Department of Electrical Engineering

University of Engineering and Technology, Lahore

EE-340L Control Systems

Spring 2023

Experiment No. 2

System Modelling

CLOs Covered : CLO1 and CLO 2

Objective
The objective of this lab is to get familiarized with the basics of MATLAB and Simulink.

Reference Material
Chapter 2 and 3 of Modern Control Engineering 5th Edition by Katsuhiko Ogata

The first step in the control design process is to develop appropriate mathematical models of the system to be
controlled. These models may be derived either from physical laws or experimental data. In this experiment, we
shall introduce the state-space and transfer function representations of dynamic systems. We then review some
basic approaches to modeling mechanical and electrical systems and show how to generate these models in
MATLAB for further analysis.

Task 1: Modelling of Mass-Spring-Damper System

Using the Newton’s 2nd law, write the governing equation for the system.
Write the state space equation of the system by choosing the position and velocity as state variables and
position of the mass as the output.
Develop a state space representation in MATLAB by using the following numerical values of the variables.
m mass 1.0 kg
k spring constant 1.0 N/m
b damping constant 0.2 Ns/m
F input force 1.0 N

Derive the transfer function of the system and represent it in MATLAB by two methods.
 Verify that it is the same as the transfer function obtained using the state space representation above from
MATLAB.

Task 2: Modelling of RLC Circuit

We will now consider a simple series combination of three passive electrical elements: a resistor, an inductor, and
a capacitor, known as an RLC Circuit.

Write the governing equation by applying KVL around the loop.

Is there an analogy between the governing equation for the RLC circuit and the mass-spring-damper mechanical
system?
Find the state-space representation by choosing the charge on the capacitor and current through the circuit
(inductor) as the state variables and current as ouput.
Find the transfer function representation from the state space and governing equation.
The RLC state-space and transfer function models can be entered into MATLAB using the same procedure as
discussed for the mass-spring-damper system above.
Represent the state space and transfer function in MATLAB and show the inter convertability.

Task 3: Modelling of Cruise Control

Automatic cruise control is an excellent example of a feedback control system found in many modern vehicles. The
purpose of the cruise control system is to maintain a constant vehicle speed despite external disturbances, such
as changes in wind or road grade. This is accomplished by measuring the vehicle speed, comparing it to the desired
or reference speed, and automatically adjusting the throttle according to a control law.

Write the system equation.

Write the state-space representation and enter this state-space model into MATLAB using the following
parameters
(m) vehicle mass 1000 kg

(b) damping coefficient 50 N.s/m

Derive the transfer function and enter it into MATLAB.

Task 4: DC Motor Speed

The electric equivalent circuit of the armature and the free-body diagram of the rotor are shown in the following
figure.

We will assume that the input of the system is the voltage source ( ) applied to the motor's armature, while the
output is the rotational speed of the shaft .
From the figure above, we can derive the following governing equations based on Newton's 2 nd law and Kirchhoff's
voltage law.

The physical parameters are:

(J) moment of inertia of the rotor 0.01 kg.m^2

(b) motor viscous friction constant 0.1 N.m.s

(Ke) electromotive force constant 0.01 V/rad/sec

(Kt) motor torque constant 0.01 N.m/Amp

(R) electric resistance 1 Ohm

(L) electric inductance 0.5 H

Derive the transfer function.considering the rotational speed as output and the armature voltage as input.
Represent it in MATLAB.

Derive the state-space form by choosing the rotational speed and electric current as the state variables. The
armature voltage is treated as the input and the rotational speed is chosen as the output. Represent it in MATLAB.

Task 5: DC Motor Position

.For this task, we will assume the following values for the physical parameters. These values were derived by
experiment from an actual motor.
(J) moment of inertia of the rotor 3.2284E-6 kg.m^2

(b) motor viscous friction constant 3.5077E-6 N.m.s

(Kb) electromotive force constant 0.0274 V/rad/sec

(Kt) motor torque constant 0.0274 N.m/Amp

(R) electric resistance 4 Ohm

(L) electric inductance 2.75E-6H

Derive the transfer function.considering the position of the shaft ( ). as output and the armature voltage ( )
as input. Represent it in MATLAB.
Derive the state space form by choosing the motor position , rotational speed and electric current as the state
variables. The armature voltage is treated as the input and the rotational position is chosen as the output. Represent
it in MATLAB.

Task 6: Modelling of Suspension

Designing an automotive suspension system is an interesting and challenging control problem. When the
suspension system is designed, a 1/4 model (one of the four wheels) is used to simplify the problem to a 1-D
multiple spring-damper system. A diagram of this system is shown below. This model is for an active suspension
system where an actuator is included that is able to generate the control force U to control the motion of the bus
body.

Derive the following transfer function.

Generate the above transfer function and state space models models in MATLAB by using the following system
parameters.
(M1) 1/4 bus body mass 2500 kg

(M2) suspension mass 320 kg

(K1) spring constant of suspension system 80,000 N/m

(K2) spring constant of wheel and tire 500,000 N/m

(b1) damping constant of suspension system 350 N.s/m

(b2) damping constant of wheel and tire 15,020 N.s/m

(U) control force

Inverted Pendulum
The system in this example consists of an inverted pendulum mounted to a motorized cart. The inverted pendulum
system is an example commonly found in control system textbooks and research literature. Its popularity derives
in part from the fact that it is unstable without control, that is, the pendulum will simply fall over if the cart isn't moved
to balance it. Additionally, the dynamics of the system are nonlinear. The objective of the control system is to
balance the inverted pendulum by applying a force to the cart that the pendulum is attached to. A real-world
example that relates directly to this inverted pendulum system is the attitude control of a booster rocket at takeoff.
In this case we will consider a two-dimensional problem where the pendulum is constrained to move in the vertical
plane shown in the figure below. For this system, the control input is the force that moves the cart horizontally
and the outputs are the angular position of the pendulum and the horizontal position of the cart .

For this example, let's assume the following quantities:

(M) mass of the cart 0.5 kg

(m) mass of the pendulum 0.2 kg

(b) coefficient of friction for cart 0.1 N/m/sec

(l) length to pendulum center of mass 0.3 m

(I) mass moment of inertia of the pendulum 0.006 kg.m^2

(F) force applied to the cart

(x) cart position coordinate

(theta) pendulum angle from vertical (down)

Consider the following transfer functions.

Derive the state space representation from the above transfer functions.
Represent the transfer functions derived above for the inverted pendulum system in MATLAB. Convert one from
other

Aircraft Pitch
The equations governing the motion of an aircraft are a very complicated set of six nonlinear coupled differential
equations. However, under certain assumptions, they can be decoupled and linearized into longitudinal and lateral
equations. Aircraft pitch is governed by the longitudinal dynamics. We shall design an autopilot that controls the
pitch of an aircraft. The basic coordinate axes and forces acting on an aircraft are shown in the figure given below.

Under these assumptions, the longitudinal equations of motion for the aircraft can be written as follows.

For this system, the input will be the elevator deflection angle and the output will be the pitch angle of the
aircraft.

Before finding the transfer function and state-space models, let's plug in some numerical values to simplify the
modeling equations shown above:

These values are taken from the data from one of Boeing's commercial aircraft.

Recognizing the fact that the modeling equations above are already in the state-variable form, write the state space
equations.
Write the transfer function.

Ball & Beam

A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length
of the beam. A lever arm is attached to the beam at one end and a servo gear at the other. As the servo gear turns
by an angle , the lever changes the angle of the beam by . When the angle is changed from the horizontal
position, gravity causes the ball to roll along the beam. A controller will be designed for this system so that the ball's
position can be manipulated.
The constants and variables for this example are defined as follows:
(m) mass of the ball 0.11 kg

(R) radius of the ball 0.015 m

(d) lever arm offset 0.03 m

(g) gravitational acceleration 9.8 m/s^2

(L) length of the beam 1.0 m

(J) ball's moment of inertia 9.99e-6 kg.m^2

(r) ball position coordinate

(alpha) beam angle coordinate

(theta) servo gear angle

The governing equation is as follows.

Taking the Laplace transform of the equation above, find the transfer function from the gear angle ( ) (input)
to the ball position ( ) (output). It should be noted that the above plant transfer function is a double integrator.
As such it is marginally stable and will provide a challenging control problem.
Derive the state space form by selecting the ball's position ( ) and velocity ( ) as the state variable and the gear
angle ( ) as the input. The state-space representation is shown below:

Derive the state equation such that instead of controlling the position through the gear angle, , we will control the
torque applied to the beam directly. For this system the gear and lever arm would not be used, instead a motor at
the center of the beam will apply torque to the beam, to control the ball's position.
Laboratory Performance Rubrics
Excellent (100%) Good (80%) Satisfactory (60%) Needs
Improvement (0% –
40%)

Execution Properly done the Experiment results Experiment results Did not try to
of Lab experiment and results had minor issues had issues and could perform the
Tasks shown to the instructor. but corrected on its not correct own its experiment,
Used time well in lab own. Used time own. Did the lab but Participation was
and focused attention well. Stayed did not appear very minimal, or student
on the experiment. focused on the interested. Sometimes was hostile about
CLO 2
Routinely provides experiment most of provides useful ideas participating.
20 Marks useful ideas when the time. Usually when participating in Rarely provides
participating in the provides useful the group and in useful ideas when
group and in ideas when classroom discussion. participating in the
classroom discussion. participating in the A satisfactory group group and
Actively looks for and group and in member who does discussion. May
suggests solutions to classroom what is required. refuse to
problems. discussion. participate.

Report Well defined problem Well defined Well defined problem Poorly defined
with clear cut problem with clear with clear objectives problem with un-
objectives and objectives and but not so appropriate clear objectives
methodology methodology methodology and methodology
CLO 1
Results are relevant Results are Results are Results are neither
10 Marks and presented in relevant but not somewhat relevant relevant nor
appropriate manner. presented in but not presented in presented
Work is well appropriate appropriate manner appropriately
summarised and manner Work is summarised Work is not
concluded Work is well and concluded summarised and
summarised and concluded properly
concluded