CONTROL SYSTEM

LABORATORY MANUAL
BTech, Semester - V
Subject Code: KEE 552

Session 2021-22 ODD semester

Name :
Roll No. :
Group/Branch :

JSS MAHAVIDYAPEETHA
Department of Electrical and Electronics Engineering
JSS ACADEMY OF TECHNICAL EDUCATION
C-20/1, SECTOR-62, NOIDA
 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

LIST OF EXPERIMENTS

Sr. No. Title of experiment Corresponding

CO
To determine response of first order and second order
systems for step input for various values of constant ’K’ C313.5
1
using linear simulator unit and compare theoretical and
practical order
To study and calibrate temperature using resistance C313.5
2
temperature detector (RTD)

3 To study DC position control system C313.5

To study synchro-transmitter and receiver and obtain C313.2

4
output vs. input characteristics

To determine speed-torque characteristics of an ac C313.2

5
servomotor
To determine time domain response of a second order system
for step input and obtain performance parameters using C313.3
6 MATLAB

To plot root locus diagram of an open loop transfer function

7 and determine range of gain ‘k’ for stability using MATLAB C313.3

To plot a Bode diagram of an open loop transfer function using

8 MATLAB C313.4

To draw a Nyquist plot of an open loop transfers functions and

9 examine the stability of the closed loop system using MATLAB C313.4

To convert transfer function of a system into state space form

10 C313.1
and vice-versa using MATLAB

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

VISION AND MISSION

VISION OF THE INSTITUTE:

Aims to become an Institution of excellence in imparting quality outcome based education

that empowers the young generation with knowledge, skills, research aptitude and ethical
values to solve contemporary challenging problems.

MISSION OF THE INSTITUTE:

M1: Develop a platform for achieving globally acceptable level of intellectual acumen and
technological competence.
M2: Create an inspiring ambience that raises the motivation level for conducting quality
research.
M3: Provide an environment for acquiring ethical values and positive attitude.

VISION OF THE DEPARTMENT:

Emerge as a premier department of Electrical and Electronics Engineering, a source of

technically outstanding energetic engineers, entrepreneurs and leaders through its highest
quality academics and research

MISSION OF THE DEPARTMENT:

M1: Provide the students with basic and advanced knowledge in the field of Electrical and
Electronics Engineering as well as professional skills necessary to face the challenges of the
future.
M2: Encourage the students to strive for excellence through innovation and collaborative
research activities.
M3: Mould the students with qualities like team work, managerial skills and ethical &
cultural values to solve industrial and socially relevant issues

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Control System Lab (KEE-552) Manual (EEE,V Sem)

COURSE OUTCOMES (COs)

CO’s Description
C313.1 Demonstrate the characteristics of control system components.
Evaluate the performance of control systems by applying different
C313.2
controllers/compensators.
Analyse the stability of various control systems using Routh-Hurwitz criteria and Root
C313.3
Locus techniques.
C313.4 Examine the stability of various control systems using frequency domain techniques.
Analyze the effects of controllers for different order system with respect to transient and
C313.5
steady state system response.

PROGRAM OUTCOMES (POs)

Engineering Graduates will be able to:

1.Engineering knowledge: Apply the knowledge of mathematics, science,
engineering fundamentals, and an engineering specialization to the solution of complex
engineering problems.

2. Problem analysis: Identify, formulate, review research literature, and analyze

complex engineering problems reaching substantiated conclusions using first
principles of mathematics, natural sciences, and engineering sciences.

3. Design/development of solutions: Design solutions for complex engineering

problems and design system components or processes that meet the specified needs
with appropriate consideration for the public health and safety, and the cultural,
societal, and environmental considerations.

4. Conduct investigations of complex problems: Use research-based knowledge

and research methods including design of experiments, analysis and interpretation of
data, and synthesis of the information to provide valid conclusions.

5. Modern tool usage: Create, select, and apply appropriate techniques, resources,
and modern engineering and IT tools including prediction and modeling to complex
engineering activities with an understanding of the limitations.

6. The engineer and society: Apply reasoning informed by the contextual

knowledge to assess societal, health, safety, legal and cultural issues and the
consequent responsibilities relevant to the professional engineering practice.

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Control System Lab (KEE-552) Manual (EEE,V Sem)

7. Environment and sustainability: Understand the impact of the professional

engineering solutions in societal and environmental contexts, and demonstrate the
knowledge of, and need for sustainable development.

8. Ethics: Apply ethical principles and commit to professional ethics and

responsibilities and norms of the engineering practice.

9. Individual and team work: Function effectively as an individual, and as a

member or leader in diverse teams, and in multidisciplinary settings.

10. Communication: Communicate effectively on complex engineering activities with

the engineering community and with society at large, such as, being able to
comprehend and write effective reports and design documentation, make effective
presentations, and give and receive clear instructions.

11. Project management and finance: Demonstrate knowledge and understanding

of the engineering and management principles and apply these to one’s own work,
as a member and leader in a team, to manage projects and in multidisciplinary
environments.

12. Life-long learning: Recognize the need for, and have the preparation and ability
to engage in independent and life-long learning in the broadest context of technological
change.

PROGRAM EDUCATIONAL OBJECTIVES (PEOS)

After 3 to 5 years of graduation, graduates will be able to

PEO1: Apply their basic, advanced and analytical skills in the field of Electrical and
Electronics Engineering necessary to take on higher responsibilities in industry.

PEO2: Hold position in academics and research organizations to pursue a continual path of
professional development and excel through innovation and collaborative research activities.

PEO3: Work effectively as individuals and as team members exhibiting managerial skills
and ethical & cultural values imbibed in them to solve industrial and socially relevant issues

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Control System Lab (KEE-552) Manual (EEE,V Sem)

PROGRAM SPECIFIC OUTCOMES (PSOs)

PSO1: Utilize the knowledge of mathematics, science and engineering to analyze, design,
simulate, implement, integrate and validate the complex engineering problems of Electrical
and Electronics engineering.

PSO2: Apply appropriate techniques to model Electrical and Electronics engineering

components and use modern engineering hardware and software tools in Power systems,
Electrical machines, Power electronics, embedded system and Signal processing.

PSO3: Able to innovate, design, implement and test suitable solutions for contemporary
challenges in the field of Power systems, Power electronics, embedded systems,
Instrumentation and Electrical systems.

CO-PO-PSO MAPPING

PO PO PO PO PO PO PO PO PO P P PO1 PSO PSO PSO

1 2 3 4 5 6 7 8 9 O O 2 1 2 3
10 11
C313.
1 3 3 2 1 1 1 1 1 2 3 3 2 2 2
C313.
2 3 3 2 1 1 1 1 1 2 3 3 2 2 2
C313.
3 3 3 2 1 1 1 1 1 2 3 3 2 2 3
C313.
4 3 3 2 1 1 1 1 1 2 3 3 2 2 2
C313.
5 3 3 2 1 1 1 1 1 2 3 3 2 3 3

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Control System Lab (KEE-552) Manual (EEE,V Sem)

INTRODUCTION

A course on Laboratory Experiments on control system is offered to the students keeping in

view the following objectives.

i. To provide hands on practical exposure.

ii. To provide experience in working on various types of control system components,

Instruments and other accessories.

iii. To enforce theoretical instructions with related practical work.

iv. To develop ability to design and test control system components for satisfactory
performance.

v. To get training in Technical Report Writing.

This Manual has been prepared essentially keeping this difficulty in mind. Brief
theory for each Experiment is given in such a manner that even if the student has not studied
the theory related to the Experiment, one can have sufficient information to perform the
experiment and sufficiently understand it.

This Manual consists of a set of apparatus prepared for different experiments. For
each experiment, table for apparatus is given separately.

Observations should be recorded in the tabular form. Students shall draw a neat
Circuit diagram with description of the equipment ranges, type of instrument (AC / DC) and
type of supply. All the summary calculations, results, graphs shall be recorded by the
students.

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Control System Lab (KEE-552) Manual (EEE,V Sem)

PREFACE

This manual of control system Laboratory has been specifically designed for the third Year
B. Tech Course in Electrical Engineering with the objective to provide the students, brief
guidelines on the experiment to be performed in the laboratory. This manual contains some
features on the basis of experience to cover the difficulties and problems associated in
general, with the laboratory work. Detailed instructions for carrying out each experiment
along with relevant theory has been presented.

The Department Faculty hopes that the students will find this manual helpful in performing
the experiments in control system Laboratory. Thanks to all the department faculty members
and also non teaching staff members for their support help in preparation of this manual.

We are grateful to H.o.D of Electrical Engineering Department and also Dr. G.M.Patil,
Principal - JSSATE, NOIDA who not only encouraged us to prepare the manual but also
rendered their best help and advice.

Ms. Pooja Prakash

(Assistant Professor)

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DO’S AND DONT’S

1. The Laboratory regulations are to be followed meticulously, for prevention of accidents

and for organized and systematic working of the Laboratory.

2. The control system components / Trainer KIT and equipments required for the
experiments shall be handed over to the students by the laboratory store keeper and
retuned by the students after the completion of experiment. if any damage to the
equipment takes place and students should bring to the notice of faculty member in-
charge immediately.

3. Every student shall study the written instructions carefully, before the start of the
experiment and make sure that they are fully understood. After this only they will be
permitted to perform the experiment.

4. Every participant must report to the concerned faculty member after the conduction of
experiment.

5. All the students should complete the calculations and plot the necessary graph and get
corrected from concerned faculty member before leaving that laboratory class.

6. Laboratory Record should be submitted in the next laboratory class. Late submission of
Laboratory Record will not at all be entertained.

7. The report on a laboratory experiment consists of brief theory, circuit diagram, records
of the test data, calculations and their interpretation in addition to answers to the
questions. The report should be concise and complete.

8. All students shall come in a dress code / uniform with shoes (for protection against the
electrical shock) for performing experiments in control laboratory. Especially female
students shall avoid bangles with metallic linings, sarees, loose dupattas etc.,

9. The student should not bring cell phone to theory / laboratory class

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Control System Lab (KEE-552) Manual (EEE,V Sem)

GENERAL SAFETY INSTRUCTIONS

1. The arrangement and assembly of the equipment required for the experiments including
alteration and the change of connections are subject to the approval of the concerned
faculty member.

2. Bare wires, terminals and parts of the machinery are not to be touched unless power
supply is switched off.

3. Power Supply must be switched off before making any change in connections.

4. All participants in the experiment shall keep out of the danger zone before the circuit and
machines are switched on.

5. In the event of abnormal noise or fumes, mains should be switched off immediately, and
informed to the concerned faculty member immediately.

6. The students shall under no circumstances switch on the power supply until the circuit is
checked by the concerned faculty member.

7. The participants in the experiments are working in groups. Every student shall remain in
the place assigned to him/her. The group as a whole shall be responsible that the
laboratory regulations are strictly observed.

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Control System Lab (KEE-552) Manual (EEE,V Sem)

GUIDELINES FOR LABORTORY RECORD PREPARATION

L.H.S of Laboratory Record R.H.S of Laboratory Record

AIM OF THE EXPERIMENT

APPARATUES USED (with

First LHS page:
specifications)
SCHEMATIC/CIRCUIT
THEORY
DIAGRAM/FLOW CHART
PROCEDURE

OBSERVATIONS
Following LHS pages:
CALCULATIONS
MODEL (SPECIMEN) GRAPH
RESULTS
ACTUAL GRAPH
DISCUSSION

PRECUATIONS

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Control System Lab (KEE-552) Manual (EEE,V Sem)

DETAILS OF THE EXPERIMENTS CONDUCTED

(TO BE USED BY THE STUDENTS IN THEIR RECORDS)

FACULTY
MARKS
SR. DATE OF EXPT. TITLE OF THE PAGE SIGNATURE
AWARDED
NO. CONDUCTION NO EXPERIMENT NO. WITH
(10)
REMARK

10

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Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-01

OBJECTIVE/AIM: To determine response of second order systems for step input for
various values of constant ’K’ using linear simulator unit and compare theoretical and
practical results.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 Study Module 1
2 Dual power supply +12 V: 0 V :-12 V, 1 1
A
3 Digital multi meter 1
4 Dual trace CRO with two probes 1

FLOW CHART/SCHEMATIC DIAGRAM/CIRCUIT DIAGRAM

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Control System Lab (KEE-552) Manual (EEE,V Sem)

Fig.2 Connection diagram: for step response of second order system

BRIEF THEORY:

Variation of output of system with respect to time for a given input is called time response.
One of the important standard input test signal is step. When step input is applied to the
system it is called step response of the system. Figure 1 shows block diagram of the second
order system. In this experiment we study the step response of the system. For second order
system, the simplest example is a series R-L-C circuit. We study the step response of the
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second order system for different values of constant ‘k’ by varying damping ratio (  ).

When k=1 it is unit step response. When  < 1, the output has damped oscillations before

coming to rest and the system is said to be under-damped. When  > 1, then, the output

does not oscillate, but sluggishly comes to rest and the system is said to be over damped.
When  = 1, then the system is said to be critically damped. The closed loop transfer

function for the second order system is given by-

k 2n 2n
C  s   R  s  .T  s    2 
s s  2n s  2n s3  2n s 2  2n s
When the input is a step signal, r (t) = k u (t). So, R(s) = k / s.

Damping factor of the circuit is given by

ζ= 1.58*10^-3R

Given L=10 mH, C= 0.1µF, by varying R damping factor can be changed.

for critical damping,

n
R   632.5 
50
So, when R < 632.5 Ω the system is under damped and when R > 632.5 Ω the system is over
damped.

PROCEDURE:

1. First adjust the pot to make the circuit under-damped. The value of resistance should
be checked using multi meter. After this, make connections on the panel of Study
Module to realize the circuit shown in figure2. Connect dual power supply to the
Study Module

2. Now switch ON the power to the module and CRO. The time response is displayed
on the CRO. Record this waveform.

3. Now, switch OFF power to the module. Remove the connections of the pot. Adjust it
to make the circuit critically damped. Verify the value of resistance using multi-
meter. Now switch ON the power to the module and CRO. The time response is
displayed on the CRO. Record this waveform.

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4. Repeat the procedure similarly for over-damped condition and record the waveform.

5. Measure the value of output response at steady state on the CRO for the above three
cases.

RESULTS:

PRECAUTIONS:

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Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-02

OBJECTIVE/AIM: To study measurement of temperature using resistance temperature

detector.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

0
1 Temperature calibrator-PT 100 -100 to 450 C 1
2 Digital multimeter - 1

FLOW CHART/SCHEMATIC DIAGRAM/CIRCUIT DIAGRAM

Connection diagram:

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BRIEF THEORY:
The resistance that electrical conductors exhibit to the flow of an electric current is related to
their temperature. If the relationship is predictable, smooth and stable, the phenomenon can
be used as a basis for temperature measurement. There are some metals that fulfill this
requirement including copper, gold, nickel, platinum and silver. Of these copper, gold and
silver have low values of electrical resistivity making them less suitable for resistance
thermometry. Nickel and nickel alloys have a high resistivity and high resistance v/s
temperature coefficients but these are nonlinear. Whereas Platinum has a wide temperature
range, a higher resistivity and a reasonable non-linear resistance v/s temperature coefficient.
It can be drawn into fine wires or strips and can be obtained in pure form.

The present RTD sensor is made of Platinum film which is laser etched to give 100 Ohms ±
0.10hm, at 0° C. It is called as PT - 100, sensor commercially. It has sensitivity, α0 = 0.395, +
.0002 ohm / °C. Its response time is within 2 seconds/10°c. Its dissipation constant is
10mW/°C in free air and 25 mW/°C in water bath. Its measuring range is -100°C to +450°C,
with linearity error < 0.1 % throughout the range. The Platinum film is inserted in 6mm steel
pipe. The high sensitivity of PT - 100, sensor makes it very convenient for temperature
measuring purpose. The signal conditioning is carried out by a bridge and differential
amplifier.
In fig 1 circuit, potential across arm R2 + R3 is at constant voltage equal to 0.174 ( 0.175 )
volt which depends upon balance potentiometer setting VR, and the potential across arm
having RTD is equal to [{RTD / (R1 + RTD)} ( V )]
where V is the excitation voltage = 2 volt. The dissipation in RTD is equal to V2 / RTD
resistance at present. In present set up it is equal to .0029 mw / °C.

PROCEDURE:
1. Plug in RTD probe with measuring bridge. where red plug must be inserted in red
socket and remaining two in W marked sockets.

2. Plug in the cord of set up into line outlet and switch on the power. Switch on heater.
The temperature will start to rise. When temperature approaches to + 90°C, switch off
the power.

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3. Wait about two minutes to stabilize the temperature. Connect digital multi-meter in
200 Ohm range across RTD (socket B and C of given bridge) and measure its
resistance as R ambient.

4. Put the probe tip in the hole provided in oven. As it takes about two minute to reach
steady state resistance at temperature indicated by thermometer. Therefore note the
ohmic value of RTD after two minute.

5. Note probe's resistance in 5 - 10°C intervals as temperature falls. Tabulate the

observations made. Draw the resistance versus temperature curve.

6. Find out the slope of the curve as ∆R / ∆T Ohm / °C.

OBSERVATIONS:
Tabular Column: Measurement of Temp. and Resistance

Sl. No. Temperature (C) Resistance (ohm)

1
2

Specimen Graph:

RESULTS:

PRECAUTIONS:

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EXPERIMENT NO.-03

OBJECTIVE/AIM:
(a) To study of potentiometer displacement constant on D.C. motor position control.
(b) To study of D. C. position control through continuous command.
(c) To study of D.C. position control through step command.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 Digital multi meter 1
2 Experimental Kit 1

FLOW CHART/SCHEMATIC DIAGRAM/CIRCUIT DIAGRAM

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Control System Lab (KEE-552) Manual (EEE,V Sem)

BRIEF THEORY:

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Control System Lab (KEE-552) Manual (EEE,V Sem)

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Control System Lab (KEE-552) Manual (EEE,V Sem)

OBSERVATIONS:

Specimen Graph:

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Control System Lab (KEE-552) Manual (EEE,V Sem)

OBSERVATIONS:

Sl No. θR θ0

1. 30°

2. 40°

3. 50°

4. 60°

5. 70°

6. 80°

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Specimen Graph:

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OBSERVATIONS:
V01 V02 Kp KI Kd V0 ess

FORMULAS USED FOR CALCULATIONS:

V0=V02-V01
Steady State Error ess=Vs - V0

RESULTS:

PRECAUTIONS:

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Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-04

OBJECTIVE/AIM: To study synchro-transmitter and receiver in term of Position v/s Phase

and voltage magnitude with respect to Rotor Voltage Magnitude/Phase.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 Synchro Transmitter/receiver Kit 1
2 Patch cords for interconnections.

FLOW CHART/SCHEMATIC DIAGRAM/CIRCUIT DIAGRAM

BRIEF THEORY:
The synchro transmitter / receiver demonstrator unit is designed to study of remote
transmission of position in AC servo mechanisms. These are also called as torque

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transmitter - receiver. The unit has one pair of transmitter - receiver synchro motors,
powered by an isolated ac inbuilt supply. Sockets are brought upon the panel to make
connections with attenuated compensated output in ratio of 1 : 10 for waveform
observation. The synchro pair is well mounted inside steel cabinet and dials printed in
degrees with resolution of 2° provided to study phase / displacement errors. The control
knobs are factory adjusted for electrical zero and procedure is given in last page if re
correction required due to transportation. Complete unit is 220 volt ac main operable.

The synchro’s

In remote control system sometimes it is required to transmit angular position of a shaft

following the motion of other shaft located in distance. Electromechanical systems are
very useful for the purpose in which shaft angular position is converted into electrical
signals, transmitted through cable and received at the monitor end by similar system.
The synchro transmitter / receivers are used in feedback system in servo systems for ac-
knowledgment.

Synchros are small motors having structure of wound rotor and wound stator. The
windings are mutual coupled in such way that it gives substantially sinusoidal variation
as a function of shaft angular position. The synchro transmitter / receiver, rotor has
dumb ball shaped magnetic structure having primary winding, which is connected with
the reference voltage Vr, through set of slip rings and brushes. The secondary windings
are wound in slotted stator and are distributed around its periphery 120° apart. In
schematics the windings are shown as three phase configuration but only single phase
voltage appears across them. the magnitude and polarity of these voltages / phase
depends upon the angular position of the rotor.

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In fig 1, when rotor and winding S2 are in such position that magnetic merid ians are in
parallel axis, flux developed in S2 is in phase, and out of phase in S1 and S3. The phase
angle between S2 and other windings is out of phase. The effect of it that voltage
developed in S2/S1, S2/S3 has maximum amplitude while S1/S3 will be minimum. This
condition called electrical zero. Let Vs1n, Vs2n and Vs3n represent the voltages induced
in stator coils Si, S2 and S3 respectively with respect to neutral than

Vs1n = KVr sinωctcos(θ + 240º) …..1

Vs2n = KVr sinωctcos(θ) …..2
Vs3n = KVr sinωctcos(θ + 240º) …..3
The terminal voltages across the stator coils are
V23 = √3 KVr sin(θ + 240º)sinωct ……4
V31 = √3 KVr sin(θº)sinωct ……5
V12 = √3 KVr sin(θ + 240º)sinωct ……6
Where Vr sin ωct, is the reference voltage θ is the respected angle in degree,
V31 = Vs3n – Vs1n, V2 = Vs2n – Vs3n andV12 = Vs1n – Vs2n, K is a constant.

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In fig 3, connection between transmitter and receiver is shown. The rotor of transmitter
is excited with the ac line and similar is feed to the receiver rotor. The stators of both are
connected in synchronism, S1 with S1, S2 with S2 and S3 with S3. In this configuration
the rotor of receiver follows the position of the transmitter rotor angular position.
Neglecting toirence and losses, if transmitter rotor is moved to 90° clockwise, position
than receiver rotor also rotate to similar degree with similar direction. It can be
understood as, let transmitter may be generator G, and receiver may be motor M. The
generated voltages / phase which are related to rotor angular position is coupled
electrically with the M in similar phase. It develop proportional torque which forces M
rotor to make equilibrium with the generator rotor position. In this condition no current
flows in stator windings. when the Tx rotor moved to other position, this voltage
distribution is disturbed. The imbalance in voltage develop a torque that tends to move
receiver rotor to follow new position such as Tx, the current is nulled again. In this way
the Tx - Rx pair serve to transmit the information of angular position of Tx to remotely
situated Rx.

PROCEDURE:

1. Connect the CRO one channel with the provided sockets COM and REF in
observation block, as shown in fig 4. The ground of CRO should be con nected with
COM. The reference socket as attenuated 1 : 10, voltage of Tx, R2 with respect to
R1.

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2. Connect CRO other channel, say B channel with outputs of S1, S2 and S3 alternately
given in observation block, while kept Tx dial to certain position say 0°. Note the
output in Vpp and its phase angle with respect to REF output waveform. The 51, S2
and S3 sockets are also 1 : 10 attenuated.

3. Measure the voltage difference between stator sockets 51, S2 and S3 directly
( meter range 200 VAC ) such V12 between S1 and S2, V31 between S3 and S1,
V23 between S2 and S3.

4. Rotate Tx dial in 30° incremental steps and note voltage magnitude and phase w.r.t.
input at REF.

Prepare a table as given in reference from observations.

5. From table, plot graphical curves between the voltage / phase of stator terminal.

6. Plot another graphical representation between the voltage difference measured in

table
2, v/s displacement in 0°. Note the -ve number show the out of phase voltage

OBSERVATIONS:

Table 1 for observation on CRO

ah,

Angular position Magnitude/ phase Magnitude/ phase Magnitude/ phase

in degree S1 S2 S3
0 V/180° V/O° V/180°

30 0 V/O° V/180°

60 V/O° V/O° V/180°

90 V/0° 0 V/180°

120 V/0° V/180° V/180°

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150 V/O° V/180° 0

180 V/0° V/180° V/0°

210 0 V/180° V/0°

240 V/180° V/180° V/0°

270 V/180° 0 V/O°

300 V/180° V/0° V/0°

330 V/180° V/O° 0

V reference • ... Vpp

The voltage/ phase are V pp measured on CRO with respect to input magnitude and
polarity. 0° means in phase with input.

Table 2 for observation on multimeter

Angular position Magnitude/ phase Magnitude/ phase Magnitude/ phase
in degree V12 V31 V23
0 …..Vac …..Vac …..Vac

30 ….. ….. …..

….. ….. …..

60

….. ….. …..

90

….. ….. …..

120

….. ….. …..

150

….. ….. …..

180

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Control System Lab (KEE-552) Manual (EEE,V Sem)

….. ….. …..

210

….. ….. …..

240

….. ….. …..

270

….. ….. …..

300

330 ….. ….. …..

V reference • ........ V ( across R1 - R2 )

The voltages should measured on multimeter (200Vac range) with respect to S1 - S2, S3
- S1 and S2 - S3.

RESULTS:

PRECAUTIONS:

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-05
OBJECTIVE/AIM: To study the speed- torque characteristics of AC servo motor.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 A.C Servo Motor set up 1
2 Electronic techo-generator 1
3 Connecting chords

FLOW CHART/SCHEMATIC DIAGRAM/CIRCUIT DIAGRAM

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

BRIEF THEORY:
An AC servo motor is basically a two- phase induction motor with special design features.
Rotor of the servo motor is built with high resistance so that its X / R ratio is small which
results in linear speed- torque characteristics. The characteristics curve shows the large
torque at zero speed. This is the requirement for a servo motor to provide rapid acceleration.
The speed- torque characteristics of an A.C servomotor has negative slope. When the
control- phase voltage is zero, motor develops a de-accelerating torque and so motor stops.
The stator windings are excited by voltages of equal magnitude and 90o phase
difference. These give rise to a rotating magnetic field of constant magnitude. The direction
of rotation depends on the phase relationship of the two currents (or voltages). This rotating
magnetic field sweeps over the rotor conductors. The rotor conductors experience a change
in flux linkage and hence there is induced voltage in the rotor conductors according to
Faraday’s law of electromagnetic induction. This voltage circulates currents in the short-
circuited rotor conductors and currents create rotor flux. Due to the interaction of stator &
rotor flux, a mechanical force (or torque) is developed on the rotor and the rotor starts
moving in the same direction as that of rotating magnetic field.

PROCEDURE:
1. Carefully observe the study Module and familiarize with different blocks and
terminals given on the panel.
2. Make the connection as per diagram.
3. Adjust the voltage by using auto transformer up to 200V.
4. Then Increase the load by tightening the screw of pulley arrangement.
5. Take approximate 8 reading.
6. Plot the graph between torque and speed.

OBSERVATIONS:

Sl. No. W1(gm) W2(gm) W1-W2 Speed(r.p.m.) Torque

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 JSS Academy of Technical Education – NOIDA
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FORMULAS USED FOR CALCULATIONS:

Torque=(w1-w2)*g*r

Where r= radius of the drum of the pulley in cm

g=9.8 m/sec2

EXPECTED RESULTS:

Specimen graph:
Torque (in N-m)

Speed (in
rpm)

PRECAUTIONS:

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-06

OBJECTIVE/AIM: To determine the step response of a second order system for different
value of zeta & Wn = 1 rad/sec and obtain performance parameters

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 Intel, 3 GB, dual Processor CPU 1
2 MATLAB installed 1

BRIEF THEORY:
The performance of a control system is express in terms of transient response of a unit step
input. The transient response of a control system to a unit step input depends upon initial
conditions; consider a second order system with unit step input and system initially at rest
that is all initial conditions are zero. The following are the common transient response
characteristics.
1. Delay time (td): The delay time is the time required for the response to reach 50% of
the final value in first time.
2. Rise time (tr): It is the time required for the response to rise from 10% to 90% of its
final value for over damped system and 0 –100% for under damped systems.
3. Peak time (tp): It is the time required for the response to reach the first peak of the
time response or first peak overshoot.
The closed loop transfer function for the second order system is given by;
C s  2n

R s s 2  2n s  n2

Therefore for,

n  1 rad / sec and  1

C s 1

R s s  2s  1
2

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

Determination of
(i) Damped frequency of oscillation(ωd)
(ii) Rise time(tr)
(iii) Peak time(tp)
(iv) Settling time (ts)
(v) Maximum overshoot (Mp); for the above transfer function
Solution:

d  n 1   2 rad / sec
We have,

1  2
  tan 1

tr 
d

tp 
d

4
ts 
n



Mp  e 1 2

PROGRAM:
% obtain the unit step response of second order system with zeta=0.1 to 2 &
% wn=1 rad/sec
clc
clear all

t=[0:0.1:12]; num=[1];

zeta1=0.1; den1=[1 2*zeta1 1];

zeta2=0.2; den2=[1 2*zeta2 1];

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

zeta3=0.4; den3=[1 2*zeta3 1];

zeta4=0.7; den4=[1 2*zeta4 1];

zeta5=1.0; den5=[1 2*zeta5 1];

zeta6=2.0; den6=[1 2*zeta6 1];

[y1,x]=step(num,den1,t); [y2,x]=step(num,den2,t);

[y3,x]=step(num,den3,t); [y4,x]=step(num,den4,t);

[y5,x]=step(num,den5,t); [y6,x]=step(num,den6,t);

plot(t,y1,t,y2,t,y3,t,y4,t,y5,t,y6)

xlabel( 't' ), ylabel( 'y(t)' )

grid

wd=wn*sqrt(1-zeta^2)

theta=atan((sqrt(1-zeta^2))/zeta)

tr=(pi-theta)/wd

tp=pi/wd

ts=4/(zeta*wn)

mp=exp((-1*pi*zeta)/sqrt(1-zeta^2)

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPECTED RESULTS:

PRECAUTIONS:

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-07

OBJECTIVE/AIM: To Plot root locus diagram of an open loop transfer function and
determine range of gain ‘K’ for stability.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 Personal computer employed with MATLAB - 1
2 Printer - 1
3 Power Supply 230 V -

BRIEF THEORY:
Root Locus is a graphical method in which roots of the characteristics equation are plotted in
s–plane for different values of parameter. The locus of the roots of the characteristics
equation when gain is varied from zero to infinity is called Root locus.

To draw the root locus follow of

k
G s  H s  
s  s  1 s  3

for k > 0;

Steps involved drawing the root locus on the graph paper:

1. Number of poles (P) = 3

2. Number of zeroes (Z)=0
3. Number of Asymptotes= P-Z= 3-0 =3
4. Number of root loci=3
5. The angle of asymptotes are given by

 2q  1 180 , q
  0,1, 2 
 P  Z

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

Which are 60O , 180O and 300O

6. The point of intersection of the asymptotes with the real axis is given by:

  real parts of poles     real parts of zeroes 

X
 P  Z
Therefore,
7. The breakaway points of the root loci are obtained from the solution of the equation as:

x 
 1  3  0   1.33
3  0
Differentiating the above equation with respect to ‘s ‘and putting
We get
dk
0
ds

s3  4s 2  3s  k  0

S1= - 0.45 and S2 = -2.215

(It is to be noted that S2 is not a breakaway point because it does not lie on the root
locus)

Value of ‘ k’ at breakaway point can be obtained as:

s3  4s2  3s  k ss 1

0

8. The limiting value of ‘k’ is obtained using Routh’s stability criteria as:

Routh’s Table:

s3 1 3
s2 4 k

s1
12  k 
4
s0 k

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

From the table, the limiting value of k=12. Using the auxiliary equation from the Routh’s
table.

4s 2  k  0

Therefore

4s 2  12  0

Hence root locus passes through ω = 1.73 rad / sec

9. Choose a suitable scale and draw the root locus on the graph paper from the above
calculations and comment on the stability for various values of ‘ k’

PROGRAM:

clc

clear all

s = tf('s');

G = 1/(s*(s+1)*(s+3));

rlocus(G);

axis equal;

>> K = 12;

>> step(feedback(K*G,1),10)

>> hold;

% Current plot held

>> K = 20;

>> step(feedback(K*G,1),10)

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPECTED RESULTS:

k=12
Root Locus k=20
10 Step Response

8 System: G
Gain: 39.2
Pole: 0.492 + 2.76i
6
Damping: -0.175
Overshoot (%): 175
4 Frequency (rad/sec): 2.81

2
Imaginary Axis
Amplitude

-2

-4

-6

-8

-10
-15 -10 -5 0 5
0 1 2 3 4 5 6 7 8 9 10
Real Axis
Time (sec)

PRECAUTIONS:

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-08

OBJECTIVE/AIM: To plot Bode diagram of an open loop transfer function.

APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

Personal computer employed with
1 - 1
MATLAB
2 Printer - 1
3 Power Supply 230 V -

BRIEF THEORY:
Bode Plot is a graphical representation of the transfer function for the determination
of stability of control system. Bode diagram Consists of two plots i.e. magnitude v/s
frequency and phase angle v/s frequency. The curves are drawn on semi log paper, using the
logarithmic scale for frequency and linear scale for magnitude (in Decibels) or for phase
angle (in Degrees).
Condition for stability of a system:
(i) For, ωgc <ωpc; if both gain margin and phase margin are +ve then the system is
stable.

(ii) For, ωgc >ωpc; if both gain margin and phase margin are -ve then the system is
unstable.

(iii) For, ωgc =ωpc; if both gain margin and phase margin are zero then the system is
marginally stable

Where ωgc and ωpc are gain cross over frequency and phase cross over frequency
respectively.
To draw the Bode plot of the system whose transfer function is given as:
Steps involved drawing the Bode plot on the semi log paper:
36 1  0.2s 
G s  H s  
s 2 1  0.05s 1  0.01s 

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

Step 1. Put s=jω, We get

36 1  0.2 j
G  j H  j 
 j2 1  0.05 j1  0.01j
Step 2. For magnitude plot make Table 1
Table 1
Corner Asymptotic log-magnitude
S.No. Factor
Frequency characteristics
Straight line of constant slope - 40
36 db/decade and it intersect the 0 db axis
1  j 2 None at
 36  6 rad / sec

A straight line of slope +20 db/dec and

2
1  0.2 j ωc1=5 originating from ωc1=5

1 A straight line of constant slope of -20

3
1  0.05 j ωc2=20 db/dec and originating from ωc2=20

1 A straight line of constant slope of -20

4 1  0.01j ωc3=100
db/dec and originating from ωc3=100

Step 3. Phase Plot

Phase angle φ = -1800+tan-10.2ω - tan-10.05ω - tan-10.01ω, Phase angle φ for different values
of frequencies are given in Table 2
Table2
ω -1
tan- tan-
S.No. tan 0.2ω(degree) 1 1
Φ(degree)
(rad/sec) 0.05ω(degree) 0.01ω(degree)
1 1 11.3 -2.86 -0.57 -172.1
2 5 45 -14.03 -2.86 -151.9
3 10 63.4 -26.56 -5.7 -148.8
4 30 80.5 -56.3 -16.7 -172.4
5 50 84.3 -68.2 -26.56 -190.47
6 100 87.13 -78.7 -45 -216.57

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

Step 4. Choose a suitable scale and draw both the Bode magnitude and phase plot on the
same semi log paper .
Step 5. From the plot comment on the stability of the system.
PROGRAM:
% Sketch Bode plot for transfer function
% G(S)H(s)=36 (1+0.2s) / s2 (1+0.05s)(1+0.01s)
clc
num=conv([36],[ .2 1]);
den1=conv([1 0 0],([0.05 1]);
den=conv([den1],[0.01 1]);
G=tf(num,den);
[Gm,Pm,Wg,Wp]= margin(G);
margin(G)
%bode(G)
grid on
gtext('G(S)=1000/s(1+0.1s)(1+0.001s)')
EXPECTED RESULTS:PRECAUTIONS:

Bode Diagram
Gm = 21.3 dB (at 37.4 rad/sec) , Pm = 31.6 deg (at 7.9 rad/sec)
100

50
Magnitude (dB)

-50

-100

-150
-135
Phase (deg)

-180

-225

-270
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/sec)

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-09

OBJECTIVE/AIM: To Draw a Nyquist plot of an open loop transfers functions and

examine the stability of the closed loop system.

APPARATUS REQUIRED:
Sr. No. Item Name Specifications Qty
1 Personal computer employed with MATLAB - 1
2 Printer - 1
3 Power Supply 230 V -

BRIEF THEORY:
Nyquist Stability Criterion states that a closed loop system is stable if the contour GH of the
open loop transfer function G(s) H(s) corresponding to the Nyquist Contour in S-Plane
encircles the Point (-1+ j0) in counterclockwise direction and the Number of
Counterclockwise Encirclement about (-1+j0) equals the number of Poles of G(s) H(s) in the
Right half of S- plane.
The closed loop system is stable if the contour of G(s) H(s) does not pass through or does not
encircles (-1+j0) point.
Steps involve for sketching Nyquist plot
Step1. put s=jω

G  j H  j  Re 2  Im 2
Step2 . Determine magnitude response for the given transfer function as:
Step3. Determine Phase response as

G  j H  j  tan 1

Im
Re
Step4. Determine the magnitude and phase angle for

0 and   
Step 5. Find out crossing point with Real axis putting Im=0
Step6 . Find out crossing point with Imaginary axis putting Re=0
Step7. Sketch the plot from the above calculation.

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

Step8. Comment on the stability of the system.

PROGRAM:
% Sketch the nyquist plot for system
% G(s)H(s)=100/(s+1)(s+7)(s+9)
clc
clear all
num=100;
den=conv([1 1],conv([1 7],[1 9]));
GH=tf(num ,den);
nyquist(GH)
grid on
title('G(s)H(s)=100/(s+1)(s+7)(s+9)')

EXPECTED RESULTS:

G(s)H(s)=100/(s+1)(s+7)(s+9)
1
2 dB 0 dB -2 dB -4 dB
4 dB
0.8
-6 dB
0.6 6 dB

0.4 10 dB -10 dB

0.2
Imaginary Axis

20 dB -20 dB

-0.2

-0.4

-0.6

-0.8

-1
-1 -0.5 0 0.5 1 1.5 2
Real Axis

PRECAUTIONS:

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

EXPERIMENT NO.-10

OBJECTIVE/AIM: To convert transfer function of a system into state space form and vice-
versa.
APPARATUS REQUIRED:

Sr. No. Item Name Specifications Qty

1 Personal computer employed with MATLAB - 1
2 Printer - 1
3 Power Supply 230 V -

BRIEF THEORY:
Two of the most powerful (and common) ways to represent systems are the transfer function
form and the state space form. This page describes how to transform a transfer function to a
state space representation, and vice versa. Converting from state space form to a transfer
function is straightforward because the transfer function form is unique. Converting from
transfer function to state space is more involved, largely because there are many state space
forms to describe a system.

State Space to Transfer Function

Consider the state space system:

Now, take the Laplace Transform (with zero initial conditions since we are finding a
transfer function):

We want to solve for the ratio of Y(s) to U(s), so we need so remove Q(s) from the
output equation. We start by solving the state equation for Q(s)

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

The matrix Φ(s) is called the state transition matrix. Now we put this into the output
equation

Now we can solve for the transfer function:

State space to Transfer function conversion can be achieved by 2 ways:

i)Controllable Canonical Form (CCF)
ii)Observable Canonical Form (OCF)

Controllable Canonical Form (CCF)

Probably the most straightforward method for converting from the transfer
function of a system to a state space model is to generate a model in "controllable
canonical form." This term comes from Control Theory but its exact meaning is not
important to us. To see how this method of generating a state space model works,
consider the third order differential transfer function:

We start by multiplying by Z(s)/Z(s) and then solving for Y(s) and U(s) in terms of
Z(s). We also convert back to a differential equation.

We can now choose z and its first two derivatives as our state variables

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

Now we just need to form the output

From these results we can easily form the state space model:

In this case, the order of the numerator of the transfer function was less than that of
the denominator. If they are equal, the process is somewhat more complex. A result
that works in all cases is given below; the details are here. For a general nth order
transfer function:

the controllable canonical state space model form is

PROGRAM:

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 JSS Academy of Technical Education – NOIDA
Control System Lab (KEE-552) Manual (EEE,V Sem)

A=[0 1 0; 0 0 1; -3 -4 -2];
B=[0; 0; 1];
C=[5 1 0];
[n,d]=ss2tf(A,B,C,D)
n=
0 0 1.0000 5.0000
d=
1.0000 2.0000 4.0000 3.0000

mySys_tf = tf(n,d)

Transfer function:
s+5
----------------------
s^3 + 2 s^2 + 4 s + 3
From Transfer function to state space Representation:

num=[1 5];

den=[1 2 4 3];

[A,B,C,D]=tf2ss(num,den)

P=[0 0 1; 0 1 0; 1 0 0]
Ap=inv(P)*A*P
Bp= inv(P)*B
Cp=C*P
Dp=D

PRECAUTIONS:

55