, obtain the gain and phase margin of the system.
• An endocrinal problem in the patient may lead to flawed chemoreceptors that may change the typical
feedback gain (provided, as above) up to ten times in the worst case !
• An asthmatic patient may, on the other hand, have the time constant of lungs i ncreased by up to a factor
of ten in the worst case !
In all cases, the ventilator should maintain a phase margin of 45o for

the system CLTF.

discussions:
Design the cascaded ventilator transfer function (placed before the lungs, of course !) that will take care of
the above medical requirements.
Note that while the ventilator transfer function must be “as simple as possible”, you are not provided any
leads ! That is, you need to begin by choosing the number of poles and zeros, and may even have to
change your choice down the line.
Record and discuss the various aspects that affect the design, and how you handle them through frequency
response studies.
1
0
Experiment 6 & 8
Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.
Background
:
In both Expts. 6 and 8, we set Proportional (P), Proportional-Integral (PI), and
Proportional-Integral-Derivative (PID) controllers for given thermal systems using Ziegler-Nichols
tuning rules. The performance of the systems with the controllers designed by you, is compared against
automated setting of corresponding controllers by the implemented Fuji Electric’s PXF 5/9
Microcontrol X.
Of the two experiments, Expt. 6 uses a very slow oven provided with a heater and an RTD thermal
sensor of temperature, whose output is used as a feedback signal for the P/PI/PID. The response of the
oven in Expt. 8 is comparatively rapid, though both are first order systems (recall the
heater/tempereature-sensor based furnace problem we did in the theory course ?).
The PLC based Microcontrol X can be set by us using buttons provided on the front panel of the
controller block. But we have a better option in these experiments !
In each experiment, the Fuji Microcontrol X is connectable to Siemens SIMATIC V15 SCADA3
software running in real time on an appropriate host computer. The two are linked through a
commonplace RS 485 interface (MODBUS-RTU protocol), which allows you both a feel as well as the
convenience of real time computerised data acquisition - the way most industries do today.
Some notable points regarding the apparatus for both experiments, before we begin the work:
1. The feedback controller operates on the furnace through a heater (and no cooler). Therefore, the
P/PI/PID is only operational when the set point ( SV: what in theory we refer to as the reference signal) is
higher than the process variable (PV: the output temperature as sensed by the RTD, and fed back to the
. If the SV is set to a value less than the PV, the Microcontrol X actually turns off, and a fan
controller. 2
provided on the oven turns on. It remains operational until the PV drops to the SV once again, when the
Microcontrol X action on the heater becomes operational again. 3 . When the SCADA is connected to the
controller (as it is in all your experiments), the settings you make on the SCADA panel are automatically
updated in the Fuji controller, that is, the SCADA has a higher priority to settings you separately make on
the Fuji controller. Similarly, PV sensed by the Fuji controller is automatically updated on the SCADA
screen, that is, sensed variables from the controller have a higher priority to those on the SCADA panel.
4. The controller constants the that you set on the SCADA screen, and variables that are displayed on it
are all analog. Since the control is actually digital, the conversion of all numbers to equivalent digital ones
is always kept internal to commercial controllers. This is partly to maintain confidentiality of design, and
partly to make the operation robust against inadvertent tampering. 5. Finally, since a SCADA system
always plots real-time signals, remember that the time always increases to the left of the axis ! That is, the
current instant of all plots (at the extreme left) is always higher than all previous instances.
3
SCADA: System Control And Data Acquisition; one of the well accepted platform types for real time implementation of
digital control
worldwide.
1
1
Tutorial:
Check out the following webpages to help you with understanding the commercial products involved in
the experiment:
• https://www.instrumart.com/assets/PXF5-PXF9-manual.pdf
• https://support.industry.siemens.com/cs/document/109752566/
simatic-step-7-and-wincc-v15-trial-download-?dti=0&lc=en-WW
• https://www.automationdirect.com/adc/overview/catalog/process_control_-a-_measurement/
temperature_sensors_-a-_transmitters/rtd_(pt100)_sensors
Project
:
Since the ovens are all hooked up in closed loop (and you are not allowed to open the loops !) We will
find an alternate way to obtain the system time constants.
• On the SCADA screen, set the proportional constant to a very low value, with the other two constants
set to zero.
• For the set value of KP ( known, of course), derive the CLTF of a first order system with OL gain of unity
(only the time constant should be unknown).
• Apply a step change to SV, and record different values of PV as time progresses, until the two become
equal.
• From the first order response of the CLTF with known KP , compute the oven system time constant.
• Repeat for a few different KP settings, to get multiple estimates of the oven time constant, and obtain an
average from all step change experiments.
Knowing the first order time constant, obtain the parameters (SS gain, delay, and lag) for a lag transfer
function in the usual ZN open-loop tuning process for lag systems.
Hence by ZN rules, obtain the gains for P, PI, and PID controllers. Tabulate your ZN designs.
With your designed controllers in place (programming them through SCADA panel in Man mode) create
CL controls for the oven. Study the steady state error, and settling time (select the percent) for different
step changes of SV.
To have the controller gains set by automated computation internal to the controller, change Man to Auto
on the SCADA panel. This change takes the designed controllers out of the CL, and inserts the control
constants as computed internally. Once again, study the steady state error, and settling time (select the
percent) for same step changes of SV as used earlier.

discussions:
For both experiments, tabulate your Ziegler-Nichols controller designs. Discuss the performance of the
oven with the controllers in place, comparing the performance with that of the controllers internally
computed.
Discuss various practical aspects of the results, and factors that you observe for both problems.
1
2
1
3
Experiment
7
Controller design on MATLAB platform using discrete root loci.
Background
:
Recall that by the nature of magnitude a nd phase angle relations t hat apply to CL characteristic equations,
the CL poles follow similar trends with gain variations regardless of the domain being analog or digital.
an and constant-
There interpretation in the two domains differ, essentially because the constant ω ζ lines
differ between them.
Precisely due to this reason, the functions relevant to the present experiment are mostly the same as those
for Expt. 5; the only difference being between the use of zgrid and sgrid, that allows the difference in
interpretations.
Objective:
This project therefore requires design of a cascade feedback controller for a given digital transfer function,
according to desired specifications.
A sensitivity analysis for variation of key parameters is further required.
(The key to the experiment is obviously: correct interpretation of the plots , which is considerably more
involved in the present case !)
• Root locus design: h ttps://www.mathworks.com/help/control/ug/root-locus-design.html
a. App: controlSystemDesigner('rlocus',* )
b. Functions/keywords: r locus; rlocusplot; getoptions;setoptions; zgrid; plotoptions; tf; zpk.
The OLTF of a digital system under study has three marginally stable poles, that is, certain frequencies at
which sustained oscillations a re expected.
1
4
Investigate how the frequencies of sustained oscillations may be changed in CL, by modifying the
location of OL zeros.

discussions:
Obviously we need to study the problem with reference to the default values of OL zeros, which may be
located within or outside the unit circle !
Keep a check on the gain by which you close the OLTF to realise the CLTF, though our focus is only on
the sustained oscillation frequencies.
Needless to say, all your discussions and conclusions should be in terms of normalised frequencies, since
the sampling time is not provided.
1
5
Experiment 9
Controller design on MATLAB platform by discrete frequency

response.
Background
:
Frequency response plots in MATLAB have no fundamental difference of usage between the analog and
digital domains. Once the transfer function is defined in terms of three parameters (numerator coefficients
array, denominator coefficients array, time step), it is automatically taken to be a digital one by virtue of
the third parameter. Once this is done, a frequency response functions always yield digital domain plots of
the main band with the Nyquist sampling frequency marked at the band limit.
In Expt. 5, an analog system controller was designed for a stated phase margin requirement. In the present
experiment we check out the impact of gain and sampling time on digital gain and phase margins..
Objective:
The given digital OLTF is closed through negative feedback of different gains, examining the
consequences on gain and phase margins.
Sensitivity to the choice of sampling time is additionally examined for the design procedure.
• Frequency-Domain Characteristics on Response Plots:

https://www.mathworks.com/help/control/ug/system-characteristics-on-response-plots.htm
l
• Frequency response of a SISO system:

https://www.mathworks.com/help/control/ug/frequency-response-of-a-siso-system.htm
l
• Creating Discrete-Time Models:

https://in.mathworks.com/help/control/examples/creating-discrete-time-models.html
a. Functions/keywords: b ode; bodeoptions; bodeplot; freqresp; sigma; sigmaplot; tf; zpk.
b. Tools: P
lot customization:
https://www.mathworks.com/help/control/analysis-plot-customization.html
1
6
The digital OLTF of a furnace model, inclusive of a first order actuator, is provided. The furnace output
can be fed back to the actuator input with different positive integer gains i n the feedback loop.
Study in detail the variation of gain and phase margin a s the control is implemented as above.
The nominal sampling time for the system is 0.01s.

discussions:
Record and discuss the proximity to instability as the furnace is operated with different feedback gain
settings.
For different feedback gain values that you consider, how are the margins (hence stability) affected by the
choice of sampling time.
1
7
Experiment
10
Performance of a stepper motor as servo and drive

actuator.
Background
:
When the electric motor is used as an actuator ( generator of a control output - the signal u in a control
system), the control output is either in the form of rotary position o r in the form of a rotary speed.
Accordingly, the motor is said to be employed as a servo or a drive actuator, respectively.4
Stepper motors (which were originally developed by some German engineers around the time of WW-II),
are totally tailored to servo applications, in the sense that they digitise the position t hat is to be controlled.
Generally slow devices in terms of speed, their performance may not be as good as drive motors in terms
of acceleration, deceleration - certain designs may be incapable of operating at all speeds !
There are two fundamental designs of stepper motors, though hybrids of the two are popular with various
manufacturers:
1. Variable reluctance structures have some integer number Ns e qually spaced salient poles on the stator,
each provided with an identical DC excitation winding. The rotor (typically low speeds of operation) has
some Nr s alient poles (not the same as Ns), but without any winding or magnet on them. As each pole
winding is excited with DC current sequentially, the rotor pole that is nearest to an excited stator pole
aligns with it due to reluctance torque. With the sequential excitation continuing over time (may or may
not be at uniform speed), each rotor pole a t some position or the other aligns with each stator pole, that is,
. Permanent magnet structures h ave a stator similar to the
we have Ns x Nr s teps over 360o rotation. 2
above, but a cylindrical rotor (typically high speeds of operation) with Nr p ermanent magnet poles on rotor
- Nr o bviously as an even number by necessity. Once again, we realise Ns x Nr s teps over 360o rotation.
4
While it is obvious that all motors must physically be associate with both variables: speed a nd angle; they differ by design
according to the actuator signal o f interest. Thus motors intended for servo applications ( eg. control of valve openings, robot
joints, etc.) are designed for accurate positioning of the rotor but with lesser perfection in terms of running performance. Motors
designed for drive applications (eg. pumps, mill rollers, etc.) are better designed for continuous run, acceleration/deceleration,
etc. with practically no check on positions of rest !
1
8
For both cases above, as well as for derived hybrid structures, the angle θs =
360o/(Ns .Nr)
represents the
discretisation of position, and is defined as the step angle o f the motor.
In this experiment we are provided with a 1.8o stepper motor, complete with controlling IC’s in the form
of a study kit. Precise specifications are as follows:
▪ Permanent magnet DC stepper motor with two phase bifilar5 wound stator.
▪ Step angle : 1.8° ±5% non-cumulative.
▪ S teps/revolutions: 200.
(Check out the interpretation of the specification terms that are in italics.)
Objective:
Performance evaluation of a 1.8o stepper motor for servo and drive operations.
Tutorial:
For better feel of the operation of steppers, you may visit several of the available websites, such as:
• https://www.engineersgarage.com/articles/stepper-motors, or
• https://www.elprocus.com/stepper-motor-types-advantages-applications/.
Project
:
Servo operation:
1. Set the switch SW3 to Step. 2. Power on the setup. 3. Position the Mode switch to Automatic. Press the RESET
nter the number of steps intended for the servo to travel by pressing UP button (the number increases
button. 4. E
progressively, and decides the total steps that the rotor can be pulsed to travel before it becomes stationary. 5.
Position the Mode switch to Manual. 6. P ulse the motor to step ahead by repeatedly pressing CN1. 7. O bserve the
rotation in forward direction by the number of steps programmed, before the rotor stops altogether. 8. S et the Mode
switch to Automatic. Press the RESET button. 9. E nter the negative number of steps b y pressing DOWN button.
10. P osition the Mode switch to Manual. 11. P ulse the motor by CN1 and observe the motor stepping in reverse
direction up to number of steps
programmed
.
The switching sequence of the stator phases (as indicated by the blinking LED’s U3-U1-U2-U4 provided
at the head of the kit) is as follows:6
5
inding on a stator pole is a combo of two windings intertwined o n each pole; the two connected in a manner so as to
A bifilar w
carry current in opposite direction. This allows rapid switch between north and south oriented flux at each pole: something that
can be an asset to stepper operation, which is always required to be as fast as possible. 6 The above switching sequence/logic will
move shaft in forward direction. For reverse direction, read the table upward.
1
9
Drive operation:
1. Set the switch SW3 to Free Run. 2. Set the switch SW1 to clockwise o r anti-clockwise d irection. 3 . Power
osition the Mode switch to Manual. Press the RESET button. 5. T
on the setup. 4. P he speed control
potentiometer (look for a knob provided) can be used to run the motor as a drive by fast
changing excitation of stator
windings.

discussions:
Servo operation:
• Starting with the rest position that you precisely choose on the circular scale on the motor shaft, obtain
the number of steps (in terms of CN1 pulses) required to be set (Servo operation, step #4) to reach up to
successive angular graduations o n the circular scale.
• Some trial-and-error may be required for number of steps setting corresponding to each servo position to
be reached from the rest position ( rest-to-first, rest-to-second, etc.), until you cover half a revolution i n
either direction (!180o revolution).
• Tabulate the angle for each servo position (all positions together cover 360o; accordingly the degree
equivalent of each position can be found).
• The number of steps setting for each servo position (as obtained from the digital display) may be
recorded. These may be multiplied by the stepping angle of 1.8o to find the expected angle of travel for
each servo position (from rest position).
• Compute the error between expected angle of travel and actual angle for each servo position. Discuss
the extent of the error, together with the factors that may contribute to them in a cumulative manner.
Drive operation:
2
0
• Set the speed control potentiometer (Drive operation, step #5) at a low speed, so that the cycles of LED
indicating lights can be counted.
• The four LED patterns indicate four steps (check the above table). Using the timer on your mobile
phone, time a number of LED patterns (say, a multiple of four). Since the LED’s are triggerred as the
rotor changes positions, (no. of steps timed x 1.8o) is the total angle of rotation corresponding to the time
that you record. Hence calculate the angular speed.
• For each reading above, obtain the number on digital display (the electrical number of steps, by pulses),
as calculated.
• Tabulate the two results, together with the error between them that you may discuss.
• In a separate part of the experiment, set the potentiometer to the maximum possible frequency. At this
rate you will not be able to count the LED blinks, but the rate is specified as 10000 steps/s (10000 Hz).
• Count the number of steps y ou record on display corresponding to different lengths of time r ecorded on
your timer (mobile). Hence calculate the stepper speed, and compare it to the figure of 10000 Hz. Discuss
the error, if any.
• The same experiment can be conducted at say, half the setting of the potentiometer, quarter setting of the
potentiometer, etc. right down to low speeds as described in the earlier experiment.
2
1
Experiment
11
State feedback controller design on MATLAB

platform.
Background
:
Because of its excessive dependence on matrix algebra and vector spaces, MATLAB functions that are
useful for state space control are somewhat scattered between the control systems toolbox and the
symbolic math toolbox. Here we will try to put together the functions that are of primary use to us for
time domain (that is, eigenvalue based) control designs.
There can be alternative approaches to state space based control design - topics that are beyond the scope
of the present course.
Objective:
To design the state feedback gain matrix for a given analog state-space system to satisfy required
performance specifications..
• Create state-space model: https://in.mathworks.com/help/control/ref/ss.html
• Eigenvalues and Eigenvectors:

https://in.mathworks.com/help/symbolic/
eigenvalues-and-eigenvectors.html?searchHighlight=eigenvalues&s_tid=doc_srchtitle
• Creating Discrete-Time Models:

https://in.mathworks.com/help/control/examples/creating-discrete-time-models.html
• Pole placement design:

https://in.mathworks.com/help/control/ref/place.html?searchHighlight=place&s_tid=doc_srchtitle
• Observability: h ttps://in.mathworks.com/help/control/ref/obsv.html
• Controllability: h ttps://in.mathworks.com/help/control/ref/ctrb.html
a. Functions/keywords: c trb; obsv; eigenvalues; eigenvectors; jordanform; place; s s.
b. Tools: S
ymbolic math toolbox:
https://in.mathworks.com/help/symbolic/index.html?searchHighlight=symbolic%20math&s_tid=doc_srchtitle
2
2
The third order analog state-space specified, is accompanied by a nominal set o f eigenvalues.
State feedback gain matrices are to be designed so that:

• Settling times of individual states are retained at those of the nominal eigenvalues.
• Maximum magnitude of all eigenvalues are as in the nominal set.
• The CL system is always observable. (Should controllability be tested for as well ?)

discussions:
Record and discuss the combination of feedback gains, showing how they ensure the performance
required as above.
In situations where the no designed value of the gain matrix is possible, explain and discuss why this is so.
2
3
Experiment
12
Simulation and control design on Simulink as a CAD interface to

MATLAB.
Background
:
Simulink is the CAD interface for MATLAB Control Systems Toolbox, so practically all that we can do
on MATLAB may be more conveniently done on the Simulink platform with the convenience of CAD.
While the user “draws” a control system on his Simulink interface, the simulation gets created on
MATLAB in the background, by which it may be accordingly simulated.
Objective:
Analyse the effectiveness of Ziegler-Nichols r ules in presence of poles with high multiplicity.
Simply rehash the Simulink Primer in your Lab account, unless already done so.
Simulink has considerable menu driven and iconised options. They are substantial, and one obviously
familiarises as one uses them.
The basic OLTF unit p rovided to you is to be considered at different multiplicities (say multiplicity order
of one to ten, as an example).
For each multiplicity, create a block diagram on Simulink, and conduct the appropriate Ziegler-Nichols
test (OL for lag systems, CL for oscillatory systems). Hence obtain the tuned constants for P, PI, and PID
control by the Ziegler Nichols rules.
Cascade the respective controllers to the OLTF systems you have created in Simulink files.

discussions:
With the unit step as the change in CLTF reference, obtain the dynamic response on screen.
2
4
In terms of different dynamic performance measures (say rise time, peak overshoot, settling time, etc.)
analyse the effectiveness of the “ZN rules” for multiple poles systems. Discuss the merits or demerits
exhaustively in terms of the performance measures that you choose to tabulate and report.
2
5

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Manual for Experiments on

CONTROL ENGINEERING LABORATORY

(Course Material for EE208)

1. ​Dynamic response of transfer functions on MATLAB platform.

2. ​Dynamic response studies on a V/f controlled induction motor drive.

3. ​Controller design on MATLAB platform using analog root loci.

4. ​Position control by a servomotor actuator.

5. ​Controller design on MATLAB platform by analog frequency response.

6. ​Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.

7. ​Controller design on MATLAB platform using discrete root loci.

8. ​Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.

10. ​Performance of a stepper motor as servo and drive

11. ​State feedback controller design on MATLAB platform.

12. ​Simulation and control design on Simulink as a CAD interface to MATLAB.

Dynamic response of transfer functions on MATLAB

Tutorial: ​(to be covered in not more than an hour)

In the MATLAB platform, go through the procedural steps as described for:

• ​Control system modeling with model objects:

• ​Creating discrete-time models:

Elements of the software for familiarisation:

a. ​Models: ​Continuous-time zero/pole/gain model​; ​sample time​;

c. ​Precedence rule: ​frd > ss > zpk > tf > pid​.

For observations and

• ​the percentage overshoot,

Dynamic response studies on a V/f controlled induction motor

For observations and

Controller design on MATLAB platform using analog root

A sensitivity analysis for variation of key parameters is further required.

Tutorial: ​(to be covered in not more than an hour)

In the MATLAB platform, go through the procedural steps as described for:

• ​Root locus design: h​ ttps://www.mathworks.com/help/control/ug/root-locus-design.html

Elements of the software for familiarisation:

b. ​Functions/keywords: r​ locus​; ​rlocusplot​; ​getoptions​;​setoptions​; ​sgrid​; ​plotoptions​; ​tf​; ​zpk​.

For observations and

Position control by a servomotor

Performance evaluation of a Mitsubishi 230V AC servomotor, controlled by the Mitsubishi ​MR-JE-40AS

For those interested, details of the controller are available as:

For observations and

Controller design on MATLAB platform by analog frequency response.

Tutorial: ​(to be covered in not more than an hour)

• ​Frequency-Domain Characteristics on Response Plots:

• ​Frequency response of a SISO system:

• ​Frequency response of a MIMO system:

Elements of the software for familiarisation:

a. ​Functions/keywords: b​ ode​; ​bodeoptions​; ​bodeplot​; ​freqresp​; ​sigma​; ​sigmaplot​; ​tf​; ​zpk​.

For observations and

Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.

For observations and

Controller design on MATLAB platform using discrete root loci.

A sensitivity analysis for variation of key parameters is further required.

Tutorial: ​(to be covered in not more than an hour)

In the MATLAB platform, go through the procedural steps as described for:

• ​Root locus design: h​ ttps://www.mathworks.com/help/control/ug/root-locus-design.html

Elements of the software for familiarisation:

For observations and

Controller design on MATLAB platform by discrete frequency

Tutorial: ​(to be covered in not more than an hour)

In the MATLAB platform, go through the procedural steps as described for:

• ​Frequency-Domain Characteristics on Response Plots:

1. Dynamic response of transfer functions on MATLAB platform.

2. Dynamic response studies on a V/f controlled induction motor drive.

3. Controller design on MATLAB platform using analog root loci.

4. Position control by a servomotor actuator.

5. Controller design on MATLAB platform by analog frequency response.

6. Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.

7. Controller design on MATLAB platform using discrete root loci.

8. Dynamics of thermal systems under P/PI/PID control, as studied on Siemens SCADA.

10. Performance of a stepper motor as servo and drive

11. State feedback controller design on MATLAB platform.

12. Simulation and control design on Simulink as a CAD interface to MATLAB.

Tutorial: (to be covered in not more than an hour)

• Control system modeling with model objects:

• Creating discrete-time models:

a. Models: Continuous-time zero/pole/gain model; sample time;

c. Precedence rule: frd > ss > zpk > tf > pid.

• the percentage overshoot,

Tutorial: (to be covered in not more than an hour)

• Root locus design: h ttps://www.mathworks.com/help/control/ug/root-locus-design.html

b. Functions/keywords: r locus; rlocusplot; getoptions;setoptions; sgrid; plotoptions; tf; zpk.

Performance evaluation of a Mitsubishi 230V AC servomotor, controlled by the Mitsubishi MR-JE-40AS

Tutorial: (to be covered in not more than an hour)

• Frequency-Domain Characteristics on Response Plots:

• Frequency response of a SISO system:

• Frequency response of a MIMO system:

a. Functions/keywords: b ode; bodeoptions; bodeplot; freqresp; sigma; sigmaplot; tf; zpk.

Tutorial: (to be covered in not more than an hour)

• Root locus design: h ttps://www.mathworks.com/help/control/ug/root-locus-design.html

Tutorial: (to be covered in not more than an hour)

• Frequency-Domain Characteristics on Response Plots:

• Frequency response of a SISO system:

• Creating Discrete-Time Models:

a. Functions/keywords: b ode; bodeoptions; bodeplot; freqresp; sigma; sigmaplot; tf; zpk.

discretisation of position, and is defined as the step angle o f the motor.

Tutorial: (to be covered in not more than an hour)

• Create state-space model: https://in.mathworks.com/help/control/ref/ss.html

• Eigenvalues and Eigenvectors:

• Creating Discrete-Time Models:

• Pole placement design:

a. Functions/keywords: c trb; obsv; eigenvalues; eigenvectors; jordanform; place; s s.

Tutorial: (to be covered in not more than an hour)