EEE4702 ET-211049

Department of Electrical & Electronic Engineering

Project Report
ON
Modeling, Analysis and Control of an electrical system

Submitted By
Sourav Barua Dip
ET-211049

Submitted To
ENGR. MOHAMMAD JALAL UDDIN
Assistant Professor, Department of EEE

Course Code : EEE-4702

Course Title : Control System I Sessional
Semester : 7TH (SP-24)
Section : 7B Remarks
Date of Submission : 21-05-2024

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Modeling, analysis and control of an electrical system.
Abstract : Modeling, analysis and control of a system- Such a model is created using equations to describe the relationship between
input and output of system and can then be used to enable prediction to be made of the behaviour of a system under specific
condition. The purpose of this activity is to demonstrate how to model a simple electrical system and to demonstrate how to design
a controller in order to modify a system's dynamic response. The project employed a two-step approach:
1. Modeling and Identification: A physics-based first-principles model and a data-driven black-box model were developed in
MATLAB to understand the system's behavior.
2. Controller Design and Implementation: A controller was designed to achieve desired transient response characteristics in the RC
circuit. Implemented in hardware using an Arduino for data acquisition and Simulink for visualization, the controller aimed for a
settling time less than 1 second, peak time less than 0.35 seconds, and maximum overshoot less than 25%, with a control effort limited
to 7 volts.

Objective
1. To observe the step response of an RC system.
2. To determine transient parameter from the performance curve.
3. To determine the Transfer function from the performance curve.
4. To develop a PI controller to improve the performance of the RC system.

Description of task
Task-1a: Formulate the Transfer Function Model.
Consider our plant to be the same RC circuit that we have been examining, shown below. In this experiment, we chose
R = 10 kOhm and C = 100uF to produce a circuit with time constant tau = RC = 1s.
(R) resistance of the resistor
(C) capacitance of the capacitor
(ei) input voltage
(eo) output voltage

Fig. 07 : RC Circuit
Theoritical Calculation to find out the transfer function of the system :

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Task-1b: Record Input Output graph in MATLAB Using IoT tools

Our simple RC circuit can be implemented on a breadboard and connected to the Arduino board as shown. The Arduino
board is employed to receive the input command from Simulink and to apply the input voltage to the circuit (via a
Digital Output). The board also acquires the output voltage data from the circuit (via an Analog Input) and communicates
the data to Simulink. We choose R = 10kOhm and C = 100uF to produce a circuit with time constant, RC = 1second.

Fig. 08 : Hardware Setup of the System using Arduino UNO

Software setup : We will employ Simulink to read the data from the board and to plot the data in real time. As shown
below, the input voltage command is generated by a Step signal block. Since we are using channel 8 for the digital
output, the Arduino Analog Read block reads the output voltage data via the Analog Input A2 on the board. The Gain
block on the Analog Input is included to convert the data into units of Volts (by multiplying the data by 5/1023).

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Fig. 09 : Software Set-up using Simulink

Output :

Fig.10 : Output Waveform from Scope

Fig. 11 : Output Waveform from MATLAB code

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Task-1c & 1d : Verification with Theoritical Knowledge and Determine Performance Parameters
The wavefrom of output from MATLAB Simulink, we found the final Value of the response =0.9971.

We know, the time constant is the time which taken by the 63% of the final value. Where 63% of 0.9971 is
approximately 0.628. From the graph we have seen that 63% of final value is reached at approximately 1.08s which is
almost similar to the theoretical calculation (Tc=1s)

Now, 10% of final value is 0.09971, which is reached at 0.1s.

90% 0f final value is 0.89739, which is reached at 2.56s.
So the Rise Time = 2.56-0.1= 2.46s
From theoretical knowledge, Tr= 2.2s

Settling Time, Ts = time to reach 98% of final value = 4.6s

From theoretical knowledge , Ts = 4s

It’s a first order system, we know for the first order system, for unit step input,
The steady state error, e=constant value. Theoretically it is 0.5
From the graph, observed that, Final value = 0.9971, Desired output= 1
So the Steady state error= 1- 0.9971= 0.0029, which is constant value.
After all this discussion, we can say that our designed system’s theoretical and practical calculations are almost similar.

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Task-2a : Stakeholder Meeting
May 15, 2024
Description : A meeting between the Customer, Manager and design Engineer. Design a controller for the system as
per customer’s requirements.

Present :
Customer - MD. AL- Shahriar.
Manager – MD. Abdul Aziz.
Design Engineer – Sourav Barua Dip.
i) Meeting Proceedings : In this meeting Customer, Manager and Design Engineer were
present, where Manager and Engineer listened the requirements of customer. Then Manager also had some conditions
for cost, after heard all the conditions and requirements Engineer offered so many suitable controller.
 The Customer’s Requirements :
- Zero Steady-State Error
- 2 % settling time less than 1 second
- Peak time less than 0.350 seconds
- Maximum overshoot less than 25%
- Maximum control effort less than 7 Volts

 The Manger’s Condition :

- Manufacturing cost must be low
ii) Design Requirements as per Customer requirements :As we know there are so many Controllers.

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iii) Selection of Controller :

Here, observed different types of Controller, PI (Proportional Integral) Controller, Lag Controller, PD (Proportional
and derivative) controller, Lead Controller, Lag-Lead Controller, PID Controller.
Here PI, PD & PID controllers require active circuit to implement.
Lag, Lead, Lag-Lead Controllers require passive circuit to implement.
Here we choose the Active component’s Controller because –
a. The Active components are more efficient than Passive components.
b. Active components cause current flow in the circuit and control the flow of current while passive components
cannot control the current flow in the circuit.
c. Active components can deliver as well as absorb the electrical power. While passive element can only absorb
electrical power, not capable for deliver power.
d. Active components have power gain more than unity, so they can amplify a signal. While in passive
components, the power gain is less than unity, hence they cannot amplify a signal.

If we use active components instead of passive components, the cost will be high, but the performance will be great.
Using Active Components, we have three ontrollers, PI, PD, PID. If we use PID controller which is the combination of
PI & PD controller, the cost will be very high.
Here one of the customer’s requirement is zero steady state error, for zero steady state error the desired controller is PI
controller, varying the internal elements of controller we also improve the transient response (other requirements). In PI
controller , a integrator is used which makes the steady state error = zero.
If we use PD controller we cannot make the zero steady state error.
If we use PID controller, the price would be high, which makes the system expensive and also need a complex circuit.
We need to design a efficient controller with medium cost.

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So here, after mutual understanding all selected the PI controller for the system, which fulfil the customer’s requirements
and also not so expensive as per the condition of the manager to become less expensive, also not a complex circuit to
design.

Thank you, the Customer and Manager , for your time.

Warm Regards
Sourav Barua Dip

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Task-2b : Selection of a Controller.
After the meeting with Customer and Manager , decided to design a PI controller for the sytem, to improve the
performance parameter as per requirements.

Task-2c & 2d : Design and implementation of a controller.

To change the circuit's speed of response, one solution would be to modify the circuit's components R and C. A challenge
would be that if the conditions under which the circuit operated changed, then the circuit would again not provide the
desired behavior. One solution to modify the system's behavior such that its performance is robust to these effects, and
such that the physical plant does not need to be modified, is to add a feedback controller to the system.
A controller is basically a unit present in a control system that generates control signals to reduce the deviation of the
actual value from the desired value to almost zero or lowest possible value. It is responsible for the control action of the
system so as to get accurate output.

Fig.12 : Controller system.

There are so many types of controllers. But as per our requirements of the customer, Here we choose PI (Proportional-
Integral) Controller.
The specific controller requirements that we will design for are given below.
- 2%settling time less than 1 second
- Peak time less than 0.350 seconds
- Maximum overshoot less than 25%
- Maximum control effort less than 7 Volts
- Zero Steady State Error

we will initially design our PI controller algebraically. That is, we will choose the control gains Ki and Kp to place the
closed-loop poles in some desired locations. Therefore, we must first determine the closed-loop transfer function for the
system.

Comparing With,

 2 settling time:
 Peak time:

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 Maximum percent overshoot:
settling time,

peak time,

percent overshoot

To help visualize the above requirements, we will map them to the complex s-plane as shown below.

Fig.13 : Complex S-plane

Based on these requirements, we can choose the closed-loop poles to equal . Now looking back at our original
closed-loop transfer function, we can pick our control gains and to achieve the chosen closed-loop pole locations,
where equals 5 and equals 10.

Employing these control gains, our theoretical closed-loop transfer function is then the following.

Hardware setup
In this experiment our system is the same RC circuit we have employed in the previous portions of the activity (R = 10
kohm and C = 100uF). Now we will add feedback control to our RC circuit. The first part of the circuit takes the
difference between the reference command and the output, the second part of the circuit is an implementation of a PI
controller, and the final part of the circuit is our system. As per the requirements we select the internal elements like-
resistor, capacitor’s value. Which approximately fulfill the requirements.
Needed Equipments :
1. Breadboard
2. Jumper Wire
3. Resistor
4. Capacitor
5. Arduino UNO
6. Operational Amplifier
7. MATLAB ( 2014 or Later version)
8. Simulink Arduino support package.

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Fig.14 : System design with Controller

The control gains and are set via the choice of resistor and capacitor values as shown below.

In this experiment, we employ fixed components for , , and , and will use potentiometers for and , thereby
allowing us to tune our control gains. Specifically, we will nominally use resistors for and , and
a capacitor for . Therefore, in order to set our initial integral gain as calculated, , we will set the
potentiometer for as follows.

With set, we will then set the potentiometer for to achieve the initial proportional gain we calculated, , as
shown below.

In order to account for the uncertainty in our model, as well as its non-canonical nature, we will tune the potentiometers
for and in the following.

Fig.15 : Hardware Set-up of System with Controller.

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Software Set-up

Fig.16 : Software Set-up

We employ Simulink to read the data from the board and to plot the data in real time. As shown, the input voltage
command is generated by a Step signal block. Since we are using channel 8 for the digital output, the Arduino Analog
Read block reads the output voltage data via the Analog Input A1 on the board. The Gain block on the Analog Input is
included to convert the data into units of Volts (by multiplying the data by 5/1023).

Output :

Fig.16 : Output From Scope (MATLAB Simulink)

From the graph, we can find that it has Zero Steady-state Error, the settling time is almost less than 1 second, Peak
time less than 0.35 seconds, overshoot is 11.798% which is less than 25% (requirement), we use 1 volt for the input.

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Task-2e & 2f : . Verification of Performance Parameter.
Our designed Closed loop function:

Using MATLAB code, we find out the poles, zeros of the function :
Code :
>>num=[9 125]
>>den=[1 10 125]
>>Ts=tf(num,den)
>>[z,p,k]=tf2zp(num,den)

Output:
z = -13.8889
p = -5.0000 +10.0000i
-5.0000 -10.0000i
k=9
Stability Analysis : From the output, we observed that the poles of the function stayed in LHP of the Complex s-
plane, which means the system is Stable.

From the transfer function, (second order system’s calculation) we can find Trasient Response :

Fig. 17 : Theoretical Analysis

Now, from theoretical analysis and MATLAB Simulink analysis- compare the stability, transient response, Steady
state error. We can say that our hardware implementation is perfect, where all the performance parameters are almost
same as the theoretical analysis.

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Task-2g : . Demonstrate the Project.
Advertisement

Power-Point Presentation :

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Effects of the project in environment and various other key factors
Our project is aimed to solve a specific technical problem that is, to control and manipulate a system according to the
needs and requirements. Even though this project does not directly harm or pollute any natural resources, still there
might be some concerns regarding the handling of the project. Like any other circuits, this project contains elements
such as batteries, resistors, capacitors etc. After a while, these components may need to be replaced due to their
degradation over a long time. Hence, handling these components properly is crucial to avoid any environmental issues.

Conclusion
In this project we observed the step response of a RC circuit using Arduino UNO , Simulink software. Also compare
the results with the theoretical knowledge. There might be some error due to many reasons. Then we have been asked
to improve the performance of the system. We studied various controllers to improve the performance, than we selected
PI Controllers to design the system and improve the performance of the system. Using MATLAB Simulink we
implemented our designed system with controller, observed the performance parameter which almost fulfil the
requirements of the given question. Also justified the output with the theoretical knowledge.

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