PUBLIC / CYHOEDDUS

Laboratory Investigation
Introduction
In these laboratory sessions you are to complete the tasks below which should help you
complete the assignment.

Software Required
MATLAB & SIMULINK - Can be accessed using Uni Apps or downloaded via the site below unto
your own devices.
https://uk.mathworks.com/

Useful Courses
➢ MATLAB Onramp - https://matlabacademy.mathworks.com/details/matlab-
onramp/gettingstarted
➢ Simulink Onramp - https://matlabacademy.mathworks.com/details/simulink-
onramp/simulink
➢ Control Design Onramp with Simulink -
https://matlabacademy.mathworks.com/details/control-design-onramp-with-
simulink/controls

PROCEDURE
For a simple mass-spring-damper system

Figure 1 - Mass-Spring-Damper System

The equation for the system is

𝑚𝑥̈ + 𝑏𝑥̇ + 𝑘𝑥 = 𝐹

Transforming our equation into Laplace transform equations, we get

𝑚𝑠 2 𝑋(𝑠) + 𝑏𝑠𝑋(𝑠) + 𝑘𝑋(𝑠) = 𝐹(𝑠)

The transfer function for the input force 𝐹(𝑠) and the output displacement 𝑋(𝑠) is

𝑋(𝑠) 1
=
𝐹(𝑠) 𝑚𝑠 2 + 𝑏𝑠 + 𝑘

Let m = 0.5 kg, b = 5 N s/m, k = 10 N/m and F = 1N

The aim of this problem is to show how the Proportional, Integral and Derivative functions
contribute to achieving the goal of:

1|Page
 PUBLIC / CYHOEDDUS

➢ Fast rise time < 2 secs

➢ Minimal overshoot < 10%
➢ Zero steady state error
➢ Settling Time < 5 secs

Task One – Open Loop Response

Create a MATLAB Live Script with the following code:

Figure 2 - Open Loop Response

Replace m, b, k with your values from the previous equations.

Explain what is happening with the transfer function in terms of the rise time, overshoot,
steady-state error, and other control parameters. Use MATLAB Help to understand the
functions and explain these in your analysis. Use scholarly research and publications to
support your analysis.

Task Two – Closed Loop Response – Proportional Control

Using the same MATLAB Live script add the following code:

Figure 3 - Proportional Control

Explain what is happening with the transfer function in terms of the rise time, overshoot,
steady-state error, and other control parameters. Use MATLAB Help to understand the
functions and explain these in your analysis. Use scholarly research and publications to
support your analysis.

Task Three – Closed Loop Response – Proportional Derivative Control

Using the same MATLAB Live script add the following code:

Figure 4 - Derivative Control

Explain what is happening with the transfer function in terms of the rise time, overshoot,
steady-state error, and other control parameters. Use MATLAB Help to understand the
functions and explain these in your analysis. Use scholarly research and publications to
support your analysis.
2|Page
 PUBLIC / CYHOEDDUS

Task Four – Closed Loop Response – Proportional Integral Control

Using the same MATLAB script add the following code:

Figure 5 - Integral Control

Explain what is happening with the transfer function in terms of the rise time, overshoot,
steady-state error, and other control parameters. Use MATLAB Help to understand the
functions and explain these in your analysis. Use scholarly research and publications to
support your analysis.

Task Five – Closed Loop Response – Proportional Integral Derivative

(PID) Control
Using the same MATLAB script add the following code:

Figure 6 - PID Control

Explain what is happening with the transfer function in terms of the rise time, overshoot,
steady-state error, and other control parameters. Use MATLAB Help to understand the
functions and explain these in your analysis. Use scholarly research and publications to
support your analysis.

Task Six – Simulink – Create a Simulink model to simulate the closed-

loop system for the PID response.
Simulink simplifies the representation and simulation of mathematical models for physical
systems using graphical block diagrams. Simulink excels at simulating complex systems that
are difficult to analyse by hand, providing numerical approximations to their solutions.

Create the Simulink block below modelling for Tasks 1 to Task 5 ensuring that the system
meets the specifications.

3|Page
 PUBLIC / CYHOEDDUS

Figure 7 - Open Loop Simulink Diagram

ASSESSMENT BRIEF
Introduction
This coursework aims to provide hands-on experience in designing and implementing a PID
controller for a mechanical system using MATLAB and Simulink. The objective is to tune the
PID controller to achieve desired system performances below:

➢ Fast rise time < 0.5 secs

➢ Minimal overshoot < 10%
➢ Settling Time < 2.5 secs
➢ Zero steady state error

System Identification:
Choose any one of the following block diagrams below.

SYSTEM 1
Mass: 5kg
Damping Coefficient: 8.5 Ns/m
Spring Constant k1: 17 N/m
Spring Constant k2: 25.5 N/m

SYSTEM 2
Mass: 0.2kg
Damping Coefficient: 5 Ns/m
Spring Constant k1: 1 N/m
Spring Constant k2: 19 N/m

SYSTEM 3
Inertia: 0.6kgm2
Damping Coefficient: 3 Ns/m
Spring Constant: 10 N/m

4|Page
 PUBLIC / CYHOEDDUS

Compare your chosen block diagram above with the block diagram below.

SYSTEM 4
Inertia load: 1.2kgm2
Coefficient of Viscous friction: 5 Ns/m2

Submission Requirements 100% (40% of total module marks)

Part A Individual Report Assessment (Laboratory Report) 75% (30% of total module marks)
Students are required to write a well-researched report with a clear explanation of the 2
chosen systems and their mathematical model. A detailed description of the PID controller
design and implementation in both MATLAB and Simulink. Plots of the system's response to
different PID parameter combinations for both systems. A discussion of the tuning process
and the final PID controller parameters for both systems. A critical analysis of the system's
performance and potential improvements for both systems.

The report can be comprised of the following sections:

1. Introduction
2. Methodology
3. Results
4. Analysis
5. Conclusions
6. References
The work should critically present the experimental work undertaken, include reference to
the work published by others where appropriate; present and discuss the system designed
obtained with in-depth research; and draw appropriate conclusions from the system design.
Finally, any cited work should be referenced according to USW standard style of referencing.

Part B MATLAB & Simulink (Code Submission) 25% (10% of total module marks)
Students are required to write clear and well-structured MATLAB Live Script and Simulink
Code (submitted as a zip file) representing the systems selected and the final designed
controller. Use MATLAB & Simulink's built-in tuning tools or manual tuning techniques to
optimize the PID controller parameters. The code should show basic processing (e.g.,
calculations, comments) with evidence of successful system interfacing and data analysis.

Keep a copy of your work. Strict word limit - 1500 words

Submit your Assignment through Turnitin™ by 14:00 hrs on the deadline date. This will
provide you with a submission receipt and an originality check.

5|Page