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Experiment No 1 Analysis of Control System Parameters

This lab manual experiment aims to understand control system stability analysis. Students will learn to plot pole-zero configurations, find poles and zeros from transfer functions, and use Routh-Hurwitz stability criterion. As an example, students must calculate the poles and zeros of the transfer function G(s)=6(s+3)/(s^2+2s+2) and assess the stability of the system with characteristic equation s^4+14s^3+71s^2+154s+220 using Routh-Hurwitz criterion. The experiment is conducted using MATLAB to verify theoretical results.

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pratik Kumar
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141 views6 pages

Experiment No 1 Analysis of Control System Parameters

This lab manual experiment aims to understand control system stability analysis. Students will learn to plot pole-zero configurations, find poles and zeros from transfer functions, and use Routh-Hurwitz stability criterion. As an example, students must calculate the poles and zeros of the transfer function G(s)=6(s+3)/(s^2+2s+2) and assess the stability of the system with characteristic equation s^4+14s^3+71s^2+154s+220 using Routh-Hurwitz criterion. The experiment is conducted using MATLAB to verify theoretical results.

Uploaded by

pratik Kumar
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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Automatic Control Systems Lab Manual

EXPERIMENT NO. 1
TITLE: Analysis of control system parameters using software like MATLAB/SIMULINK

AIM:
1. Plot the pole-zero configuration in s-plane for the given transfer function.
2. Stability analysis of given control system using Routh-Hurwitz’s criterion.

OBJECTIVES: The objective of this lab is to understand the various concepts of a control
system stability analysis.
On successful completion of this lab, students would understand:
1. What is a Poles and Zeros & where is it used?
2. How to find poles and zeros for the system with the given transfer function.
3. What is Routh-Hurwitz’s stability criterion? How it is used to analyze system stability.

THEORY:
a) Plot the pole-zero configuration in s-plane for the given transfer function.
An important requirement for a control system is that it should be stable. This means
that if a finite-sized input is applied to the system then the output should also be finite and
not infinite. An unstable system will cause the output to increase or decrease without limit.
In most cases, the instability tends to give oscillation in the output with amplitude that
increases. Note the following:

1. A linear rime-invariant system is stable if the natural response approaches


zero as time approaches infinity.
2. A linear time-invariant system is unstable if the natural response grows
without bound as time approaches infinity.
3. A linear time-invariant system is marginally stable if the natural response
neither decays nor oscillates as time approaches infinity.
Let us consider two systems described by the following equations: y(t) = e-t and y(t) =
t
e . The system will produce output for an impulse input as shown in Figure 1. In Figure
1(a) the output dies with time (tends to 0) and in Figure 1(b) the output continues to increase
with time (tends to infinity)

Department of Mechanical Engineering, BVDUCOE, Pune Page 1


Poles and Zeros:

The CLTF of a system can in general be represented by

If the roots of the denominator and numerator are established, then

The values of s for which the numerator of the system transfer function is equal to zero
are called zeros of the system. When the denominator of the system transfer function is set
equal to zero, the values of s obtained arc called the poles.
Therefore, the roots of the numerator, -z1, -z2, ..., -zm , are called zeros and the roots
of the denominator, -p1, p2, …,-pn are called poles. Poles are the values of s for which
the transfer function is infinite. If the denominator is (s + 5) then the transfer function
is infinite when s = -5. Hence, s = -5 is the pole. Zeros and poles can be real or
complex quantities.
As an example consider two systems with G(s) = l/(s + 2) and l/ (s -2) with unit impulse
input. We can find poles by setting denominator equal to zero. For example, for s + 2 = 0,
the pole is -2; for s -2 = 0, the pole is +2.

S-Plane Plots:

The Laplace variable s is a complex number; the values of s can be used to construct a
plot. The s-plane is to graphically represent the location of the poles and zeros of transfer
function.
Let us consider the transfer function

Solving the denominator, we find that the poles are -1± 2j, that is, -1+2j and -1-2j.
If

then the poles arc l +2j and 1-2j.


When sketching the above information on both imaginary and real axes, we get pole-
zero plots as shown in Figure. If the dosed-loop system poles are in the left half of the s-
plane with a negative real part, then system is stable. That is, stable systems have CLTFs
with poles only in the left half of an s-plane.
An unstable system has CLTFs with at least one pole in the right half plane and/or
poles of multiplicity greater than 1 on the imaginary axis.

Figure Pole Zero Plot

Problem: Calculate the Poles and Zeros for the system with the transfer function.
G(s)= 6(s+3)/(s2+2s+2)

Space to write MATLAB Code:

b) Stability analysis of given control system using Routh-Hurwitz’s criterion.

Using the Routh-Hurwitz method, the stability information can be obtained without the need to
solve the closed-loop system poles. This can be achieved by determining the number of poles
that are in the left half plane or right half plane and on imaginary axis. The method consists of
two steps,

1.Generate a data table called a Routh table.

2. Interpret the Routh table to tell how many closed-loop system poles are in the left half
plane, the right plane and on the imaginary axis.

Generate a Basic Routh Table

To generate a basic Routh table the following steps are undertaken:

1. Let us consider a general form of CLTF as shown in the block diagram in figure.

2. Formulate Routh table as shown in Table


The Routh-Hurwitz criterion declares that the number of roots of the polynomial that are in the
right half plane is equal to the number of sign changes in the first column. If the CLTF has all
poles in the left half of the s-plane, the system is stable. Thus, a system is stable if there are no
sign changes in the first column of the Routh table.

Problem: The characteristic equation of the system is given by


S4+14S3+71S2+154S+220=0.Asses the stability of the system using Routh-Hurwitz criterion.
Space to write MATLAB Code:

EXPERIMENTAL SET-UP: Computer Setup with preinstalled MATLAB and


SIMULINK
PROCEDURE:
1) First solve the given problem by theoretical method and find its solution and interpret the
results.
2) Write the MATLAB code in the computer software for the same problem and check the
MATLAB results with theoretical results.

CONCLUSIONS:
1) Studied how to find the poles and zeros for the system with the transfer function

2) Studied stability analysis of given control system using Routh-Hurwitz

REFERENCES:

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