DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Introduction To Control Systems Lab:

HIMANSU KUMAR SINGH

ECE-II 5TH Sem (2021-2025)
07715002821

Teacher In-charge:
Dr. Neetu Sehrawat
 INDEX
S.
Name of the Experiment Date Remark
No.
 Experiment: 01
Aim: To determine the step and impulse response for the given
second order unity feedback system:
1
a. 2
s + 2 s+3

s+1
b. 2
s + 2 s+3

1
a. 2
s + 2 s+3

Code:
clear all;
close all;
num1 = [0,1];
den1 = [1,2,3];
tf1 = tf(num1, den1);
tf2 = tf ([0,0,1],[0,0,1]);
tf3 = feedback(tf1,tf2);
%impulse response of transfer function
imp = impulse(tf3);
subplot(2,1,1);
plot(imp);
title('impulse response');
xlabel('time');
ylabel('amplitude');
%step response of transfer function
st = step(tf3);
subplot(2,1,2);
plot(st);
title('step response');
xlabel('time');
ylabel('amplitude');

Output:

Simulink Design for above system:

System with step input Step Response

System with Impulse input Impulse Response
 s+1
b. 2
s + 2 s+3

Code:
clc;
clear all;
close all;
num1 = [1,1];
den1 = [1,2,3];
tf1 = tf(num1, den1);
tf2 = tf ([0,0,1],[0,0,1]);
tf3 = feedback(tf1,tf2);
%impulse response of transfer function
imp = impulse(tf3);
subplot(2,1,1);
plot(imp);
title('impulse response');
xlabel('time');
ylabel('amplitude');
%step response of transfer function
st = step(tf3);
subplot(2,1,2);
plot(st);
title('step response');
xlabel('time');
ylabel('amplitude')
Output;

Simulink Design for above system:

System with Step Input Step Response

System with Impulse Input Impulse Response

 Experiment: 2
Aim: Plot unit step response of the given transfer function and
find delay time, rise time, and peak overshoot.
25
2
s + 6 s +25

Code:
clc;

clear all;
close all;
num =[0,0,25];
den = [1,6 ,25];
sys =tf(num,den);
step(sys);
wn = sqrt(den(end));
zeta = den(2)/(2*wn);
k = sqrt(1-(zeta^2));
wd = wn*k;
fi = atan((k)/zeta);
tr=(pi-fi)/wd;
tp=(pi/wd);
tss=(4/zeta*wn);
mp=exp((-pi*zeta)/k)*100; display(tr)
display(tp)
display(tss)
display(mp)
Output:

Peak time

Rise time

Time (Seconds)
Simulink Design for above system:

System with step input Step Response

 Experiment: 03
Aim: Plot the pole-zero configuration in the s-plane for the given
transfer function:
s +10
a. 3 2
s + 6 s +9 s +10

s+ 1
b. 2
s + 2 s+ 4

2
2 s +3 s
c. 2
s+ +
1 1
√2 4

2
s + 25
d. 2
s + 1.8 s+ 25

Code:
% ( s + 10) /( s³ + 6s² + 9s + 10)
num1= [1 ,10];
den1 = [ 1,6, 9,10];
sys1 = tf(num1,den1);
% (s + 1)/ ( s²+ 2s + 4)
num2=[1,1];
den2=[1,2,4];
sys2=tf(num2,den2);
% (2s²+ 3s)/(s²+ 1/√2 + 1/4)
num3=[2,3,0];
den3=[1,1/sqrt(2),1/4];
sys3 = tf(num3,den3);
% (s²+25)/(s² + 1.8s + 25)
num4= [1,0,25];
den4 = [1,1.8,25];
sys4 = tf(num4,den4);
figure;
%plot the pole zeroes to verify that they arein expected location.
subplot(2,2,1);
pzmap(sys1)
[z,p,k] = tf2zp(num1,den1)
zplane(num1,den1)
text(real(z)+ 0.1,imag(z), 'zero')
text(real(p)+ 0.1,imag(p), 'pole')
title('pole - zero plot');
xlabel('real');
ylabel('imaginary');
%plot the pole zeroes to verify that they arein expected location.
subplot(2,2,2);
pzmap(sys2)
[z,p,k] = tf2zp(num2,den2)
zplane(num2,den2)
text(real(z)+ 0.1,imag(z), 'zero')
text(real(p)+ 0.1,imag(p), 'pole')
title('pole - zero plot');
xlabel('real');
ylabel('imaginary');
%plot the pole zeroes to verify that they are in expected location.
subplot(2,2,3);
pzmap(sys3)
[z,p,k] = tf2zp(num3,den3)
zplane(num3,den3)
text(real(z)+ 0.1,imag(z), 'zero')
text(real(p)+ 0.1,imag(p), 'pole')
title('pole - zero plot');
xlabel('real');
ylabel('imaginary');
%plot the pole zeroes to verify that they are in expected location.
subplot(2,2,4);
pzmap(sys4)
[z,p,k] = tf2zp(num4,den4)
zplane(num4,den4)
text(real(z)+ 0.5,imag(z), 'zero')
text(real(p)-2,imag(p), 'pole')
title('pole - zero plot');
xlabel('real');
ylabel('imaginary')

Output:
 Experiment : 04:
Aim: Sketch the root locus plot:
1. For the open loop transfer function
2
s +4
a. G(s)h(s)=k
s ( s+ 2 )
s +12
b. G(s)H(s)= 2 (
s s+20 )

2. Consider system with transfer function:

s+2
a. G(s)h(s)=k (
s s+ 1 ) ( s 2+ 4 s+16 )
k
b. G(s)H(s)= (
s s+ 4 ) ( s 2+ 4 s+20 )

2
s +4
1.a. G(s)h(s)=k (
s s+ 2 )

Code:
clc;
clear all;
close all;
num=[1,0,4];
den=[1,2,0];
g=tf(num,den)
t=feedback(g,1);
rlocus(g);

Output:
 s +12
1.b. G(s)H(s)= 2 (
s s+20 )

Code:
clc;
clear all;
close all;
num=[1,12];
den=[1,20,0,0];
g=tf(num,den);
t=feedback(g,1);
rlocus(g);

Output:
 s+2
2.a. G(s)h(s)=k (
s s+ 1 ) ( s 2+ 4 s+16 )

Code:
clc;
clear all;
close all;
num=[1,2];
den=[1,5,20,16,0];
g=tf(num,den);
rlocus(g);

Output:
 k
2.b. G(s)H(s)= (
s s+ 4 ) ( s 2+ 4 s+20 )

Code:
clc;
clear all;
close all;
num=1;
den=[1,8,36,80,0];
g=tf(num,den);
rlocus(g);

Output:
 Experiment :05
Aim: A unity feedback control system has its forward path
transfer function:
210
G(s) = (
s s+ 2 ) ( s 2+12 s+6 )

Plot the bode diagram. Find GM and PM.

Code:
clc;
clear all;
close all;
num=210;
den=[1,14,30,12,0];
sys=tf(num,den);
bode(sys);

Output:
 Experiment 06:
AIM: For the open loop transfer function:
1
a. G(s)= 2
s + 8 s +1
4 s+ 1
b. G(s)= 2
s + 8 s +1
s +2
c. G(s)= ( s +1 )( s−1 )

1
a. G(s)= 2
s + 8 s +1

Code:
clc;
clear all;
close all;
num=[1];
den=[1 8 1];
sys=tf(num,den);
nyquist(sys);

Output:
 4 s+ 1
b. G(s)= s 2+ 8 s +1

Code:
clc;
clear all;
close all;
num=[4 1];
den=[2 3 1 0 0];
sys=tf(num,den);
nyquist(sys);

Output:
 s +2
c. G(s)= ( s +1 )( s−1 )

Code:
clc;
clear all;
close all;
num=[1 2];
den=[10 (-1)];
sys=tf(num,den);
nyquist(sys);

Output:
 Experiment : 07 (Code)
Aim: Comparison of open loop and closed loop control in speed
control of DC motor and to find the transfer function .Draw the
corresponding graph.
Code:
clc;
clear all;
close all;

err = [3 4 5 6 7 8 9 10];
gain_nofba1= [1195 1830 2590 3370 3871 3836 3845 3852];
gain_nofba10= [4334 4337 4340 4343 4345 4346 4347 4350];

gain_fba1= [983 1154 1405 1839 2044 2221 2394 2518]

gain_fba10= [3100 3390 3441 3474 3514 3595 3615 3721];

subplot(2,2,1);
plot(err,gain_nofba1);
xlabel=('Error Gain');
ylabel=('RPM');
title=('RPM vs Error without feedback(Amp Gain 1)');

subplot(2,2,2);
plot(err,gain_nofba10);
xlabel=('Error Gain');
ylabel=('RPM');
title=('RPM vs Error without feedback(Amp Gain 10)');
subplot(2,2,3);
plot(err,gain_fba1);
xlabel=('Error Gain');
ylabel=('RPM');
title=('RPM vs Error with feedback(Amp Gain 1)');
subplot(2,2,4);
plot(err,gain_fba10);
xlabel=('Error Gain');
ylabel=('RPM');
title=('RPM vs Error with feedback(Amp Gain 10)');

Output:
 Experiment: 07
AIM:- Comparison was open loop and closed loop control in
speed control of DC motor and to find the transfer function.
Draw the corresponding graph.

Apparatus Required: DC motor speed control, power supply, probes &wires.

Theory:

1) MOTOR UNIT- It consists of a small permanent magnet DC motor rated

12V DC rated current 0254 at normal run and 0.4A at full lood The
torque 75gm/cm and max speed is 3200 rpm. An over current protection
circuit, incorporated to exceed current 02A An eldy current brake system
for adding turbulence. An auto interrupter bared speed sense system. This
system can be connected using pin-Dtype connection.

2) CONTROL UNIT- The control unit has speed measurement unit,

electric tachogenerator, error desector and forward gain amplifier, motor
driver circuit, signal source, break control and a digital voltmeter for
measurement

3) SPEED MEASUREMENT SYSTEM- A uniformly beared wire is

attached with motor shaft which interrupts the LED's light falling upon a
photodiode that generates, pulses for every revolutionThese pulses can
then be fed to a single conditioned and scaling circuit.

4) TACHOGENERATOR- From signal conditioner a proportional DC

Voltage generated by a frequency voltage converter which is brought upon a
socket upon panel. The voltage can be applied to error amplifier by a switch
fitted near tachogenerator 5.) ERROR DETECTOR AND FORWARD GAIN
AMPLIFIED-In open loop the error signal re ted to an amplifier circuit the gain
of which can be altered le uniform steps from X3 to X10 in openloop and 3-10
and 20 in closed loop 6) MOTOR DRIVER AMPLIFIER - It is unity gained
amplifier designed to deliver necessarycurrent to the motor. A current limited
circuit is incorporated with this circuit .

7.) DIGITAL VOLTMETER-A-1 digital voltmeter having of 19.99V is

provided upon the panel. 3.) BREAK CONTROL-A two position switch applies
regulated switch voltage to an electromagnet attached to the motor 90 SIGNAL
SOURCE-A DC source reference voltage potentiometer proves for set voltage
V and reference regulator wave of 111Z having Lipp.

PROCEDURE

1) OPEN LOOP CONFIGURATION

In tus case motor is allowed to run without a feedback. So, the switch S is kept
at upper side. Let VDGV or 67V (reference) and it can be adjusted by the given
potentiometer and measure on DVM Connect DVM with feedback socket and
note that the speed in rpm for display output VR.
Record N in Vr for successive gain 3,4, 5....10.
Calculate motor driver voltage au Vn= Vr.k where k is given as gain
> Plot N vs Vm. Find motor speed from linear region at curve km = 1/k where
K = shaft
speed/'motor voltage = Wss/Vm, km = Vm/Wss, kr =Vr/Wss

2.) CLOSED LOOP CONFIGURATION

In this case, switch s is kept towards ON side. Thus, the feedback gets
subtracted from Vreference.
> set K=3, adjust Vr= 0.6 or 0.7
> Observe the motor speed decreasing due to addition of error voltage in
reference voltage
> Take readings of K=4,5....10
> Evaluate the results b/w gain factor and speed N.
So basically, in closcd loop the slope of K Vs Nis less than that of open loop
control