A.R.

ENGINEERING COLLEGE
VILLUPURAM
(Approved by AICTE, New Delhi & Affiliated to Anna university, Chennai)
Vadakuchipalayam, Kappiyampuliyur post,Villupuram-605601,Tamilnadu.

DEPARTMENT OF ELECTRICAL AND ELECTRONICS

ENGINEERING

LAB MANUAL

SUBJECT CODE: EE8511

SUBJECT NAME: CONTROL AND INSTRUMENTATION

LABORATORY YEAR/SEMESTER: III/V

REGULATION: R-2017

SYLLABUS
 EE8511 CONTROL AND INSTRUMENTATION LABORATORY L T P C 0 0 4 2
OBJECTIVES:
❖ To provide knowledge on analysis and design of
control system along with basics of instrumentation.

LIST OF EXPERIMENTS

CONTROLSYSTEMS:
1. P, PI and PID controllers
2. Stability Analysis
3. Modelling of Systems – Machines, Sensors and Transducers
4. Design of Lag, Lead and Lag-Lead Compensators
5. Position Control Systems
6. Synchro-Transmitter- Receiver and Characteristics
7. Simulation of Control Systems by Mathematical development tools.
INSTRUMENTATION:
8. Bridge Networks –AC and DC Bridges
9. Dynamics of Sensors/Transducers
(a) Temperature (b) pressure (c) Displacement (d) Optical (e) Strain ( f) Flow
10 Power and Energy Measurement
11 Signal Conditioning
(a) Instrumentation Amplifier
(b) Analog – Digital and Digital –Analog converters (ADC and DACs)
12 Process Simulation
TOTAL: 60 PERIODS
COURSE OUTCOMES:
• Ability to understand control theory and apply them to electrical engineering problems.
• Ability to analyze the various types of converters.
• Ability to design compensators
• Ability to understand the basic concepts of bridge networks.
• Ability to the basics of signal conditioning circuits.
• Ability to study the simulation packages.
 LIST OF EXPERIMENTS

S.NO TITLE
P, PI and PID controllers
1
Stability Analysis
2
Modelling of Systems – Machines, Sensors and Transducers
3

Design of Lag, Lead and Lag-Lead Compensators

4
Position Control Systems.
5
Synchro-Transmitter- Receiver and Characteristics
6
Simulation of Control Systems by Mathematical development tools.
7
INSTRUMENTATION:
8 Bridge Networks –AC and DC Bridges
Dynamics of Sensors/Transducers
9 (a) Temperature (b) pressure (c) Displacement (d) Optical (e) Strain ( f) Flow

Power and Energy Measurement

10
Signal Conditioning
11 (a) Instrumentation Amplifier
(b) Analog – Digital and Digital –Analog converters (ADC and DACs)

12 Process Simulation
BLOCK DIAGRAM

1. Simulink blocks for effect of P controller

Output with P=3

Expt. No: 1 Date:

PID CONTROLLERS USING MATLAB-SIMULINK

AIM

To Study the effect of P, PI, PID controllers using Mat lab-Simulink.

APPARATUS REQUIRED

➢ A PC with MATLAB package

PROCEDURE

1. To build a SIMULINK model to obtain response of a P, PI, PID Controllers, the following
procedure is followed:

2. In MATLAB software open a new model in SIMULINK library browser.

3. From the continuous block in the library drag the transfer function block.

4. From the source block in the library drag the step input.

5. From the sink block in the library drag the scope.

6. From the math operations block in the library drag the summing point.

7. From the discrete block in the library drag the PID controller.

8. Connect all to form a system and give unity feedback to the system.

9. For changing the parameters of the blocks connected double click the respective block.

10. Start simulation and observe the results in scope.

11. Compare the simulated and theoretical results.

2. Simulink blocks for effect of PI controller

Output with P=3 and I=0.5

3. Simulink blocks for effect of PD controller

 Output with P=3 and D=0.5

4. Simulink blocks for effect of PID controller

Output with P=3, I=0.5 and D=0.5
RESULT

Thus the effect of P, PI, PD, and PID controller has been verified by using Matlab.

Expt. No: 1 Date:

A. P, PI, AND PID CONTROLLERS USING MATLAB-CODING

AIM

To Study the effect of P, PI, PID controllers using Mat lab-Coding.

APPARATUS REQUIRED

➢ A PC with MATLAB package

PROGRAMME
% Step Response for TF 1/(s^2+10s+20)
num=[1];
den=[1 10 20];
figure(1);
step(num,den)
% Proportional Controller
Kp=600;
num1=[Kp];
den1=[1 10 20+Kp];
t=0:0.01:2;
figure(2);
step(num1,den1,t)
grid;
% Proportional Derivative Controller
Kp=300;
Kd=10;
num2=[Kd Kp];
den2=[1 10+Kd 20+Kp];
t=0:0.01:2;
figure(3);
step(num2,den2,t)
grid;
% Proportional Integral Controller
Kp1=30;
Ki=70;
num3=[Kp1 Ki];
den3=[1 10 20+Kp1 Ki];
t=0:0.01:2;
 figure(4);
step(num3,den3,t)
grid;
%Proportional Integral Derivative Controller
Kp2=350;
Kd2=50;
Ki2=300;
num4=[Kd2 Kp2 Ki2];
den4=[1 10+Kd2 20+Kp2 Ki2];
t=0:0.01:2;
figure(5);
step(num4,den4,t)
grid;
OUTPUT
1. % Step Response for TF 1/(s^2+10s+20)

2. % Proportional Controller
3. % Proportional Derivative Controller

4. % Proportional Integral Controller

5. %Proportional Integral Derivative Controller

RESULT

Thus the effect of P, PI, PD, and PID controller has been verified by using Matlab coding.
Expt. No: 1 Date:

B. P, PI, AND PID CONTROLLERS USING TRAINER KIT

AIM

To Study the effect of P, PI, PID controllers using trainer kit.

THEORY
PID controllers are commercially successful and widely used controllers in Industries. For
example, in a typical paper mill there may be about 1500 Controllers and out of these 90% would be
PID controllers. The PID controller consists of proportional controller, integral controller and
derivative controller. Depending upon the application on or more combinations of the controllers are
used.(ex: in a liquid control system where we want zero steady state error, a PI controller can be used
and in a temperature control system where we do not want zero steady state error, a simple P
controller can be used.

The equation of the PID controller in time domain is given by, m(t) = KPe(t) + Ki/Ti ∫ e(t) dt + KdTd
de(t) /dt where KP is a proportional gain Ti is the integral reset time and Td is the derivative time of
the PID controller, m(t) is the output of the controller and e(t) is the error signal given by e(t) = r(t) –
c(t).

The characteristics of P, I, and D controllers

A proportional controller (Kp) will have the effect of reducing the rise time and will reduce ,but
never eliminate, the steady-state error. An integral control (Ki) will have the effect of eliminating the
steady-state error, but it may make the transient response worse. A derivative control (Kd) will have
the effect of increasing the stability of the system, reducing the overshoot, and improving the
transient response. Effects of each of controllers Kp, Kd, and Ki on a closed-loop system are
summarized in the table shown below.

Parameter Rise time Overshoot Settling time Steady-state error Stability[14]

Decrease Increase Small change Decrease Degrade
Decrease Increase Increase Eliminate Degrade

Minor change Decrease Decrease No effect Improve if small

TABULATION

Amplitude
S.No Type of Controller Time in sec
Volts

1 P Controller

2 PI Controller

3 PD Controller

4 PID Controller
RESULT

Thus the effect of P, PI, PD, and PID controller has been verified by using trainer kit.

PROGRAM

% Rootlocus of the transfer function G(s)=1/(S^3+8S^2+17S)

num=[1];
den=[1 8 17 0];
figure(1);
rlocus(num,den);
Title('Root Locus for the transfer function G(s)=1/(S^3+8S^2+17S)')
grid;
Expt. No: 2 Date:

ROOT LOCUS BASED ANALYSIS SIMULATION

AIM

To Check the stability analysis of the given system or transfer function using MATLAB
Software.

APPARATUS REQUIRED

➢ A PC with MATLAB package

PROCEDURE

➢ Open the MATLAB software using a MATLAB icon Open a blank M- File or Simulink file
(File, New, M file) Type the given program in M file
➢ Run the program using debug option or using F5 key
➢ Find the stability of the system in the output graph and compare it with
theoretical value
RESULT
Thus the designs of root locus for the given transfer function using MATLAB Software was
executed.

PROGRAM

%Nyquist Plot for the Transfer Function G(s)=1/(s+1)^3

num=[1];
den=[1 3 3 1];
figure(1);
nyquist(num,den)
Title('Nyquist Plot for the Transfer Function G(s)=1/(s+1)^3')
[Gm,Pm,Wcg,Wcp]=margin(num,den)
grid;
[Gm,Pm,Wcg,Wcp]=margin(num,den);
Gain_Margin=Gm
Phase_Margin=Pm
PhaseCrossover_Frequency=Wcg
GainCrossover_Frequency=Wcp

Nyquist Plot f or the Transf er Function G(s)=1/(s+1) 3

0.8
4 dB 2 dB 0 dB -2 dB -4 dB -6 dB
0.6 6 dB

0.4 -10 dB
10 dB

0.2
Imaginary Axis

20 dB -20 dB

-0.2

-0.4

-0.6

-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis
OUTPUT:
Wcp = 0
Gain_Margin = 8.0011
Phase Margin = -180
Phase Crossover Frequency = 1.7322
Gain Crossover_Frequency = 0

Expt. No: 2 Date:

STABILITY ANALYSIS OF LINEAR SYSTEMS

B.SIMULATION OF CONTROL SYSTEM AND STABILITY ANALYSIS USING NYQUIST

PLOT
AIM

To Check the stability analysis of the given system or transfer function of Nyquist Plot using
MATLAB Software.

APPARATUS REQUIRED

➢ A PC with MATLAB package

PROCEDURE

➢ Open the MATLAB software using a MATLAB icon Open a blank M- File or Simulink file
(File, New, M file) Type the given program in M file
➢ Run the program using debug option or using F5 key
➢ Find the stability of the system in the output graph and compare it with
theoretical value
RESULT

Thus the designs of nyquist plot for the given transfer function using MATLAB Software was
executed.

PROGRAM
%Bode Plot for the Transfer Function=10/(s3+8s2+12s)
nu=[10];
de=[1 8 12 0];
sys=tf(nu,de);
bode(sys);
grid on;

Bode Diagram
50

0
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
Expt. No: 2 Date:

C. DESIGN OF BODE PLOT AND DETERMINE PHASE AND GAIN MARGIN

AIM

To Design the bode plot for the given system and also determine the gain and phase margin using
MATLAB Software.

APPARATUS REQUIRED

➢ A PC with MATLAB package

PROCEDURE

➢ Open the MATLAB software using a MATLAB icon Open a blank M- File or Simulink file
(File, New, M file) Type the given program in M file
➢ Run the program using debug option or using F5 key
➢ Find the stability of the system in the output graph and compare it with
theoretical value
RESULT
Thus the design of bode plot for the given system using MATLAB Software was executed.

PROGRAMME
A.OPEN LOOP RESPONSE (FIRST ORDER SYSTEM)
T.F=4/(s+2)
1. Response of system to Step input
n=[4];
d=[1 2];
sys=tf(n,d);
step(sys)
2. Response of system to Impulse input
n=[4];
d=[1 2];
sys=tf(n,d);
step(sys)
impulse(sys)
Simulink Model:
1. Step Input Open Loop –I Order
 Step Response
2

1.8

1.6

1.4

1.2

Amplitude 1

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

Expt. No: Date:

ANALOG SIMULATION OF LINEAR DIFFERENTIAL EQUATION

AIM
To digitally simulate the characteristics of Linear SISO systems using state variable formulation.

APPARATU REQUIRED
1. A PC with MATLAB package.
THEORY
State Variable approach is a more general mathematical representation of a system, which, along
with the output, yields information about the state of the system variables at some predetermined
points along the flow of signals. It is a direct time-domain approach, which provides a basis for
modern control theory and system optimization. SISO (single input single output) linear systems can
be easily defined with transfer function analysis. The transfer function approach can be linked easily
with the state variable approach.
The state model of a linear-time invariant system is given by the following equations:
Ẋ (t) = A X(t) + B U(t) State equation
Y(t) = C X(t) + D U(t) Output equation
Where A = n x n system matrix, B = n x m input matrix,
C= p x n output matrix and
D = p x m transmission matrix,
2. Impulse Input Open Loop –I Order
 Impulse Response
4

3.5

2.5
Amplitude

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

PROGRAM:
B. Close Loop Response
1. Response of Step input
n=[4];
d=[1 2];
sys=tf(n,d);
sys=feedback(sys,1,-1)
step(sys)
2. Response of Impulse input
n=[4];
d=[1 2];
sys=tf(n,d);
sys=feedback(sys,1,-1)
impulse(sys)

Simulink Model
1. Step Input Close Loop –I Order
 Step Response
0.7

0.6
System: sys
Time (sec): 0.192
0.5 Amplitude: 0.456

0.4

Amplitude 0.3

0.2

0.1

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)

2. Impulse Input Close Loop –I Order

Impulse Response
4

3.5

2.5
Amplitude

1.5

0.5

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)

Second Order System

TF= 4/s2+6s+16
1. Open Loop Response of Step Input
n=[4];
d=[1 6 16];
sys=tf(n,d);
step(sys)
2.Open Loop Response of impulse Input
n=[4];
d=[1 6 16];
sys=tf(n,d);
impulse(sys)
Simulink Model
Step Input Open Loop –II Order

Step Response
0.35

0.3

0.25

0.2
Amplitude

0.15

0.1

0.05

0
0 0.5 1 1.5 2 2.5
Time (sec)

Impulse Input Open Loop –II Order

Impulse Response
0.45

0.4

0.35

0.3

0.25
Amplitude

0.2

0.15

0.1

0.05

-0.05
0 0.5 1 1.5 2 2.5 3
Time (sec)

Close Loop Response

1. Step Input
 n=[4];
d=[1 6 16];
sys=tf(n,d);
sys=feedback(sys,1,-1) ;
step(sys)
2. Impulse Input

n=[4];
d=[1 6 16];
sys=tf(n,d);
sys=feedback(sys,1,-1) ;
impulse(sys)
Simulink Model
1. Step Input Close Loop –II Order

Step Response
0.25

0.2

0.15
Amplitude

0.1

0.05

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (sec)

2. Impulse Input Close Loop –II Order

 Impulse Response
0.45

0.4

0.35

0.3

0.25
Amplitude

0.2

0.15

0.1

0.05

-0.05
0 0.5 1 1.5 2 2.5
Time (sec)

RESULT
Thus the digital simulation of time response characteristics of a first and second order linear system
with step and impulse inputs were simulated using MATLAB and outputs are observed for respective
inputs.

PROGRAM
i. UNDER DAMPED SECOND ORDER SYSTEM
% Time Domain Specifications
num1=[10];
den1=[1 2 10];
%Transfer Function Form
G=tf(num1,den1)
% Natural frequency and Damping Ratio
[Wn Z P] = damp(G)
Wn=Wn(1);
Z=Z(1);
t=0:0.1:20
%(i) Under Damped System For Step Input
figure(1);
step(num1,den1,t)
title('Under Damped Second Order System Response for Step Input');
grid;

ii. Undamped Second Order System

% Undamped Second Order System has the T.F=10/(S^2+10) with the Damping ratio=0 for Step
Input
num2=[10];
den2=[1 0 10];
figure(2);
step(num2,den2,t)
title('Undamped Second Order System Response for Step Input');
grid;

Expt. No: Date:

PROCESS SIMULATION
AIM

To check the process simulation result with first order and second Order System with the step input.
APPARATUS REQUIRED
1. PC with MATLAB Software.
SECOND ORDER SYSTEM

The Second order system has the transfer functions (i)Under Damped Second Order System
G(s)=10/(s2+2s+10) (ii) Undamped Second Order system G(s)=10/(s2+10) (iii)Critically Damped
Second Order System G(s)=10/(s2+7.32s+10) (iv)Over Damped Second Order System
G(s)=10/(s2+3s+10) for that apply step input and check the result 4-cases using MATLAB Software
Step Input Open Loop –I Order

Step Response
2

1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

(iii) Critically damped Second Order System

%Critically damped Second Order System has the T.F=10/(S^2+7.32*s+10) with the Damping
ratio=1 for step input
num3=[10];
den3=[1 7.32 10];
figure(3);
step(num3,den3,t)
title('Critically Damped Second Order System Response for Step Input');
grid;

(iv) Critically damped Second Order System

%Critically damped Second Order System has the T.F=10/(S^2+3*s+10) with the Damping
ratio=1.5 for step input
num4=[10];
den4=[1 3 10];
figure(4);
step(num4,den4,t)
title('Over Damped Second Order System Response for Step Input');
grid;
RESULT
Thus the Simulation Results are obtained through MATLAB Software Through FirstOrder System
and Second Order System with Step input.