THE NATIONAL INSTITUTE OF ENGINEERING

Manandvadi road, Mysuru-570008

Name:
USN No:

DEPARTMENT OF ELECTRICAL AND ELECTRONICS

ENGINEERING

LABORATORY MANUAL

1
 DESIGN OF CONTROL SYSTEMS
The National Institute of Engineering

Vision

NIE will be a globally acknowledged institution providing value based technological & educational
services through best-in-class people and infrastructure

Mission

M1: To impart state-of-the-art engineering education through strong theoretical foundations and practical
training to students in their choice of specialization

M2: To create new knowledge through innovation and cutting-edge research in science and engineering

M3: To provide a platform for inclusiveness and collaboration by following ethical and responsible
engineering practices for long-term interaction with academia and industry

M4: To encourage entrepreneurship and to develop sustainable technologies for the benefit of global society

Department of Electrical and Electronics Engineering

Department Vision

The department will be an internationally recognized centre of excellence imparting quality

education in electrical engineering for the benefit of academia, industry and society at large.

Department Mission

M1: Impart quality education in electrical and electronics engineering through theory and its applications by
dedicated and competent faculty.

M2: Nurture creative thinking and competence leading to innovation and technological growth in the overall
ambit of electrical engineering

M3: Strengthen industry-institute interaction to inculcate best engineering practices for sustainable
development of the society

PROGRAM OUTCOMES

Engineering Graduates will be able to:

1. Engineering knowledge: Apply the knowledge of mathematics, science, engineeringfundamentals

and an engineering specialization to the solution of complex engineering problems.

2
2. Problem analysis: Identify, formulate, review research literature, and analyze complexengineering
problems reaching substantiated conclusions using first principles of mathematics, natural sciences
and engineering sciences.

3. Design/development of solutions: Design solutions for complex engineering problems and design
system components or processes that meet the specified needs with appropriate consideration for the
public health and safety and the cultural, societal and environmentalconsiderations.

4. Conduct investigations of complex problems: Use research-based knowledge and research

methods including design of experiments, analysis and interpretation of data and synthesis of the
information to provide valid conclusions.

5. Modern tool usage: Create, select and apply appropriate techniques, resources and modern
engineering and IT tools including prediction and modeling to complex engineering activities with
an understanding of the limitations.

6. The engineer and society: Apply reasoning informed by the contextual knowledge to assess
societal, health, safety, legal and cultural issues and the consequent responsibilities relevant to the
professional engineering practice.

7. Environment and sustainability: Understand the impact of the professional engineering solutions
in societal and environmental contexts and demonstrate the knowledge of and need for sustainable
development.

8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and norms of
the engineering practice.

9. Individual and team work: Function effectively as an individual and as a member or leader in
diverse teams and in multidisciplinary settings.

10. Communication: Communicate effectively on complex engineering activities with the engineering
community and with society at large, such as, being able to comprehend and write effective reports
and design documentation, make effective presentations and give and receive clear instructions.

11. Project management and finance: Demonstrate knowledge and understanding of the
Engineering and management principles and apply these to one’s own work, as a member and leader
in a team, to manage projects and in multidisciplinary environments.

12. Life-long learning: Recognize the need for and have the preparation and ability to engage in
independent and life-long learning in the broadest context of technological change.

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 CourseCode:BEEL657B CourseName:DesignofControlSystem
Credits: 1 s L:T:P:S - 0:0:2:0
CIE:100%Marks SEE:-
SEE Hours: - TotalMarks:100

Pre requisites if any Nil

Learningobjectives 1. Todesigncompensatorsandobtainthecharacteristics
2. Toconstructstatespacemodelsofphysicalsystemsandapply
different techniques to solve the state equations.
3. Todesignstatevariablefeedbackcontrollersandstateobservers.
CourseOutcomes:
Onthesuccessfulcompletionofthecourse,thestudentwillbeableto

COs Bloom’slevel
CO1 Designcompensatorsandobtainthecharacteristics Apply
CO2 Constructstatespacemodelsofphysicalsystemsandapplydifferenttechniquesto
solve the state equations. Apply
CO3 Designstatevariablefeedbackcontrollersandstateobservers. Apply
MappingwithPOsandPSOs:
COs PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2 PSO3
CO1 3 3 3 2 3 - - - 3 3 - 3 3 3 3
CO2 3 3 3 2 3 - - - 3 3 - 3 3 3 3
CO3 3 3 3 2 3 - - - 3 3 - 3 3 3 3
Mapping Strength: Strong– 3 Medium – 2 Low–1 List

of Experiments:

Sl. Handson
No. Experiment
/ Virtual
1 DesignofLagcompensatorandtoobtainthecharacteristicsbyexperimentandsimulationusingM Hands on
ATLAB/OCTAVE
2 DesignofLeadcompensator andto Hands on
obtainthecharacteristicsbyexperimentandsimulationusingMATLAB/OCTAVE
3 DesignofLead- Hands on
LagcompensatorsandtoobtainthecharacteristicsbyexperimentandsimulationusingMATLAB
/OCTAVE
4 DesignofPIDcontrollersusingtheRoot-locusdiagrams Hands on
5 DesignofP,PI,PDandPIDcontrollersusingtheBodediagrams Hands on
6 Implementationofstatemodelsforlinearcontinuous-timesystemsinMATLAB/OCTAVE Hands on

7 Statespacerepresentationusingphysicalandphasevariablesandsolutionofstate Hands on
equationsusingMATLAB/OCTAVE
8 Designofstateobserverandanalysisoftheeffectsoftheadditionoftheobserveronaclosed- Hands on
loopsystemusing MATLAB/OCTAVE
9 DesignofregulatorwithobserverandanalysisusingMATLAB/OCTAVE Hands on
10 DesignofcontrolsystemwithobserverandanalysisusingMATLAB/OCTAVE Hands on
ReferenceBooks:
1. KatsuhikoOgata,“ModernControlEngineering”,3rdedition,PrenticeHallofIndia.
2. J.NagrathandM.Gopal,“ControlSystemsEngineering”,5thedition,NewAgeInternational(P)Ltd.

4
 List of Experiments

Experiment
1 DesignofLagcompensatorandtoobtainthecharacteristicsbyexperimentandsimulationusin
g MATLAB/OCTAVE

2 DesignofLeadcompensator andto
obtainthecharacteristicsbyexperimentandsimulationusing MATLAB/OCTAVE

3 DesignofLead-
Lagcompensatorsandtoobtainthecharacteristicsbyexperimentandsimulation
usingMATLAB/OCTAVE

4 DesignofPIDcontrollersusingtheRoot-locusdiagrams

5 DesignofP,PI,PDandPIDcontrollersusingtheBodediagrams

6 Implementationofstatemodelsforlinearcontinuous-timesystemsin MATLAB/OCTAVE

7 Statespacerepresentationusingphysicalandphasevariablesandsolutionofstate
equationsusing MATLAB/OCTAVE

8 Designofstateobserverandanalysisoftheeffectsoftheadditionoftheobserveronaclosed-
loopsystemusing MATLAB/OCTAVE

9 DesignofregulatorwithobserverandanalysisusingMATLAB/OCTAVE

10 DesignofcontrolsystemwithobserverandanalysisusingMATLAB/OCTAVE

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 Experiment No.1

LEAD COMPENSATING NETWORK

AIM: Design of Lag compensator and to obtain the characteristics by experiment and simulation using
MATLAB/OCTAVE

APPARATUS REQUIRED:

Sl. No Equipments Range QTY

1 Resistors 10k,2k One each
2 Capacitor 0.05µF 1
3 CRO - 1
4 AFO - 1

GENERAL CIRCUIT DIAGRAM:

Fig. Lead network

Transfer function of a lead network:

(s + z c )
G C(s)=
(s + pc )

1
(s+ )
T
¿
1
(s+ )
αT

zc 1
where α = <1 , T =
pc ZC

α (1+ sT )
G C(s)=
(1+αTs)

From the compensating network shown in the Fig. we have

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 R2
∗1+ R1 Cs
VO R 1+ R2
=GC ( s )=

[ ]
Vi R2
1+ ∗R Cs
R 1+ R 2 1

R2
∗1+ sR1 C
R1 + R2
¿
R2
[1+ ∗R 1 Cs]
R 1+ R 2

1+Ts R2
¿α , where α = <1∧τ=R1 C
1+αTs R 1+ R 2

1+ jωT
G( jω)=α
1+ jαωT

where α<1 ensures that the pole is located to the left of the zero

At infinite frequencies:

jωTα
G C( j ∞)= =1 ∟0 °
jαωT

At zero frequency:

G C( j 0)=α ∟ 0° where α < 1

At ω=ω m= frequency at which phase lead is maximum

G C( j ∞)= √ α ∟Φ m

1−α
where sin Φ m=
1+α

Bode Plot

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 Fig. Bode plot

Design of Circuit Parameters

Specifications:

f = f m = 780Hz
0
Φ m=45.6

From the Eq.8,we have

Φ m=sin−1 ( 1−α
1+ α )

therefore

1−sin Φ m 1−sin 45.6 0 1

α= = 0 = 0.167 =
1+sin Φ m 1+sin 45.6 6

Sinusoidal transfer function

α (1+ jωT )
G( jω)=
1+ jαωT
−1 −1
Φ=tan ωT −¿ tan αωT ¿

Let R2=2 KΩ ,

R2
Then from the equation, α = , R =10 KΩ .
R 1+ R 2 1
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At f = f m i.e.,ω=ω m ,

G(jω m) = √ α

dΦ
Using the condition that =0 , we find that the maximum phase - lead occurs at frequency
dt

1 1
ω m= therefore T = R1 C =
√ αT ωm √ α
6
10
C= = 0.05µF
2 π∗780∗10 √ 0.167
4

CIRCUIT DIAGRAM:

Fig. Circuit diagram of lead network

PROCEDURE:

1) The circuit is made as per the diagram shown in fig 2.4

1
2) The signal generator is set for a frequency f = f = 78Hz and input voltage V i = 6volts. The output
10 m
voltage V 0 is determined in terms of magnitude and phase.

3) The signal generator is set for a frequency f =10 f m= 7.8KHz and the output voltageV 0 is measured in
terms of magnitude and phase.

4) The signal generator is set for a frequency f = f m= 780Hz and the output voltageV 0 is measured in terms
of magnitude and phase.

5) Then with V i=6 V , V 0 is measured in terms of magnitude and phase over the range 78<f<7800Hz in
convenient steps.

6) The signal generator is replaced by a DC source. The output voltage of the source is set to about 6 volts.
The output voltageV 0 is measured in magnitude.

CALCULATIONS:

VO VO
1) From steps(2) and (3), (j0) and (jω ) are respectively determined and compared with numerical
Vi Vi
values.
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 VO
2) From step (4), (j780) is determined and verified whether the designed values are satisfied.
Vi

3) From readings of step(5),polar plot and bode plot of G(jω ) are drawn.

4) Determine the transfer function,α and T from step (6) as described below:

We know that

VO
α= (for DC voltage)
Vi

For any other frequency, we have

|G( jω)| = α
√ 1+ω 2 T 2
2 2 2
1+α ω T
=| |
VO
Vi

Since T is the only unknown, it can be determined from the above equation.

Then

( 1+ Ts)
G(s)= α
(1+αTs)

which is compared with the analytical transfer function.

−3
1+0.5∗10 s
G(s)= 0.167 −3
1+ 0.167∗0.5∗10 s

TABULAR COLUMN

Input voltage V i =_________________ volts.

Theoretical values

Sl Freq Freq Experimental values Gain Gain

n
o
(Hz) (Rad/sec)

V0 Phase
| |
VO
Vi
V0 Phase
| |
VO
Vi

(volts) (degrees) (volts) (degrees)

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RESULTS:

INFERENCE:

11
 Experiment No.2

AIM: Design of Lead compensator and to obtain the characteristics by experiment and simulation using
MATLAB/OCTAVE

APPARATUS REQUIRED: Decade Resistance Box, Decade Capacitance Box, CRO, Signal generator,
Multimeter, RPS unit.

GENERAL CIRCUIT DIAGRAM:

Fig. Lag network

V 0 (s ) (1+ R2 C2 S )
Transfer function of the network,Gc ( s )= =
V i (s ) ¿¿

(1+ Ts)
=
(1+ βTs)

Where T= R2 C2& β = [ R2 ]
R1 + R2
where β >1

V 0 ( j ω) 1+ j ω T
The sinusoidal transfer function: Gc (jω) = =
V i ( j ω) 1+ j βω T

At zero frequency,Gc (j0) = 1∟0°

1
At infinite frequency,Gc (j∞ ) = 1∟0°
β

The phase lag,Φ (jω) = ∟Gc (j∞ ) = tan−1 ω T −¿ tan−1 βω T ¿ ,Φ (jω) is always negative.

From the plot, the maximum phase angle is Φ m = sin

−1
( β−1
β+1 )
and occurs at ω = ω m

1 1
The magnitude of G(jω) i.e.|G( j ω)| at ω = ω m is and ω m=
√β T√β

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 Bode plot

Fig.3.3. Bode plot

DESIGN OF COMPENSATOR:

Specification: The network must provide a maximum phase lag of36.60 at a frequency of 320Hz.

i.e. Φ m=36.6 0 at f m=320Hz

β−1
Since sin Φ m=
β+ 1

0 β−1
sin 36.6 =
β+ 1

Therefore β=4

R1 + R2
β= =4
R2

R1=3 R2

1 1+ jω T
|G ( jωm )|= √ β = 1+ j β ωm
mT

we have

1 1+ x2
= where x=ω m T
4 1+ 16 x 2

1+16 x 2=4+4 x 2
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 12 x 2 = 3

1
x =
2
4

1
x=
2

1
ωm T =
2

1 1
T= = sec
2 ωm 2∗2 π∗320

= 2.5*10−3

= 0.25ms

Therefore T= R2 C2 =0.25*10−3 sec

Let R2=5kΩ
−3
0.25∗10
C2 = −3 = 0.05*10−6 F
5∗10

Therefore C 2 =0.05µF

Therefore R1= 3 R2,i.e. R1= 3*(5) kΩ = 15 kΩ

CIRCUIT DIAGRAM:

Fig.3.4. Circuit diagram for lag network

THEORETICAL VALUES:

At f = 320 Hz

ω = 2 π *320 = 2010.6 rad/sec

Therefore |G ( j 2010.6 )| = 0.5

|G ( j 2010.6 )| = 36.86 0
PROCEDURE:
14
A) To Evaluate Transfer Function:

1) Apply 5V DC to the input terminals of the lag compensating network from a RPS unit and measure the
output using a digital voltmeter. Calculate the gain. |G( jo)|=1 ensures phase lag network.

2) Remove the RPS unit from the network and connect a signal generator.

3) Apply an input of 5V at a very high frequency (say frequency of about 1MHz).

4) Measure the output and calculate the gain. The value of gain at very high frequency gives approximately
the value of 1/ β .

5) Keep the input voltage at 5V and adjust the frequency to any convenient value, say 1KHz.

6) Measure the output and calculate gain at 1KHz.

7) Knowing the value of β and Gc (jω) (at say, 1KHz),the value of T and hence the transfer function can be
evaluated by substituting the values of β and T in transfer function

1+ sT
G c (s)=
1+ β Ts

B) TO Draw the Frequency Response Curves

1
1) Maintain the input voltage constant (say 5V) and vary the input frequency from to 10 f m (i.e. from
10 f m
32Hz to 3200Hz in steps)

2) Note down the output in terms of magnitude and phase at each step and calculate gain.

3) Measure the phase shift of the output wave form with respect to input waveform using CRO.

4) Draw the Bode magnitude and phase plots and polar plots.

TABULAR COLUMN:

Sl Freq Freq Experimental values Gain Theoretical values Gain

( ) ( )
no (Hz) (Rad/sec) V 0 volts Phase(degrees) V0 V 0 volts Phase(degrees V0
Vi ) Vi

RESULTS:

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INFERENCE:

Experiment No. 3

AIM: Design of Lead-Lag compensators and to obtain the characteristics by experiment and simulation
using MATLAB/OCTAVE

.APPARATUS REQUIRED: Lag-lead compensating kit,Digital storage oscilloscope, Digital Multimeter.

CIRCUIT DIAGRAM:

Transfer Function of LAG-LEAD Network

1 1
( s+ )(s+ )
V o (s ) R1 C 1 R2 C 2
G(s) = =
V i( s ) s 2+
( 1
+
1
+
1
R1 C 1 R2 C 2 R 2 C 1
s+
) 1
R1 R 2 C 1 C 2

Substitute the values of R1, R2 and C 2 in the transfer function above and obtain |G(jω)| and ∟G(jω).

Chosen values of parameters:

R1=143 kΩ C 1= 0.011 µF

R2= 15.9kΩ C 2=1 µF

PROCEDURE (With reference to laboratory lag-lead compensating kit):

1) Set the output of the signal generator at a fixed value, say 5V.
16
2) Set the selector switch to LAG/LEAD position.
3) Switch on the mains and keep varying the frequency in steps from a very small value (say 3Hz).
4) At each step tabulate the readings (output voltage and phase angle).
5) Draw the Bode magnitude and phase plots from the experimental results thus obtained.
6) Substitute the value of R1, R2and C1 and C2 in the transfer function and calculate the theoretical values of
gain and phase.
7) Compare the experimental values with theoretical values.

TABULAR COLUMN:
Input voltage Vᵢ=¿¿ Volts
Sl Freq Freq Experimental values Gain Theoretical values Gain

( ) ( )
no (Hz) (rad/sec) V 0 volts Phase(degrees) V0 V 0 volts Phase(degrees) V0
Vi Vi

RESULTS:

INFERENCE:

17
 Experiment No. 4

AIM: Design of PID controllers using the Root-locus diagrams

18