Control System Laboratory, 15EEL67 VI Sem

CONTROL SYSTEMS LABORATORY (15EEL67)

List of Experiments
1. Experiment to draw the speed torque characteristics of (i) AC servo motor (ii) DC servo
motor.
2. Experiment to draw synchro pair characteristics.
3. Experiment to determine frequency response of a second order system.
4. a) To design a passive RC lead compensating network for the given specifications, viz, the
maximum phase lead and the frequency at which it occurs and to obtain the frequency
response.
b) To determine experimentally the transfer function of the lead compensating network.
5. a) To design a passive RC lag compensating network for the given specifications, viz, the
maximum phase lag and the frequency at which it occurs and to obtain the frequency
response.
b) To determine experimentally the transfer function of the lag compensating network
6. Experiment to draw the frequency response characteristics of the lag – lead compensator
network and determination of its transfer function.
7. a) To simulate a typical second order system and determine step response and evaluate time
response specifications.
b) To evaluate the effect of additional poles and zeros on time response of second order
system.
c) To evaluate the effect of pole location on stability
d) To evaluate the effect of loop gain of a negative feedback system on stability.
8. To simulate a second order system and study the effect of (a) P, (b) PI, (c) PD and (d) PID
controller on the step response.
9. a) To simulate a D.C. Position control system and obtain its step response.
b) To verify the effect of input waveform, loop gain and system type on steady state errors.
c) To perform trade-off study for lead compensator.
d) To design PI controller and study its effect on steady state error
10. a) To examine the relationship between open-loop frequency response and stability, open-
loop frequency and closed loop transient response
b) To study the effect of open loop gain on transient response of closed loop system using root
locus.
11. a) To study the effect of open loop poles and zeros on root locus contour
b) To estimate the effect of open loop gain on the transient response of closed loop system
using root locus.
c) Comparative study of Bode, Nyquist and root locus with respect to stability.

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Control System Laboratory, 15EEL67 VI Sem

1. (a). D.C. SERVOMOTOR

AIM: To study the Speed-Torque Characteristics of a D.C. SERVOMOTOR.
APPARATUS REQUIRED:
SI NO Apparatus Quantity
1 DC Servomotor 01
2 voltmeter 01
3 Probes & leads 01

CIRCUIT DIAGRAM:

A
LM-317 based variable
RECTIFIER

W1 W2 To
1.5-24VDC

Fuse
voltage regulator

Electronic
230V V M TG circuitto
DC DPST
display
TachoGenerator rpm

D.C. Servomotor Specifications

Type : Permanent Magnet Type

Voltage : 24V D.C.
Torque : 400 gm-cm
Speed : 4400 RPM

PROCEDURE:
 Remove the load in no load condition. Switch ON the module.
 Note down the no load current and no load speed.
 Adjust the potentiometer for the rated voltage of 24V.
 Adjust the load in steps to a maximum of 200gm-cm and current of 0.8 Amps(do not exceed
0.8 Amps).
 At each load note down the speed.
 Calculate the corresponding torque and plot the torque and speed characteristics.
 Repeat the procedure for 60% and 40% of the rated voltage.

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Control System Laboratory, 15EEL67 VI Sem

TABULAR COLUMN:
Table: Shows the variation of torque with respect to load.
Sl. Voltage, Current Speed Weight Weight Total Weight, Torque
No. V (Volts) I(Amps) N (RPM) W1 (GMS) W2 (GMS) W=W1 W2 T (Gm-Cm)
(GMS)
1. 24

2. 14.4

3. 9.6

FORMULA USED:
Torque=T=W*R Where, R = Radius of brake drum = 2 cms.
W= Total weight, gm.
SPECIMEN GRAPH:

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Control System Laboratory, 15EEL67 VI Sem

1 (b). TWO - PHASE A.C SERVOMOTOR

AIM: To obtain Speed-Torque Characteristics of a 2-Phase A.C Servomotor.
APPARATUS REQUIRED:

SI NO Apparatus Quantity
1 A.C Servomotor 01
2 D.C Motor 01
2 DC Voltmeter 01
3 AC Voltmeter 01
4 Probes & leads 01

CIRCUIT DIAGRAM:
Reference Winding
Ia
Vc

Fuse
12V Eb V 230V
DC C
DPST AC

Control 1-Phase Auto

Winding Transformer

PROCEDURE:
 Observe all front panel control.
 Initially keep load control switch OFF (Down), indicating armature of D.C machine is
not connected to auxiliary supply of 12 V D.C. Keep servomotor supply switch OFF (Left).
 Ensure load potentiometer and control voltage autotransformer at minimum position.
 Connections are made as per circuit diagram.
 Switch on the main supply of unit and also of A.C Servomotor (Right).
 With load switch still OFF, vary speed of A.C Servomotor (by varying speed
potentiometer) and note down back emf (Eb) generated by the D.C machine for different speed.
Enter the results in tabular column in Table1.
 Now with load switch still OFF, switch ON A.C Servomotor and keep the speed at
minimum position. Now vary control-winding voltage by varying the speed potentiometer and set
Vc to maximum (=230V). Now switch on load switch and start loading A.C Servomotor by
varying load potentiometer slowly. Note down the corresponding values of current (Ia), speed (N)
and back emf (Eb) at each loading. At each step tabulate the readings in tabular column, in Table
2.

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Control System Laboratory, 15EEL67 VI Sem

 Repeat the above step for Vc = 184 V (80% of rated).

 Plot Speed-Torque Characteristics.
TABULAR COLUMNS:
Table 1: Shows the variation of speed with respect to back emf.
Sl. Speed, N Back Emf,
No. (rpm) Eb
(Volts)

Table 2: Shows the calculated values of torque.

S Control Current, Speed, Back Power, Torque,
l. winding Ia N Emf, P T
N Voltage, Vc (Amps) (rpm) Eb (Watts) (gm,cm)
o. (Volts) (Volts)
0 @ No-Load
1 @ Rated
value
(230V)

SPECIMEN GRAPHS:

FORMULAE USED:
P = Eb * Ia Watts
T = P*1.019*10^4*60 gm-cm
2**N
where, Eb = Back Emf, volts
Ia = Current, amps
N = Speed, rpm
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Control System Laboratory, 15EEL67 VI Sem

P = Power, watts
2. SYNCHRO TRANSMITTER AND RECEIVER PAIR
AIM: To conduct a suitable experiment to plot the graph of synchro-transmitter rotor position V/S
stator voltage for 3 phase.
APPARATUS REQUIRED:

SI NO Apparatus Quantity
1 Synchro transmitter UNIT 01

2 Voltmeter, connecting wires 01

1) Study of synchro transmitter:

In this part of the experiment, we can see how, because of the transformer action, the angular
position of the rotor of synchro transmitter is transformed into a unique set of stator voltages.

PROCEDURE:
 Connect the mains supply to the system with the help of cable provided. Do not
interconnect S1, S2, and S3 to S1’, S2’, and S3’.
 Switch ON mains supply for the unit and transmitter rotor supply.
 Starting from zero position, note down the voltage between stator winding
terminals i.e. Vs1s2, Vs1s3 and Vs2s3 in a sequential manner. Enter readings in a tabular
form and plot a graph of angular position V/S rotor voltages for all three phases.
 Note that zero position of the stator rotor coincide with VS3S1 voltage equal to
zero voltage. Do not disturb this condition.

2) Study of synchro transmitter and Receiver pair:

PROCEDURE:
 Connect mains supply cable.
 Connect S1, S2, S3 terminals of transmitter to S1, S2, S3 of syncro receiver by
patch cords provided respectively.
 Switch ON rotor supply of both transmitter and receiver and also switch on the
mains supply.
 Move the pointer i.e. rotor position of synchro transmitter in steps of 30 degrees
and observe the new receiver position. Observe that whenever transmitter rotor is

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Control System Laboratory, 15EEL67 VI Sem

rotated, the receiver rotor follows it for both the directions of rotations and their
positions are in good agreement.
 Enter the input angular position and output angular position in the tabular form
and plot a graph.
PRECAUTIONS:
 Handle the pointers for both the rotors in a gentle manner.
 Do not attempt to pull out th pointers
 Do not short rotor or stator terminals
Table - 1
SYNCHRO TRANSMITTER ROTOR POSITION VERSUS STATOR VOLTAGES FOR
THREE PHASES (Vs3s1, Vs1s2, Vs2s3)
ROTOR VOLTAGE = VOLTS

Sl Rotor position in Vs3s1 Vs1s2 Vs2s3

No degrees
1 00
2 30
3 60
4 90
5 120
6 150
7 180
8 210
9 240
10 270
11 300
12 330

Table – 2

Sl Transmitter angular Position Receiver angular

No position
1 00
2 30
3 60
4 90
5 120
6 150
7 180
8 210
9 240
10 270
11 300
12 330

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Control System Laboratory, 15EEL67 VI Sem

3. Frequency response of a second -order system

Aim:- To determine the frequency response of a second -order system and evaluation of frequency
domain specifications.

Components Required

Sl Apparatus Quantity
No.
1 DRB 1
2 DCB 1
3 DIB 1
4 AFO 1
5 CRO 1

Circuit Diagram

Design procedure:-

1). ε=

2) Mr=

3) ωr= ωn

4). Bw=

Procedure:-
1. Connections are made as shown in the citcuit diagram.
2. Set the values of resistance R= 5KΩ, L=1 Henry, and C= 0.002 Micro-farads.
3. Switch on the supply from the function generator and adjust the input voltage to 2 VP-P
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Control System Laboratory, 15EEL67 VI Sem

4. Vary the input frequency from 100 Hz to 6400 Hz in steps of 100 Hz. For every
frequency step, measure the peak of the output response.
5. Calculate the gain M using the formula M= Vo/Vi
6. Plot the graph of ωn Vs M and determine the frequency domain specification from the
graph
Observations
Frequen ω=2πf O/p vtg I/p vtg Gain v0 / vi 20 log v0 /
cy rad v vi
F (Hz)
0
vi

Nature of graph

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Control System Laboratory, 15EEL67 VI Sem

4. RC lead compensating network

Aim:- (a) To design a passive RC lead compensating network for the given specifications,
viz., the maximum phase lead and the frequency at which it occurs and to obtain
its frequency response.
(b) To determine experimentally the transfer function of the lead compensating
network.
Components Required

Sl Apparatus Quantity
No.
1 DRB 2
2 DCB 1
3 AFO 1
4 CRO 1

Circuit Diagram

Design procedure:-

Let the required maximum phase lead Фm

α=

Let the lower corner frequency be f1=1000Hz.

ω1 =2πf1 ω2=( ω1/α) ωm=

Let us assume that C= 0.1 µF.

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Control System Laboratory, 15EEL67 VI Sem

T= 1/ ω1 R1=T/C R2=

T.F=α =

Procedure
1) Connections are made as shown in the figure.
2) Values of R1, R2 and C are adjusted to practical designed values.
3) A sine wave i/p frequency say 100Hz is applied to the circuit and input voltage, output

4) Frequency of the input voltage is increased in steps and input voltage(peak to peak),
voltage and phase angle are noted.

5) Above procedure (step 4) is repeated for higher values of frequencies also.

output voltage and phase angle are noted.

6) Using the result the bode plot is constructed on semilog sheet.

Observations
Frequen ω=2πf O/p vtg I/p vtg Phase Gain 20 log
cy rad e0 (V) ei (V) angle e0/ei e0/ei
F (Hz) Ф

Nature of graph

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Control System Laboratory, 15EEL67 VI Sem

5. RC lag compensating network

Aim:- (a) To design RC lag compensating network for the given specifications., viz., the
maximum phase lag and the frequency at which it occurs, and to obtain its
frequency response.
(b) To determine experimentally the transfer function of the lag compensating
network.

Components Required

Sl Apparatus Quantity
No.
1 DRB 2
2 DCB 1
3 AFO 1
4 CRO 1

Circuit Diagram

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Control System Laboratory, 15EEL67 VI Sem

Design procedure:-

Let the required maximum phase lag Фm

β=

Let the lower corner frequency be f1=1000Hz.

ω1 =2πf1 ω2= β ω1 ωm=

Let us assume that C= 0.1 µF.
T= 1/ ω2 R2=T/C R1= (β-1)R2

T.F= =

Procedure
1) Connections are made as shown in the figure.
2) Values of R1, R2 and C are adjusted to practical designed values.
3) A sine wave i/p frequency say 100Hz is applied to the circuit and input voltage, output

4) Frequency of the input voltage is increased in steps and input voltage, output voltage
voltage and phase angle are noted.

5) Above procedure (step 4) is repeated for higher values of frequencies also.

and phase angle are noted.

6) Using the result the bode plot is constructed on semilog sheet.

7) Determine the transfer function from the bode plot.
Observations

Frequen ω=2πf O/p vtg I/p vtg Phase Gain 20 log

cy rad e0 (V) ei (V) angle e0/ei e0/ei
F (Hz) Ф

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Control System Laboratory, 15EEL67 VI Sem

Nature of graph

6. Lag-Lead Network
Aim:- To draw the frequency response characteristic of a given lag- lead compensating network.

Components Required

Sl Apparatus Quantity
No.
1 DRB 2
2 DCB 2
3 AFO 1
4 CRO 1

Circuit Diagram:-

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Control System Laboratory, 15EEL67 VI Sem

Design procedure:-

Let β= 10, 15>β>1, T2=10T1

T1=R1C1 T2=R2C2.

T1+T2+R1C2 = +βT2

C2=89.1C1
R1=8.91R2
Let C1=0.1uF and R1=1000

Transfer Function=

Procedure
1) Connections are made as shown in the figure.
2) Values of R1, R2 and C1,C2 are adjusted to practical designed values.
3) A sine wave i/p frequency say 100Hz is applied to the circuit and input voltage, output

4) Frequency of the input voltage is increased in steps and output voltage, output voltage
voltage and phase angle are noted.

5) Above procedure (step 4) is repeated for higher values of frequencies also.

and phase angle are noted.

6) Using the result bode plot is constructed on semilog sheet.

Observations
Frequen ω=2πf O/p vtg I/p vtg Phase Gain 20 log
cy rad e0 (V) ei (V) angle e0/ei e0/ei
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Control System Laboratory, 15EEL67 VI Sem

F (Hz) Ф

Nature of graph

Simulation Experiments Using MATLAB

7. Step response of a second order system

AIM: a) To simulate a typical second order system and determine step response and evaluate time
response specifications.
b) To evaluate the effect of additional poles and zeros on time response of second order
system.

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Control System Laboratory, 15EEL67 VI Sem

c) To evaluate the effect of pole location on stability

d) To evaluate the effect of loop gain of a negative feedback system on stability.

PROGRAM:
% Simulation of Step Response and Evaluation of Time Domain Specifications
s=tf(s);
g=10/(s^2+2*s+100);
step(g);
title(‘step response of given system’);
xlabel(‘time in sec’);
ylabel(‘Amplitude’);
ltiview(‘step’,sys2)

Result Comparison
Sl. No Specification Theoretical Value Simulation Value

Sl Zeeta Tr Tp Ts Mp
No.
1 0.1
2 0.5
3 0.75
4 1
5 1.25

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Control System Laboratory, 15EEL67 VI Sem

Effect of addition of zero (s+3)

s=tf(s);
g=10*(s+3)/(s^2+30*s+100);
step(g);

Comments:

Effect of addition of closed loop pole (s+5)

s=tf('s');
g=10/((s^2+30*s+100)*(s+5));
step(g);

Comments:

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Control System Laboratory, 15EEL67 VI Sem

8. PID Controller
AIM: To simulate a second order system and study the effect of (a) P, (b) PI, (c) PD and (d) PID
controller on the step response.
PROGRAM:
num=[1];
den=[0.5 1 4];
sys1=tf(num,den);
f=feedback(sys1,1);
f1=step(f);
subplot(2,3,1);plot(f1);
title('Step response of given system')

% Proportional controller
kp=10;
numP=kp*num;
sys=tf(numP,den);
G=feedback(sys,1)
m=step(G);
subplot(2,3,2);plot(m);
title('Proportional contol Kp=10')
k=dcgain(G)
essP=1/(1+k)
% PD controler
Kd=10;
numc=[Kd*kp kp];
nr=conv(numc,num);
sys1=tf(nr,den);
G1=feedback(sys1,1)
m=step(G1);
subplot(2,3,3);plot(m);
title('PD control Kp=10 and Kd=10')

%PI controller
ki=10;
numI=[kp ki*kp];
denI=[1 0];
dr=conv(denI,den);
sys2=tf(numI,dr)
G2=feedback(sys2,1);
m=step(G2);
subplot(2,3,4);plot(m);
k=dcgain(G2)
essPI=1/(1+k)
title('PI control Kp=10 and Ki=10')
%PID controller
nr1=conv(numc,[1 ki]);
sys3=tf(nr1,dr);
G3=feedback(sys3,1);
m=step(G3);
subplot(2,3,5);plot(m);
k=dcgain(G3)
essPID=1/(1+k)
title('PID control Kp=10,Ki=10 & kd=10')

9. DC Position control System

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Control System Laboratory, 15EEL67 VI Sem

AIM: a) To simulate a D.C. Position control system and obtain its step response.
b) To verify the effect of input waveform, loop gain and system type on steady state errors.
c) To perform trade-off study for lead compensator.
d) To design PI controller and study its effect on steady state error
THEORY AND BACKGROUND:
The block schematic of a dc position control system is shown in the figure, where the DC drive is
operated in the closed loop mode with series PI controller.

The drive consists of an armature controlled dc servomotor, represented by the block diagram as
shown below.

The transfer function of various blocks is summarized below.

a) DC servomotor:

b) PI Controller:

c) Position sensor:

Thus, the overall T.F of the closed loop system is

DATA FOR SIMULATION:

Drive specification:
Armature resistance (Ra) =1.05 Ω
Armature inductance (La) = 0.0053 Henry
Inertia constant (J) = 0.5 Kg-mt2
Friction coefficient (B) = 0.0162

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Control System Laboratory, 15EEL67 VI Sem

Back emf constant (Kb) = 1.1

Torque constant (KT) = 1.1
PI Controller gains:
Proportional gain (Kp) = 5
Integral gain (Ki) =5
Position sensor:
Sensor gain (Kf) =1
MATLAB CODE:
% Simulation of DC position control system
% Drive specifications
B=0.0162; J=0.5; La=0.0053; Ra=1.05; Kb=1.1; Kt=1.1;
% PI Controller gains
Kp=5; Ki=2;
% Feed back gain
K=1.0;
s=tf('s');
Gp=Kt/((s*(s*La+Ra)*(s*J+B))+s*Kb*Kt);
Gc=Kp+(Ki/s);
Gf=K;
G=(Gc*Gp)/(1+Gc*Gp*Gf);
step(G,10);
grid;

NATURE OF PLOT:

OBSERVATIONS:

Peak of first overshoot

Peak time
Rise time
Settling time

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Control System Laboratory, 15EEL67 VI Sem

10. Frequency Response

Aim: AIM: To determine the frequency response of a second order system and evaluation of
frequency domain specifications.
PROCEDURE: Let the open loop transfer function of a unity feedback second order system is
G(S) =10/S(S+2)=10/(S2+2S)
PROGRAM:
% Frequency response of the given system
num=[10];
den=[1 2 0];
sys1=tf(num,den);
sys2=feedback(sys1,1);
w=logspace(-1,1);
bode(sys2,w);
[Mag,Phase,w]=bode(sys2,w);
[Mp,K]=max(mag);
Rf=w(k);
n=1;
while 20*log10(Mag(n)>=-3;
n=n+1;
end
bandwidth=w(n)

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Control System Laboratory, 15EEL67 VI Sem

11. Root locus, Bode plot

AIM: a) To study the effect of open loop poles and zeros on root locus contour
b) To estimate the effect of open loop gain on the transient response of closed loop system
using root locus.
c) Comparative study of Bode, Nyquist and root locus with respect to stability.

PROGRAM:
%Roor Locus
clc;
s=tf(s);
g=(s+1)*(s+2)/((s+3)*(s+4));
rlocus(g);

Result Comparison

Sl. Specification Theoretical Value Simulation Value

No

Root locus
clc;
s=tf(s);
g=(s^2+4*s+9)/(s^2-4*s+9);
rlocus(g);

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Control System Laboratory, 15EEL67 VI Sem

Result Comparison
Sl. Specification Theoretical Value Simulation Value
No

Root locus
clc;
s=tf(s);
g=1/((s+2)*(s+3)*(s+4));
rlocus(g);

Result Comparison
Sl. No Specification Theoretical Value Simulation Value

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Control System Laboratory, 15EEL67 VI Sem

Bode Plot
clc;
s=tf(s);
g=10*(s+1)/(s*(0.1*s+1)*(0.01*s+1));
bode(g);

Result Comparison

Sl. Specification Theoretical Value Simulation Value

No

Bode Plot
clc;
s=tf(s);
g=30*(s+2)/(s*(s+5)*(s+50));
bode(g);

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Control System Laboratory, 15EEL67 VI Sem

Result Comparison

Sl. Specification Theoretical Value Simulation Value

No

Bode Plot
clc;
s=tf(s);
g=30*(s)/(s*(s+5)*(s+50)*(s+1000));
bode(g);

Result Comparison

Sl. Specification Theoretical Value Simulation Value

No

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