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Hirasugar Institute of Technology,Nidasoshi

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DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

LABORATORY MANUAL

CONTROL SYSTEM LABORATORY

Semester: VI

Subject Code: 18EEL66

Lab Incharge:
Prof. O. B. Heddurshetti

Lab Instructor:
Shri. R. S. Bardol
 DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

VISION
“To be the centre of excellence in teaching and learning to produce the competent &
socially responsible professionals in the domain of Electrical & Electronics Engineering.”

MISSION
I. To educate students with core knowledge of Electrical and Electronics
Engineering to excel in their professional career.
II. To develop problem solving skills, professional skills and ethical values among
the students for the betterment of mankind.
III. To prepare technically competent and socially responsible Electrical Engineer to
serve the future needs of the society.

Program Educational Objectives (PEOs):

Engineering Graduates will be able to:
PEO1: Achieve successful professional career in Electrical Engineering and allied
disciplines.
PEO2: Pursue higher studies and continuously engage in upgrading the professional
skills.
PEO3: Demonstrate professional & ethical values, effective communication skills and
teamwork to solve issues related to profession, society and environment.

Program Specific Outcomes (PSOs):

Engineering Graduates will be able to:
PSO1: Apply knowledge & competencies to analyze & design Electrical &
Electronics circuits, control and power systems, machines & industrial drives.

PSO2: Use software/hardware tools for the design, simulation and analysis of
Electrical and Electronics Systems.
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Hirasugar Institute of Technology, Nidasoshi.

Inculcating Values, Promoting Prosperity Lab Manual
Approved by AICTE, Recognized by Govt.of Karnataka and Affiliated to VTU Belagavi.
Ac cr edited a t ' A' Grad e b y N AAC 2021-22
Programmes Accredited b y NB A: CSE, ECE, EEE & M E (Even Sem)

Sl. No. LIST OF EXPERIMENTS

1 Experiment to draw the speed torque characteristics of (i) AC servo motor (ii) DC servo motor
2 Experiment to draw synchro pair characteristics
3 Experiment to determine frequency response of a second order system
4 (a) To design a passive RC lead compensating network for the given specifications, viz, the
maximum phase lead and the frequency at which it occurs and to obtain the frequency response.
5 (a) To design a passive RC lag compensating network for the given specifications, viz, the
maximum phase lag and the frequency at which it occurs and to obtain the frequency response.
(b) To determine experimentally the transfer function of the lag compensating network
6 Experiment to draw the frequency response characteristics of the lag – lead compensator
network and determination of its transfer function.
7 To study a second order system and verify the effect of (a) P, (b) PI, (c) PD and (d) PID
controller on the step response.
8 (a) To simulate a typical second order system and determine step response and evaluate time
response specifications.
(b)To evaluate the effect of adding poles and zeros on time response of second order system.
(c) To evaluate the effect of pole location on stability.
9 (a) To simulate a D.C. Position control system and obtain its step response.
(b) To verify the effect of input waveform, loop gain and system type on steady state errors.
(c) To perform trade-off study for lead compensator.
(d) To design PI controller and study its effect on steady state error.
10 (a) To examine the relationship between open-loop frequency response and stability,
open-loop frequency and closed loop transient response.
(b) To study the effect of open loop gain on transient response of closed loop system using root
locus.
11 (a) To study the effect of open loop poles and zeros on root locus contour.
(b) Comparative study of Bode, Nyquist and root locus with respect to stability.
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Hirasugar Institute of Technology, Nidasoshi.

Inculcating Values, Promoting Prosperity Lab Manual
Approved by AICTE, Recognized by Govt.of Karnataka and Affiliated to VTU Belagavi.
Ac cr edited a t ' A' Grad e b y N AAC 2021-22
Programmes Acc redited b y NB A: CSE, ECE, EEE & M E (Even Sem)
 S J P N Trust's E&E Engg.

Hirasugar Institute of Technology, Nidasoshi.

Inculcating Values, Promoting Prosperity Lab Manual
Approved by AICTE, Recognized by Govt.of Karnataka and Affiliated to VTU Belagavi.
Ac cr edited a t ' A' Grad e b y N AAC 2021-22
Programmes Accredited b y NB A: CSE, ECE, EEE & M E (Even Sem)

SPEED – TORQUE CHARACTERISTIC OF A TWO - PHASE A.C.

1.0 a
SERVOMOTOR

Experiment No Date Conducted Marks

1.0a

1. TITLE: SPEED –TORQUE CHARACTERISTICS OF 2-PHASE AC SERVO MOTOR

2. LEARNING OBJECTIVES:
 Understanding of servo motor.
 Understanding of speed-torque variation for different rated voltages.

3. AIM:
a) Experiment to draw the speed – torque characteristic of a two - phase A.C. servomotor.

4. MATERIAL / EQUIPMENT REQUIRED:

S. No Apparatus Qty
1 AC Servo motor unit 01No
2 Digital Multimeter 01No
5 Connecting wires Few

5. THEORY / HYPOTHESIS:
The motors that are used in automatic control systems are called servo-motors. The
servomotors are used to convert an electrical signal applied them into an angular displacement of shaft.
Depending on the supply required to run the motor, they are broadly classified as DC servo motor and
AC servomotors. But, the DC servomotors are expensive than AC servomotors. But, the DC servo
motors have linear characteristics and so it is easier to control DC motors are capable of delivering over
3 times their rated torque for a short time but AC motors will short at 2 to 2.5 times their rated torque.
In DC servomotors mainly 2 types of motors are classified 1. Permanent magnetic motors and
electromagnetic field motors. The DC servo motors are generally used for large power applications
such as in machine tools and robotics.
The servomotors used in industry today are used in a closed-loop servo system. To understand
how the servomotor is used in the system, it is first necessary to review the entire system. The
following figure indicates a block diagram of a typical servo system.

A reference input (typically called a velocity input) is sent to the servo amplifier, which
controls the speed of the servomotor. Directly mounted to the machine (or to the servomotor) is a
feedback device (either an encoder or resolver). This device changes mechanical motion into
electrical signals and is used as a feedback loop. This feedback loop is then sent to the error detector,
which compares the actual operation with that of the reference input. If there is an error, that error is
fed directly to the amplifier, which makes the necessary corrections.
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In many servo systems, both velocity and position are monitored. (Note: In servo systems, the
word "velocity" is often used to describe speed control. Velocity indicates a rate of change of position,
with respect to time. It also indicates a rate of motion in a particular direction, with respect to time.)
The velocity loop control may take its command from the velocity loop feedback device-a resolver or
tachometer mounted directly to the motor.
These AC servo motors are basically two-phase, reversible, induction motors modified for
servo operation. Ac servo motors are used in applications requiring rapid and accurate response
characteristics. To achieve these characteristics, these ac servo motors have small diameter, high
resistance rotors. The ac servo motor's small diameter provides low inertia for fast starts, stops, and
reversals. High resistance provides nearly linear speed-torque characteristics for accurate servo motor
control.
An induction motor designed for servo use is wound with two phases physically at right angles
or in space quadrature. A fixed or reference winding is excited by a fixed voltage source, while the
control winding is excited by an adjustable or variable control voltage, usually from a servo-amplifier.
The servo motor windings are often designed with the same voltage/turns ratio, so that power inputs at
maximum fixed phase excitation, and at maximum control phase signal, are in balance.
The inherent damping of servo motors decreases as ratings increase and the servo motors are
designed to have a reasonable efficiency at the sacrifice of speed-torque linearity.
Induction type servo motors are available in fractional and integral horsepower sizes.

6. PROCEDURE / PROGRAMME / ACTIVITY:

1. Study all the controls in front panel.

2. Initially keep load current in zero position, indicating that armature circuit of machine is
not connected, auxiliary dc supply of ± 12V.
3. Servo Motor supply switch is kept in OFF position.
4. Ensure load potentiometer and control voltage of autotransformer is at minimum position.
5. Switch ON the mains supply to unit and also AC servo motor supply switch, vary the
control voltage from auto-transformer.
6. With load switch in OFF position vary the speed of the AC servomotor by varying the
control voltage and note down the back emf generated by DC machine.
7. Now with the load switch in OFF position, switch ON the AC Servo Motor and keep the
speed in minimum position.
8. Vary the control winding voltage by varying the auto transformer and set the speed for
maximum. Now switch ON the load and start loading AC servomotor by varying the load
potentiometer.
9. Note down the corresponding values of Ia & speed.
10. Set the control winding voltage to 75% of rated voltage & start applying the load slowly.
11. Repeat the above procedure for different control winding voltage.
12. Draw the graph of speed Vs Torque for various control winding voltage.
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Inculcating Values, Promoting Prosperity Lab Manual
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7. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

PANEL DIAGRAM: 2-PHASE AC SERVO MOTOR

8. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

Back emf Eb Speed In RPM

 For 100% of rated Voltage i.e. 220V

P × 60
Ia in Amps Speed in RPM Eb in volts P= Eb × Ia Torque T= ------------------- gm cm
2ΠN

 For 75% of rated Voltage i.e. 165 V

P × 60
Ia in Amps Speed in RPM Eb in volts P= Eb × Ia Torque T= ------------------- gm cm
2ΠN
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Inculcating Values, Promoting Prosperity Lab Manual
Approved by AICTE, Recognized by Govt.of Karnataka and Affiliated to VTU Belagavi.
Ac cr edited a t ' A' Grad e b y N AAC 2021-22
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 For For 50% of rated Voltage i.e. 110 V

P × 60
Ia in Amps Speed in RPM Eb in volts P= Eb × Ia Torque T= ------------------- gm cm
2ΠN

9. FORMULA / CALCULATIONS:

P × 60
T= --------------------- = _________gm cm
2ΠN

10. GRAPHS / OUTPUTS:

11. RESULTS & ANALYSIS:

12. OUTCOME & CONCLUSIONS:

13. REMARKS:
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Inculcating Values, Promoting Prosperity Lab Manual
Approved by AICTE, Recognized by Govt.of Karnataka and Affiliated to VTU Belagavi.
Ac cr edited a t ' A' Grad e b y N AAC 2021-22
Programmes Accredited b y NB A: CSE, ECE, EEE & M E (Even Sem)

1.0 b SPEED –TORQUE CHARACTERISTICS OF A DC SERVO MOTOR

EXPERIMENT NO: Date Conducted Marks

1.0 b

1. TITLE: SPEED –TORQUE CHARACTERISTICS OF A DC SERVO MOTOR

2. LEARNING OBJECTIVES:
 Understanding of speed-torque variation for different rated voltages.
 Understanding of DC servo motor.
3. AIM:
Experiment to draw speed torque characteristic of a D.C. servomotor
4. MATERIAL / EQUIPMENT REQUIRED:
S. No Apparatus Qty
1 DC Servo motor unit 01No
2 Digital Multimeter 01No
3 Connecting wires Few

5. THEORY / HYPOTHESIS:
The motors that are used in automatic control systems are called servo-motors. The
servomotors are used to convert an electrical signal applied them into an angular displacement of shaft.
Depending on the supply required to run the motor, they are broadly classified as DC servo motor and
AC servomotors. But, the DC servo-motors are expensive than AC servomotors. But, the DC servo
motors have linear characteristics and so it is easier to control DC motors are capable of delivering over
3 times their rated torque for a short time but AC motors will short at 2 to 2.5 times their rated torque.
In DC servomotors mainly 2 types of motors are classified 1. Permanent magnetic motors and
electromagnetic field motors.
The DC servo motors are generally used for large power applications such as in machine tools and
robotics.
A servomotor is a motor which forms part of a servomechanism. The servomotor is paired with some
type of encoder to provide position/speed feedback. A stepper motor is one type of servomotor. A
stepper motor is actually built to move angular positions based upon each possible step around the
entire rotation, and may include micro steps with a resolution such as 256 micro steps per step of the
stepper motor. A servomechanism may or may not use a servomotor. For example, a household furnace
controlled by a thermostat is a servomechanism, because of the feedback and resulting error signal, yet
there is no motor being controlled directly by the servomechanism
A servomechanism, sometimes shortened to servo, is an automatic device that uses error-sensing
negative feedback to correct the performance of a mechanism.
DC servo motors are normally used as prime movers in computers, numerically controlled
machinery, or other applications where starts and stops are made quickly and accurately. Servo motors
have lightweight, low-inertia armatures that respond quickly to excitation-voltage changes. In addition,
very low armature inductance in these servo motors results in a low electrical time constant (typically
0.05 to 1.5 msec) that further sharpens servo motor response to command signals. Servo motors include
permanent-magnetic, printed-circuit, and moving-coil (or shell) dc servo motors. The rotor of a shell dc
servo motor consists of a cylindrical shell of copper or aluminum wire coils which rotate in a magnetic
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field in the annular space between magnetic pole pieces and a stationary iron core. The servo motor
features a field, which is provided by cast AlNiCo magnets whose magnetic axis is radial. Servo motors
usually have two, four, or six poles.
Dc servo motor characteristics include inertia, physical shape, costs, shaft resonance, shaft
configuration, speed, and weight. Although these dc servo motors have similar torque ratings, their
physical and electrical constants vary.
DC Servo Motor Selection: The first selection approach is to choose a servo motor large enough for a
machine that has already been designed; the second is to select the best available servo motor with a
specific feature and then build the system around it; and the third is to study servo motor performance
and system requirements and mate the two.
The final servo motor system design is usually the least sophisticated that meets the performance
specifications reliably. Servo motor requirements may include control of acceleration, velocity, and
position to very close tolerances. This says that the servo designer must define the system carefully,
establish the servo motor's performance specifications, determine critical areas, and set up tolerances.
Only then will the designer be able to propose an adequate servo-system and choose a servo motor type.

6. PROCEDURE / PROGRAMME / ACTIVITY:

1. Study all the controls in front panel.

2. Adjust zero reading in both the balances.
3. Servo Motor supply switch is kept in OFF position. Spring balance at zero reading and speed
potentiometer at minimum position.
4. Switch ON the mains supply to the unit, both the motors starts rotating and its speed is indicated by
the RPM meter, Now vary the speed potentiometer to the maximum position and check the dc
voltage it should be 24V. If it is slightly more, adjust it for 24V. At this voltage note down the
speed and current.
5. Slowly, start loading the motor by adjusting the wheel and note down current, speed, W1, W2
spring balanced reading for every 25gm to 50 gm of load.
6. Load the motor up to 200gm, since its torque is 400gm cm and radius of break drum is 2cm. Now
increase the load fully and set the DC voltage up to 75% of its rated voltage i.e. 18V and repeat the
above steps.
7. Set the DC voltage to 50% of rated voltage and repeat the above step.
8. Draw the graph of speed Vs torque for different voltage settings.
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7. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

CIRCUIT DIAGRAM: SPEED TORQUE CHARACTERISTICS OF DC SERVO MOTOR

8. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

 For 100% of rated voltage = 24V

Torque
S. Voltage in Current in Speed in W1 in W2 in
W=W1-W2 T=W*r
No Volts Amp. rpm gms gms
in gmcm.

 For 75% of rated voltage = 18V

Torque
S. Voltage in Current Speed in W1 in W2 in W=W1-
T=W*r in
No Volts in Amp. rpm gms gms W2
gmcm.
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 For 50% of rated voltage = 12V

Torque
S. Voltage in Current Speed in W1 in W2 in W=W1-
T=W*r in
No Volts in Amp. rpm gms gms W2
gmcm.

9. FORMULA / CALCULATIONS:

Circumference
r = -----------------------------
2Π

10. GRAPHS / OUTPUTS:

11. RESULTS & ANALYSIS:

12. OUTCOME & CONCLUSIONS:

13. REMARKS:
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Inculcating Values, Promoting Prosperity Lab Manual
Approved by AICTE, Recognized by Govt.of Karnataka and Affiliated to VTU Belagavi.
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EXPERIMENT NO Date Conducted Marks

02

1. TITLE: SYNCRO PAIR CHARACTERISTICS.

2. LEARNING OBJECTIVES:
 Understanding of synchro
 Understanding of synchro-transmitter
 Understanding of synchro-transmitter-receiver
 Understanding of importance of synchros

3. AIM:
 To study the characteristics of synchros as transmitter and synchro transmitter- receiver
pair.

4. MATERIAL / EQUIPMENT REQUIRED:

S. No. Apparatus Range Qty

1 Synchros pair unit -- 1 No.
2 Voltmeter (0-50v) MI 3 Nos.
3 1-Ph variac -- 1 No.
4 Patch cords -- Few

5. THEORY / HYPOTHESIS:
Definition: A synchros on electromagnetic transducer commonly used convert an angular position of a
shaft into an electric signal.
Study of Synchro Transmitter and receiver:-
In this part or experiment we can see that because or the transformer action the angular position
of rotor is transformed into a unique set of stator voltages.
Synchro Transmitter:
A synchro that provides voltages related to the angular position of its rotor; when its two input
leads are excited by an alternating-current voltage, the magnitudes and polarities of the voltages at the
three output leads define the rotor position. Also known as selsyn generator; selsyn transmitter; synchro
generator; transmitter; transmitter synchro.
Synchro Receiver:
A synchro that provides an angular position related to the applied angle-defining voltages; when two of
its input leads are excited by an alternating-current voltage and the other three input leads are excited by
the angle-defining voltages, the rotor rotates to the corresponding angular position; the torque of
rotation is proportional to the sine of the difference between the mechanical and electrical angles. Also
known as receiver synchro; selsyn motor; selsyn receiver; synchro motor.

6. PROCEDURE / PROGRAMME / ACTIVITY:

1) Make the connections as per CKT diagram.
2) Apply 50v AC supply to the transmitter.
3) Adjust the pointer on the rotor of the transmitters to zero position
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4) Observe the position across to rotate of the receiver. If it is not zero the rotor, so as to obtain zero
voltage and this value is referred to as electrical zero position of the receiver.
5) Holding firm by position of rotor shaft at transmitters slightly. Note down the voltage across the
rotor of the receiver.
6) Now continue the readings up to 360 , in steps of 30 by increasing the angular positions of the
transmitter in steps.
7) Take rotor shaft position of transmitters on X- axis and voltage on Y axis and draw a graph.
8) Draw graph by taking transmitter angular position on X- axis and receiver angular position on Y
axis.

STUDY OF SYNCHRO TRANSMITTER:

PROCEDURE:-
1) Apply 50V, AC to the rotor of synchro transmitter.
2) Measure the voltage between s1, s2, s3 for various shaft positions from 0-3600.There
voltage which have to be –ve sign has to be desired form the knowledge of voltage
between wave forms.
3) Similarly measure the voltage between S2 and S3, S3 and S1 various shaft positions.
4) Plot the graph of rotor position in degrees Vs (S1, S2),(S2,S3) and (S3,S1 respectively.

7. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

 CIRCUIT DIAGRAM

 Study of synchro transmitter: Circuit Diagram :

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Inculcating Values, Promoting Prosperity Lab Manual
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8. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

Rotor angle of θ
S. No. Rotor angle of Θ Transmitter Receiver rotor voltage
receiver

S. No Rotor position shaft In degree o V(S1-S2) V(S2-S3) V(S3-S1)

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9. GRAPHS / OUTPUTS:

10. RESULTS & ANALYSIS:

11. OUTCOME & CONCLUSIONS:

12. REMARKS:
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Inculcating Values, Promoting Prosperity Lab Manual
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EXPERIMENT NO: Date Conducted Marks

3a

1. TITLE: FREQUENCY RESPONSE OF SECOND ORDER SYSTEM

2. LEARNING OBJECTIVES:
 Understanding of frequency domain specifications.

3. AIM:
 To determine experimentally the frequency response of a second -order system and evaluation of
frequency domain specifications.

4. MATERIAL / EQUIPMENT REQUIRED:

S. No. Apparatus Range Qty

1 Resistor 135Ω 01No
2 Inductor 0.01H 01No
3 Capacitor 10 µF 01No
4 Signal Generator -- 01No
5 CRO with probes -- 01Set
6 Bread board -- 01No
7 Connecting wires -- Few

5. THEORY / HYPOTHESIS:
All the examples presented in this tutorial are modeled by linear constant coefficient
differential equations and are thus linear time-invariant (LTI). LTI systems have the extremely
important property that if the input to the system is sinusoidal, then the steady-state output will also
be sinusoidal at the same frequency but in general with different magnitude and phase. These
magnitude and phase differences as a function of frequency comprise the frequency response of the
system.
The frequency response of a system can be found from the transfer function in the following
way: create a vector of frequencies (varying between zero or "DC" to infinity) and compute the
value of the plant transfer function at those frequencies. If is the open-loop transfer function of a
system and is the frequency vector, we then plot . Since is a complex number, we can plot both its
magnitude and phase (the Bode Plot) or its position in the complex plane (the Nyquist Diagram).
Both methods display the same information in different ways.
Second order systems are commonly encountered in practice, and are the simplest type of
dynamic system to exhibit oscillations. In fact many real higher order systems are modeled as second
order to facilitate analysis. Examples include mass-spring-damper systems and RLC circuits.
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Inculcating Values, Promoting Prosperity Lab Manual
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6. PROCEDURE / PROGRAMME / ACTIVITY:

1. Connections are made as per the circuit diagram.

2. Set the values of R=____Ω, L=____H, C=_____μF.
3. Apply some voltage from signal generator at 100Hz.
4. Note the magnitude of input voltage, o/p voltage and the phase angle.
5. Increase frequency in steps, note down the values of V0, Vi &Phase for each frequency.
6. Take readings up to 10KHZ.
7. Using results draw the Bode plot on semi log sheet.

7. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

8. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

Frequency Input voltage Output voltage Phase angle

Gain in dB a b
in Hz in Volts in Volts Ø= Sin-1 (b/a)
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9. FORMULA / CALCULATIONS:

We get

ωn= √(1/LC) rad/sec

Given L= _____________H & C=_______________µF

ωn=

ξ= (R/2)*√(C/L)

ξ=

10. GRAPHS / OUTPUTS:

11. RESULTS & ANALYSIS:

12. OUTCOME & CONCLUSIONS:

13. REMARKS:
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Inculcating Values, Promoting Prosperity Lab Manual
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 S J P N Trust's E&E Engg.

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Inculcating Values, Promoting Prosperity Lab Manual
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EXPERIMENT NO: Date Conducted Marks

4a

1. TITLE: RC LEAD COMPENSATING NETWORK

2. LEARNING OBJECTIVES:
 To identify maximum phase lead.
 To understand compensating network.
 To understand frequency response.

3. AIM:
(a) To design a passive RC lead compensating network for the given specifications, viz., the
maximum phase lead and the frequency at which it occurs and to obtain its frequency response.
(b) To determine experimentally the transfer function of the lead compensating network.

4. MATERIAL / EQUIPMENT REQUIRED:

S. No Apparatus Range Qty

1 Decade Resistance Box - 02No
2 Decade capacitance Box - 01No
3 Signal Generator - 01No
4 CRO with probes - 01Set
5 Connecting wires - Few

5. THEORY / HYPOTHESIS:
Consider a lead compensator having the following transfer function
Kcα [(Ts+1)/(αTs+1)]=Kc[s+(1/T)] / [s+(1/αT)] where (0<α<1)
It has zero at s=-(1/T) and a pole at s=-(1/αT). Since 0<α<1, we see that the zero is always
located to the right of the pole in the complex plane. Note that for a small value of α the pole is
located far to the left. The maximum value of α is limited by the physical construction of the
lead compensator. The minimum value of α is usually taken to be about 0.05 (this means that
the maximum phase lead that may be produced by a lead compensator is about 65 degrees).
The primary function of the lead compensator is to reshape the frequency response curve to
provide sufficient phase lead angle to offset the excessive phase lag associated with the
components of the fixed system.
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6. PROCEDURE / PROGRAMME / ACTIVITY:

 Design the lead compensating network for given max, phase angle and given frequency using
formula.
 Rig up the circuit as shown in fig.
 Using signal generator, apply sinusoidal input signal of 2 V (peak to peak) at low frequency say
100Hz.
 Increase the frequency of input signal gradually and at each step note down the peak to peak
amplitude of the signal. Also note down the phase difference between input and output signal at
each step using Lissajous pattern on CRO.
 The input signal amplitude remains same for all the frequencies.
 Calculate gain in dB and phase angle by using given formula.
 Plot the graph of gain in dB Vs frequency and phase angle Vs frequency.

7. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

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8. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

Frequency Output Voltage Gain in dB= 20 Фm=sin-1(b/a) in
in Hz V0(p-p) in Volts log(V0/Vi) degree

9. FORMULA / CALCULATIONS:

 Design of lead compensating network

Given Фm= ______degree and f= ________kHZ

1-sin Фm
α = _________
1+sin Фm
therefore α = __________

ωn = 1 / (T√ α) but ωn=2 Π fn Hz

T=1/(2 Π fn √ α) Sec.

T= __________µS

Also T=R1C and α=R2/(R1+R2)

Let C = ______µF

R1=T/C= ________Ω

R2= αR1/(1-α)=__________=__________Ω
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10. GRAPHS / OUTPUTS:

11. Results & Analysis:

Frequency in HZ V0(p-p) in Volts Gain in dB Phase angle Фm Фm

12. OUTCOME & CONCLUSIONS:

13. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

4b
1. TITLE: RC LEAD COMPENSATING NETWORK
2. LEARNING OBJECTIVES:
 Determination of Transfer function from bode plot
 Ability to use MATLAB commands.
3. AIM: Determination of frequency response of lead compensating network using MAT LAB.
4. MATERIAL / EQUIPMENT REQUIRED:
 Computer system
 MATLAB
5. PROCEDURE / PROGRAMME / ACTIVITY:
LEAD NETWORK

%bode plot for lead network

num=[0 1 1986];

den=[1 1 19879];

bode(num,den);

grid;

title(„Bode diagram of t(s)=(s+1986)/(s+19879)‟)

6. GRAPHS / OUTPUTS:
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7. RESULTS & ANALYSIS:

 Simulation Results:

At given design frequency-

F=_____ KHz, i.e. ω= __________ rad/sec.

Gain magnitude = _____ dB.

Phase angle= _____

 Theoretical Result:

Gain magnitude = ______dB.

Phase angle =_______°

8. Outcome & Conclusions:

9. REMARKS:
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Inculcating Values, Promoting Prosperity Lab Manual
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EXPERIMENT NO: Date Conducted Marks

5a

1. TITLE: DESIGN OF LAG COMPENSATING NETWORK

2. LEARNING OBJECTIVES:
 Able to identify maximum phase lag.
 Able to understand compensating network.
 Able to understand frequency response.
3. AIM:
 (a) To design RC lag compensating network for the given specifications. Viz, the maximum
phase lag and the frequency at which it occurs, and to obtain its frequency response.
 (b) To determine experimentally the transfer function of the lag compensating network

4. MATERIAL / EQUIPMENT REQUIRED:

S. No Apparatus Range Qty

1 Decade Resistance Box - 02No
2 Decade Capacitance Box - 01No
3 Signal Generator - 01No
4 CRO with probes - 01Set
5 Connecting wires - Few

5. THEORY / HYPOTHESIS:
The characteristics of lag compensator's:
Consider lag compensator having the following transfer function:
Gc(s)=Kcβ [(Ts+1)/(βTs+1)]=Kc[s+(1/T)] / [s+(1/βT)] where (β>1)
In the complex plane, lag compensator has a zero at s=-(1/T) and a pole at s=-(1/βT). The pole is
located to the right of the zero.
The magnitude of a lag compensator becomes 10(or 20dB) at low frequencies and unity (or 0dB) at
high frequencies. Thus lag compensator is essentially a low pass filter.
The primary function of lag compensator is to provide attenuation in the high frequency range to
give a system sufficient phase margin. The phase lag characteristic is of no consequence in lag
compensation.
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Inculcating Values, Promoting Prosperity Lab Manual
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6. PROCEDURE / PROGRAMME / ACTIVITY:

 Design the lag compensating network for given maximum phase angle and given frequency
using formula.
 Rig up the circuit as shown in fig.
 Using signal generator apply sinusoidal input signal of 2 V (peak to peak) at low frequency say
100Hz.
 Increase the frequency of input signal gradually and at each step note down the peak to peak
amplitude of the signal. Also note down the phase difference between input and output signal at
each step using Lissajous pattern on CRO.
 The input signal amplitude remains same for all the frequency range.
 Plot the graph of gain in dB Vs frequency and phase angle Vs frequency.

7. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

8. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

Output voltage V0(p-p) Gain in dB= 20 Фm= -sin-1(b/a) in
Frequency in Hz
in Volts log(V0/Vi) degree
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Inculcating Values, Promoting Prosperity Lab Manual
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9. FORMULA / CALCULATIONS:
 Design of lag compensating network
Given Фm= ______degree and f= ________kHZ

1-sin Фm
α =β= ___________
1+sin Фm

therefore α = __________

ωn = 1 / (T√ α) but ωn=2 Π fn Hz

T=1/(2 Π fn √ α) Sec.

T= __________µS

Also T=R2C and β=(R1+R2)/ R2

Let C = ______µF

R2=T/C= ________Ω

R1= βR2-R2=__________=__________Ω

10. GRAPHS / OUTPUTS:

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11. RESULTS & ANALYSIS:

Frequency
V0(p-p) in Volts Gain in dB Phase angle Фm Фm
in Hz

12. OUTCOME & CONCLUSIONS:

13. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

5b

1. TITLE: FREQUENCY RESPONSE OF LAG COMPENSATING NETWORK USING MATLAB

2. LEARNING OBJECTIVES:
 Determination of Transfer function from bode plot
 Ability to use MATLAB commands.
3. AIM: Determination of frequency response of lag compensating network using MAT LAB.
4. MATERIAL / EQUIPMENT REQUIRED:
 Computer system
 MATLAB
5. THEORY / HYPOTHESIS:
 Refer above expt theory.

6. PROCEDURE / PROGRAMME / ACTIVITY:

LAG NETWORK
%bode plot for lag network
num=[0 6.59*10^(-5) 1];
den=[0 3.8416*10^(-4) 1];
bode(num,den);
grid;
title(„Bode diagram of T(s)=(6.59*10^(-5)s+1)/(3.8416*10-(4)s+1‟)

7. GRAPHS / OUTPUTS:
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8. RESULTS & ANALYSIS:

 SIMULATION RESULTS:
At given design frequency of ____Hz.
Gain in dB =______dB. Phase angle= ___°.
 Theoretical Results:

Gain in dB=____dB Phase angle= ___°.

9. OUTCOME & CONCLUSIONS:

9. REMARKS:
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Inculcating Values, Promoting Prosperity Lab Manual
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EXPERIMENT NO: Date Conducted Marks

6a

1. TITLE: DESIGN OF LEAD - LAG COMPENSATING NETWORK

2. LEARNING OBJECTIVES:
 Able to identify phase lead-lag.
 Able to understand compensating network.
 Able to understand frequency response.
 Importance of compensating network.
3. AIM:
 Experiment to draw the frequency response characteristic of a given lag- lead compensating
network.

4. MATERIAL / EQUIPMENT REQUIRED:

S. No Apparatus Range Qty

1 Decade Resistance Box - 02 Nos.
2 Decade Capacitance Box - 02 Nos.
3 Signal Generator 0.01µF 01 No.
4 CRO with probes - 02 Nos.
5 Connecting wires - Few

5. THEORY / Hypothesis:
Characteristic of lead lag compensator: Consider the lead-lag compensator given by

[S+(1/T1)] [S+(1/T2)]
Gc(s)=Kc --------------------- × ---------------------
[s+ α /T1] [S+(1/βT2)]
where α>1 and β>1 . The term,
[S+(1/T2)] [T2s+1]
--------------------- = β --------------------- (β>1)

[S+(1/βT2)] [ βT2 s+1]

produces the effect of the lag network.
And the term,
[S+(1/T1)] [T1s+1]
--------------------- = (1/α) --------------------- (α>1)
[S+(α/T1)] [(T1/α)s+1]

produces the effect of the lead network.

In designing the lead lag compensator, we frequently choose α=β. (This is not necessary. We can, of
course, choose α≠ β. The polar plot of the the lead lag compensator will be drawn.
The design of lead lag compensator by the frequency response approach is based on the combination
of the design techniques which have been done under lag compensation and lead compensation.
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6. PROCEDURE / PROGRAMME / ACTIVITY:

 Design the lead-lag compensating network for given phase angle and frequency using
formula.
 Rig up the circuit as shown in fig.
 Apply sinusoidal input signal of 2 V (peak to peak) at low frequency say 100Hz.
 Increase the frequency of input signal gradually and at each step note down the peak to peak
amplitude of the signal. Also note down the phase difference between input and output signal
at each step using lissages pattern on CRO.
 The input signal amplitude remains same for all the frequency range.
 Plot the graph of gain in dB Vs frequency and phase angle Vs frequency

7. Block / Circuit / model / reaction Diagram:

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Nature of Graph:

9. Observation Table / Lookup Table / Truth Table:

Frequency in Gain in dB= 20 Фm=sin-1(b/a) in
Hz V0(p-p) in Volts
log(V0/Vi) degree

10. Formula / Calculations:

Design of lead lag compensating network
design part:
For lag circuit:
Given Фm= ______degree and fn= ________kHZ
1-sin Фm
β = ___________
1+sin Фm
therefore β = __________
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ωn = 1 / (T√ β) but ωn=2 Π fn Hz

T= 1 / (ωn √ β) = 1/(2 Π f√ β) = ______sec.

Also T=R2C and β= (R1+R2)/ R2

R2=T/C= ________Ω

For lead circuit:

Given Фm= _____ degree
1-sin Фm
α = ___________ = _________

1+sin Фm

ωn = 1 / (T√ α) But ωn=2 Π fn

T=1/(2 Π fn√ α) = ______sec.

Also, T=R1C and α=(R1+R2)/R2 , R1=T/C , R1=_________Ω

11. Graphs / Outputs:

12. Results & Analysis:

Frequency Vi(p-p) in V0(p-p) in Phase

Gain in dB Фm
in Hz Volts Volts angleФm

13. Outcome & Conclusions:

14. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

6b

 TITLE: LAG-LEAD COMPENSATOR NETWORK

2. AIM: To draw the frequency response characteristics of the lag-lead compensator network and
determination of its transfer function.

3. MATERIAL / EQUIPMENT REQUIRED:

 Computer system
 MATLAB

4. THEORY / HYPOTHESIS:
 Refer 6A experiment theory.

5. PROCEDURE / PROGRAMME / ACTIVITY:

6. GRAPHS / OUTPUTS:
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11. OUTCOME:

12. CONCLUSIONS:
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EXPERIMENT NO: Date Conducted Marks

7a

2. TITLE:
 STUDY OF P, PI ,PD AND PID CONTROLLER

3. LEARNING OBJECTIVES:
 Different types of controllers
 Able to identify steady state error.
 Able to know peak overshoot.

4. AIM:
 To study the effect of P, PI, PD and PID controller on the step response of a feedback control
system (using control engineering trainer/process control simulator). Verify the same by simulation.

5. MATERIAL / EQUIPMENT REQUIRED:

S.no Apparatus Qty
1 Analog PID controller 01No
2 CRO and Probes 01Set
5 Patch cords Few

 THEORY / HYPOTHESIS:
Introduction to PID controllers
A controller is a device which when introduced in feedback or forward path of system, controls the
steady state and transient response as per the requirement. Such device converts input to the controller
to some other from of error than proportional to error due to which steady state and transient response
gets improved. In most of the practical systems, controller input is proportional to error generated.
Such systems are called proportional to error mechanisms (P type)
Consider such second order system where controller input is error itself and proportional constant is
K=1 as shown in the fig 7.40

G(s)H(s) = ωn2 / s(s+2ξ ωn)

C(s)R(s)= ωn2 / (s2+2ξ ωns+ωn2)
for this system damping ration is ξ and natural frequency ωn.
And for steady state error

Kp= Lim G(s)H(s) = ∞

s--->0
and
Kv= Lim sG(s)H(s) = ωn/ 2ξ
s--->0

Now if transient response is to be improved, damping ratio must be changed.

i) Less settling time ii) Less overshoot iii) Less rise time iv) smallest s.s error
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By increase in Kv i.e increase in system gain, s.s error can be reduced but due to high gain settling time
and peak overshoot increases. This may lead to instability of system. So, compromise is made to keep
steady state error and overshoot within acceptable limits by providing following different types of
controllers.
i)PD ----> Proportional+ Derivative Action.
ii)PI -----> Proportional + Integral Action.
iii)PID ----> Proportional + Derivative + Integral Action.
iv)Rate feedback controller (output derivative controller)

PD type controller:
A controller in the forward path, which changes the controller input to the proportional plus derivative
of error signal is called PD controller.

i.e Input to controller = K e (t) + [Td de(t) / dt ]

Taking laplace = K E(s) + s Td E (s) = E(s) [ K+s Td]

The T.F of such controller is [K +s Td]. This can be realised as shown in the fig. 7.41
Assuming K=1 , we can write,
G(s) = [(1+sTd) ωn2 ] / [ s (s+2ξωn)]
and C(s)/R(s)= [(1+sTd) ωn2 ] / {s2+s[ 2ξωn+ ωn2Td]+ωn2}
comparing denominator with standard from,
ωn is same as in the previous P type controller.
And 2ξ'ωn= 2ξωn+ ωn2Td
ξ'=ξ + (ωnTd/2)
Because of this controller, damping ratio increases by factor ωnTd/2 while,
Kp= Lim G(s)H(s) = ∞
s--->0
and
Kv= Lim sG(s)H(s) = ωn/ 2ξ
s--->0
As there is no change in coefficients, error also will remain same. Hence PD controller has
following effects on system.
i) It increases damping ratio.
ii) 'ωn' for system remains unchanged.
iii) TYPE of the system remains unchanged
iv) It reduces peak overshoot.
v) It reduces settling time.
vi) Steady state error remains unchanged.
In general it improves transient part without affecting steady state.
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PI type of controller:
A controller in the forward path, which changes the controller input to the proportional
plus integral of the error signal is called PI controller.
i.e Input to controller = K e(t) + Ki ∫ e(t) dt
Taking Laplace = KE(s) + (Ki/s) E(s) = E(s) [ K+(Ki/s)]
Therefore The T.F of such controller is [ K+(Ki/s)] and can be realised shown in the fig 7.42

Assuming K=1, we can write,

G(s)=[ K+(Ki/s)]ωn2 / [s(s+ 2ξωn )] = (Ki+s)ωn2 / s2(s+ 2ξωn )
i.e system becomes TYPE 2 in nature.
And C(s)/R(s)= (Ki+s)ωn2 / ( s2+2ξωn s+sωn2 +Kiωn2 )
i.e it becomes third order.
Now as order increases by one, system relatively becomes less stable as K i must be designed in such a
way that system will be remain in stable condition. Second order system is always stable. Hence
transient response gets badly if controller is not designed properly.
While
Kp= Lim G(s)H(s) = ∞, ess=0
s--->0
and
Kv= Lim sG(s)H(s) = ∞, ess=0
s--->0
Hence as type is increased by one, error becomes zero for ramp type of inputs i.e. Steady state
of system gets improved and system becomes more accurate in nature.
Hence PI controller has following effects:
i) It increases order of the system.
ii) It increases TYPE of the system.
iii) Design of Ki must be proper to maintain stability of system. So it makes system relatively
less stable.
iv) Steady state error reduces tremendously for same type of inputs. i.e. In general this
controller improves steady state part affecting the transient part.

PID type of controllers:

As PD improves transient and pi improves steady state, combination of two may be used to
improve overall time response of the system. This can be shown in figure. 7.43

7. PROCEDURE / PROGRAMME / ACTIVITY:

 Proportional controller:
1.Connections are made as per the circuit diagram.
2.Set input amplitude to 1V (p-p) and frequency to lower value.
3.Note down the value of ‘x’ and ‘y’ from figure keeping the value in x-y mode.
4.Repeat above steps for different values of Kp.

 Proportional integral (PI) Controller :

1. Connections are made as per the circuit diagram.
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2.Set the input amplitude 2V (p-p) and frequency to lower value, Ki=0, Kd=0.
3.Set Kp=1.6 record the peak over shoot and steady state error.
4.Repeat above steps for different values of Kcin small steps

 Proportional + integral +derivative(PID) Controller :

1.Connections are made as per the circuit diagram and also connect o/p to summer block.
2.Set Kp= 1.6, record the peak over shoot, Ki=_________and Kd=0, with input 1V (p-p)
of lower frequency.
3.Repeat the above steps for different values of Kdin small steps.

 Proportional Differential (PD) Controller :

8. BLOCK / CIRCUIT / MODEL / REACTION DIAGRAM:

CIRCUIT DIAGRAM

BLOCK DIAGRAM
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9. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

 P- Controller:
% Steady state % peak
Division Kp=0.002*div x y
error overshoot

 PI- Controller:
% Steady state % peak
Division Ki=0.002 *div*____ x y
error overshoot

 PID- Controller:

Division Ki=0.002 *div*____ x y % Steady state % peak

error overshoot

 PD- Controller:
% Steady state % peak
Division Kd=0.002 *div*____ x y
error overshoot
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10. FORMULA / CALCULATIONS:

(P-P)I/P-x
ess= ------------------
(P-P)I/P

Y-X
%peak overshoot= --------- ×100
x

11. GRAPHS / OUTPUTS:

12. RESULTS & ANALYSIS:

% Steady state error % peak over shoot

Controller Type
P-Controller
PI-Controller
PD-Controller
PID-Controller

13. OUTCOME & CONCLUSIONS:

14. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

7b

 TITLE: STUDY OF P, PI ,PD AND PID CONTROLLER

2. LEARNING OBJECTIVES:
 Understanding of step response of different controller.
 Understanding of effect of damping factor.
 Ability to use MATLAB command.

3. AIM: To Simulate P, PI, PD and PID controller using MAT LAB.

4. MATERIAL / EQUIPMENT REQUIRED:

 Computer system
 MATLAB

6. THEORY / HYPOTHESIS:
 Refer 7A experiment theory.

7. PROCEDURE / PROGRAMME / ACTIVITY:

 P-Controller

%unit step response of 2nd order system with P-controller

num=[0 0 100];
den=[.02 1 100];
step(num,den);
grid;
Title(„Unit step response of 2nd order system with P-controller
T(s)=100/(.02*s^2+s+100)‟)

 PI-Controller
%unit step response of 2nd order system with PI-controller
num=[0 0 100 20];
den=[.02 1 100 20];
step(num,den);
grid;
Title(„Unit step response of 2nd order system with PI-controller
T(s)=(100*s+20)/(.02*s^3+s^2+100s+20)‟)

 PID-Controller
%unit step response of 2nd order system with PID-controller
num=[0 0.7 100 20];
den=[.02 1.7 100 20];
step(num,den);
grid;
Title(„Unit step response of 2nd order system with PID-
controller T(S)=(.7S^2+100S+20)/(.02S^3+1.7S^2+100S+20)‟)
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8. GRAPHS / OUTPUTS:

 P- Controller

 PI-Controller:
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PID-Controller

9. RESULTS & ANALYSIS:

 SIMULATION RESULTS:
For P-Controller:
Rise time= __________Sec
Settling time = __________Sec
% Overshoot = _________ %

For PI-Controller:
Rise time = __________Sec
Settling time = __________Sec
% Overshoot = _________ %

For PID-Controller:
Rise time = __________Sec
Settling time = __________Sec
% Overshoot = _________ %

10. OUTCOME & CONCLUSIONS:

11. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

8

1. TITLE: TIME RESPONSE CHARACTERISTICS OF 2ND ORDER SYSTEM

2. LEARNING OBJECTIVES:
 To study the performance characteristics of second order systems using MATLAB.
 To study the effect of additional poles and zeroes on time response of second order system.
 To study the effect of pole location on stability.
 To study the system stability.

3. AIM:
A) Simulation of a typical second order system and determination of step response and evaluation
of time- domain specifications.
B) Evaluation of the effect of additional poles and zeroes on time response of second order system.
C) Evaluation of effect of pole location on stability.
D) Effect of loop gain of a negative feedback system on stability.

4. MATERIAL / EQUIPMENT REQUIRED:

 Computer system
 MATLAB

5. THEORY / HYPOTHESIS:
DETERMINATION OF TRANSFER FUNCTION
Apply KVL to given network, we get

V0(t)=(1/C) ∫ i dt

taking Laplace transform we get

Vs(s)= (1/SC) I(s) .....................................................(1)

Vi(t)=Ri*(t) + L*[di(t)/dt] + (1/C)*∫ i dt

Taking Laplace transform we get

Vi(s)=(R+SL+(1/SC))*I(s)

Hence T.F is given as

T.F = V0(s)/ Vi(s) = [(1/SC)*I(s)] / [R+SL+(1/SC)]
= 1/ (s2LC+sRC+1)

Dividing throughout by LC we get

V0(s)/ Vi(s)= (1/LC) / [s2+(R/L)*s+(1/LC)]
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6. PROCEDURE / PROGRAMME / ACTIVITY:

UNIT STEP RESPONSE UNDAMPED CASE

%unit step response

num=[0 0 10^10];
den=[1 0 10^10];
step(num,den);
grid;
title(„Time response of second order system
T(s)=10^10/(s^2+10^10)zita=0‟)

UNIT STEP RESPONSE UNDER-DAMPED CASE

%unit step response

num=[0 0 10^10];
den=[1 40000 10^10];
step(num,den);
grid;
title(„Time response of second order system
T(s)=10^10/(s^2+40000*S+10^10)zita=0.2‟)

UNIT STEP RESPONSE UNDER-DAMPED CASE

%unit step response

num=[0 0 10^10];
den=[1 100000 10^10];
step(num,den);
grid;
title(„Time response of second order system
T(s)=10^10/(s^2+100000*S+10^10)zita=0.5‟)

UNIT STEP RESPONSE CRITICALLY-DAMPED CASE

%unit step response

num=[0 0 10^10];
den=[1 200000 10^10];
step(num,den);
grid;
title(„Time response of second order system
T(s)=10^10/(s^2+200000*s+10^10)zita=1‟)

a) Simulation of a typical second order system and determination of step response and evaluation
of time- domain specifications.

clc
% prg c(t)
num = 1;
den = [1 10 20];
G = tf(num, den)
kp=dcgain(G)
ess=1/(1+kp)
w = sqrt (den(3))
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zeta = den(2) / (2*w)

TD=(1+0.7*zeta)/w
TS = 4/ (zeta*w)
TP = pi/ (w*sqrt(1-zeta^2))
TR=(pi-atan((sqrt(1-zeta^2))/zeta))/(w*sqrt(1-zeta^2))
Percentovershoot= exp(-zeta*pi/ sqrt(1-zeta^2))*100
step(G)
title('Step response of c(t)')
figure
pzmap(G)
title('pole zero map of c(t)')
figure

B) Evaluation of the effect of additional poles and zeroes on time response of second order system.

%prg cz(t) " adding Zero to the given system"

num1 = conv(num,[1 1]);
G1 = tf(num1, den)
step(G1)
gtext('The rise cz(t) is less than that of c(t)')
gtext('hence peak occurs in cz(t) earlier than c(t)')
gtext('The maximum peak overshoot of cz(t) is greater than that
of c(t)')
title('Step response of cz(t)')
figure
pzmap(G1)
title('pole zero map of cz(t)')

C) Evaluation of effect of pole location on stability.

%prg cp(t) " adding Pole to the given system"

den2=conv(den,[1 0]);
G2=tf(num, den2);
kp1=dcgain(G2)
ess1=1/(1+kp1)
step(G2)
title('Step response of cp(t)')
figure
gtext('Steady state error =0')
------)
title('pole zero map of c(t)')

7. OBSERVATION TABLE / LOOKUP TABLE / TRUTH TABLE:

8. FORMULA / CALCULATIONS:
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9. GRAPHS / OUTPUTS:

12. RESULTS & ANALYSIS:

 Simulation Results:
For Under damped condition (0<ξ<1)
Rise time = ________Sec
Settling time =________ Sec
Peak overshoot =________%
For under damped condition( 0<ξ<1)
Rise time = ________Sec
Settling time =________ Sec
Peak overshoot =________%
For critically damped condition ( ξ=1 )
Rise time = ________ Sec
Settling time =________ Sec
For Over damped condition ( 1<ξ<∞ )
Rise time = ________Sec
Settling time =________ Sec

13. OUTCOME & CONCLUSIONS:

14. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

9

1. TITLE: DC POSITION CONTROL SYSTEM

2. AIM: 1. To obtain the step response of a DC Position control system using MAT LAB.
2. To verify the effect of input wave form, loop gain system type on steady state Errors.
3. THEORY: The DC Position Control System block diagram is given below.

The Transfer Function can be written as:

Graph:
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PROGRAM:

% DC position step response

num1=[ ];
den1=[ ];
sys=tf(num1,den1);
step(sys)
title('Dc position step response')
figure

% step response With % ramp input % parabolic input

Feed back d=conv(den1,[1 0 0]); dr=conv(den1,[1 0 0 0
G = tf(num1,den1) G = tf(num1,d) ]);
sys = feedback(G,1) sys = feedback(G,1) G = tf(num1,dr)
kv=dcgain(G) kv=dcgain(G) sys = feedback(G,1)
ess=1/kv ess=1/kv t = 0:0.1:50; kv=dcgain(G)
t = 0:0.1:50; u = t; ess=1/kv t = 0:0.1:50;
u = t; [y,t,x] =step(sys,u,t); u = t;
[y,t,x] = step(sys,u,t); plot(t,y,'y',t,u,'m') [y,t,x] =
plot(t,y,'-',t,u,'o') xlabel('Time(secs)') step(sys,u,t);
xlabel('Time(secs)') ylabel('Amplitude') plot(t,y,'y',t,u,'m')
ylabel('Amplitude') title('ramp as input') xlabel('Time(secs)')
title('step as input') legend('Input', 'Output') ylabel('Amplitude')
legend('Input', figure title('parabolic as
'Output') input')
figure legend('Input','Output
')
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EXPERIMENT NO: Date Conducted Marks

10

1. TITLE: THE RELATION BETWEEN FREQUENCY RESPONSE AND

TRANSIENT RESPONSE
2. AIM: To examine the relationship between open loop frequency response and stability, open
loop frequency and closed loop transient response.
3. PROCEDURE / PROGRAMME / ACTIVITY:

% TO OBTAIN THE RELATION BETWEEN FREQUENCY RESPONSE AND

TRANSIENT RESPONSE

n=[1];
d=conv([1 0],[0.1 1])
g=tf(n,d);
bode(g)
margin(g)
[gm,pm,wcp,wcg]=margin(g)
GMdb=20*log10(gm)
figure
fplot('1/(2*z*sqrt(1-z^2))',[0.0 0.8,0.01 10])
hold on
fplot('exp(-pi*z/sqrt(1-z^2))',[0.0 0.8,0.01 10])
hold off
xlabel('zeta')
ylabel('resonant peak,max.overshoot')
figure
fplot('1*sqrt((1-2*z^2)+sqrt(4*z^4-4*z^2+2))',[0.0 0.8,0.01 2])
xlabel('zeta')
ylabel('bandwidth')

4. RESULTS & ANALYSIS:

5. OUTCOME & CONCLUSIONS:

6. REMARKS:
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EXPERIMENT NO: Date Conducted Marks

11

1. TITLE:
 BODE, NYQUIST AND ROOT LOCUS WITH RESPECT TO STABILITY.

2. LEARNING OBJECTIVES:
 Understanding of Effect of open loop gain & zeros
 Understanding of stability analysis.

3. AIM: Using MATLAB/SCILAB

a) Effect of open loop and zeroes on root locus contour
b) Comparative study of Bode, Nyquist and Root locus with respect to Stability.

4. MATERIAL / EQUIPMENT REQUIRED:

 Computer system
 MATLAB

5. THEORY / HYPOTHESIS:

 ROOT LOCUS

We have seen that the stability of any closed loop system depends on the locations of
the roots of the characteristic equation i.e the locations of closed loop poles. Nature of
the transient response is closely related to the location of the poles in the s-plane. It is
advantageous to know how the closed loop poles move in the s-plane if some
parameters of the system are varied. The knowledge of such movement of the closed
loop poles with small changes in the parameters of the system greatly helps in the
design of any closed loop system.

Such movement of the poles can be known by the Root Locus method, introduced by
W.R.Evans in 1948. This is graphical method, in which movement of poles in the s-
plane is sketched when a particular parameter of system is varied from zero to infinity.
Note that the parameter is usually the gain but any other parameter may be varied. But
for root locus method, gain is assumed to be a parameter which is to be varied from
zero to infinity.

 BODE PLOT
Basic of any frequency response is to plot magnitude M and angle Ф against input
frequency 'ω' . When 'ω' is varied from 0 to ∞ there is wide range of variations in M
and Ф and hence it becomes difficult to accommodate all such variations with linear
scale. Hence H.W. Bode suggested the method in which logarithmic values of
Magnitude are to be plotted against logarithmic values of frequencies. Such plots are
called Logarithmic plots which allows us to show wide range of variations in
magnitude on a single paper.
In general Bode plot consists of two parts.
1) Magnitude expressed in logarithmic values against logarithmic values of frequency
called Magnitude plot.
2) Phase angle in degrees against logarithmic values of frequency called phase angle
plot.
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 NYQUIST PLOT ANALYSIS

The concept of Nyquist plot is based on the polar plot which can be conveniently applied to the stability
analysis of any kind of system. The concept is little bit difficult to understand and hence we will divide
the discussion in following sections to unfold the Nyquist plot, step by step.
a. Pole-Zero configuration from Nyquist plot point of view.
b. Concept of encirclement and number of encirclements.
c. Analytic function and its singularities.
d. Mapping theorem or principle of argument.
e. Nyquist stability criterion.

7. PROCEDURE / PROGRAMME / ACTIVITY:

%Program
n=[0 0 0 1];
d=[1 5 6 0];
sys=tf(n,d);
rlocus(sys);
sgrid(0.2,0.0);
k=rlocfind(sys)
title('Root locus');
figure

%Effect of adding poles

dr=conv([1 10],d);
sys1=tf(n,dr);
rlocus(sys1);
title(' Effect of adding poles in Root locus');
figure

%Effect of adding zeros

nr=conv([1 1],n);
sys2=tf(nr,d);
rlocus(sys2);
title(' Effect of adding zeros in Root locus');
figure

% effect of k on the transient response

t=0:0.01:20;
n=[0 0 0 k]
d=[1 5 6 0+k];
c=step(n,d,t);
plot(t,c)
title('Effect of k on transient response');
figure
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COMPARATIVE STUDY OF BODEPLOT, ROOT LOCUS, NYQUIST PLOT

WITH RESPECT TO STABILITY

%comparative study of bodeplot, root locus, nyquist plot with

respect to stability
num=[0 0 1 4];
den=[1,2,2,0];

%set the “grid” for plots to2 rows and 2 columns. place
%the first plot at locaction1.
subplot(2,2,1);
bode(num,den);
title(„bode plot‟);

subplot(2,2,3);
rlocus(num,den);
title(„root locus‟);

subplot(2,2,4);
nyquist(num,den);
title(„nyquist plot‟);

11. GRAPHS / OUTPUTS:

12. RESULTS & ANALYSIS:

13. OUTCOME & CONCLUSIONS:

14. REMARKS: