COLLEGE OF SCIENCE AND TECHNOLOGY

Control Systems Engineering

Lab-5: Closed Loop Position Control System

Bernard B. Munyazikwiye
Lecturer
University of Rwanda, College of Science and Technology
email: [email protected]

1
Control System Toolbox

2
 Outline

• Transfer Function Models

• Pole-Zero maps

• Simplification of Block Diagrams

• Time Domain Analysis of 1st and 2nd Order Systems

• Frequency Domain Analysis of Control Systems

• Root Locus of LTI models

• Excercises
Transfer Function Model Using Numerator & Denominator
Coefficients

100
G( s ) 
s 2  14 s  10
This transfer function can be stored into the MATLAB

num = 100;
den = [1 14 10];
sys=tf(num,den)

To check your entry you can use the command printsys as

shown below:

printsys(num,den);
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 Transfer Function Model Using Zeros, Poles and Gain
(ZPK model)

100 ( s  3) K ( s  z1 )
G( s )  
( s  1)( s  2) ( s  p1 )( s  p2 )
This transfer function can be stored into the MATLAB
Zeros=-3;
Poles= [-1 -2];
K=100;
sys=zpk(Zeros,Poles,K)

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 Poles & Zeros
s 2  3s  5
G( s ) 
s 2  4s  10
To plot the poles and zeros of any transfer function there is a
built in function pzmap in the MATLAB

pzmap(num,den)

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 Series Blocks
• Blocks in series can be simplified by using series command

S 9(S+3)
9S + 17 2S2 + 9s + 27

num1 = [1 0];
den1 = [9 17];
num2 = 9*[1 3];
den2 = [2 9 27];
[num12, den12] = series (num1,den1,num2,den2);
printsys(num12,den12);

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 Contd… Series Blocks

• Blocks in series can also be simplified by using conv command

S 9(S+3)
9S + 17 2S2 + 9s + 27

num1 = [1 0];
den1 = [9 17];
num2 = 9*[1 3];
den2 = [2 9 27];
num12 =conv(num1,num2);
den12 = conv(,den1,den2);
printsys(num12,den12);
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 Parallel Block

• Blocks in parallel can be simplified by using parallel command

num1 = [1 2];
den1 = [1 2 3];
num2 = [1 3];
den2 = [1 -4 1];
[num, den]=parallel(num1,den1,num2,den2);
printsys(num,den);
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 Closed-loop transfer function

• The block in feedback can be reduced using feedback command.

R(S) 1
- C(S)
S+1

2
num1 = 1; S
den1 = [1 1];
num2 = 2;
den2 = [1 0];
[numcl,dencl] = feedback(num1,den1,num2,den2,-1);
printsys(numcl,dencl)
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 Time Response of 1st order Systems
• The first order system has only one pole.
C( s ) K

R( s ) Ts  1

• Where K is the D.C gain and T is the time constant of the system.

• Time constant is a measure of how quickly a 1st order system

responds to a unit step input.

• D.C Gain of the system is ratio between the input signal and the
steady state value of output.
 Step Response
10
G( s ) 
3s  1
To obtain the step response of the system

num = 10;
den = [3 1];
step(num,den)
or

num = 10;
den = [3 1];
sys=tf(num, den)
step(sys)
 Impulse Response

10
G( s ) 
3s  1

To find the step response of the system

num = 10;
den = [3 1];
impulse(num,den)

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 Ramp Response
10
G( s ) 
3s  1

To find the ramp response of the system

t = 0:0.01:10
r = t;
num = 10;
den = [2 1];
lsim(num,den,r,t)

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 Time Response of 2nd Order Systems

• A general second-order system is characterized by the following

transfer function.

C( s ) n2
 2
R( s ) s  2 n s  n2
 Undamped Natural Frequency &
Damping ratio
• Determine the un-damped natural frequency and damping ratio of
the following second order system.
C( s ) 4
 2
R( s ) s  2s  4
To find the undamped natural frequency and damping
ratio in matlab
num=4
den=[1 2 4]
sys=tf(num, den)
damp(sys)
 Bode Plots

10( s  10)
G( s) 
s( s  2)( s  5)
To obtain the bode plot use following MATLAB code

num =10*[1 10];

den1= [1 0]; K =10;
den2=[1 2]; zero=-10;
den3=[1 5]; pole=[0 -2 -5];
den12=conv(den1,den2); sys=zpk(k, zero, pole);
den=conv(den12,den3); bode(sys)
bode(num,den) grid on
grid on
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 Bode Plots
Bode Diagram
50
Magnitude (dB)

-50

-100
-90
Phase (deg)

-135

-180

-225
-1 0 1 2
10 10 10 10
Frequency (rad/s)
 Bode Plots (for specific Frequency range)
10( s  10)
G( s) 
s( s  2)( s  5)
To obtain the bode plot for specific frequency range
w=0.1:0.1:100;
num =10*[1 10];
den1= [1 0];
den2=[1 2];
den3=[1 5];
den12=conv(den1,den2);
den=conv(den12,den3);
bode(num,den,w)
grid on
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Bode Plots (for specific Frequency range)
Bode Diagram
50
Magnitude (dB)

-50

-100
-90
Phase (deg)

-135

-180

-225
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
Bode Plots (with left hand arguments)

When invoked with left-hand arguments, such as

[mag, pha, w] = bode(num, den, w)

bode returns the magnitude (mag), phase (pha) and

frequency (w) of the system in matrices.
 Polar plots or Nyquist plot

2500
G( s) 
s( s  5)( s  50)
To obtain the Nyquist plot use the following MATLAB code
num =2500;
den1= [1 0];
den2=[1 5];
den3=[1 50];
den12=conv(den1,den2);
den=conv(den12,den3);
nyquist(num,den)
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 Polar plots or Nyquist plot
Nyquist Diagram
40

30

20
-w
10
Imaginary Axis

-10

-20 w
-30

-40
-2.5 -2 -1.5 -1 -0.5 0
Real Axis
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 Polar plots or Nyquist plot

2500
G( s) 
s( s  5)( s  50)
To adjust the default axes of Nyquist plot use axis command
num =2500;
den1= [1 0];
den2=[1 5];
den3=[1 50];
den12=conv(den1,den2);
den=conv(den12,den3);
nyquist(num,den)
axis([-2.5 0 -2 2])
3/15/2025 24
grid on
 Polar plots or Nyquist plot

Nyquist Diagram
2
2 dB 0 dB
1.5
-2 dB
4 dB
1 -4 dB
6 dB
-6 dB
0.5 10 dB -10 dB
Imaginary Axis

20 dB -20 dB
0

-0.5

-1

-1.5

-2
-2.5 -2 -1.5 -1 -0.5 0
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Real Axis
Nyquist plot (Open-loop & Closed Loop Frequency Response )
Nyquist Diagram
2
2 dB 0 dB
1.5
-2 dB
4 dB
1 -4 dB
6 dB
-6 dB
0.5 10 dB -10 dB
Imaginary Axis

20 dB -20 dB
0

-0.5 System: sys

Real: -0.654
-1 Imag: -0.304
Frequency (rad/s): 7.57

-1.5

-2
-2.5 -2 -1.5 -1 -0.5 0
Real Axis
 Magnitude-Phase plot or Nichols Chart

2500
G( s) 
s( s  5)( s  50)
To obtain the Nichols plot use following MATLAB code
num =2500;
den1= [1 0];
den2=[1 5];
den3=[1 50];
den12=conv(den1,den2);
den=conv(den12,den3);
nichols(num,den)
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ngrid 27
Magnitude-Phase plot or Nichols Chart
Nichols Chart
40
0 dB
0.25 dB
0.5 dB
20 1 dB -1 dB
3 dB -3 dB
6 dB
0 -6 dB
-12 dB
-20 dB
Open-Loop Gain (dB)

-20

-40 -40 dB

-60 -60 dB

-80 -80 dB

-100 -100 dB

-120 -120 dB

-140 dB
-140
-360 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg)
 Magnitude-Phase plot or Nichols Chart

2500
G( s) 
s( s  5)( s  50)
To obtain the Nichols plot use following MATLAB code
num =2500;
den1= [1 0];
den2=[1 5];
den3=[1 50];
den12=conv(den1,den2);
den=conv(den12,den3);
nichols(num,den)
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ngrid; axis([-220 -90 -40 40]) 29
Magnitude-Phase plot or Nichols Chart
Nichols Chart
40
0 dB
30 0.25 dB
0.5 dB
20 1 dB
Open-Loop Gain (dB)

10 3 dB
6 dB
0

-10

-20

-30

-40
-180 -135 -90
Open-Loop Phase (deg)
 Nichols Chart
100

80 Magnitude-Phase plot or Nichols Chart

60

40
0 dB
0.25 dB
0.5 dB
20 1 dB -1 dB
Open-Loop Gain (dB)

3 dB
6 dB System: sys -3 dB
Gain (dB): 14.3
0 -6 dB
Phase (deg): -112
Frequency (rad/s): 1.82 -12 dB

-20 -20 dB

-40 -40 dB

-60 -60 dB

-80 -80 dB

-100 dB
-100
-270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg) -13o
 Phase & Gain Margins

To obtain the gain margin and phase use the following mat
lab code.
2500
G( s) 
s( s  5)( s  50)
num =2500;
den1= [1 0];
den2=[1 5];
den3=[1 50];
den12=conv(den1,den2);
den=conv(den12,den3)
[GM, PM, wp, wg]=margin(num,den)
 Phase & Gain Margins
To obtain the gain margin and phase use the following mat lab code.

2500
G( s) 
s( s  5)( s  50)
GM =
5.5000
num =2500;
PM =
den1= [1 0];
31.7124
den2=[1 5];
den3=[1 50];
wp =
den12=conv(den1,den2);
15.8114
den=conv(den12,den3)
[GM, PM, wp, wg]=margin(num,den)
wg =
6.2184
 Phase & Gain Margins

To obtain the gain margin and phase use the following mat
lab code.
2500
G( s) 
s( s  5)( s  50)
num =2500;
den1= [1 0];
den2=[1 5];
den3=[1 50];
den12=conv(den1,den2);
den=conv(den12,den3)
margin(num,den)
 Phase & Gain Margins
Bode Diagram
Gm = 14.8 dB (at 15.8 rad/s) , Pm = 31.7 deg (at 6.22 rad/s)

0
Magnitude (dB)

-50

-100

-90

-135
Phase (deg)

-180

-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
System Characteristics (Bode Plot)
System Characteristics (Nyquist Plot)
System Characteristics (Nichol’s Chart)
 Root Locus of 1st Order System

Consider the following unity feedback system

R(S )  K C (S )

G(S ) 
S

Matlab Code
num=1;
den=[1 0];
G=tf(num,den);
rlocus(G)
sgrid
 Root Locus of 1st Order System

Consider the following unity feedback system

R(S )  KS C (S )

S 1

num=[1 0];
den=[1 1];
G=tf(num,den);
rlocus(G)
sgrid

Continued…..
 Root Locus 2nd order systems

Consider the following unity feedback system

R(S )  K C (S )

S ( S  3)

num=1;
den1=[1 0]; Determine the location of closed
den2=[1 3]; loop poles that will modify the
den=conv(den1,den2); damping ratio to 0.8 and natural
G=tf(num,den);
undapmed frequency to 1.7
r/sec. Also determine the gain K
rlocus(G)
at that point.
sgrid
 Root Locus of Higher Order Systems

Consider the following unity feedback system

R(S )  K C (S )
num=1;  S ( S  1)( S  2)
den1=[1 0];
den2=[1 1];
den3=[1 2];
den12=conv(den1,den2);
den=conv(den12,den3); Determine the closed loop gain
G=tf(num,den); that would make the system
rlocus(G) marginally stable.
sgrid
 Root Locus of a Zero-Pole-Gain Model

R(S )  3( S  5) C (S )
 S ( S  1)( S  2)

k=2;
z=-5;
p=[0 -1 -2];
G=zpk(z,p,k);
rlocus(G)
sgrid
 Root Locus of a State-Space Model

 x1   5  1  x1  1
 x    3  1  x   0u (t )
 2   2   
 x1 
y (t )  1 0   D, where D  0
 x2 
A=[-5 -1;3 -1];
B=[1;0];
C=[1 0];
D=0;
sys=ss(A,B,C,D);
rlocus(sys)
sgrid
Choosing Desired Gain

2S  3
G(S )  2
3S  4 S  1

num=[2 3];
den=[3 4 1];
G=tf(num,den);
[kd,poles]=rlocfind(G)
sgrid
Please attach the hard copy of following exercises under the title solution
to lab-6 in your practical book.

EXERCISES
 Exercise#1
• Simplify the following block diagram and determine the following
(Assume K=10).
– Closed loop transfer function (C/R)

– Poles

– Zeros

– Pole-zero-map

1
s2
1
s
 Exercise#2
• Simplify the following block diagram and determine the following.
– Closed loop transfer function (C/R)

– Poles

– Zeros
1
– Pole-Zero-map
( s  1) 2

+ + 7( s  1) -+
R 10 C
- - s( s  3)

1
( s  1) 2
Exercise-3: Obtain the step and ramp responses
of the following 1st order system for T=1, 2, 3 5,
10 seconds.

2
G( s ) 
Ts  1

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Exercise-4: Obtain the step and ramp responses
of the following 1st order system for K=1, 5, 10
and 15.

K
G( s ) 
3s  1

3/15/2025
Exercise-5: Obtain the step response of the
following 1st order system with zero for
(i) K=1, α=4 and T=3 sec
(ii) K=1, α=3 and T=4 sec
(iii) K=1, α=3 and T=3 sec

C ( s ) K (1  s )

R( s ) Ts  1
(iv) And compare the results with system w/o zero
C( s ) K

3/15/2025 R( s ) Ts  1
 Exercise#6

Describe the nature of the second-order system response via the value
of the damping ratio for the systems with transfer function

12
1. G ( s )  2
s  8s  12

16
2. G ( s)  2
s  8s  16

20
3. G ( s )  2
s  8s  20
52
Exercise-7: Obtain the pole zero map and step response
of the 2nd order system and determine the mode of
damping in the system. If the system is underdamped
obtain the time domain specifications. On the pole zero
map show that corresponding damping ratio and natural
undamped frequency of the poles.
(i) ωn=3 r/s and ζ=1
(ii) ωn=3 r/s and ζ=2
C( s ) n2
(iii) ωn=3 r/s and ζ=0.1  2
R( s ) s  2 n s  n2
(iv) ωn=3 r/s and ζ=0.5
(v) ωn=3 r/s and ζ=0
Exercise-8: Obtain the step response of the 2nd order
system if
(i) ωn=0.1 r/s and ζ=0.5
(ii) ωn=0.3 r/s and ζ=0.5
(iii) ωn=0.6 r/s and ζ=0.5
(iv) ωn=1 r/s and ζ=0.5
(v) ωn=1.5 r/s and ζ=0.5

C( s ) n2
 2
R( s ) s  2 n s  n2
 Exercise#9

• Consider the system shown in following figure, where

damping ratio is 0.6 and natural undamped frequency is 5
rad/sec. Obtain the rise time tr, peak time tp, maximum
overshoot Mp, and settling time 2% and 5% criterion ts when
the system is subjected to a unit-step input.
 Bode Plots

Exercise-10: - Obtain the bode plot of the second order system

ωn = 0.1 rad / sec
ζ = 0.1, 0.5, 1, 1.5
0.01
G(S) =
(S2 + 0.02S+0.01)
0.01
G(S) =
(S2 + 0.01S+0.01)
0.01
G(S) = 2
(S + 0.02S+0.01)
0.01
G(S) = 2
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(S + 0.03S+0.01) 56
 Bode Plots

Exercise-11: - Calculate the magnitude and phase of the following

system at w (rad/sec)=0.1, 0.5, 1, 10, 100.

s  10
2
G( s)  2
5s  2s  25
 Polar plots or Nyquist plot

Exercise-12: - consider following transfer function

10( s  10)
G( s) 
s( s  2)( s  5)
(i) Obtain the Nyquist plot of the following system (when w>0).
(ii) Determine the open-loop & closed-loop magnitude responses
when w=2.5 rad/sec

3/15/2025 58
Exercise-13: - For the following Transfer Function

10( s  10)
G( s) 
s( s  2)( s  5)
(i) Obtain the Nichols Chart
(ii) Determine the open-loop as well as closed-loop magnitude and
phase when w=1.39 rad/sec.

3/15/2025 59
 Exercise#14

• Obtain the phase and gain margins of the system shown in

following figure for the two cases where K=10 and K=100.
 Exercise#15

• Consider the system shown in following figure. Obtain

Bode diagram for the closed-loop transfer function. Obtain
also the resonant peak, resonant frequency, and bandwidth.
 Exercise#16

Plot the root locus of following first order systems.

R(S )  KS C (S )

S 1

R(S )  K ( S  2) C (S )

S 1
 Exercise#17

Plot the root locus of following 2nd order systems.

R(S )  K ( S  3) C (S )

(1) S ( S  1)

R(S )  K ( S  2)( S  3) C (S )
(2)

S ( S  1)
 Exercise#18
Plot the root locus of following systems.

R(S )  K ( S  3) C (S )
 S ( S  1)( S  2)
(1)

R(S )  K ( S  3)( S  5) C (S )
 S ( S  1)( S  2)
(2)
 Exercise#19

4(S  3)
G(S ) 
(S  1)(S  4)(S  6)

Plot the root Loci for the above ZPK model and find out the
location of closed loop poles for =0.505 and n=8.04 r/sec.

b=0.505;
wn=8.04;
sgrid(b, wn)
axis equal
 Exercise#20:

Consider the following unity feedback system

K
G( S ) 
( S  1)( S  4)

i) Plot the root Loci for the above transfer function

ii) Find the gain when both the roots are equal
iii) Also find the roots at that point
iv) Determine the settling of the system when two roots are
equal.
 Exercise#21

Consider the following velocity feedback system

R(S )  K C (S )
 S ( S  3)(S  5)(S  7)

3  5S
i) Plot the root Loci for the above system
ii) Determine the gain K at which the system produces sustained
oscillations with frequency 8 rad/sec.