INDEX

Expt Page Date of Remarks

Title of the Experimnent
No No |Experiment

1
Simulation and Analysis of TF models 20/01/2021
-
Time and Frequency response

Mathematical modelling and

27/01/2021
simulation of CSTR

Simulation and analysisof State

3 Space mnodel for linear continuous |7 03/02/2021
System - Time response
Design and performance Analysis of
4 lead compensated physical system 10/02/2021
24
using root locus technique Eseloss
Design and Performance Analysis of
5 PID Controlled physical system using 13/02/2021
Zeiger- Nichol's approach
Design and performance analysis of
6 state Feedback Control of physical 46 24/02/2021
system
Design of Discrete controller using
7 55 03/03/2021
Bode Plot

Stability Analysis of Discrete Time

60 10/03/2021
8 Systems using Jury Stability Test

Design and Performance Analysis of

Optimal Gain State Feedback Control 66 17/03/2021
of a physical System
Design of Digial Lead Compensator
10 for a discrete system using Root 75 17/03/2021
Locus Technique
 siulatigu aud Aualy Trauya Fuuctiou
Model -Tane aud Fraguncy Repone.
:
Ain
lo oblain time Qud

noet aud bodk y

locu bud plt
bodle plot
ddig
MATLAB

boltwore Used
MATLAB

the
Hu s-plane
chavaceiske guation haud
haud ot
Bt dn

ancdporamea.

Cosd Ro

Magudlul (gnditsn
LasHe) =t180(2k+)
oudihi
londibn
a puot lous ill sati
alove tuo codihns
 2

Bod
Bode glat

tonsist
Qnd

Manikudk

plrase mangn Js u
addilional pase
at te
big stabiuy
Pluas Mang

Crain argn Hue addihnal gai Bat

wan e
added to to
do

luatabiiy ( Hanganally stak)

sCSt4)
Sype

Chavodinistc Egualioa is

wonied rem o to
Foy bode

Type o Ordlen 2 syilm

at -2t4.58

w,2S

4.

2xs =4
0. 4

Peak

=
-36 dB,

Peak

=b/-2x04* 2

-4.123 qads

Magnikud
(CC2s-w} +4w?)

Plhase dan
 4
Experiment 1

1 Experiment 1

1.1 Code (for Bode plot)

disp("Transfer Function')
G=tf([25], [1 4 25]);
i=l;
for w=0.1:0.1:100
M=25/sqrt((25-w^2) A2 + (4 Mw)^2);
db=20*1og10 (M);
phase=-atand ((4*w)/(25-wA2));
b=phase;
if b>0
b= b-180;
end
pì,:)=[w, db, b];
i=i+1;
end
figure (1)
subplot (211)
semilogx (p(:,1) ,p(:,2))
grid on
ylabel('Magnitude (dB) ')
title(" Bode Diagram')
subplot(212)
semilogx (p(:,1),p(:,3))
grid on
ylabel(' phase (deg)')
xlabel ('Frequency (rad/s)')
%Magnitude becomes 1 at
syms w real
f= 25/sqrt((25-w^2) ^2 + (4*w)^2) ==1;
wgc = double(solve (f, w) );
%Phase margin
Phase Margin=180-atand (wgc/4)
ph = phase == -180;
solve (ph,w)
figure (2)
,
[Gm Pm] = margin (G)
disp('Phase cross-over frequency is infinity.Gain @ wpc = Infinity; Thus gain margin is
infinity'):

1.2 Output:
Transfer Function
Gm =

Inf

Pm =

68.9154

Phase cross-over frequency is infinity.Gain @ wpc = Infinity ;

Thus gain margin is infinity

1-1 | P age
Experiment 1

10
Bode Diagram
Magnitude(dB)

D-10
-20
-30
40
-50
-60
10 100 10' 10

phase(deg)
-50

-100

-150

-200
10*1 10 10 10
Frequency (rad/s)

Bode, Diagram
Gm = Inf dB (at Ini rad/s) Pm =68.9 deg (at 5.83 rad/s)

(dB) 10

Magnitude
20
-30
40
-50

(deg)
-45

Phase -90

D-135

-180
101 10° 10 102
Frequency (rad/s)

Published with MATLAB° R2020b

1-2| P age
Experiment 1

1.3 Code (for Root Locus)

X=[];
y=[];
z=[];
i=l;
for k=0:0.1:4
x(i,1)=-2+sqrt (4-k);
x(i,2)=0;
y(i,1)=-2-sqrt(4-k);
y(i,2)=0;
j-i+1:
end

for k=4:0.1:100
z(i,1)=-2;
z(i,2)=sqrt(k-4);
i=i+1;
end
plot(z(:,1),z(: ,2), 'b',y(:,1).y(:,2),'r',z(:,1),-z(:,2),'r',x(:,1) ,x(:,2), "b')
hold on

grid on
title(' ROot Locus')
xlabel('Real Axis')
ylabel ('Imaginary Axis')

1.4 Output :
Root Locus
10

4
Axis

Imaginary

-2

-4

-6

-8

-1
-3.5 -2.5 -1.5 -1 -0.5
Real Axis

1-3 | P age
 i) Fom
te plated sol lous, it iu
dfed
tuat tee Hoot aus
Inus heven

.
Henie the
aways stable Anues .

all k

Meseh pt
Hene
te brain Margin e
tu systi

68-9

Resut:
tee
A
MATLAB iade 0as duleped to plot
Hent dowu and bode plot q
ta taken ystem. Thuu

time aud staiel.

opt .No:2 Matlumatal nodellug oud simdatiou

A
0 btain a
Couiuuou Slired Tauk Reatlor bimulate thu
pohamito te gualiu
mathunatial eguatins
MATL AB

: MATLAB
sed

a
Matlematual nodel i

Renw how tae

inpub Qud disturkances

Cuwerallg natiematial model

difpakad agualios

a
tirted tauk Heaco CcsTR) js
A
Lntuaus
Aateh uaclor guigpod ita
. Jr chemial
deuri u
to
Bu am CSTR
wd o madel
idualed agitatid tauk neator
aperatn sanialtu ngubad ko atain
Modallng

wl e a

nsiderec as
Lonitot
dllev) e
dv
olt olt
V
Voue
total
dV

v
Thu stab Nriallu wlde will Ca
aud
V
dlcav)
4 da
olt
dt dlt
-ERr
d CCAV) [Cai lgi)-g)a-ko
dt
-E/RT
V odCa
Chanactuilng te total

Jn Kiemadguamits.

conpoitibn
H
#(T,na, ng)
B& CSTR,
ku nols A
A
ad in

at dr dna
JT dt SnA alt

evep

uaction
mixie
HA, fig <
Pontal molan sntapuis A
aud B.
&

CAL

ds
olt
d
Clpv)o-F
d
trV

dT tHA
dt
(-<8 4rV)
Mas Balaue Eguatio

nUmlation] to seachion
A
| due
time
time fime
Time

dt
it ome
Cmolu volm) b!
Cai, CA Malan onctatips
stean aud
hu indet
Hu
Dutet steam

-E /R

dea
V

- Ga) - kp -
CCA
eE/r CA.
dt V
 l2
dH

dl
hi - h - 2
-

.
E

- )
dT (Te (HA- He)AV-

V
dT
olt

Dividig y vV

dT
dt

Aoolant p
Temoud
wit ime

,
unit ime

-E/er
 -Stisren 13

Dwtput

Ceolant

22 mon- inea oreinany

tous modl aomist

(-AH) o A
V

Pavamib ist:

T Reatos
the noninal panamells ae
Tempealuu

Feed o w

Feed cnlntration
ed
Feed Tempualne
1bOL/mn
Celaht cenpeatan
Duiis e, ee

tnponinkal yaclo E/R=9.48 xID

.
.
-AH =2xDS lad/nol
claracdeistis aA =7x/DS min -! k

at tramte
puod At
 Experiment 2

2 Experiment 2
2.1
2.2 Code:
Cao = i nput('Enter initial value of Ca =');
TO = input('Enter initial value of T =):
%globa1 u;
%u = input ("Tf = ");
[t,y] = ode45 (Qodefun, [1 20], [ca0 TO]);
subplot (2,1,1)
plot(y(:,1), '* "):
title('Effluent Concentration');
subplot(2,1,2)
plot (y(:,2),'.');
title('Reactor Temperature');
function dydt odefun(t,y)
V= 100;
K q= 100;
caf = 1;
Tf = 350:
qc = 100:
TC = 350;
rho = 1000;
rhoc = 1000;
Cp = 1;
Cpc = 1;
ko = 7.2*10^10;
= E/R
S= 9.98*10+A3; S
%

delH = 2*10^5;
hA = 7*10^5;

dydt = zeros(2,1);
dydt (1) =
(a/v)* (Caf - y(1))) - ko*y (1) *exp(-(S) * (1/y (2)));
dydt (2) = ((g/)* (Tf - y(2) )) +(((-delH * ko * y(1))/(rho * cp) * exp(-(S)*(1/y(2)))))+
(rhoc*cpc*qc) /(rho*cp*v)) * ((1-exp((-1*hA) / (qc* rhoc*Cpc))) * (Tc - y(2)));

end

2-4 | P age
Experiment 2

2.3 Inputs:

expt2_ l
Enter initial value of Ca =0.09235
Enter initial value of T =441.81

:
2.4 Output
Effluent Concentration vs time

0.6
0.4
Concent

0.2

20 30 40 50 60 70 80 90
10
Time s
Reactor Temperature
460
Y 440
420
400
380
360
340 30 40 50 60 70 80 90
10 20
Time s

2-5 | P age
 14

i) Ruation an erothesmie Yeactin , heuee

soolant wsed
udus t eator impnaline
Bven tine

i) model e tie 2 Do F
Ca,T
givas olifrutial equalitna moln wtica

ii) Te stacda stat sales as raackud ofl

40 nii hnu

Reult:
Lsus te matiematiial model af a ContiuD
lontinuou
Birved tauk Peactor as
was
Aimulatid ing MATLAB
Enpt -NO:3 kimlatipn Moalel

lunear Continuaus

Ain
To
simwlate aud

tu dinear ntinuow
modl

Mattab
Sofwane vsd:

Stai
\hiables to
raten than

ue
Aguakom
bmallest nubset variatbs at
state at
te luire
Any given time stat

ually
to
t erdu
, but uot sueesonily
in
 ypaue
Geneal stab- ngrsentain liear

Bu) t). Cstat euation)

Ap re) t
+Dus u), loulput aquatin)

- Dutput Vactr
- 8tatu Vector ge matyix
t)
weutor A4) -tat matyi .
(ct) - 0utput
Bct) Input matviy
Feedthyoug matri {Transmision mat)

Coutrollakility matyiy :[B

LB
AB A'8... AnB]
Obthvabilihy mabrix CA CA? CAJ.
adnissiba
lostmllodiiy impliu huat
it i passile- byualue
nikial
fom aiy wtndow
nal ale witin tin
spae rnedel iuu
w u-invarlant lin, stat
A
entinuo
Kontiollable and
mbe e Ntat aiallu
MeQMe 4on law wel tunal
obnsbiliy
statu hy knouiage
A
contnuDus
aud
matrix uali ber state Mniallr
Bbvevnbiliy
 L

Vie) Vou)

bvies RLL iit

kvL

dt
olice
-

olt

Vellage

=
Vec)
m

Difuiating te
dia aboe guakim w.r-t

dWee ice)
dt
ice)
dige
X=
dvece)
Ve co
 ices
-R/L
di Vice).

dVu Vece)

icr)
ve )

Ouondamga Case

-
LC

Vadadanpa .
Case

R=0.5
2

Le.
Ca

&o R= 4
Experiment 3

3 Experiment 3

System Definition. ..3-6

Observability and controllability.
Pole locations for different R vaues. ...
...3-6
3-7

3.1 System Definition

%{
RLC Series circuit
For different values of R Step response androot l0cus points are plotted

3.2 Observability and controllability

for R =
5:-1:1
C= 0.125;
L= =
0.5;
A
[-R/L -1/L; 1/C O]:
B = [1/L; 0];
C= [0 1];
D = 0;
sys = ss(A,B,C,D);
step(sys);
hold on
end
= obsv(A,C);
Co = ctrb(A, B);
if(rank(0)=-2)
fprintf(' The system is observable\n');
end
if(rank(co) ==2)
;
fprintf('The system is Controllable\n')
end

The system is observable

The system is Controllable

3-6| P
age
Experiment 3

Step Response
1.5

Amplitude

0.5

3 5
Time (seconds)

3.3 Pole locations for different R vaues

for R = 5:-1:1
C = 0.125:
L= =
0.5;
A
(-R/L -1/L; 1/c 0];
eigen = eig(A);
re =
real (eigen);
img = imag(eigen);
figure (2)
plot(re,img, *')
hold on
grid on

end

-1

-2

4L
-6 -5 4
Real Part

Published with MATLAB® R2020b

3-7 | P age
 23

i) Hn two
Lc. Hue stati aialles
miim numb stat vaniall
deeded
R s do It doenot
store

ii) dnduclor wwmet lapailor vstage ane

te state
Aiahes Eungy tam letien
magneke usgy and elctiostatic enengy kappeau
eteen
iii) wen te pot
ji) Resiataue is aid.
out
Aous s Jraced

:
Result
wodel tor
Stat
and tu was simulatio
and
 and Pnjoymane Auaysa g teaol
Jiga

mor ale to met

MRTLABB
daig spuijuations wig
:
i MATAB
delioane Vd

H
ead onpusator s au etriad siruit
thct oen provided
rovided sottsnsoiclal input
oitth a
a
sinwoidal signal as outpt soith
to tat
as
Juoidal • A
sod dompuuatrr
and

grod dompig
. benaaly,
Daihed porautin tabiily aud
ton ndae duuod eulti. But incearing gain
gain
yutim adiedly. Iatodaig
ide pbtoÜin
Jead
desined tranint
 25

awod wu

ponamelas uh as Ts and Peak Dvestoot

ausign

) Finc wiich

dedgu paramii bdeiad -Swn tjwn I-g

doation
, ot nbetsen
deminaut pol
at
yoot loes
to otsect te
plaud
locatibn
g iteia to
te desied

met

dyan duoiploni

Hes)

atid
koth

Judanpad oaulabn
Jotws is
stalle
 To meet Hu
dued amiut
dheed to oot docws to delt sie

a I
Tie Coi th 2y. riterig, 4s
Perent tesoot P6 35 /.
Experiment 4

4 Experiment 4

Uncompenstaed system ..4-8

Design parameters. ..4-8
Compensator Design...... .....4-8
Soving for gain... osoe..... 4-9

Compensator... ..4-9
Compensated System Plot ..4-9

% Designing Lead compensator using Root Locus

% Draw uncompensated root l0cus
% Design Specifications
% Reshaping root l0cus
% Response before and after

4.1 Uncompensated system

s= tf('s'):
G= 10/(S^2);
sys = feedback(G,1);
subplot (221)
rlocus(sys)
subplot (222)
step(sys, 0:0.1:10)

4.2 Design parameters

Specifications :
Ts <= 4s ;P0% <= 35%

TS input("Settling time :);

=
PO input('Percentage Overshoot :');
PO =-log(Po/100);
A = (PO/pi)^2;
zeta in = sqrt (A/(1+A));
fprintf('select a zeta value above %. 4f\n', zeta_in)
zeta = input( ");
wn = Ts/ (4*zeta);
R=-zeta*wn:
I= wn*sqrt(zeta^2-1);
D1 = R+I;
D2 = R-I:
fprintf(' Desired root l0cations are %.2f+%.2fi and %.2f-%.2fi
\n,real (D1),imag (D1), real (D2), imag (D2)):

4.3 Compensator Design

% zero placement
Z= R;
I=imag (I);

4-8| P
age
 28
Experiment 4

% Pole Placement
0= [0;0];
Root = [R;I]:
D = ROot-0;
no rm (D);
Tl = atan2d(D (2) ,D(1)); %
angle from (o,0) to desired point
Tp = (-2 * T1)+270;
P= 2*(R-(1/tan(Tp) )*(-I));

4.4 Solving for gain

K = abs(((D1)^2* (D1-P))/(10* (p1-z)));

4.5 Compensator
GC = K * (s - 2)/(s - P);

4.6 Compensated System Plot

Compsys = G*GC;
subplot (223)
rlocus(CompSys)
hold on
plot(D1, '*') % * are desired roots
hold on
plot(D2, '*')
hold on
subplot (224)
System = feedback (CompSys,1);
step(System, 0:0.1:10)

:
4.7 Inputs

>>expt4
: 4
Settling time
Percentage Overshoot 35
Select
a
zeta value above 0.3169
0.45
Desired rOot locations are1300+198i and1:001 98i

4-9| P
age
 29
Experiment 4

4.8 Ouput:
4.8.1 Uncompensated System
Root Locus Uncomponsatod Systom
15 2

1.8
10
1.6

1.4

.2

0.8
0.6

0.4
-10
0.2

-15 2 Timo (secoRds) 10

-1.5 -1 -0.5 0 0.54. 1 1.5
Real Axis (seconds')

4.8.2 Compensated System

Root Locus Compensated System

10 1.5

0.5

-6

3.5 3
-2.5 -2 -1.5 -0.5 Timo (secoñds) 8 10
Real Axis seconds

4-10 Page
 auilatoy.
fpmids donsidluabe
n
tu

i)

graph otsck
dign spuitjeatim
and

pole at differsnt oaton, stilu see an meet ttue

dign
,
apzifatin but te kondlition
angt conditiom
augle
u

must
Aud eo lostion must Aot
aplth noot dous patus

Reult:
a lead
nargialy
was tabiliaed
nstalle
dugu puifiaten wene mety
 31

Pufomamu Aualyia PID

Acin

PD nlioles
Aontoll

Xetwane VAed: MATAB.

PID Lntolus whdey ud in may

kobinakipn all lexee
Dntul Appliations Jt is ttu e
and deri vaie aontrolla.
roportienal, intigval

kp TüS

Two methods propasea y igln and nuko

walies
or
tuning te PID

Fiyst metod stp pone ettod)

Aimudatd Mauy paut nadela poviel

Dut. The

cint with Jiglast slope

 poind 32
AA Aamgut is daon og the slatin
Jadting x aria aud stiady stat value. u u distouu
intenypt
and hody stoto

Thuy ttne (L ) aud tine onstatl)

bund.
. Fom tese kp ,Te,Td

Mthcd 2
is made magialy
Jm
tis method
te
waes ane Jound But.
table, tun tu wmasgunal

Pey is found by
Fom bb Ha Hun valu kp>
dividing by

OUe fund.

Civst Mteod &Uend Mettod

kp Ti Td
o
P P
5ke
PI 04S KeY

06 kys PY 0-12SPr
PID 2
D
 33

DC Rniled huelr nodel

Ra

W,ada wpm).
w
Yada

(mny constac)
D
Ialn Cpaaping YathD.
.

J=D
I kt Ia.
Tovque to otatienal neloccty (),
D o
+

Jde T-Ddo

do Ia -D de
+ (kt dt

di.
di Ia Ra - Ke
de
J/v-
la dt.
 34
Porometin
J
b. b2
D0.2

2 S

H.
D.s

k
Vey
(8L FR (ST
+
B) + k

C0-Ss +
2) (0b23+6. 2)

und dor Fiyst metad

But thi metiod provide anillalay spmme
amottaen ystim Jor gue metod
Hene looing
 3

Experiment 5

5 Experiment 5
Sytem Parameters.... .5-11

System Definition. ..5-11

Inflation point .5-11
Drawing the line. .5-12
Finding L and T o**oo.e.. 5-13

Controllers Design. ...5-14

Final Design and Plot........ ...5-15

5.1 System Parameters

%{
Speed control of DC Motor by Field control
System 1 System 2

J= 0.02 0.02
B= 0.2 0.2
Kt = 2 0.015
Ra = 2 2
La = 0.5 0.5
%}

5.2 System Definition

s=tf('s');
sysl = 1/((0.5*s+2) (0.02*s+0.2));
*

sys2 0.015/(0.01*sA2+2.5*s+0.44);

5.3 Inflation point

Iy,t] = step(sys1) ;

subplot (121)
plot(t,y);
hold on;

ypp = diff(y,2):
,
tinfl fzero(@() interp1(t (2 :end-1) ypp,T,'linear', 'extrap') ,0);
=
=
y_infl interp1(t, y,t_infl, "linear');
plot(t_infl,y_infl, 'ro')
subplot (122)
plot (ypp);

5-11| Page
 36

Experiment 5

Slop Rosponso
1.5

Amplitude

0.5|

2 3 6
Time (seconds)

5.4 Drawing the line

mean (diff(t)):
h=
dy = gradient (y, h);
= max
[~,idx] (dy);
b= [t([idx-1, idx+1]) ones(2,1)] \ y([idx-1, idx+1]);
%tv = [-b(2)/b(1); (1-b(2))/b(1)];
tv = [0;0.6];
f= [tv ones(2,1)] * b;
subplot (121)
plut(tv, f, '-r')
grid on

5-12 Page
 31

Experiment 5

3.5

3
7

6
2.5
5
2
4
1.5
3
1

0.5 1

05 0.5 1 1.5 2 50 100 150 200

L
5.5 Finding andT
L= (1/max (dy) ) * (-y__infl) + t_infl;
=
T (1/max (dy) ) * (max (y)-y_infl) + t_infl;
subplot (121)
plot(L,0, '*")
plot(T,0, ***)
stem(T, max (y) )

3.5 8 x103

6
2.5
5
2

1.5
3

0.5

0.2 -1
0.4 0.6 0.8 1 1.21.4 1.6 1.8 50 100 150 200

5-13 Page
 38

Experiment 5

5.6 Controllers Design

:
fprintf'select the controller \nl: p\n2: PI\n3: PID\n')
Select = input("');
Kp = 0;
Ti = 0;
Td = 0;
== 1
if Select
Kp = T/L;
Ti = Inf;
end
if Select == 2
Kp = 0.9*(T/L);
Ti = L/0.3;
end
if Select == 3
Kp = 1. 2*(T/L);
Ti = 2*L;
Td = 0.5*L;
end
GC = Kp* (1+((1/Ti) * (1/s) )+ Td*s);

:
Select the controller
1: P
2: PI
3: PID

5.7 Final Design and Plot

Sys = Gc*sysl;
System = feedback(Sys,1);
figure(2)
step(System)

Published with MATLAB® R2020b

5-14 | P age
Experiment 5

5.8
P
controller

Step Responso
1.5

s:

Amplitude

o
0.5!

0.1 0.2 0.3 Time (secoRds) 0.6 0.7 0.8 0.9

5.9 PIController

Step Response
1.8

1.6

1.4

1.2 -

.8
0.6

0.2

0.2 0.6 Time (Beconds) 1 1.2 1.4 1.6

5-15 P
age
Experiment 5

5.10 PID Controller

Step Rosponso

1.2

Anplitude

0.4

0.2

0.05 0.1 0.15 Thfe (secohåš) 0.35 0.45

5.11 Method 2

Sytem Parameters. .5-16

System Definition. ..5-16
Making the system marginally stable .5-16
Designing the controllers. .5-17
Final Design and Plot.... ..5-17

5.12 System Parameters

%{
System 1 System 2
J= 0.02 0.02
B= 0.2 0.2
Kt = 2 0.015
Ra = 2 2
La = 0.5 0.5
Both system won't exhibit oscillations. So Selecting another system

Kp
=
System
s(s+1) (s+5) +Kp
%}

5.13 System Definition

s=tfCs');
sys = 1/ (s*(s+1)* (s+5)) ;

5.14 Making the system marginally stable

rlocus (sys)
hold on

5-16 | Page
Experiment 5

Kcr = margin(sys);
sysg = Kcr*sys:
Gs = feedback (sysg,1);
step (Gs)
[wn,zeta] = damp (GS);
PCr = (2*pi)/wn(1);

5.15 Designing the controllers

fprintf('select the controller: \n1: P\n2: PI\n3: PID\n')
Select = input(");
Kp = 0;
Ti = 0:
Td = ;
if Select == 1
Kp 0.5*KCr;
Ti = Inf:
end
if select == 2
Kp = 0.45*KCr;
Ti = (1/1.2) *Pcr;
end
if Select == 3
Kp = 0.6*Kcr;
Ti = 0.5*Pcr;
Td = 0.125*Pcr;
end
Gc = Kp* (1+((1/Ti)* (1/s))+ Td*s);

5.16 Final Design and Plot

Sys = sysg*Gc;
System = feedback(Sys,1);
figure(2)
step(System)

5-17 | Page
 42
Experiment 5

:
5.17 Output

Root Locus

Root Locus
15

10

-10

-150 -15 -10 10

Real Axis (seconds)

Marginally Stable System

Step Response
2

1.8

1.6

1.4

0.8
0.6

0.4

0.2

20 30 Time (seconds) 50 60 70 80

5-18| Page
 43
Experiment 5

P
controller

Step Response
1.8

1.6

1.4

1.2

p.8
0.6

0.4

0.2

5 10 Time (3econds) 20 25 30

PIController

Step Response
2.5

opnwy

0.5

50 100 Fhe (secona8 250 300 350

5-19| Page
 44
Experiment 5

PID Controller

Step Response
1.8

1.6

1.4+

1.2

.8
0.6

0.4

0.2

5 10 15
Time (seconds)

5-20 Page
 to
kiger -Nicals
)

derate duing e PID ADntaller

i) First atoo linikd ine mot

al provid s-haped

ii) PrD outollet þrovioes etea transiet belavieua

stale

Reult:
P, PI ad PID onlalles AQene tyed
methods and te

Bbtained.
 46

spt No:
Deign and Payor mame Aualyni

An
o duign a statt fedhack otral
.
it

: MATLAB

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 47
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Experiment 6

6 Experiment 6
6.1 State Feedback Control
To use either direct method or ackerman's formula
:
Program Working
* Uses direct method for matrix that are in Controllable Canonical
Form
* Uses Ackerman's formula if it is not so

System Definition (Just to check). The code is generalised. .6-21

Declaring the system... .6-21

Checking the controllability of the system .6-22

Checking for controllable canonical form & selecting method .6-22

Ackerman Formula ..6-23

Direct method .6-23

6.2 System Definition (Just to check). The code is generalised.

%

% System 1
% |0 1 0 | |0 |
+
x(k+1) 0 0 1 | x(k) |0 | u(k)
| -1 -2 -3 | |1 |

% Desired closed loop poles 0.5, 0.6, 0.7

: -4.8]
% Right Answer [-1.21 -0.93

System 2
-1 -1 | |0|
+
x(k+1) = | 0 -2 | x(k) |1 |
u(k)
%
% Desired closed LOop poles 0.5, 0.6
Right Answer: [-2.4 -4.1]
%

6.3 Declaring the system

globaln
n= input('Enter the order of the system:);
global A
A = zeros (n,n);
=
for i 1:n
for j = l:n
A :
fprintf('\nEnter the matrix element %d,%d '.i,j)
A(i,j) = input(');
end
end

B zeros (n,1);
=
for b = l:n
fprintf('\nEnter B
the matrix element %d
:,b)
B(b,1) = input(" ");
end

6-21 | P age
Experiment 6

Dp = Zeros (1,n);
for c = 1:n
fprintf('\nEnter the desired pole %d-: ,c)
=
Dp(1,c) input ('");
end

6.4 Checking the controllability of the system

global UC
UC = zeros (n,n);
=
for d 1:n
C=[ AAÇd-1) * B];
if d 1
Cp = C;
else
UC =[Cp C];
Cp = UC;
end
end

== n
if rank (Uc)

fprintf('\nThe system is controll able. Desigining the controller!')

else
fprintf('\nThe system is not contro1l able')
return
end

6.5 Checking for controllable canonícal form & selecting method

Set = 0:
check = zeros (n,n);
for s = l:n-1
Check(s, s+1) = 1;
end
for p = 1:n-1
if(Check(p,:) == A(P, :))
Set = 1;
end
end

syms z
global equation
for d = 1:n
if d == 1
prev = (2-Dp(1));
equation = prev;
else
equation = prev * (z-Dp (d));
prev = equation;

end
end

if(Set = 1)
K = ackerman_formu la);

6-22 P
age
 51

Experiment 6

RSOEfprintf("\nDesigned using Ackerman's Fomul a\n")

else
K
direct ():
fprintf("\nDes igned using Direct method\n")
end
fprintf(The gain matrix K: \n')
fprintf('%.3f\t',K)
fprintf"\n')

6.6 Ackerman Formula

function out ackerman_formula()
global UC

global equation
global A

n
global
UC_1 = inv(Uc);
=
Coeff coeffs (equation);
for v= 1:n
if v == 1
phy_A = Coeff(v) *eye (n);
else
Sum = A^(V-1) * Coeff (v);
phyA = Sum + phy_A;

end
end
phy_A = phyA + A^n;
O=zeros (1, n);
o(1,n) = 1;
out = 0*UC_1*phyA;
end

6.7 Direct method

= direct)
function out
global equation
globaln
global A

=
Coeff coeffs (equation);
for 1 = 1:n
F = Coeff(1) - abs(A(n,1));
] == 1
if
Fp = F:
else
out = [Fp F];
Fp Out:
end
end
end

6-23 | P age
 S2

Experiment 6

:
6.8 Output

>> statefeedbackControl
:
Enter the order of the system 3

: 0
Enter the A matrix element 1,1
: 1
Enter the A matrix element 1,2

Enter the A
matrix element 1,3 0

Enter the A
matrix elenent 2,1 0

Enter the A
matri element 2,2 :0

Enter the A
matrix element 2,3: 1

Enter the A
matrix element 3,1-1

Enter the A matriX element 3,2 -2

Enter the A matri element 3,3 3

Enter the B matrix element l 0

Enter the B matrix element 2 0

Enter the B
matrix element 3 1

Enter the desired pole 1 0.5

Enter the desired pole 2a 0:6

Enter the desired pole 3 t 0.7

The system is controllable. Desigining the controller!

Designed using Direct method
The gain matrix K E

1:210 -0.9304.800

6-24 Page
 3
Experiment 6

StateeedbackControl
Enter the order of the system: 2

Enter the
A

matrix element 1;1:1

Enter the
A
matrix element 1,2:-1

Enter the A
matrixelement 2,1 :0
Enter the A
matrix element 2,2:2
B
Enterthe matrix element l:0

Enter the B
matriX element 2: 1

Enter the desired pole 1

0.5
Enter the desired pole 20.6
The system is controllable. Desigining the controller!
s
Designed using Ackerman Fomula
e gain
The matrix K
244004.100

6-25 P
age
 i) Stat Feedback Conbol bnly be
daiged

at tle last
matsix can e CE ard desired not
CE
tu diluene belen Atual
Ackemaud ornula
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.
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MATLAB tode
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Experiment 7

7 Experiment 7
7.1 Design of discrete controller
Aim : To design a controller in discrete domain for a physical system

Physical System... ...7-26

Design Specifications .7-26
...
System Definition. 7-26
Controller Design ...7-26
To find Gain... ...-27
7.2 Physical System
Fly-by-wire aircraftcs control system
The process Dynami is as modelled type 1 second order system
1
Gp(s)
s(s+1)
Sampling time:0.1s

7.3 Design Specifications

: PO <= 5%
Percentage Overshoot : TS <=
for unit step input
Settling Ti me ls for unit step input

7.4 System Definition

Syms Z
= tf("s'2;
T = 0.1: %second
Gp = 1/ (s*(s+1));
%GO = ((1- exp(-s*T))/s);
%GZ = Gp*Go;
Gz = c2d (Gp,T);
[num, den] = tfdata (Gz,'v');
G = feedback
(Gz,1);
subplot(221)
step(G)
subplot(222)
rlocus(Gz)
% Specifications
TS = input('Settling tme:);
PO = input('Percentage overshoot :");

7.5 Controller Design

Z - a
D(Z) = K

Z - b

Kcr = margin(Gz);

% The poles must be inside circle of radius r :

r=exp((-4*T)/TS);
-log(PO/100) ;

-
(X/pi)^2;

7-26 Page
 7
Experiment

= sqrt(A/(1+A));
zeta
Roots e roots(den);
a= -Roots (2) ;
wn = Ts/(4*zeta);
zd = exp((-zeta*wn+i *wn*sqrt(1-zeta^2) ) *T);
R_Zd = real (zd);
I_Zd = imag(zd);
=
0l [0.9673;0];
Root = [R_Zd;I_Zd];
D1 = ROot-01;
norm(D1);
T1 = atan2d (D1(2),D1(1));
02 = [1;0];
D2 = ROot-02;
norm(D2);
T2 = atan2d (D2 (2),D2 (1));
03 = [0.9048;0];
D3 = ROot-03;
norm(D3):
T3 = atan2d(D3(2), D3 (1));
Tp = -180+T1-T2-T3;
%b = (R_Zd-(1/tan (Tp) ) *(-I_Zd));
b = -Izd*tan(Tp) + R_Zd;
b = b/4;
DZ = tf([1 a], [1 b],0.1);

7.6 To find Gain

zd;
K= abs(((DA2*-1.905*D+0.9048)* (D+0.242 8) ) /((0.004837*D+0.004679) *(D-0.9048)));
Cz = 70*DZ;
Compsys = Cz*GZ;
subplot (223)
rlocus (CompSys)
System = feedback(Compsys,1);
subplot(224)
step(System)

7-27 Page
Experiment 7

7.7 Output:
7.7.1 Uncompensated System

Step Response Root Locus

2.5

2
1.5|

.5
0.4
-1

-1.5
0.2
-2

-2.5
2 Time (sêcondß) 10 12 -5 Feal Ais 1

7.7.2 Compensated System

Root Locus Step Response

1.5 1.2

1 1 fooe

Axiso
0.8
Ampltude

maginary

.6

0.5 0.4

8
i-1 0.2

+1.5
-3 Reá Axis1 1 0.5 Time (seconds) 1.5

7-28 | P age
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Cn~a) onstracnty

A gunalisd Drden

brample Chos actoisti plypnomial:

A(z) : 224+ 72+10z+ 4z+1.

 62

Experiment 8

8 Experiment 8
8.1 Jury's Stability Criteria
= 22^4+72^3+10z^2+4Z+1
Example Characteristic Equation Characteristic Equation
:

.8-29
Initialization.
Necessary Condition .8-29

Table.. .8-30

Check for stability .8-30

8.2 Initialization
n= input('Enter the order of the System : ):
fprintf(\nEnter the coefficients in ascending order\n'):
for i = l:n+1
fprintf('Enter the coefficient of z%d :',i-1);
c(i) = input(');
end
% Priniting out the CE
Syms Z
for i = 1:n+1
=
if i 1

prev = C(1);
else
CE = C(i)*ZA(i-1) + prev;
prev = CE;
end
end
fprintf('\nThe characteristic Equation is :');
disp(CE);

8.3 Necessary Condition

f(1) > 0 f(-1)*(-1)^n
>0

if sum(c)>0
fprintfC'\n f(1)>0 ):
end

for i = 1:n+1
i == 1
if
prev = C(1);:
else
suml = c(i)*((-1)^(i-1)) + prev;
prev = Sum1:

end
end
if suml>0
fprintf('\n f(-1) *(-1) An > 0');
end

8-29 Page
Experiment 8

8.4 Table
temp =n;
A = zeros (n+l,n+1);
for i 1: (2*n)-3
=
if i 1
A(1,:) = C;

end
=
if i 2

for j = 1: n+l
A(2,j) = c((n+1)-(j-1));
end
end

if i>2

if mod(i,2)~=0
for j = 1:temp
A(i,j) =
A(i-2, 1)*A(i-1, (temp+1) -(G-1)) - A(i-2, (temp+1) - (j-1))*A(i-1, 1) ;
end
else
for k = 1:temp
=
A(i,k) A(i-1, (temp-(k-1)));

end
end
if (mod(i,2) == 0 && i>2)
temp = temp -1;
end
end
end
fprintfC"\ngury's Table :\n"):
disp(A);

8.5 Check for stability

check = 0;
if(abs (A (1,n+1))>abs (A(1,1)))
= check+1;
check
end
t=0;
for i=3:2:n+1

if(abs (A(i,1)) <abs (A(i,n-t)))

check check+1;
end
t= t+l;
end
if(check == n-1)
fprintf("\nThe system is stable'):;
else
fprintf('\nThe system is unstable');
end

8-30 | P age
 b4
Experiment 8

:
8.6 Output

>> Jury stability criteria

Enterthe order of the System 4

Enter the coefficients in ascending. order

Enter the coefficient of z0 81
Enter the coefficient of zl :4
Enter the coefficient of z2 10
Enter the coefficient of23 :7
Enter the coefficient of z4 : 2

The Characteristic Equation is:2*2^4 t7tz^3 + 10*z^2 + 4*Z

+1

f(1)>0
f(1)*(-1)An > 0
Jury!s Table
10
2 10 4

3 10 10 1 0
10 10 0
8 20 20 0

The system is unstable

8-31 Page
 65

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Experiment 9

9 Experiment 9

Optimal Controller
...... .9-32

System Definition.. .9-32

Solving the Riccatti Equation .9-32

Finding positive definite. .9-33

9.1 Optimal Controller

%position servo system
Am gopal page 550

9.2 System Dèfinition

= [0 1;0 -2];
= [0;20];
= [1 0];
D = 0;
sys = ss (A, B, C,D);
= [2 0;0 0];
R = [2];
R2 inv(R);
Al transpose (A);
B1 transpose (B);

9.3 Solving the Riccatti Equation

syms pl p2 p3 p4
P = p1 p2;p3 p4];
%Ricatti Equation
f =A1*P+P*A-P*B*R2 *B1* P+Q
eqs = [f (1), f(2) ,f(3),f(4)]:
[pl, p2,p3, p4]= vpasolve (eqs, [pl, p2, p3,p4])

f=

2 - 200*p2*p3, p1 - 2*p2 - 200*p2*p4]

[pl - 2*p3 200*p3*p4, - 200*p442 - 4*p4 + p2 + p3]

pl =

-0.66332495807107996982298654733414
0.66332495807107996982298654733414
0

0.61
-0.6i

p2 =

9-32 | P age
Experiment 9

0.1
0.1
-
0.01 + 0.099498743710661995473447982100121i
-
0.01 - 0.099498743710661995473447982100121i
-0.1
-0.1

p3 =

0.1
0.1
0.01 0.099498743710661995473447982 100121i
- 0.01 + 0.099498743710661995473447982 100121i
-0.1
-0.1

p4 =

-0.043166247903553998491149327366707
0.023166247903553998491149327366707
-0.01
-0.01
0.01 - 0.03i
0.01 + 0.03i

9.4 Finding positive definite

for i-1:length (p1)
P=[p1(i) p2(i); p3(i) p4(1)];
if eig(P)>0
h=i;
end
end

P= double ([p1(h) p2(h); p3(h) p4 (h)1)

K= R2*B1*p

eig(A)
A2 = A-B*K
eig(A2)

sys1 = ss(A2, B,C,D);

figure (1)
step(sys)
figure(2)
Step(sys1)

P =

0.6633 0.1000
0.1000 0.0232

9-33| P
age
 72

Experiment 9

K=

1.0000 0.2317

ans =

0
-2

A2 =

1.0000
-20.0000 -6.6332

ans =

-3.3166 + 3.00001
-3.3166 3.0000i

9.5 Output:
9.5.1 Uncompensated System
Step Response
2500

2000

500

000

500

50 10°rime (seconds150 200 250

9-34 P
age
Experiment 9

9.5.2 Compensated System

Step Response
1.2

-
0.4

0.2

0.2 0.4 0.6 0.aTime (sbconds)1:2 1.4 1.6 1,8 2

Published with MATLAB° R2020b

9-35 | Page
 74

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 77
Experiment 10

10 Experiment 10
10.1 Design of Digital lead compensator using Root Locus
System :
1
G(S) =
s*(s+2)
Design Specifications 10-360-36
Initialization... 10-360-36
Desired Pole location .10-37
Finding the angle contributions of zeroes .10-37

Placing zero of compensator at one of the poles .10-38

Finding pole of the compensator so that it provides ang deficiency... .10-38

10.2 Design Specifications
Zeta = 0.5
Settling Tme = 2s

10.3 Initialization
Z=0.5
Ts=2;
wn=4/(z*TS);
num=1;
den=[1 2 0];
G=tf (rum,den);
T=0.2;
GZ=c2d (G,T)
Gl = feedback (Gz, 1)
figure (1)
subplot (121)
rlocus(G1)
subplot (122)
step(G1)

Z =

0.5000

GZ =

0.01758 z + 0.01539

zA2 - 1.67 z + 0.6703

Sample time: 0.2 seconds

Discrete-time transfer function.

G1 =

0.01758 z + 0.01539

10-36| Page
Experiment 10

zA2 - 1,653 z + 0,6857

Sample time: 0.2 seconds

Discrete-time transfer function.

Root Locus Step Rosponse

1.2

1.5

0.8

.6

D.5
0.4

0.2
-1.5

-2
4 healyis 1 Time (secoñds) 8 10

10.4 Desired Pole location

zd=exp(-z*wn*T+(wn*sqrt (1-z^2)*1i*T))
P=pole(Gz)
for i=l:size(P,1)
pang(i)=abs (atand(abs (imag (zd) -imag(P(i,1)))/(abs (real (zd) -real (P(i,1))))));
if(real (P(i,1))>real (zd))
pang(i)=180-pang(i);
end
end

z=zero (Gz);
zang=zeros (1, size(z,1)) ;

zd =

0.5158 + 0.42811

P =

1.0000
0.6703

10.5 Finding the angle contributions of zeroes

for i=l:size(z,1)
zang (i)=abs (atand ((abs (imag (zd))-imag
(z(i,1)))/(abs
bitaitayisssbessnie
(real(zd))-real(z(i,1)))));

10-37 | Page
Experiment 10

if(real(z(i,1))>real (zd))
zang (i)=180-zang(i):
end
end

thetap=sum (pang);
thetaz=Sum (zang);
angdef=thetap-thetaz-180

=
angdef

51.2585

10.6 PJacing zero of compensator at one of the poles

ZC=min(P)

angzc=abs (atand ((abs (imag (zd) ) -imag (zc))/ (abs(real (zd)) -real(zc))))
ang=180-angzc-angdef;

ZC

0.6703

angzC =

70.1522

10.7 Finding pole of the compensator so that it provides ang deficiency

zp=-imag (zd)/tand (ang) +real (zd)
GCz=tfC[1 -zc],[1 -zp],T)
Gf=Gcz*GZ
Pl=pole (Gf);
Zl=zero (Gf);
A(1)=1
for i=l:size(Pl,1)
A(i+1)=abs (zd-pP1(i));
A(i+1)=A(i) *A(i+1);
end

B(1)=1;
for i=l:size (z1, 1)
B(i+1) =abs (zd-z1(i));
B(i+1) =B(i)*B (i+1);
end

K=A(end) /B (end)

,
[num1, den1] =tfdata (Gz 'v');
Kl=K/num1(2);
Gt=K1Gf

10-38 Page
Experiment 10

G2 feedback (Gt,1)
figure (2)
subplot (12 1)
rlocus(G2)
subplot(122)
step (G2)

Zp =

0.2543

GCZ =

z -0.6703

Z -0.2543

Sample time: 0.2 seconds

Discrete-time transfer function.

Gf

0.01758 z^2 + 0.003604 z - 0.01031

zA3 - 1.925 z^2 + 1.095 z - 0.1705

Sample time: 0.2 seconds

Discrete-time transfer function.

A=

K=

0.2228

Gt =

0.2228 z^2 0.04567 z - 0.1307

zA3 - 1.925 zA2 + 1.095 z - 0.1705

sample time: 0.2 seconds

piscrete-time transfer function.

G2 =

0.2228 z^2 + 0.04567 z - 0.1307

10-39 | Page
Experiment 10

- 0.3012
zA3 - 1.702 z^2 + 1.141 z

Sample time: 0.2 seconds

Discrete-time transfer function.

Root LOcus Step Response

2 1.2

1.5
1 oesbes oseseoooreoaoore0e

0.8

3.6

.s 0.4
-1

0.2
-1.5

2
-4 -3 Reá Axis 0 1
Time (secoñds) 5

Published with MATLAB® R2020b

10-40Page
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