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: EE3512

SUBJECT NAME: CONTROL AND INSTRUMENTATION

LABORATORY YEAR/SEMESTER: III/V

REGULATION: R-2021
 SYLLABUS
EE3512 CONTROL AND INSTRUMENTATION LABORATORY LT P C 0 0 4 2
COURSE OBJECTIVES:
To make the students familiarize with various representations of
systems.
To make the students analyze the stability of linear systems in the
time domain and frequency domain.
To make the students design compensator based on the time and
frequency domain Specifications.
To develop linear models mainly state variable model and transfer
function model
To make the students to design a complete closed loop control system
for the physical
systems.
LIST OF EXPERIMENTS:
1. Analog (op amp based) simulation of linear differential equations.
2. Numerical Simulation of given nonlinear differential equations.
3. Real time simulation of differential equations.
4. Mathematical modeling and simulation of physical systems in at least
two fields. Mechanical Electrical Chemical process
5. System Identification through process reaction curve.
6. Stability analysis using Pole zero maps and Routh Hurwitz Criterion in
simulation platform.
7. Root Locus based analysis in simulation platform.
8. Determination of transfer function of a physical system using
frequency response and Bode’s asymptotes.
9. Design of Lag, lead compensators and evaluation of closed loop
performance.
10. Design of PID controllers and evaluation of closed loop performance.
11. Discretization of continuous system and effect of sampling.
12. Test of controllability and observability in continuous and discrete
domain in simulation platform.
13. State feedback and state observer design and evaluation of closed
loop performance.
14. Mini Project 1: Simulation of complete closed loop control systems
including sensor and actuator dynamics.
15. Mini Project 2: Demonstration of a closed loop system in hardware.

TOTAL :60 PERIODS

COURSE OUTCOMES:
At the end of this course, the students will demonstrate the ability
CO1: To model and analyze simple physical systems and simulate the
performance in analog and digital platform.
CO2: To design and implement simple controllers in standard forms.
CO3: To design compensators based on time and frequency domain
specifications.
CO4: To design a complete closed control loop and evaluate its
performance for simple physical systems.
CO5: To analyze the stability of a physical system in both continuous
and discrete domains
 LIST OF EXPERIMENTS

S.NO TITLE
Analog (op amp based) simulation of linear differential equations.
1
Numerical Simulation of given nonlinear differential equations
2

3 Real time simulation of differential equations

Mathematical modeling and simulation of physical systems in at least two fields.
4
Mechanical
Electrical
Chemical process
System Identification through process reaction curve
5
Stability analysis using Pole zero maps and Routh Hurwitz Criterion in simulation
6 platform
Root Locus based analysis in simulation platform
7
Determination of transfer function of a physical system using frequency
8 response and Bode’s asymptotes.

9 Design of Lag, lead compensators and evaluation of closed loop performance

Design of PID controllers and evaluation of closed loop performance
10

11 Discretization of continuous system and effect of sampling.

12 Test of controllability and observability in continuous and discrete domain in

simulation platform
13 State feedback and state observer design and evaluation of closed loop
performance
14 Mini Project 1: Simulation of complete closed loop control systems including
sensor and actuator dynamics.
15 Mini Project 2: Demonstration of a closed loop system in hardware.
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.