Control Systems Lab Manual Department of EEE

CONTENTS

Exp. Page
Date Name of the Experiment Signature
No. No.

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Load Test to Determine Kt & Kb

Retardation Test to Find J & F

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Exp. No.: Date:

Transfer Function of Armature Controlled DC Motor

Aim:

To determine the transfer function of an armature controlled dc shunt motor.

Name Plate Details:

Power :
Voltage :
Current :
Speed :

Apparatus Required:

Sl.No Name of the Apparatus Range Type Qty

1. Voltmeter

2. Ammeter

3. Rheostat

4. Techometer

5. Lamp Load

Theory:

The transfer function is defined as the ratio of Laplace transformation of the output
variable to the Laplace transformer of input variable. The DC motor converts electrical energy into
mechanical energy. The electrical energy supplied at the armature terminals converted into
controlled mechanical energy.

(i) Armature controlled DC shunt motor

In armature control, the field current is kept constant and the armature voltage is varied
and hence the speed is varied. The field current I f (t) is maintained constant by keeping the V t(t)
to a constant value V f and the armature current Ia(t) is varied to change the torque Tm(t) of

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To Find Za:-

To Find Ra:-

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the load connected to the motor shaft. Thus the input variable of the motor is the armature voltage
Va(t) and the output variable is the torque T m(t). The speed of the DC motor is directly proportional
to the armature voltage and inversely proportional to the flux in the armature.
i.e. N  Va /


In the armature controlled DC motor, the desired speed is obtained by varying the
armature voltage.

Transfer Function by Kirchoff's law,

Va = laR a + La dIa(t)/dt + Eb (t) ...................... (1)

Ra If

Va Ia

Taking Laplace transform of equation (1), we have

Va(s) = [Ra+sLa] Ia(s) + Eb(S)

=> Ia(s) = [Va(s) - Eb(S)] / [Ra+sLa].................(2)

Since the field current is kept constant, the torque developed is proportional to the
armature current, i.e., the flux developed   If(t) , If is constant

Hence torque developed T  Ia, T  Ia => T = Kt Ia………………. (3)

Taking Laplace transform of equation (3), T (s) = Kt la (s) ................... (4)

Where K =Torque constant, Kt = T / Ia N-m / A ….........................… (5)

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Tabulations:-

To Find Kt & Kb:-

=2N/60 T=EbIa/
If Ia Va N (rpm) Eb=Va-IaRa
(N-m)
(Rad/sec)

Rated
Value
(0.5A)

To Find J & F:-

Retardation Test For Range of Speed (Rpm) Time (Sec)

J only 1500 to 225

Both J & F 1500 to 225

To Find Ra:-

va (V) Ia (A) Ra =Vf/If

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The torque equation is given by,

T(t) = Jd2/d t2 + f d/dt ...................….…..(6)

Taking Laplace transform of equation (6),

T(s) = Js2 (s) + f s(s). ................ ……....(7)
Substituting equation (4) in (7),
Kt Ia (s) = Js2(s) + f s(s)
s(s) [Js+f] = Kt Ia (s) .............. ..(8)

Substituting equation (2) in (8),

s(s) [Js+f] = Kt [Va(s) - Eb(S)] / [Ra+sLa]……….(9)

Motor back emf is proportional to speed,i.e.,

Eb(t) = Kb d/dt = Kb (t)…..…..(10)

Where Kb = back emf constant.

Taking laplace transform of equation (10),

Eb(s) = Kb (s)……………………….…(11)
Substituting equation (11) in (9),

s(s) [Js+f] = Kt [Va(s) - Kb(s)] / [Ra+sLa]

(s) [Js+f] = Kt [Va(s) - Kb(s)] / [Ra+sLa] , since d/dt = (s) & s (s)= (s)

(s) / Va(s) = Kt / Kt Kb + (sJ+f) (Ra+sLa)

Where, Ra = Armature resistance; 



La = Armature Inductance; Hendry

Kt = Torque constant = T / Ia; N-m / A
Kb= Back emf constant = ~Eb / ~ N ; Volts/(rad/sec)
f= Frictional constant; N-m/(rad/sec)
J = moment of Inertia; kg-m2

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To Find Za:-

Va (V) Ia (A) Za =Vf/If

Model Graph: [to find Kt & Kb]

T in rated If Eb Kb =  Eb/ 


Kt = T/Ia

Ia  (rad/sec)

Formulae:

Total losses in a circuit = V (Ia+If) - la2R - VIf

Energy = (Losses * t) = ½ J (12 - 22)

N1 =1500 rpm; N2 = 225 rpm;  = 2N/60

J = (Losses * t *2 ) / ( 12 - 22)

f = J/ m

La= Z a2 – Ra 2 / 2¶f
f = frequency

(s) / Va (s) = Kt / Kt Kb+ (sL+f) (Ra+sLa)

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Procedure:

(i) Load test to determine K t & Kf

 Conduct the load test with normal rated value of field currents.
 Give the connections as per circuit diagram.
 Keep the field rheostat in minimum position & switch on 230 V supply.
 Adjust the field rheostat to rated speed & consider the corresponding field current as rated
field current.
 For different loads note down Ia,Va & speed
 Calculate the torque developed.
 Plot a graph between T(Y -axis) and Ia (X-axis) for both the cases.
 From this graph, obtain Kt.
 Plot the graph between Eb Vs .
 From this graph, obtain Kb.

(ii) Retardation Test to find J & f

The total losses can be divided into two parts,viz., constant losses and variable losses. The
constant losses include frictional & inertia losses.

 Give the connections as per circuit diagram.

 By closing the switch, make the measurement of V ,Ia and If.
 Make the motor to run at a speed greater than 1600 RPM.
 Open the switch suddenly.
 Using stopwatch, note down the time taken for the speed of the motor to fall down from
(1 =1500 rpm, 2 =225 rpm)
 The moment of inertia, J is obtained from the relation between loss, time and 
 The friction constant, f is obtained using the exponential relation between speed, time and
time constant. ζ m = t1~ t2/ ln (N1- ln N2)  natural log
 Calculate no load input power using the values read by ammeter & voltmeter connected to
armature circuitry.

Result:

Thus the transfer function of dc shunt motor by armature control is determined.

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Load Test to Determine Kt & Kb

Retardation Test to Find J & F

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Exp. No.: Date:

Transfer Function of Field Controlled DC Motor

Aim:

To determine the transfer function of a field controlled dc shunt motor.

Name Plate Details:

Power :
Voltage :
Current :
Speed :

Apparatus Required:

Sl.No Name of the Apparatus Range Type Qty

1. Voltmeter

2. Ammeter

3. Rheostat

4. Techometer

5. Lamp Load

Theory:

The transfer function is defined as the ratio of Laplace transform of the output variable to
the Laplace transform of input variable. The DC motor converts electrical energy into mechanical
energy. The electrical energy supplied at the armature terminals converted into controlled
mechanical energy.

(ii) Field Controlled DC Shunt Motor

In field control method, the armature current Ia(t) is maintained to a constant value Ia
while the field voltage V.(t) is varied to control the speed or torque of the motor. Thus the input of
the motor is field voltage V.(t) and the output is the motor speed and the load displacement.

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To Find Zf :-

To Find Rf :-

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Transfer Function:

The circuit for field controlled dc shunt motor is given in figure.

Ra If

Ef
Va Ia

Where, Rf = Resistance of field circuit ;Ω

Lf = Inductance of field circuit; Henry
Ef = Excitation voltage; Volts
If = Excitation current; Amperes
J = Moment of Inertia; kg-m2

f= Co efficient of friction ;N-m / (rad/sec)

 = Angular velocity = d/dt in rad/sec
Applying Kirchoffs law,
Ef{t) = RfIf(t) + LfdIf(t)/dt ……………(1)
Taking Laplace transform of equation (1)
Ef(s) = RfIf(s) + LfsIf(s), which implies If(s) = Ef(s) / [R f+sLf] .…….(2)
The torque developed is proportional to the field current, since the armature current is constant i.e.
  If & T  Ia as Ia is constant, T  , which implies T  If
T =Kf If(t)………….(3)
Where Kf= T / If= Constant in N-m /amperes................(4)
Taking laplace transform of equation (3), T (s) =K f If(s)..............(5)
The torque equation is given by,
T(t) = Jd2/dt2 + fd/dt = Jd/dt+f
Taking laplace of the above equation,
T(s) = Js (s) + f(s)…………..(6)
Substituting equation (5) in (6),
KfIf (s) = Js ( s) + f( s), which implies ( s) = Kf If (s)/[Js+f]………(7)
Substituting equation (2) in (7),

( s)/ Ef(s) = Kf/ { [sJ+ f] [Rf+SLf]}

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Tabulations:-

To Find Kf:-

N (rpm) =2N/60 Eb=Va-IaRa T=EbIa/

If Ia Va (Rad/sec) (N-m)

Rated
Value
(0.5A)

80 %
Rated
Value

To Find J & F:-

Retardation Test For Range of Speed (Rpm) Time (Sec)

J only 1500 to 225

Both J & F 1500 to 225

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Procedure:

(i) Load test to determine Kf

 Conduct the load test with two constants normal (rated value) & sub normal
(say 80% of rated field current) values of field currents.
 Give the connections as per circuit diagram. .
 Keep the field rheostat in minimum position & switch on 230 V supply.
 Adjust the field rheostat to rated speed & consider the corresponding field current as rated
field current.
 For different loads note down la,Va & speed
 Calculate the torque developed.
 Repeat the same for 80% of excitation current.
 Plot a graph between T (Y-axis) and Ia (X-axis) for both the cases.
 From the graph deduce two points (T 1,If1 and (T2,If2) for the same armature current (Ia =
rated or maximum value).
 Plot the graph between T Vs If
 From this graph, obtain Kf.

(ii) Retardation Test to find J & f

The total losses can be divided into two parts,viz., constant losses and variable losses. The
constant losses include frictional & inertia losses.

 Give the connections as per circuit diagram.

 By closing the switch, make the measurement of V ,Ia and If.
 Make the motor to run at a speed greater than 1600 RPM.
 Open the switch suddenly.
 Using stopwatch, note down the time taken for the speed of the motor to fall down from
(1 =1500 rpm, 2 =225 rpm)
 The moment of inertia, J is obtained from the relation between loss, time and 
 The friction constant, f is obtained using the exponential relation between speed, time and
time constant. ζ m = t1~ t2/ ln (N1- ln N2)
 Calculate no load input power using the values read by ammeter & voltmeter connected to
armature circuitry.

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To Find Rf:-

Vf (V) If (A) Rf =Vf/If

To Find Zf:-

Vf (V) If (mA) Zf =Vf/If (KΩ)

Model Graph: [to find Kt & Kb]

T rated If
80% of If

Kf = T/Ia

Ia

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Formulae:

Total losses in a circuit = V (Ia+If) - la2R - VIf

Energy = (Losses * t) = ½ J (12 - 22)

N1 =1500 rpm; N2 = 225 rpm;  = 2N/60

J = (Losses * t *2 ) / ( 12 - 22)

f = J/ ζ m

Lf = Zf 2 – Rf 2 / 2¶f

( s)/ Ef(s) = Kf / { [sJ+ f] [Rf+ sLf]}

(iii) V-A method to obtain Lf

 Give the connections as per circuit diagram.

 Measure Ra & Rf. [As the field winding resistance is of the order of 250-3000hms and it can
withstand a current of 1A,the circuit shown can be used for measurement of R f Similarly, as
the armature resistance is of order of 0.2 - 1 ohms and it can be measured using the circuit
shown]
 To measure Lf & La, give the connections as shown.
 Apply an ac voltage & measure the field reactance Zr & armature reactance Za.
 Calculate Xf =Square root of Zf2 –R 2f and Lf = Square root of (Zf2 –Rf2)/ 2f

RESULT:

Thus the transfer function of dc shunt motor by field-control method is determined.

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Transfer function of separately excited dc shunt generator on load

To Find Zf :-

To Find Rf :-

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Exp.No.: Date:

Transfer function of separately excited dc shunt generator on load

Aim:-

To determine the transfer function of Separately Excited DC generator on load condition.

Name Plate Details:

Power :
Voltage :
Current :
Speed :

Apparatus Required:

Sl.No Name of the Apparatus Range Type Qty

1. Voltmeter

2. Ammeter

3. Rheostat

4. Techometer

5. Lamp Load

Precautions:-

1. Field rheostat at motor side should be at minimum resistance position.

2. Potential divider must be kept at minimum potential position.
3. Starter handle should be at OFF position.
4. DPST switch should be in open.

Procedure:-

1. Connections are made as per the circuit diagram.

2. Close the DPST switch.
3. Start the motor with the help of 3 point starter.
4. By adjusting the field rheostat in the motor side the machine is made to run in the rated
speed of the generator.

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Tabulations:-

To find RL:-

Generated Generated
S.No RL = Eg/Ig
voltage (Ig) current Ig

To find Zf:-

S.No Vf If Zf = Vf/If Xf = √(Z2f-R 2f ) L f = X f/2 f

To find Rf:- Model graph:

S.No Vf If R f = Vf / I f
Kg = ∆Eg/ ∆If

Eg ∆Eg

∆If

If

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5. Note the value of field current, field voltage generated voltage when the field current is
zero.
6. By varying the potential divider find out If, E g, Vg, which are used to calculated R L, Rf.
7. To find the R eff, find the armature resistance of the generator.
8. Auto transformer is used to find field impedance, field reactance and field inductance.

Formulae:

Transfer function: Eo(s) = K

Ef(s) 1+sT
Where,
K = Kg/Rf (no unit)
Kg = Generated emf constant
Rf = Field resistance
Kg = ∆Eg / ∆If
Where,
∆ Eg = Voltage generated
∆ If = Field Current
T = Lf/Rf
Where,
T = Time constant
Lf = Field Inductance
Rf = Field Resistance

Result:-

Thus the transfer function of Separately Excited DC generator on load condition is

successfully determined.

The transfer function is Eo(s) =

Ei(s)

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Transfer function of self excited DC shunt generator on load condition

To Find Lf :-

To Find Ra:-

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Exp.No.: Date:

Transfer function of self excited DC shunt generator on load condition

Aim:-

To determine the transfer function of self excited DC shunt generator on load condition.

Name Plate Details:

Power :
Voltage :
Current :
Speed :

Apparatus Required:

Sl.No Name of the Apparatus Range Type Qty

1. Voltmeter

2. Ammeter

3. Rheostat

4. Techometer

5. Lamp Load

Precautions:-

1. Field rheostat of motor should be kept at minimum resistance position.

2. Potential divider must be kept at minimum potential position.
3. Starter handle should be at OFF position.
4. DPST switch should be kept at OFF before starting the motor.

Procedure:-

1. Connections are made as per the circuit diagram.

2. Close the DPST and start the motor with the help of the three point starter.
3. By adjusting the field rheostat on the motor side the machine is made to run at rated
speed.

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Tabulations:-

To find Kg & Rf.

S.No Vf (volts) If (A) IL (A) Eg (V) Rf = Vf/If RL = Eg/IL

To find Ra

S.No Va (volts) Ia (amp) Ra = Va/Ia

To find Lf:-

2 2
S.No Vf (volts) If (mA) Zf =Vf/If Xf = √(Zf -Rf Lf = Xf/2f

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4. Note down the value of field current and voltage generated voltage the field current at
zero.
5. By varying the loading rheostat the corresponding values of ammeter and voltmeter
readings are noted.

Formula :-

Transfer function T(s) = K

1+sT

Where, K = K gR L

Rf (Ra+RL)

Kg = ∆Eg/∆If

T = Lf/Rf

Model graph:

Kg = ∆Eg/ ∆If
Eg ∆Eg

∆If

If

Result:-

Thus the transfer function of self excited DC shunt generator on load condition is
determined and is found to be,

T(s) = K /(1+sT)

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Measurement of Transfer Function Parameters of AC servomotor

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Exp.No: Date:

Measurement of Transfer Function Parameters of AC servomotor

Aim:
To determine the motor constants Ku and Kz and to find transfer function of motor.

Apparatus Required:

1. Voltmeter ( 0- 20 ) V Mc
2. Patch chards
3. Single phase AC servomotor speed control and transfer function study trainer kit.

Procedure:

To determine value of k z : -

1. Connect G1K1 of pulse isolation output to G1K1 of SCR.

2. Connect G2K2 of pulse isolation output to G2K2 of SCR
3. To operate open loop control mode using switch S 1.
4. 9 – pin - D connector is connected from over setup to back side of trainer.
5. Keep speed indicator switch in PV mode.
6. Connect AC voltmeter ( 0 – 20 )V or Multimeter across the control phase winding C 1
and C 2.

Experimental Procedure:-

1. Switch on 230V AC supply to winding reluctance.

2. Switch on 230V AC supply to motor setup.
3. Switch on pulse on/off switch S 2.
4. Vary control voltage pot and set the rated voltage ( 11.4 ) to control phase winding.
5. Apply load on motor step by step to motor upto zero rpm.
6. For each step, note readings ( load, speed ) as shown.
7. Calculate torque value.
8. Plot graph speed vs torque.
9. Slope of speed torque curve gives K2.

To determine the value of K1

1. Connects G1K1 of pulse isolation output to G1K1 of SCR1.

2. Connects G1K1 of pulse isolation output to G2K2 of SCR2.
3. To operate open loop control mode using switch S 1.

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TABULATION:-

Control voltage = Rated voltage.

For K2 :-

Speed (rpm) Load (Kg) Torque (nm)

For K1:-

Load (Kg) Control Voltage (V) Torque (nm)

Model Graph:-

T T
T K2 = T/N K1 = T/V
T
N V

Speed Control  winding voltage

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4. 9 pin D connector is connected from motor setup to back side of trainer.

5. Keep speed indicator switch in PV mode.
6. Connects AC Voltmeter ( 0-20)V of Multimeter across control phase winding.

Experimental procedure:-

1. Switch ON the 230V AC supply to reference winding.

2. Switch ON the 230V AC supply to motor setup.
3. Switch ON the pulse ON/OFF switch S2.
4. Vary control voltage pot or and set the rated voltage to control phase winding.
5. Apply load on motor, step by step up to zero rpm.
6. For each step, note down load and voltmeter readings.
7. Calculate torque and the plot graph torque vs control voltage.
8. A slope of torque vs control voltage curve gives motor constant K 2.

From observation:-

K2 = 2*10-5 ; K1 = 7.5*10-3

T.F = W(S) = K1 = Km
Ec(S) SJ+K2+B 1+STm

Km = K 1/ K2+B => Motor gain Constant

Tm = J/ K2+B => Motor time Constant

J= 52gm/cm 2 B= 0.01875

Result:-

Thus motor constants K1 and K2 are obtained and AC servo motor T.F is:-

W(s) = K1 = Km =
E(s) SJ +K2+B 1+STM

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Dc Servomotor Position Controller

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Exp. No: Date:

DC Servomotor Position Controller

Aim:-

To study the DC servomotor position controller with PI control.

Apparatus Required:-

1. PEC – 01

2. Connecting Wires

3. Motor setup

Procedure:-

1. Connections are given as per circuit diagram.

2. Checks whether the pulse release switch is in OFF position.

3. If it is in ON position by varying the set position.

4. Switch on the unit.

5. Set the motor at any position by varying the set position.

6. Notice the input position in digital display.

7. Now release the pulse and release the switch alos, so at the same time there is no voltage.

8. Note output position in digital display.

9. Tabulate the input and output position voltage at Sp and Pr.

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Tabulation:-

Set Point Motor Position Variables (Pr)

Error
(Sp) Before After
Q V Before After
Q (deg) V (volts) Q (deg) V (volts)
(deg) (volts) (v) (v)

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Result:-

DC Servomotor position controller was studied with PI controller.

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LAG NETWORK

Function Generator CRO

2 MHz

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Exp. No: Date:

STUDY OF LAG NETWORK

Aim:-

To obtain the transfer function and hence identify the components of LAG network.

Apparatus Required:-

Sl.No Name of the apparatus Range Type Qty

Procedure:-

1. The resistor values are choosen and the connections are made as per the circuit diagram.
2. The input voltage of required volt is given from function generator.
3. The frequency range is choosen for the corresponding frequency of the out put v o , a and b
component are notoed.
4. For various frequency this steps are repeated.
5. The gain is 20 log vo/vin in db.

Theory:-

This consists of inserting an extra pole into the transfer function at a lesser frequency than
the existing poles. This introduces a phase lag into the amplifier. Hence the loop gain becomes o
db with a slope of 6 db per of frequency where the poles of Av contribute negligible phase shift.

The additional of dominant frequency may be easily realised by adding simple Rc network.

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Tabulation :-

Out put voltage Gain Av = 20 log Phase angle (Ø)

Sl.No. Frequency
(v) vo/vin

Model Graph:-

Gain (db)

wt

Phase Angle
()

wt

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Formula :-
Ø = tan-1 ( R2/ wc) - tan-1 (R1+R2)/ Wc)
Gain: A = 20 log (vo/ vin) db
Transfer function: R 2 + SR1 R2 c
(R1+R2) SR1 R2 c

Design theory:-
Ei(t) = (z1+z2) i(t)
= (R 1+R2) i(t) + 1/C i(t) dt
EO(t)= z2 (t)
EO(t) = R2 i(t) + 1/c i(t) dt
Taking laplace transform (1) & (2) we get
Ei (s) = (R1+R2) I(S) + 1/CS I(S)
EO(s) = R2 I(S) + 1/CS I(S)

Result:-

Thus the lag compensator was analyzed and transfer function of lag compensator was
determined.

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LEAD NETWORK

Function Generator CRO

2 MHz

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Exp. No: Date:

STUDY OF LEAD NETWORK

Aim:-

To obtain the transfer function and hence identify the components of a lead network.

Apparatus Required:-

Sl.No Name of the apparatus Range Type Qty

Procedure:-

1. The resistor values are choosen and the connections are made as per the circuit diagram.
2. The input voltage of required volt is given from function generator.
3. The frequency range is choosen for the corresponding frequency of the out put v o , a and b
component are noted.
4. For various frequency this steps are repeated.
5. The gain is 20 log vo/vin in db.

Theory:-

This consists in modifying the amplifier are the feed back network so as to add a zero to the
transfer function there by increasing the phase. So that the magnitude of the gain remains
unchanged and the phase margin gets increased.

This condition is achieved by placing a capacitor C in shunt connected with the resistor R.
Now has an added positive phase shift in frequency range near the unity loop. Gain cross over
point.

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Tabulation :-

Gain Av = 20 log Phase angle (Ø)

Sl.No. Frequency Output voltage (v)
vo/vin

Model Graph:-

Gain (db)

wt

Phase Angle
()

wt

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Formula :-

Ø = tan-1 (WR1C)- tan-1 (WR1 R2C/ R1+R2)

Gain : A = 20log (vo/ vin) db.
Transfer function: 1+ S R2 C
1+SC (R1+R2)

Design theory:-
Ei (t) = (Z1+Z2) i(t)
Eo (t)= Z2 (t)
Zi (S) = R1 .1/CS
1+R1S
Z2 (S) = R2
Ei (S) = (Z1+Z2) I(S)
Eo (S) = Z2 I (S)

Put S = Jw
Transfer function:
T (S) = R2+J WR1 R 2C
R1+R2+ J WR 1 R 2C

Result:-

Thus the lead compensator was analyzed and transfer function of lead compensator was
determined.

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Study of PID Controller

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Exp. No: Date:

STUDY OF PID CONTROLLER

Aim:-

To determine the time constant and the time response of first order system.

Apparatus required:-

1.controller unit
2.CRS
3.Pitch cords

Theory:-

Effect of proportional controller:-

The proportional controller produces an o/p signal. Which is proportional to error signal.
The transfer function of proportional is Kp.The team Kp is called the gain of controller. Hence the
gain of the controller implifies the error signal and increase the loop gain of the system behavior
are improved by increased loop gain.

1. Steady state tracking accuracy

2 .Disturbance signal rejection
3. Relative stability

To increase in loop gain it decreases the sensitivity of the system. The drawback is
proportional controller action is that it produces is constant steady state error.

Effect of PI controller:-

The proportional plus integral controller (PI) produces an o/p signal consisting of two term
the one proportional to error signal and the other proportional to the integral of error signal.

Tr.function of PI controller = Kp(1+1/Tis)

= Kp(Tis+1/Tis)

Where Kp is equal to proportional gain and Ti is equal to integral time.

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open loop Tr.function G(S)= wn^2/s(s+2ewn) closed loop Tr. Function

c(s)/R(s)=G(s)/1+G(S)
=Kp{[1+Ti's/Tis]Wn^2/s(s+ewn)}/{1+Kp[1+Kp[1+Tis/Tis]Wn^2/s(s+2ewn]}
={(Kp/Ti)Wn^2(1+Tis)}/S^2+2ewn^2+Kpwn^2stKp/Twn^2}
={(Kiwn^2(1+Tis)}/{s+2ewn^2+kpwn^2}
Ki=Kp/Ti

In the PI controller is used to reducing the steady state error and high order system less stable
then lower order system.

Effect of PD controller:-

The proportional plus derivates controller produces an o/p signal consisting of two terms one
proportional to error signal and other proportional to derivative of error signal.

The Tr.function of PD controller =Kp(1+Tds)

Kp=proportional gain
Td=derivative time let the open loop Tr,function G(s) be second order system with
Tr.function G(s) = Wn^2/s(s+2ewn)
C(S)/R(S) = G(s)/1+G(s)=Kp(Tds)Wn^2/[1+Kp(1+Tds)(Wn^2/S(S+2eWn)]
= Wn^2(Kp+Kds)/s^2+(2eWn+KdWn^2)S+KpWn^2
where Kp=KpTd.

From the closed loop tr.function it is observed that the PD controller .Introduces a zero
in the system and increases the damping Ratio Reduces the peak over shoot.

PID CONTROLLER:-

A suitable combinational of the three basic modes,proportional Integral and derivative (PID) can
improve an aspects of the system performance.

The proportional controller stabilize performance produces a steady state error. The integral
controller reduces or eliminates the steady state error.The derivative controller reduces the rate of
change of error. The combined effect of the three cannot be from the parameter Kp,Ki &Kd.

PROCEDURE:-

a) Make the ckt connection as per diagram.

b) Calculate the peak amplitude of input square wave signal.
c) Observe both input signal and output wave form on a cro.
d) Then calculate the time taken by output signal to reach 65.2% of finial value .

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P - CONTROLLER:-

1. Make the connections as per fig.

2. Switch ON the power supply.
3. Square wave of amplitude 2Vpp is given as input with the optimum frequency setting and view
the response on the CRO.
4. Adjust the proportional band knob.
5. From the response measure the peak over shoot from the setting value.
6. Note down the rise time,peak time,setting time for the given step input.
7. Repeat the above steps for various proportional bands.

P-I CONTROLLER:-

1. Make the connections as per fig.

2. Switch ON the power supply.
3. Square wave of amplitude 2Vpp is given as input with optimum frequency.
4. Adjust the value of the proportional and integral time knobs then view the response.
5. Repeat the above experiment for various proportional integral time and tabulate it .

PID CONTROLLER:-

1. Make the connections as per fig.

2. Switch ON the power supply .
3. Square wave of amplitude 2Vpp is given as input with the optimum frequency setting and view
the response on the CRO.
4. Adjust the value of proportional band, integral time, and derivative knob and view the response
on the CRO screen.
5. From the response measure the peak over shoot from the setting value.
6. Note down the rise time,peak time, setting time for the step input and note it .
7. Repeat the above steps for various proportional bands.

RESULT:-

Thus the time response of the first order system was determined.

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Ex.No:

Date: POLES AND ZEROS OF A TRANSFER FUNCTION

AIM: To plot pole zero for a given transfer function in s-plane and z-plane using MATLAB

LIST OF EQUIPMENT/SOFTWARE:

Software : MATLAB

Category : soft experiment

THERORY PART :

PROBLEM: T(s) = Y(s)/R(s)

= (8s2+5s+1)/(s2+2s+10)

Zero’s  (8s2+5s+1) , the roots are s1 = -0.3+j0.17 & s2 = -0.3-j0.17

Pole’s (s2+2s+10) , the roots are s3 = -1 & s4 = -1

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PROGRAM PART :

x=[8 5 1];

y=[1 2 1];

h=tf(x,y)

Pzmap(h)

PROCEDURE :

1. Open the MATLAB software

2. Open the command window
3. Enter the values and implements the commands
4. Save the program & run it
5. Verify the MATLAB output with theoretical output

RESULT:

Thus plotted the poles and zeros of a given transfer function using MATLAB

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Ex.No:

Date: BLOCK DIAGRAM REDUCTION TECHNIC

AIM: The aim of the experiment is to learn MATLAB command that would be used to reduce
linear system block diagram using series, parallel and feedback configuration

LIST OF EQUIPMENT/SOFTWARE:

Software : MATLAB

Category : soft experiment

DELIVERABLES: A complete lab report including the following

 Summarized learning outcomes

 MATLAB scripts and their result for experiments

THEORETICAL PART :

Problem: T1(s) =6/(s2+3s+2) and T2(s) =9/(s+5) for the given transfer function find
the output for blocks in series, parallel & eliminate the feed back

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PROGRAM PART:

num1= [6];

den1= [1 3 2];

num2= [9];

nen2= [1 5];

g1= tf(num1,den1)

g2= tf(num2,den2)

gs=series(g1,g2)

gp=parallel(g1,g2)

gf=feedback(g1,g2)

PROCEDURE :

1. Open the MATLAB software

2. Open the command window
3. Enter the values and implements the commands
4. Save the program & run it
5. Verify the MATLAB output with theoretical output

RESULT:

Thus the linear systems block diagram had been reduced theoretically and the same
output was verified using MATLAB

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Ex.No:

Date: TIME DOMAIN ANALYSIS

AIM: To compute and plot the unit step, ramp and impulse response using MATLAB

LIST OF EQUIPMENT/SOFTWARE:

Softwere : MATLAB

Category : soft experiment

THEORETICAL PART :

PROBLEM: Y(s)/R(s) = (2s+10)/(s2+5s+4)

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PROGRAM PART:

(i) Unit Step input

num= [2 10];

den= [1 5 4];

g= tf(num,den)

step(g)

(ii) Impulse input

num= [2 10];

den= [1 5 4];

g= tf(num,den)

impulse(g)

(iii) Ramp input

num= [2 10];

den= [1 5 4 0];

g= tf(num,den)

step(g)

PROCEDURE :

1. Open the MATLAB software

2. Open the command window
3. Enter the values and implements the commands
4. Save the program & run it
5. Verify the MATLAB output with theoretical output

RESULT:

Thus the time domain analysis was made for the given transfer function and also output
was verified both theoretically & simulation

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Ex.No:

Date: FREQUENCY DOMAIN ANALYSIS

AIM: In this experiment concept of bode plot and its phase margin & gain margin will be
addressed using MATLAB

LIST OF EQUIPMENT/SOFTWARE:

Software : MATLAB

Category : soft experiment

THEORETICAL PART:

PROBLEM: transfer function G(s) = 1250/s(s+5)(s+50) draw the bode plot obtain the
frequency domain specification

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PROGRAM PART:

num= [1250];

den= [1 55 250 0];

bode(num,den)

grid

title(‘bode plot for the transfer function G(s) = 1250/s(s+5)(s+50)

PROCEDURE :

1. Open the MATLAB software

2. Open the command window
3. Enter the values and implements the commands
4. Save the program & run it
5. Verify the MATLAB output with theoretical output

RESULT:

Thus the concept of bode plot were studied using MATLAB

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Ex.No:

Date: STABILITY ANALYSIS USING ROOT LOCUS

AIM: In this experiment concept of bode plot and its phase margin & gain margin will be
addressed using MATLAB

LIST OF EQUIPMENT/SOFTWARE:

Software : MATLAB

Category : soft experiment

THEORETICAL PART:

PROGRAM : G(s) = k(s+0.2)/s2(s+3.6)

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PROGRAM PART :

num= [1 0.2];

den= [1 3.6 0 0];

rlocus (num,den)

axis(v)

grid

title(‘Root Locus for the transfer function G(s) = k(s+0.2)/s2(s+3.6) ‘)

PROCEDURE :

1. Open the MATLAB software

2. Open the command window
3. Enter the values and implements the commands
4. Save the program & run it
5. Verify the MATLAB output with theoretical output

RESULT:

Thus the concept of root locus were studied using MATLAB

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