LAB 00

Introduction to Control Systems and their Real Life applications and

Examples

Introduction to Control System: Control system(CS) is defined as the inter-

connection of various components embedded for performing desired task, it may be
defined as the processes or sub-systems assembled for the purpose of controlling the
output. In control system our aim is to track the input and input is also known as
stimulus. Control system are generally used for controlling the position, Velocity
and acceleration in military and industrial applications, therefore it is also called
servo-Mechanisms. By doing proper designing control system can utilized the
advantages of having stable system. In some areas control system is linked with the
human behaviors. Control systems are used to replace some human operations upto
some extent. Some control systems, which are adaptive in nature, are bit closer to
the capability of human behavior by modifying their functions in order to achieve
optimum performance in a varying environment. Control system is application
oriented subject of engineering. Control system has numerous applications relevant
to our daily life activities. Generally there are two types of control systems ,

1:Linear control systems

2:Non-Linear control systems

1. Linear Control Systems:

 Linear Control System: If proportional changes occur then the system is called
linear control system.
 Practically there are no linear control systems exists but some thresholds are
defined to obey linearity.
 Analogue computers including summer’s, adder’s, operational amplifiers,
integrators, differentiators are all the examples of such systems.
2. Non Linear Control Systems:
 Nonlinear control system are used to boost the parameters.
Real life Applications and Examples Of Control System:

Control system applications are increasing significantly through the advances in

technology. Control system may be open loop CS or closed loop CS depending
upon the design. If feedback path is available then the system is called closed
loop control system, and if there is no feedback path then the system is called
open loop control system.

Real life Examples of control system are given below

1. Control system is used in intelligent transportation system

2. Steering control of an automobile
3. Idle speed control of an automobile
4. Sun tracking control of solar collectors.
5. Temperature control system in refrigerator
6. Oven
7. Robotics etc.
 LAB 01

Introduction to the Experiment Card SO4201-5V(Temperature, Speed, and

Light Controlled Systems)

Apparatus:

Speed Controller, Light Controller and Temperature controller.

Theory:

Uni-Train experimenter containing light controller, speed controller and temperature

controller with various static and dynamic characteristics.

Temperature Controlled System:

This system is based upon the variable resistor known as potentiometer. The
potentiometer function is calibrating the temperature by changing the value of
resistor. This system contains resistor as well as LED when the resistor heated up to,
certain level of temperature then the LED becomes ON, and heating of the resistor
is also controlled by the fan of a speed controlled system mentioned below. In
temperature, controlled system a converter is used known as temperature-Voltage
controller used to converts the temperature into voltage, which becomes the output
of this system.

Fig-1.1 Temperature Controlled System

Speed Controlled System:

Speed controlled system is based upon the motor which works as a ventilator. The
fan helps in cooling of the heated resistor used in temperature control system. In this
system, a speed controlled sensor generates a signal known as TTL signal, this signal
is a speed dependent frequency signal. In this system, a converter is used known as
frequency-Voltage converter, which converts the frequency to the voltage, which is
shown on the output of the system.

Fig-1.2 Speed Controlled System

Light Controlled System:

A light control system is composed of two components known as emitter LED and
a receiver photo sensor. The input to this system is given at YL and output is taken
at the XL as shown in the figure below.

Fig-1.3 Light Controlled System

 LAB 02

Setting and Analyzing the Operating Point of Temperature Controlled System

Apparatus:

DC Power Supply, Voltmeter, Temperature Control Trainer,

LUCAS_NULLEL@Soft.

Objective: The main objective of this lab is to find the operating point of
temperature controlled system with respect to the response of the system at reference
point.

Theory:

The operating point is defined as the difference between the actual value and the
reference value .The temperature control system is composed of the following parts,

Block Diagram of Temperature Control System:

Block Diagram:
Set Point

+ Value +
Disturbance
Measuring
System
+es Element/Sensor
-
+
Error

Command
Feedback Amplifier
Temperature

Output Controller

Input: The temperature control system has many inputs which are used to measure
the variable in the form of temperature.

Examples: RTD(resistive thermal device), thermo-couples,

Output:The output shows the results of the given system. Different converters are
used according to the desire , in temperature control system a converter known as
temperature-volatge controller is used which converts the temperature into voltage
which then shows on the output in the form of voltage.

Procedure:

1. Make the circuit according to the diagram, and initially set the potentiometer
at the end of the range, then activate the voltage source and voltmeter
accordingly.
2. Apply DC voltage in a range of 0-10V
3. Set the potentiometer to zero value by rotating its nob
4. To the input Y=1/T.
5. Find the static output voltage Y=XT at zero reference point with zero potential
difference.
6. When the potentiometer is brought to the middle point little fluctuations are
observed and the steady state graph along voltage axis is observed.

Fig-2.1 When potentiometer at middle position

Fig-2.2 when potentiometer at end position
 LAB 03

To Determine the static characteristics of temperature controlled system

Apparatus:

Uni-Train-I Temperature control system card model S04201-5V, Voltmeter, Uni-

Train Experimenter, voltmeter, DC source, ADC connector, connecting wires.

Objective: The main objective of this lab is to find the static characteristics of
temperature control system. This characteristics is obtained through a graph obtained
from the ratio of steady state output to the steady state input at numerous operating
points so find the value of Kp, where Kp is the gain of the temperature controlled
system.

Theory: Static Response: A response that comes after a transient response is

finished is known as static response or also called steady state response. “The ratio
between output and input amplitudes is referred to proportional co-efficient 𝑲𝒑 of
the given system.” As we know that in linear systems Kp is independent of operating
point.

Procedure:

1. Set the circuit accordingly and then switch ON the DC source.

2. Activate the voltmeter
3. The range of source voltage is from 0-10V which is applied in this range.
4. The input of the system that determines the steady state output XT of the
system is Y=1/T
5. After a change in input if there are no fluctuations or little fluctuations occur
the system reaches to steady state
Observations & Graphs:

Table:

Results:

Fig-3.1
Fig-3.2

Fig-3.3
Fig-3.4

Fig-3.5
 LAB 04

To Analyze and Determine Various Parameters Of Temperature Controlled

System

Apparatus: Temperature controlled system, DC Source, Voltmeter

Objective: The objective of this lab is to find the compensation effects on

temperature controlled system and then finding the various parameters(𝐾𝑠 , 𝑇𝑢 , 𝑇𝑔 )
of this system.

Theory:

Temperature controlled system has the following parameter,

Co-efficient of Proportional (𝑲𝒔 ):

The co-efficient of proportional sometimes also known as Kp..

“It corresponds to the relationship of the final steady state values of the output and
input variables in term of their elevations from the operating point.”

Lag Time ( 𝐓𝐮 ):

“The Lag time is measure of how long it takes for the output variable to noticeably
responds to the input step’’ .

Compensation Time ( 𝐓𝐠 ) :

‘‘Compensation Time is the measure of the time it takes for the transient response
to be essentially complete’’.

On the basis of compensation control system are of two distinct types

a) Compensated control system

b) Non-compensated Control system
Compensated control system: In such type of system the control system
variables reaches its steady state in response to an input state.

Non-compensated control system: Continues to rise until it reaches to its natural

limit.

Fig-4.1

Procedure:

1. Set the circuit accordingly

2. Make the circuit in a way to reduce the zero error
3. To reduce the error brought the potentiometer to zero value
4. Card number SO4201-5V is actually a compensated control system
Circuuit Diagram:

Fig-4.2

100
%

x 1:
0.5
y 1: 90
5
x 2: 80
9.5
y 2: 70
95
dx : 60
9
dy :
50
90
dy /dx :
40
10

30

20

10

0
010
2030
4050
6070
8090
100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360
t/s

Fig-4.3

Fig-4.4
 LAB 05

Setting and Analyzing Operating Point for Speed Controlled System

Apparatus:

Dc power supply, Dc voltmeter, LUCAS_NULLEL@ Soft.unitrain experimenter,

Speed control trainer card model S04201-5V, ADC connector, connecting wires.

Objective:

To find the operating point of a speed control system.

Theory:

“Operating point is actually the difference between actual value and reference
value”. The operating point is specific point for the variable with in the operation
characteristic of a device.

Speed Controller:

“A Device used to control speed at some specific value is called a speed controller”.

For example a fan with regulator is a speed controller device.

The block diagram shown below is the speed controlled control system in which a
voltage is applied at the input Ys of the motor and this voltage is proportional to the
speed of the fan which is obtained at the output Xs

Circuit Diagram:

𝒚𝒔 𝑿𝑻𝑻𝑳 𝒙𝒔 RPM f
M
TTL v
This above block diagram shows the speed controlled system in which the motor is
connected with the converter where speed is converted to TTL level and then in the
second block contain another converter called frequency to voltage converter in
which the frequency is converted into voltage.

Procedure:

1. Set the circuit according to the fig.

2. Activate the DC Source
3. First set to the level of 5V
4. If the motor is not running to that voltage the increase the value of voltage to
start the motor then brought that value again to 5V.
5. Activate the plotter known as time tracer as shown below.

Fig-5.1
 LAB 06

To study the steady state characteristics of speed controlled systems

Apparatus:

Uni-Train experimenter, Uni-Train interface card, DC motor, Voltmeter, DC

Voltage source

Theory: Steady state of any system is defined as the response that arrives after
transient response or the response arrives when transient response is faded. Steady
state response is also known as the static state response.

Procedure:

1. Set up the experimenter according to the circuit diagram

2. Activate the sources i.e DC source and Voltmeter
3. Apply the voltage in a range of 0-10V to input Ys
4. After applying the voltage to the input check the output at the Xs to determine
the steady state value of the speed controlled system
5. Enter different values with difference of 1 , initially 10 then reducing with the
difference of 1 and find the steady state characteristics of the system

Circuit diagram:

Fig-6.1
Results:

Fig-6.2
 LAB 08

Settling and analyzing operating point of Light Control System

Apparatus: Uni-Train Experimenter-I SO4201-5V, Uni-Train Experimenter, DC

source, Voltmeter, ADC converter, connecting wires.

Objective: The main objective of this lab is settling and analyzing operating point
of speed control system, by setting the desired reference point and checking its
behavior.

Theory:

In this lab, we are finding the desired reference point of operation and checking its
behavior. In different fields, light is playing a vital role so to get the desired amount
of intensity of light we need a system, which is known as light control system. In
order to set the operating point of this system we need to calculate a difference
between two values known as reference value and actual value.

Procedure:

1. Set the experimenter according to the circuit diagram

2. Activate the sources and apply voltage in the range of 0-10 volts.
3. At the input we are applying a DC voltage Ys
4. Obtain the output voltage at the output Xs
5. Run the given software in the lab and turned ON the sources such as DC
voltage source and Voltmeter A.
6. Firstly connect the socket of analogue input XL of the LCS to channel A of
the experimenter and analogue output YL to the S port through connecting
wires to the experimenter.
7. Now brought the two potentiometer to the middle value and setting 0V at the
output YL.
8. Adjusting the circuit potentiometer in way that set the output voltage XL to
0V, and this point is known as zero calibration
 9. After zero calibration we put output voltage of voltmeter 10V and adjusted
the o/p voltage to 10V through potentiometer.
10.Now calculate the final steady state o/p values of 10V

Results:

Fig-8.1
 LAB 09

To study and determine the steady state characteristics of light control system

Apparatus: Uni-Train Experimenter-I SO4201-5V, Uni-Train Experimenter, DC

source, Voltmeter, ADC converter, connecting wires.

Objective: The main objective of this lab is to determine the steady state
characteristics of light control system.

Theory:

Light is the most important thing in almost every field of life. So in order to get
desirable amount of light we need a control system known as light control system.
This experiment is about to analyze and determine the static characteristics of light
control system through graph, which is, obtained from the ratio of steady state o/p
to steady state I/p at different operating points.

Fig-9.1 Light Control System

Procedure:

1. Set the experimenter according to the circuit diagram

2. Activate the sources and apply voltage in the range of 0-10 volts.
3. At the input we are applying a DC voltage Ys
4. Obtain the output voltage at the output Xs
 5. Run the given software in the lab and turned ON the sources such as DC
voltage source and Voltmeter A.
6. Firstly, connect the socket of analogue input XL of the LCS to channel A of
the experimenter and analogue output YL to the S port through connecting
wires to the experimenter.
7. Now brought the two potentiometer to the middle value and setting 0V at the
output YL.
8. Applying the DC voltage from 0V-10V with an increment of 1V.
9. At different voltage levels, we obtain the output, input data, and then get the
steady state characteristic.

Results:

Fig-9.2 Steady State characteristics of light control system

Fig-9.2
 LAB NO. 10

“To Analyze and determine various parameters of Light Controlled System”

OBJECTIVES:

We find the various parameters of speed controlled system for various input steps
and then compare these parameters to each other.

THEORY:

Generally, we consider two type of systems.

System with compensation:

Such a system in which the input step function is changed, then the controlled
variables will try to reach its final steady state in response.

System without compensation:

Here the controlled variables continuously rise at full strength and reaches to a
point it which its natural limit because of some physical reasons. In this experiment
we consider the compensated system and the experiment card we are using has
model number S04201-5V. This experiment can be fully described in terms of
three basic parameters through which we can find out steps response to.

Characteristic of the system:

Gain(Ks/Kp):

It is a steady state value of step response when the input step change is equal to
one. It is represented by Ks or Kp. Kp/Ks shows the relationship of final steady
state value of output and input variable in terms of deviation of input and output
before step change is fed forward.

Lag time (Tu):

The point of intersection of real axis(t-axis) by inflexion line which is tangent to
the step response. It corresponds to the amount of time taken by the system for
output variable to respond to input step.
Compensation time(Tg):

The time taken by the system for the completion of the transient response. To find
compensation time, we draw a perpendicular line from the point of the final steady
state intersected by the in section tangent line, touching at point in the time axis
and subtracting the lag time from this which was determined before.

APPARATUS:

DC source, voltmeter (channel A), Unitrain Experimenter, Uni-Train-Interface

light control system card, connecting wires, ADC connector.

PROCEDURE:

 First we turned on the computer system and the connected Uni-Train-I

experimenter.
 Then we made the circuit according to the following setup.
 We turned on the VOLT METER and DC source. At the input Y0, we
applied DC voltages from 0 to 10 volts successively by increment of 1 volt.
 We calculated the steady state outputs X0 for the corresponding values of
input Y0.
Results/Graph:

Fig-10.1
 LAB NO. 11

“To design Proportional Controller for Temperature Controlled System”

APPARATUS: DC source, voltmeter, Uni-Train Experimenter, Uni-Train-I

temperature control system card model S04201-5v, connecting wires, ADC
connector, P-Controller.

THEORY: A controller that feeds forward to the plant a proportion of the error
signal is called Proportional Controller, represented by P-Controller. It is further
classified into the categories i.e. PD Controller (proportion-plus-derivative
controller), PI Controller (proportion –plus-integration controller) & PID
Controller (proportion-plus-derivative-plus-integration controller)

𝑦 = 𝐾𝑝𝑒(t)

Where Kp is the proportional gain coefficient controller gain.

OBJECTIVE: Objective of the experiment is designing specific system that fulfill

certain specification of steady state and transient response. This overcomes the
shortcoming in traditional designing techniques where it was only possible when
the poles were to be on root locus to generate specific response.

PROCEDURE:

 Set X-axis dimensions as below

 Min=0, Max=100.
 Set Y-axis dimensions as below
 Min=0, Max=100.
 For Stable system, set parameters as below
 Knob=10, factor=1 so Kp=10.
 For Unstable system, set parameters as below
 Knob=1, factor=0.1 so Kp=0.1.
Results/Graphs:
100

%
90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig 11.1: Stable P-Controller for Temperature Controlled System

100
%

90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig 11.2: Unstable P-Controller for Temperature Controlled System

 LAB NO. 12

“To Analyze and Study PI Controller for Temperature Control System”

APPARATUS: DC source, voltmeter, Uni-Train Experimenter, Uni-Train-I

temperature control system card model S04201-5v, connecting wires, ADC
connector, P-Controller, I-Controller.

THEORY: A Controller used to feed to the plant a proportional of the error signal
plus it’s integral to improve the steady state error of the close loop system is called
PI-Controller.

𝑦 = 𝐾𝑝𝑒(t) +1/𝑇𝑛 ∫ 𝑒(𝑡)

Where Kp is the proportional gain coefficient controller gain.

Where Tn is the reset time.

OBJECTIVE: Objective of the experiment is designing a specific system that will

fulfill certain specification of steady state and transient response. This overcomes
the shortcoming in traditional designing techniques where it was only possible
when the poles were to be on the root locus to generate specific response.

PROCEDURE:

 Set X-axis dimensions as below

 Min=0, Max=2000.
 Set Y-axis dimensions as below
 Min=0, Max=100.
 For Stable system, set parameters as below
 For Proportional Controller, Knob=5, factor=1 so Kp=5.
 For Integral Controller, Knob=5, factor=0.01 so Tn=0.05.
PRECAUTION:

If the system is heated up. Then wait for the system to cool down to correctly
observe the graph otherwise it will not start from the actual position.

Result/Graph:
Fig-12.1: PI Controller for Temperature Control System
 LAB NO.13

“To Analyze and Study PID Controller for Temperature Control System”

Apparatus:

DC Power Supply, Voltmeter, Uni-Train Experimenter, Uni-Train-I temperature

control system card model S04201-5v, ADC connector, P-Controller, I-Controller,
D-Controller.

THEORY:

The Controller used to feed to the plant a proportional of the error signal, it’s
integral and it’s derivative for the improvement of the steady state error and the
transient response of the close loop system is called PID-Controller.

𝑦 = 𝐾𝑝𝑒(t) ++1/𝑇𝑛 ∫ 𝑒(𝑡)+𝑇𝑣𝑑/𝑑𝑡𝑒(𝑡)

OBJECTIVE: Objective of the experiment is designing a specific system that will

fulfill a certain specification of steady state and transient response. This overcomes
the shortcoming in traditional designing techniques where it was only possible
when the poles were to be on the root locus to generate specific response.

Working Principle:
PID works on three basic controllers that are explained below. A Proportional or
P- controller’s output is proportional to the current error e (t). The Integral or I-
Controller and Differential or D-Controller. The working mechanism of PID
controller is shown in figure.

Fig 13.1: PID Controller

PROCEDURE:

 To design a Stable PID controller for a temperature control system, set the
values of the parameter as below
 For Proportional controller Kp=5, factor=1.
 For Integral controller Tn=5, factor=0.01.
 For Differential controller Tv=5, factor=5.
 Select the step function plot.
 And then press the Run simulator button.

Result/ Graph:

Fig 13.2: Stable PID Controller for Temperature Control System

Precaution:

If the system is heated up. Then wait for the system to cool down to correctly
observe the graph otherwise it will not start from the actual position.
 LAB NO. 14

“To Analyze and Study PI Controller for Speed Control System”

APPARATUS: DC source, voltmeter, Uni-Train Experimenter, Uni-Train-I Speed

control system card model S04201-5v, connecting wires, ADC connector, P-
Controller, I-Controller.

THEORY: A Controller that feeds forward to the plant a proportion of the error
signal plus its integral for the purpose of improving the steady state error of the
close loop system is called PI-Controller.

𝑦 = 𝐾𝑝𝑒(t) +1/𝑇𝑛 ∫ 𝑒(𝑡)

Where Kp is the proportional gain coefficient controller gain.

Where Tn is the reset time.

OBJECTIVE: To design a system to meet transient and steady state specification.

These design techniques overcome the limitations in the design methodology
where the transient response could be created only if the poles generating that
response were on the root locus.

PROCEDURE:

 Set X-axis dimensions as below

 Min=0, Max=100.
 Set Y-axis dimensions as below
 Min=0, Max=100.
 For Stable system, set parameters as below
 For Proportional Controller, Knob=1, factor=1 so Kp=1.
 For Integral Controller, Knob=4.8, factor=0.1 so Tn=0.24.
Precaution:

If the system is heated up. Then wait for system to cool down to correctly observe
the graph otherwise it will not start from actual position.
Result/Graph:
100

% 90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig 14.1: Stable PI Controller for Speed Control System

100
%

90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig 14.2: Marginally Stable PI Controller for Speed Control System

 LAB NO. 15

“To design Proportional Controller for Speed Controlled System”

APPARATUS: DC source, voltmeter, Uni-Train Experimenter, Uni-Train-I

temperature control system card model S04201-5v, connecting wires, ADC
connector, P-Controller.

THEORY: A controller that feeds forward to the plant a proportion of the error
signal is called Proportional Controller, represented by P-Controller. It is further
classified into the categories i.e. PD Controller (proportion-plus-derivative
controller), PI Controller (proportion –plus-integration controller) & PID
Controller (proportion-plus-derivative-plus-integration controller)

𝑦 = 𝐾𝑝𝑒(t)

Where Kp is the proportional gain coefficient controller gain.

OBJECTIVE: To design a system to meet transient and steady state specification.

These design techniques overcome the limitations in the design methodology
where the transient response could be created only if the poles generating that
response were on the root locus.

PROCEDURE:

 Set X-axis dimensions as below

 Min=0, Max=100.
 Set Y-axis dimensions as below
 Min=0, Max=100.
 For Stable system, set parameters as below
 Knob=10, factor=0.1 so Kp=1.
Results/Graphs:

100
%
90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig-15.1: Stable P-Controller for Speed Controlled System

 LAB NO. 16

“To design Proportional Controller for Light Controlled System”

APPARATUS: DC source, voltmeter, Uni-Train Experimenter, Uni-Train-I Light

control system card model S04201-5v, connecting wires, ADC connector, P-
Controller.

THEORY: A controller that feeds forward to the plant a proportion of the error
signal is called Proportional Controller, represented by P-Controller. It is further
classified into the categories i.e. PD Controller (proportion-plus-derivative
controller), PI Controller (proportion –plus-integration controller) & PID
Controller (proportion-plus-derivative-plus-integration controller)

𝑦 = 𝐾𝑝𝑒(t)

Where Kp is the proportional gain coefficient controller gain.

OBJECTIVE: To design a system to meet transient and steady state specification.

These design techniques overcome the limitations in the design methodology
where the transient response could be created only if the poles generating that
response were on the root locus.

PROCEDURE:

 Set X-axis dimensions as below

 Min=0, Max=100.
 Set Y-axis dimensions as below
 Min=0, Max=100.
 For Stable system, set parameters as below
 Knob=10, factor=10 so Kp=100.
 For Unstable system, set parameters as below
 Knob=10, factor=0.1 so Kp=1.
Results/Graphs:
100
%

90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig-16.1: Stable P-Controller for Light Controlled System

100
%

90

80

70

60

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
t/s

Fig-16.2: Unstable P-Controller for Light Controlled System

 LAB NO. 17

“To Analyze and Study PD Controller for Light Control System”

APPARATUS: DC source, voltmeter, Uni-Train Experimenter, Uni-Train-I Light

control system card model S04201-5v, connecting wires, ADC connector, P-
Controller, I-Controller.

THEORY: A Controller that feeds forward to the plant a proportion of the error
signal plus its integral for the purpose of improving the steady state error of the
close loop system is called PI-Controller.

𝑦 = 𝐾𝑝𝑒(t) +𝑇𝑣𝑑/𝑑𝑡𝑒(𝑡)

Where Kp is the proportional gain coefficient controller gain.

OBJECTIVE: To design a system to meet transient and steady state specification.

These design techniques overcome the limitations in the design methodology
where the transient response could be created only if the poles generating that
response were on the root locus.

PROCEDURE:

 Set X-axis dimensions as below

 Min=0, Max=100.
 Set Y-axis dimensions as below
 Min=0, Max=100.
 For Unstable system, set parameters as below
 For Proportional Controller, Knob=0.1, factor=5.2 so Kp=0.52.
 For Integral Controller, Knob=2, factor=0.01 so Tn=0.02.
Precaution:

If the system is heated up. Then wait for system to cool down to correctly observe
the graph otherwise it will not start from actual position.
Result/Graph:

100
%

90

80

70

60

50

40

30

20

10

0
0 1 2 3 4 5 6 7 8 9 10
t/s

Fig-17.1: PD Controller for Speed Control System