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This document describes an experiment to verify the effect of pole location on stability in a negative feedback control system. The experiment evaluates stability for different values of K using Routh's table and root locus analysis. It then approximates the third order system as a second order system to model underdamped, overdamped and critically damped cases.

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Fahad Siddiq
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33 views

Control Systems Lab: Submitted by

This document describes an experiment to verify the effect of pole location on stability in a negative feedback control system. The experiment evaluates stability for different values of K using Routh's table and root locus analysis. It then approximates the third order system as a second order system to model underdamped, overdamped and critically damped cases.

Uploaded by

Fahad Siddiq
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Control Systems Lab

P2

Submitted By:
Syed Muhammed Baqir Naqvi (170984)
Muhammed Inam Anwar (170966)
Qazi Ahasan Nawaz (171008)
Class/Sec: BEEP 5A
Submitted To: Engr. Hussain Asif
Instructor’s Remarks:

Submission Time: In Late in Working Days


Time 0 1 2 3 4 5

Marks: Total Marks Obtained Marks

Additional Remarks: _______________________________________


________________________________________________________

Instructor’s Signature: _____________


Lab No 8
Effect of Pole location on stability
1. Objectives:

To verify the effect of pole location upon stability.To verify the effect upon stability of loop
gain in a negative feedback system.

2. Procedures:
 First we evaluate the value of K by Routh’s Table.Where we found out that K lies from
0<K<16 which will determine its root locus.

 The we obtained via this process are


Code:
For roots and root Locus
clc
close all
R=[];
for k=0:0.1:15.9
A=[1 4 4 k];

b=roots(A);
R=[R b]
end
figure
plot(real(R(1,:)),imag(R(1,:)),'r+')
hold on
plot(real(R(2,:)),imag(R(2,:)),'b+')
hold on
plot(real(R(3,:)),imag(R(3,:)),'g+')
hold on
Result:

This would be the distribution of poles where the system is stable


Second Order Approximation:

 The equation that needs to be approximated by the second order is


K
T (s )= 3 2
s +4 s +4 s+K
 We received 160 roots, now we have to ignore farthest root for third order system.
 Different poles on root locus shows different behavior.
 We are generally picking roots for Under damped, Over damped and Critically
damped.

2.1. Under Damped:


 Among the numerous roots that shows the under damped behavior we chose the following we found
on best approximation.

 Whre the value of K is 15.9.


Code:
clc
close all
R=[];
for k=0:0.1:15.9
A=[1 4 4 k];

b=roots(A);
R=[R b]
end
z=poly([-0.0025+1.9950i -0.0025-1.9950i])
y=tf(1,z)
figure
step (y)
Result:

 Now we have to verify our approximation by putting the value of K obtained in third order system .
Code:
clc
close all
A=[1 4 4 15.9];
B=15.9;
C=tf(B,A)
figure
step (C)

Result:
2.2. Over Damped:
 Among the numerous roots that show the over damped behavior we chose the following we found on
best approximation.

 Whre the value of K is 1.2.


Code:
clc
close all
R=[];
for k=0:0.1:15.9
A=[1 4 4 k];

b=roots(A);
R=[R b]
end
z=poly([-0.8853 -0.4698])
y=tf(1,z)
figure
step (y)

Result:
 Now we have to verify our approximation by putting the value of K obtained in third order system .
Code:
close all
A=[1 4 4 1.2];
B=1.2;
C=tf(B,A)
figure
step (C)

Result:
2.3. Critically Damped:
 Among the numerous roots that show the critically damped behavior we chose the following we
found on best approximation.

 Whre the value of K is 0.1.


Code:
clc
close all
R=[];
for k=0:0.1:15.9
A=[1 4 4 k];

b=roots(A);
R=[R b]
end
z=poly([-2 -2])
y=tf(1,z)
figure
step (y)

Result:

 Now we have to verify our approximation by putting the value of K obtained in third order system .
Code:
clc
close all
A=[1 4 4 1];
B=1;
C=tf(B,A)
figure
step (C)

Result:

 We noticed that, third order graph does not satisfy our second order assumption.
 As in the case of critically damped we know third order system doesn’t have three same roots in our
case on real axis.
 So our system in third order will behave over damped rather than critically damped.

3. Learning Outcomes:
 We learned that in higher order systems our approximation relies on the roots we select.
 Real and same roots devise Critical second order response.
 Real and Distinctive roots devise an over damped response.
 Roots with real and imaginary parts both devise under damped response.
 More our roots lay near jw axis our response is closer to the un damped where as it never reaches un
damped exactly.

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