Experiment 1: Determine the time response of the given system subjected to any arbitrary input

𝑪(𝒔) 𝟏
Let us consider general transfer function of first order system: 𝑻(𝒔) = 𝑹(𝒔) = 𝒔+𝟏

MATLAB CODE:
clc;
clear all;
close all;
n=[1];
d=[1,1];
%unit step response%
step(n,d)
grid on
%unit impulse response%
figure
impulse(n,d)
grid on
printsys(n,d)
%unit ramp response%
t=0:0.01:10;
r=t;
figure
lsim(n,d,r,t)
grid on;

Output: The output will be a plot of step response, impulse response, and ramp response.
Experiment 2: Plot unit step response of given transfer function and finds delay time, rise time,
peak time and peak overshoot
The transfer function of a 2nd order system is generally represented by the following transfer
𝒀(𝒔) 𝝎𝟐
function: 𝑹(𝒔) = 𝒔𝟐+𝟐𝜻𝝎𝒏 𝒔+𝝎𝟐
𝒏 𝒏

MATLAB CODE:
clc;
close all;
clear all;
zeta=0:0.25:1; % Different values of zeta is taken
for i=1:5
num=1;
den=[1 2*zeta(i) 1];
a=tf(num,den);
step(a);
hold on;
end
axis([-1 50 -0.5 2]);
grid on;
xlabel('Time');
ylabel('Response');

Output: The output will be a plot of step response for different values of zeta.

Experiment 3: Plot the pole-zero configurations in s-plane for the given transfer function
 𝟐𝒔𝟐 +𝟓𝒔+𝟏
The transfer function: 𝑯(𝒔) = 𝒔𝟐 +𝟑𝒔+𝟓

MATLAB CODE:
Program to plot pole zero configuration of transfer function

clc;
clear all;
close all;
n= [2 5 1];
d=[1 3 5];
sys=tf(n,d)
pzmap(sys)

Output: The output will be a plot of poles and zeros in the complex plane.

For this particular transfer function the output will be as follow:

Experiment 4: Plot the Root locus of given transfer function, locate closed loop poles for different
values of k.

𝒔+𝟏
The transfer function: 𝑯(𝒔) = 𝒔(𝟎.𝟓𝒔+𝟏)

MATLAB CODE:
%Program to plot root locus for H(s)
clc;
clear all;
close all;
num = [1 1];
den = conv([1 0], [0.5 1]);
g = tf(num,den);
rlocus(g)

Output:
 𝟏
Another transfer function: 𝑯(𝒔) = 𝒔(𝒔+𝟏)(𝒔+𝟐)

MATLAB CODE:
%Program to plot root locus for H(s) %
clc;
clear all;
close all;
num = [1];
den = poly([0 -1 -2]);
g = tf(num,den);
rlocus(g)

Output:
Experiment 5: Determine the steady state errors of a given transfer function.
10
Transfer function: 𝐻(𝑠) =
𝑠2 +6𝑠+10)

MATLAB CODE:
clc;
close all;
clear all;
n=[10];
d=[1 6 10];
sys=tf(n,d);
kp=dcgain(sys)
ess=1/(1+kp)
n1=conv([1 0],n);
sys1=tf(n1,d);
kv=dcgain(sys1)
ess=1/kv
n2=conv([1 0 0],n);
sys2=tf(n2,d);
ka=dcgain(sys2)
ess=1/ka

Output:
kp = 1
ess= 0.5
kv = 0
ess= inf
ka = 0
ess= inf
Experiment 6: Simulation of open loop, proportional, proportional derivative, proportional
integral, and proportional integral derivative controller.
𝑋(𝑠) 1
Open-loop transfer function: 𝐹(𝑠) = 𝑚𝑠2 +𝑏𝑠+𝑘)

Assumptions
Let: m = 1 [kg], b = 10 [Ns/m], k = 20 [N/m]

MATLAB CODE:
%{Set up v a r i a b l e s%
m=1; b=10; k=20;
% Calculate response%
num=1;
den=[m, b , k ];
plant=tf (num, den );
step (plant)

Output:
 𝑋(𝑠) 𝐾𝑝
Proportional Controller transfer function: 𝐹(𝑠)
= 𝑠2 +𝑏𝑠+(𝑘+𝐾
𝑝)

MATLAB CODE:
%Set up proportional gain%
Kp=300;
%Calculate controller%
sys_ctl=feedback (Kp∗plant , 1);
%Plot results%
t=0:0.01:2;
step (sys_ctl, t)

Output:
 𝑋(𝑠) 𝐾𝑑 𝑠+𝐾𝑝
Proportional Derivative Controller transfer function: 𝐹(𝑠) = 𝑠2 +(𝑏+𝐾
𝑑 )𝑠+(𝑘+𝐾𝑝 )

MATLAB CODE:
%Set up proportional and derivative gain%
Kp=300; Kd=10;
%Calculate controller%
contr=tf([Kd, Kp], 1);
sys_ctl=feedback(contr∗plant, 1);
%Plot results%
t=0:0.01:2;
step (sys_ctl, t)

Output:
 𝑋(𝑠) 𝐾𝑝 𝑠+𝐾𝑖
Proportional Integral Controller transfer function: 𝐹(𝑠)
= 𝑠3 +𝑏𝑠2 +(𝑘+𝐾
𝑝 )𝑠+𝐾𝑖

MATLAB CODE:
%Set up Proportional Integral gain%
Kp=30; Ki =70;
%Calculate controller%
contr=tf([Kp,Ki], [1,0]);
sys_ctl=feedback(contr∗plant, 1);
% Plot results%
t=0:0.01:2;
step(sys_ctl, t)

Output:
 𝑋(𝑠) 𝐾𝑑 𝑠2 +𝐾𝑝 𝑠+𝐾𝑖
Proportional Integral Derivative Controller transfer function: 𝐹(𝑠) = 𝑠3 +(𝑏+𝐾 2 +(𝑘+𝐾 )𝑠+𝐾
𝑑 )𝑠 𝑝 𝑖

MATLAB CODE:
%Set up Proportional Integral Derivative Controller gain%
Kp=350; Ki =300; Kd=50;
%Calculate controller%
contr=tf([Kd,Kp,Ki], [1, 0]);
sys_ctl=feedback(contr∗plant, 1);
%Plot results%
t=0:0.01:2;
step( sys_ctl, t)

Output:
 𝑲
Plot the Root locus for transfer function 𝑮(𝒔) = 𝒔(𝒔𝟐+𝟒𝒔+𝟓) and locate closed loop poles in
the complex s-plane
MATLAB CODE:
num= [O O O 1];
den = [1 4 5 O];
rlocus(num, den);
v = [-3 1 -2 2]; axis(v); axis('square')
sgrid(O.5, [])
[K,r] = rlocfind(num, den)
Select a point in the graphics window
selected-point =
-O.6246 + 1.O792i
K=
4.2823
r=
-2.7474
-O.6263 + 1.O8OOi
-O.6263 - 1.O8O0i

Output:
 𝑪(𝒔) 𝟏𝟎𝒔+𝟒
Plot the unit-step response curve for a large overshoot for transfer function 𝑹(𝒔) = 𝒔𝟐+𝟒𝒔+𝟒

Matlab Code:
num = [O 1O 4];
den = [1 4 4];
t = O:O.O2:1O];
y = step(num,den,t);
plot(t,y)
grid
title('Unit-Step Response')
xlabel('t (sec)')
ylabel('Output')
numl = [O O 1O 4];
den1 = [1 4 4 O];
yl = step(num1 ,den1 ,t);
plot(t,t,'--',t,yl )
v = [O 1 0 0 101; axis(v);
grid
title('Unit-Ramp Response')
xlabel('t (sec)')
ylabel('Unit-Ramp Input and Output')
text(6.1 ,5.O,'Unit-Ramp Input')
te~t(3.5,7.1 ,'Output)
Output:

𝑲(𝒔𝟐 +𝟐𝟓)𝒔
Plot the Root locus for a feedforward transfer function 𝑮(𝒔) = .
(𝒔𝟒 +𝟒𝟎𝟒𝒔𝟐 +𝟏𝟔𝟎𝟎)

Matlab Code:
num = [O 1 O 25 O];
den = [1 O 4O4 O 16OO];
K = O:O.4:1OOO;
rlocus(num,den,K)
v = [-3O 2O -25 25]; axis(v); axis('square')
grid
title('Root-Locus Plot of G(s) = K(s^2 + 25)s/(s^4 + 4O4s^2 + 16OO)')
Output: