RN SHETTY TRUST®

RNS INSTITUTE OF TECHNOLOGY

Autonomous Institution, Affiliated to VTU, Recognized by GOK, Approved by AICTE
(NAAC ‘A+ Grade’ Accredited, NBA Accredited (UG - CSE, ECE, ISE, EIE and EEE)
Channasandra, Dr. Vishnuvardhan Road, Bengaluru - 560 098
Ph:(080)28611880,28611881 URL: www.rnsit.ac.in

DEPARTMENT OF Electronics & Communication

engineering

CONTROL SYSTEMS LAB MANUAL

(BEC403)
(As per Visvesvaraya Technological University Course type- IPCC)

Compiled by

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

R N S Institute of Technology
Bengaluru-98

Name:

USN:
 RN SHETTY TRUST®
RNS INSTITUTE OF TECHNOLOGY
Autonomous Institution, Affiliated to VTU, Recognized by GOK, Approved by AICTE
(NAAC ‘A+ Grade’ Accredited, NBA Accredited (UG - CSE, ECE, ISE, EIE and EEE)
Channasandra, Dr. Vishnuvardhan Road, Bengaluru - 560 098
Ph:(080)28611880,28611881 URL: www.rnsit.ac.in

DEPARTMENT OF ELECTRONICS & COMMUNICATION

ENGINEERING

Vision of the Department

Conquering technical frontiers in the field of Electronics and
Communication

Mission of the Department

⚫ Achieve and foster excellence in core Electronics and Communication
engineering with focus on hardware, simulation and design.
⚫ Pursue research, development and consultancy to achieve self
sustenance.
⚫ Preparing industry ready graduates by providing skill training and
nurturing innovation and creativity.
Disclaimer

The information contained in this document is the proprietary and exclusive property of RNS
Institute except as otherwise indicated. No part of this document, in whole or in part, may be
reproduced, stored, transmitted, or used for course material development purposes without the
prior written permission of RNS Institute of Technology.

The information contained in this document is subject to change without notice. The
information in this document is provided for informational purposes only.

Trademark

Edition: 2024- 25

Document Owner
The primary contact for questions regarding this document is:

1. Dr. Prakash Tunga P

Author(s): 2. Praveen G
3. Sowmya Prasad

Department: ECE
Contact email ids : [email protected], [email protected]
 COURSE OUTCOMES
Course Outcomes: At the end of this course, students are able to:
CO1- Develop Mathematical models of electrical and mechanical systems, and obtain analogous systems.
CO2- Obtain transfer function by Block diagram reduction techniques/Mason’s gain formula.
CO3- Determine time response of first and second order LTI systems, and their specifications.
CO4- Analyse LTI systems and determine their characteristics.
CO5- Implement various control systems and analysis techniques using MATLAB
COs and POs Mapping of lab Component

COURSE
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2
OUTCOMES

CO1 3 3 1 2

CO2 1 3 2 2

CO3 1 3 1 2

CO4 2 2

CO5 2 3 2
 Mapping of ‘Graduate Attributes’ (GAs) and ‘Program Outcomes’ (POs)
Graduate Attributes (GAs)
Program Outcomes (POs)
(As per Washington Accord
(As per NBA New Delhi)
Accreditation)
Apply the knowledge of mathematics, science, engineering
Engineering Knowledge fundamentals and an engineering specialization to the solution of
complex engineering problems

Identify, formulate, review research literature and analyze complex

Problem Analysis engineering problems reaching substantiated conclusions using first
principles of mathematics, natural sciences and engineering sciences.

Design solutions for complex engineering problems and design

system components or processes that meet the specified needs with
Design/Development of solutions
appropriate considerations for the public health and safety and the
cultural, societal and environmental consideration.

Use research – based knowledge and research methods including

Conduct Investigation of
design of experiments, analysis and interpretation of data and
complex problems
synthesis of the information to provide valid conclusions.
Create, select and apply appropriate techniques, resources and modern
engineering and IT tools including prediction and modeling to
Modern Tool Usage
complex engineering activities with an understanding of the
limitations.
Apply reasoning informed by the contextual knowledge to assess
The engineer and society society, health, safety, legal and cultural issues and the consequential
responsibilities relevant to the professional engineering practice.

Understand the impact of the professional engineering solutions in

Environment and sustainability societal and environmental context and demonstrate the knowledge of
and need for sustainable development.
Apply ethical principles and commit to professional ethics and
Ethics
responsibilities and norms of the engineering practice.
Function effectively as an individual and as a member or leader in
Individual and team work
diverse teams and in multidisciplinary settings.

Communicate effectively on complex engineering activities with the

engineering community and with society at large, such as being able
Communication
to comprehend and write effective reports and design documentation,
make effective presentations and give and receive clear instructions.

Demonstrate knowledge and understanding of the engineering and

management principles and apply these to ones won work, as a
Project management & finance
member and leader in a team, to manage projects and in
multidisciplinary environments.
Recognize the need for and have the preparation and ability to engage
Life Long Learning
in independent and life-long learning in the broadest context of
technological change.
REVISED BLOOMS TAXONOMY (RBT)
 EXPERIMENT LIST

Sl. NO. Program Description Page No.

1 Implement Block diagram reduction technique to obtain transfer function a

1
control system.

2 Implement Signal Flow graph to obtain transfer function a control system 5

3 Simulation of poles and zeros of a transfer function. 10

4 Implement time response specification of a second order Under damped System,

12
for different damping factors.

5 Implement frequency response of a second order System. 16

6 Implement frequency response of a lead lag compensator. 20

7 Analyze the stability of the given system using Routh stability criterion. 26

8 Analyze the stability of the given system using Root locus 29

9 Analyze the stability of the given system using Bode plots. 32

10 Analyze the stability of the given system using Nyquist plot. 34

11 Obtain the time response from state model of a system. 38

12 Implement PI and PD Controllers. 41

13 Implement a PID Controller and hence realize an Error Detector. 41

14 Demonstrate the effect of PI, PD and PID controller on the system response 41
 Control Systems Manual-BEC403-IPCC

Experiment – 1: Implement Block diagram reduction technique to obtain transfer function

of a control system.
Aim: To obtain the transfer function of a two-stage RC circuit from its Block diagram
representation
Learning Objectives: 1) To draw the block diagram equivalent of the two stage RC circuit.
2) Apply Block diagram reduction techniques
3) To obtain the transfer function of the filter.

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Control Systems Manual-BEC403-IPCC

2
 Control Systems Manual-BEC403-IPCC

Program:
close all;
clc;
R1=10; R2= 10; C1= 0.1; C2 =0.1;
sum1=sumblk('ev= vi - v1');
G1=tf([1],[R1]);
G1.InputName='ev';
G1.OutputName='i1';
sum2=sumblk('ei=i1-i2');
G2=tf([1],[C1 0]);
G2.InputName='ei';
G2.OutputName='v1';
sum3=sumblk('ev0=v1-v0');
G3=tf([1],[R2]);
G3.InputName='ev0';
G3.OutputName='i2';

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 Control Systems Manual-BEC403-IPCC

G4=tf([1],[C2 0]);
G4.InputName='i2';
G4.OutputName='v0';
T=connect(sum1,G1,sum2,G2,sum3, G3,G4,'vi','v0');
sys=tf(T)

Output:

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 Control Systems Manual-BEC403-IPCC

Experiment – 2: Implement Signal Flow graph to obtain transfer function a control system.
Aim: To obtain the transfer function of a two-stage passive low-pass filter
Learning Objectives: 1) To draw the signal flow graph from the block diagram of the low-pass
filter.
2) To obtain the transfer function of the filter.

Program 2a:
close all;
clc;
R1=10; R2=10; C1=0.1; C2=0.1;
[num,den]=mason('example.txt',1,8) %function applying MGF
num1=str2sym(num)
num2=subs(num1) %numerator polynomial of TF
den1=str2sym(den)
den2=subs(den1) %denominator polynomial of TF
G=num2/den2
pretty(G)

5
 Control Systems Manual-BEC403-IPCC

Output:

6
 Control Systems Manual-BEC403-IPCC

Program 2b:

close all;
clc;
[num,den]=mason('example1.txt',1,8) %function applying MGF
num1=str2sym(num)
den1=str2sym(den)
G=num1/den1
pretty(G)

Procedure:
1. Open a notepad and type the signal flow in the following manner

7
 Control Systems Manual-BEC403-IPCC

2. Save the notepad as .txt file in the respective target folder

3. Run the matlab code to see the output

Output:

8
Control Systems Manual-BEC403-IPCC

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 Control Systems Manual-BEC403-IPCC

Experiment – 3: Simulation of poles and zeros of a transfer function.

Aim: To find the poles and zeros of a linear system described by the differential equation
Learning Objectives: 1) To mark the poles and zeros on the s-plane
Poles and Zeros:
The transfer function provides a basis for determining important system response characteristics
without solving the complete differential equation. As defined, the transfer function is a rational
function in the complex variable s = σ + jω, that is

It is often convenient to factor the polynomials in the numerator and denominator, and to write the
transfer function in terms of those factors:

where the numerator and denominator polynomials, N(s) and D(s), have real coefficients defined
by the system’s differential equation and K = bm/an

Example:
For a linear system described by the differential equation, find the system poles and zeros.

From the differential equation the transfer function is:

which may be written in factored form

The system therefore has a single real zero at s = −1/2, and a pair of real poles at s = −3 and s =
−2.

Program:
clc;
close all;
num=input('enter the numerator coefficients of TF');
den=input('enter the denominator coefficients of TF');
sys=tf(num,den);
p=pole(sys)
z=zero(sys)
pzmap(sys);

10
 Control Systems Manual-BEC403-IPCC

Output:

11
 Control Systems Manual-BEC403-IPCC

Experiment – 4: Implement time response specification of a second order Under damped

System, for different damping factors. (Simulink)
Aim: To determine time response specifications of a second-order underdamped system
Learning Objectives: 1) To determine the transfer function of the given second-order system
2) To determine the time response parameters from transfer function.
3) To vary damping factor and determine the time response parameters practically.
Second Order system:
The closed loop transfer function of second-order system is given by;
C(s) ω2n
= 2
R(s) s + 2ζωn s + ω2n
C(s)
Where, R(s) is the ratio (Transfer Function) of transforms of controlled variable and reference input,
ωn is the natural frequency and ζ is the damping factor.
Circuit which is also a second order system:

Fig. 1: Second order system

The above circuit can be written equivalently in s-domain as;

Fig. 2: s-domain representation of the circuit

From the above circuit, we may write the following equations;

1
Vo (s) = I(s)
cs

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 Control Systems Manual-BEC403-IPCC

Vi (s) − Vo (s)
I(s) =
R + sL
Therefore, we may view the above circuit as closed loop control system as shown;

Solving for Vo(s) we have;

1
Vi (s) [cs]
Vo (s) =
1
R + sL + cs

Fig. 3: Block diagram representation of the system

C(s) Vo (s) 1⁄ ω2n

= = LC = 2
R(s) Vi (s) s2 + R⁄L s + 1⁄LC s + 2ζωn s + ω2n

⟹ ω2n = 1⁄LC , selecting L= 2.2 mH and C= 0.1 µF, we have ωn = 67400 rad/sec. Natural frequency
in Hz is equal to fn = 10720 Hz (around 10 kHz). Also, 2ζωn = R⁄L. Selecting ζ as 0.5, we get R
= 150 Ω. For ζ = 0.3, we get R =90 Ω. Use DRB for setting required values of R and use DIB for
setting required value of L.
Procedure:
1) Connect the circuit as shown in Fig. 1, in MATLAB Simulink.
2) Set the input voltage to be 1 Vpp square waveform having the frequency 1000 Hz.
3) Observe the input and output waveform as shown in Fig. 4.
4) Measure the time-response parameters of the system using Fig. 5 as reference.
5) Compare theoretical and practical values.

Fig. 4: Block diagram representation of the system

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 Control Systems Manual-BEC403-IPCC

Fig. 5a: Input and output waveforms for ζ=0.3

Fig. 5b: Input and output waveforms for ζ=0.5

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 Control Systems Manual-BEC403-IPCC

Fig. 6: Time response specifications

Result:
Theoretical Practical
Formula
ζ = 0.3 ζ = 0.5 ζ = 0.3 ζ = 0.5
Rise time = tr =
√1−ζ2
π−tan−1 ( )
ζ

ωn √1−ζ2
Peak time =
π
tp = 2
ωn √1−ζ
Peak overshoot=
−ζπ

√1−ζ2
Mp = e
Settling time =
4
ts = ζω
n
Viva Questions:
1) Show that an RC filter is a first order system?
2) Prove by considering an example that the stable system has its poles lying on LHS of s-
plane?
3) Write the general equation of transfer function of a second order system.
4) In the above discussed second order system, by varying R, what gets varied?

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 Control Systems Manual-BEC403-IPCC

Experiment – 5: Implement frequency response of a second order System.

Aim: To obtain the frequency response of a second order system.
Learning Objectives: 1) To determine the transfer function of the given second-order system.
2) To determine the frequency response and rise time of second order
system and verify relation between Bandwidth and rise time.
Second Order system:
The closed loop transfer function of second-order system is given by;
C(s) ω2n
= 2
R(s) s + 2ζωn s + ω2n
C(s)
Where, R(s) is the ratio (Transfer Function) of transforms of controlled variable and reference input,
ωn is the natural frequency and ζ is the damping factor.
Circuit which is also a second order system:

Fig. 1: Second order system

The above circuit can be written equivalently in s-domain as;

Fig. 2: s-domain representation of the circuit

From the above circuit, we may write the following equations;

1
Vo (s) = I(s)
cs

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 Control Systems Manual-BEC403-IPCC

Vi (s) − Vo (s)
I(s) =
R + sL
Therefore, we may view the above circuit as closed loop control system as shown;

Solving for Vo(s) we have;

1
Vi (s) [cs]
Vo (s) =
1
R + sL + cs

Fig. 3: Block diagram representation of the system

C(s) Vo (s) 1⁄ ω2n

= = LC = 2
R(s) Vi (s) s2 + R⁄L s + 1⁄LC s + 2ζωn s + ω2n

⟹ ω2n = 1⁄LC , selecting L= 2.2 mH and C= 0.1 µF, we have ωn = 67400 rad/sec. Natural frequency
in Hz is equal to fn = 10720 Hz (around 10 kHz). Also, 2ζωn = R⁄L. Selecting ζ as 0.5, we get R
= 150 Ω. For ζ = 0.3, we get R =90 Ω.
Program:
clc;
close all;

%zeta=0.5
R=150; L=0.0022; C=0.1*1e-6;
sum1=sumblk('e=vi-v0');
G=tf([1],[L*C R*C 0]);
G.InputName='e';
G.OutputName='v0';
SOS=connect(sum1, G, 'vi', 'v0');
sys=tf(SOS)

%time response of the system

step(sys,0.5*1e-3);
grid;

%frequency response of the system

figure
bode(sys);
grid;

%zeta=0.3

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 Control Systems Manual-BEC403-IPCC

R=90; L=0.0022; C=0.1*1e-6;

sum1=sumblk('e=vi-v0');
G=tf([1],[L*C R*C 0]);
G.InputName='e';
G.OutputName='v0';
SOS=connect(sum1, G, 'vi', 'v0');
sys=tf(SOS)

%time response of the system

figure
step(sys,0.5*1e-3);
grid on;

%frequency response of the system

figure
bode(sys);
grid on;

Expected frequency response:

Output:
Time response or Step response:

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 Control Systems Manual-BEC403-IPCC

Frequency response:

Theoretical Practical
Resonant Fn √1 − 2ζ2
frequency, fr
Peak gain, Mr AF
2ζ√1−ζ2
1
Bandwidth 2 2
Fn [1 − 2ζ + √2 − 4ζ2 + 4ζ4 ]
Rise time, tr 0.35
BW

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 Control Systems Manual-BEC403-IPCC

Experiment – 6: Implement frequency response of a lead lag compensator

Aim: To obtain the frequency response of a Lag-lead compensator
Learning Objectives: 1) To determine the transfer function of the Lag-Lead compensator.
2) To determine the poles and zeros of the compensator.
3) To determine the frequency response (magnitude and phase response) of
the Lag-Lead compensator.
Compensators: Every control system designed for a specific application must meet certain
performance specifications. In some cases, merely by gain adjustment, it may be possible to meet
certain specifications. However, in most of the cases, increasing the gain reduces the steady state
error but results in oscillatory transient response or, instability. Under such circumstances, it is
necessary to introduce some kind of corrective subsystems to force the chosen plant (which outputs
the controlled variable in control system) to meet the given specifications. These subsystems are
known as compensators. Their job is to compensate for the deficiency in the performance of the
plant.

Lead, Lag and Lag-Lead Compensators: A lead compensator is suitable for systems having
unsatisfactory transient response, but it provides only a limited improvement in steady state
response. If the steady state behavior is highly unsatisfactory, the lead compensator may not be
the answer. On the other hand, for the systems with the satisfactory transient response, but
unsatisfactory steady state response, the lag compensator is found to be a good choice. When both
transient and steady state responses are quite unsatisfactory, we must draw upon the combined
powers of lag and lead compensators, in order to meet the specifications. A more convenient choice
is the combined lag-lead compensator. The lag-lead compensator is a combination of a lag
compensator and a lead compensator. The lag section has one real pole and one real zero with the
pole to the right of zero. The lead section also has one real pole and one real zero but the zero is to
the right of the pole. The general form of this compensator is:

s + 1⁄τ1 s + 1⁄τ2
Gc (s) = ( )( ) , β > 1, α < 1
s + 1⁄βτ s + 1⁄ατ2
1

Lag section Lead section

……… (1)
The above equation can be realized by a single electric lag-lead network shown
in Fig. 1. From the Fig. 1, the transfer function of the network is given by:

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 Control Systems Manual-BEC403-IPCC

1
Vo (s) R2 + C s
2
=
Vi (s) R1
1 C1 s
R2 + C s + 1
2
R1 + C s
1

1 1
Vo (s) (s + R C ) (s + R C )
= 1 1 2 2 ……… (2)
Vi (s) 1 1 1 1
s 2 + (R C + R C + R C ) s + R R C C
1 1 2 1 2 2 1 2 1 2

Fig. 1: Lag-Lead Compensator circuit

In s-domain, above circuit can be written as:

Fig. 2: Lag-Lead Compensator circuit in s-domain

Comparing (1) and (2), we have:

R1 C1 = τ1
R 2 C2 = τ2

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 Control Systems Manual-BEC403-IPCC

R1 R 2 C1 C2 = αβτ1 τ2
1 1 1 1 1
+ + = +
R1 C1 R 2 C1 R 2 C2 βτ1 ατ2
From equations above, αβ = 1. This means that lag-lead network does not permit us an
independent choice of α and β. Keeping this in view, the TF of a lag-lead compensator may be
written as:
s + 1⁄τ1 s + 1⁄τ2
Gc (s) = ( )( ) ,β > 1
s + 1⁄βτ s +
β⁄
τ2
1

s + zc1 s + zc2 zc1 pc2

= ( )( ); β = = >1
s + pc1 s + pc2 pc1 zc2
Where ;
1 1 1 1 β
R1 C1 = τ1 , R 2 C2 = τ2 and β > 1, such that, +R +R = βτ + τ
R1 C 1 2 C1 2 C2 1 2

Next: zc1 is represented as ωzc1 and zc2 is represented as ωzc2

The s-plane representation of a lag-lead compensator is shown in the Fig. 3. The sinusoidal TF of
lag-lead compensator is given by:

1 + jωτ1 1 + jωτ2
Gc (s) = ( )( )
1 + jωβτ1 1 + jω𝜏2
β

Fig. 3: s-plane representation of Lag-Lead Compensator

The magnitude and phase response of the circuit is shown in Fig. 4.

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 Control Systems Manual-BEC403-IPCC

Fig. 4: Frequency response of Lag-Lead Compensator

Design:
Select β=10, ωzc1= 2π(1k) rad/ sec and ωzc2 = 2π(10k) rad/ sec
 ωzc2 = 10 ωzc1, fzc2 = 10 kHz, fzc1 = 1 kHz, ωzc1 = 1⁄τ1 and ωzc2 = 1⁄τ2
1 1 1 1 β
wkt: + + = +
R1 C1 R 2 C1 R 2 C2 βτ1 τ2
1 ωzc1
ωzc1 + ωzc2 + = + β ωzc2
R 2 C1 β
1 1
⇒ 11ωzc1 + = ωzc1 (β + 10β)
R2 C 1
After substituting β =10, we have:
1
89.1 ωzc1 =
R 2 C1

1 1
89.1 =
R1 C1 R 2 C1

R1
⇒ R2 =
89.1
Select, R1 = 150 kΩ, we have R2 = 1.68 kΩ (use (1.5k + 180) Ω)

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 Control Systems Manual-BEC403-IPCC

1
ωzc1= 2π(1k) = , solving for C1, we get it as 1100 pF
R1 C 1
1
ωzc2= 2π(10k) = , solving for C2, we get it as 0.01 µF.
R2 C 2
Procedure:
1. Rig up the circuit as shown.
2. Input signal is applied using signal generator.
3.Vary the frequency of the signal from 10 Hz, keeping the amplitude constant.
4. At each step, note down the output.
5. Calculate the gain magnitude and phase (using Lissajous figure in CRO).
6. Observe the output to lag and then lead the input, effectively from fzc1 = 1⁄2πτ to fzc2 = 1⁄2πτ .
1 2
Also, the gain to be minimum in this region.
7. Plot the graph of gain and phase versus frequency.
8. Determine pole and zero frequencies practically.

Result: The pole and zero frequencies in Hz are found to be:

Theoretical Practical
fpc1 = 1⁄2πβτ
1

fzc1 = 1⁄2πτ
1

fzc2 = 1⁄2πτ
2
β
fpc2 = ⁄2πτ
1

Program:
close all;
clc;
R1=150*1e3; C1= 1100*1e-12; R2 =1680; C2 = 0.01*1e-6;
wzc1=1/(R1*C1);
wzc2=1/(R2*C2);
num=[1 wzc1+wzc2 wzc1*wzc2 ];
den=[1 wzc1+wzc2+1/(R2*C1) wzc1*wzc2];
sys=tf(num,den)
pzplot(sys)
figure
bode(sys);
grid;

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 Control Systems Manual-BEC403-IPCC

Output:

Viva Questions:
1) What is a compensator?
2) Write the transfer functions of lag, lead, lag-lead compensators?
3) Sketch the magnitude response of a lag-lead compensator?
4) Sketch the phase response of a lag-lead compensator?
5) What is the slope of the gain after the first pole frequency is surpassed?
6) Mention the range of frequency wherein the circuit can be operated effectively?

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 Control Systems Manual-BEC403-IPCC

Experiment – 7: Analyze the stability of the given system using Routh stability criterion
Aim: To find the stability of the given system using RH criterion.
Learning Objectives: 1) To analyze the system to determine the stability of the of the system
Routh-Hurwitz stability criterion is having one necessary condition and one sufficient condition
for stability. If any control system doesn’t satisfy the necessary condition, then we can say that the
control system is unstable. But, if the control system satisfies the necessary condition, then it may
or may not be stable. So, the sufficient condition is helpful for knowing whether the control system
is stable or not.

Necessary Condition for Routh-Hurwitz Stability:

The necessary condition is that the coefficients of the characteristic polynomial should be positive.
This implies that all the roots of the characteristic equation should have negative real parts.

Consider the characteristic equation of the order ‘n’ is –

Note that, there should not be any term missing in the nth order characteristic equation. This means
that the nth order characteristic equation should not have any coefficient that is of zero value.

Sufficient Condition for Routh-Hurwitz Stability:

The sufficient condition is that all the elements of the first column of the Routh array should have
the same sign. This means that all the elements of the first column of the Routh array should be
either positive or negative.

Formulate the Routh table and find the number of the sign changes in the first column of the Routh
table. The number of sign changes in the first column of the Routh table gives the number of roots
of characteristic equation that exist in the right half of the ‘s’ plane and the control system is
unstable.

Follow this procedure for forming the Routh table:

• Fill the first two rows of the Routh array with the coefficients of the characteristic
polynomial as mentioned in the table below. Start with the coefficient of sn and continue
up to the coefficient of s0.
• Fill the remaining rows of the Routh array with the elements as mentioned in the table
below. Continue this process till you get the first column element of row s0 is an. Here, an is
the coefficient of s0 in the characteristic polynomial.

The following table shows the Routh array of the nth order characteristic polynomial.

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 Control Systems Manual-BEC403-IPCC

Program:
close all;
clc;
CEcoeffs=input('input vector of system coefficients: \n i.e.
[an an-1 an-2 ... a0] = ');
RouthHurwitz(CEcoeffs)

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 Control Systems Manual-BEC403-IPCC

Output:

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 Control Systems Manual-BEC403-IPCC

Experiment – 8: Analyze the stability of the given system using Root locus.
Aim: To sketch the Root locus and Bode plots for a given open loop transfer function of a
system

Learning Objectives: 1) To know the functions used for generation of Root locus and Bode
plots in MATLAB.
2) To determine the important points on Root locus, like, breakaway points, points of
intersection with imaginary axis, determination of gain (K) at those points, etc. theoretically and
from the software tool.
3) To determine gain crossover frequency, phase crossover frequency, and stability of the
system, theoretically and from the software tool.

Root Locus (actually Root Loci): It is the locus of roots of the characteristic equation when the
gain parameter K is varied from 0 to infinity.

There are set of rules for the construction of root locus which are developed based on certain
facts. Faithfully following the rules lead us to the appropriate sketch of root locus. These rules
are given in the form of notes.

For the given OLTF of a system construct the root locus:

K(s+3)
1) G(s)H(s) = s(s+2)

Prove that the root locus traces the path of a circle. Determine the value of K at breakaway
points.

K(s2 +4s+8)
2) G(s)H(s) = s2 +8s+32

K
3) G(s)H(s) = s(s+2)(s+4)

Determine the range of K for the system producing damped oscillatory response.

Procedure:

1) All the problems must be solved theoretically. Refer to class notes.

2) Sketch Root Locus and Bode Plots.
3) Then verify the solutions with results from MATLAB.

Root locus Example:

K
G(s)H(s) =
s(s + 2)(s + 4)

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 Control Systems Manual-BEC403-IPCC

Determine the range of K for the system producing damped oscillatory response.

Program:

%Program for sketching Root locus and Bode plots for a given OLTF

close all;
clear;
num=input('enter the coefficients of numerator of G(s)H(s) for
sketching root locus');
den=input('enter the coefficients of denominator of G(s)H(s) for
sketching root locus');
sys=tf(num,den)
rlocus(sys);

num1=input('enter the coefficients of numerator of G(s)H(s) for

sketching Bode Plot');
den1=input('enter the coefficients of denominator of G(s)H(s)
for sketching Bode Plot');
sys1=tf(num1,den1)
bode(sys1);

Program Outcomes:

enter the coefficients of numerator of G(s)H(s) for sketching

root locus
[1]
enter the coefficients of denominator of G(s)H(s) for sketching
root locus
[1 6 8 0]
enter the coefficients of numerator of G(s)H(s) for sketching
Bode Plot
[10 200]
enter the coefficients of denominator of G(s)H(s) for sketching
Bode Plot
[1 102 200 0]

Root Locus Sketch: Observe the values of K at breakaway and at intersection with imaginary
axis. As per the sketch, K value at breakaway point is 3.08 and at imaginary axis it is 48.6.
Therefore, for damped oscillatory response, 3.08 < K < 48.6. When the system is marginally stable,
the system oscillates at 2.84 rad/sec.

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 Control Systems Manual-BEC403-IPCC

Viva Questions:
1) What is a breakaway point? How we can find the same?
2) Prove by example that the root locus begins from open loop poles.
3) What are angles of departure and arrival?
4) Define gain and phase margins?
5) Presently the gain margin is 20 dB for the gain, K = 15. What must be the value of K, if
gain margin has to be 10 dB.

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 Control Systems Manual-BEC403-IPCC

Experiment – 9: Analyze the stability of the given system using Bode plots
Aim: To sketch the Bode plots for a given open loop transfer function of a system

Learning Objectives: 1) To know the functions used for generation of Root locus and Bode plots
in MATLAB.
2) To determine the important points on Root locus, like, breakaway points, points of intersection
with imaginary axis, determination of gain (K) at those points, etc. theoretically and from the
software tool.
3) To determine gain crossover frequency, phase crossover frequency, and stability of the system,
theoretically and from the software tool.

Bode Plot: It is the plot of magnitude and phase of OLTF of a feedback system. In hand analysis,
Bode magnitude plot is always an approximation plot which is constructed by only straight lines,
while the phase plot is the exact plot. We determine the gain crossover frequency, phase crossover
frequency, Gain margin, Phase margin and hence stability from these plots. Also, for the given
Gain margin, Phase margin and gain crossover frequency, the value of the gain parameter required
can also be calculated. Detailed theory is given in the form of notes.

For the given OLTF of a system construct the bode plots:

10 (s+20) (1+0.05s) 10s+200

1) G(s)H(s) = s(s+2)(s+100) = =
s(1+0.5s)(1+0.01s) s3 +102s2 +200s

Determine Gain crossover frequency, phase crossover frequency and stability.

5(1+2s) 2(105 )(s+0.5)

2) G(s)H(s) = s(1+0.1s)(1+0.05s)(1+0.01s) = s(s+10)(s+20)(s+100)

2(105 )s+2(105 )
= s4 +130s3 +3200s2+20000s

Determine Gain crossover frequency, phase crossover frequency and stability.

Program:
close all;
clear;
num1=input('enter the coefficients of numerator of G(s)H(s) for
sketching Bode Plot');
den1=input('enter the coefficients of denominator of G(s)H(s)
for sketching Bode Plot');
sys1=tf(num1,den1)
bode(sys1);

Bode Plot: The gain crossover frequency from the plot obtained is 0.916 rad/sec. The phase
crossover frequency is infinity, as phase function never crosses -180° for any finite frequency.
However, the system is stable as gain crossover frequency is less than phase crossover frequency.

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 Control Systems Manual-BEC403-IPCC

Gain margin, GM= 0 dB – M at ωp = - (-infinity) = infinity. Phase margin, PM = ϕ at ωg + 180° =

67°.

Results: Gain Crossover frequency = _____, Phase Crossover frequency = _____

GM= _____. PM = _____, System stable: Yes/No.

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 Control Systems Manual-BEC403-IPCC

Experiment – 10: Analyze the stability of the given system using Nyquist plot
Aim: To analyze the stability of a system using Nyquist plot
Learning Objectives: 1) To know the functions used for generation of Nyquist plots in MATLAB.
2) To analyze the stability of the system with the help of plot by knowing the zeros of the
characteristics equation, number of encirclements and number of poles of open loop
transfer function.
Nyquist Plot: Nyquist plots are the continuation of polar plots for finding the stability of the closed
loop control systems by varying ω from −∞ to ∞. Nyquist plots are used to draw the complete
frequency response of the open loop transfer function. The Nyquist stability criterion determines
the stability of a closed-loop system from its open loop frequency response and open-loop poles.
The Nyquist Criterion can be expressed as:
N=Z-P
where,
• Z = number of zeros of the characteristics equation 1 + G(s)H(s) on the right-half s-plane
• N = net encirclements around the point (-1+j0). (clockwise encirclements are taken as
positive and anticlockwise encirclements are negative)
• P = number of poles of G(s)H(s) in the right-half of s-plane
The stability of linear control systems using the Nyquist stability criterion, three possibilities can
occur:
Case 1: There is no encirclement of the (–1+j0) point. This implies that the system is stable
if there are no poles of open loop transfer function G(s)H(s) in the right-half of s- plane;
otherwise, the system is unstable.
Case 2: There are one or more counterclockwise encirclements of the (–1+j0) point. In
this case the system is stable if the number of counterclockwise encirclements is the same
as the number of open loop poles of G(s)H(s) in the right-half of s- plane; otherwise, the
system is unstable.
Case 3: There are one or more clockwise encirclements of the (–1+j0) point. In this case
the system is unstable.
Program:
close all;
clc;
num=input('enter the num coefficients:');
den=input('enter the den coefficients:');
sys=tf(num,den)
nyquist(sys);

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Output:
10 10
Example 1: G(s)H(s) = (s+1)(s+2) = s2 +3s+2

Here open loop poles on right half of s-plane is 0

 P=0
Number of encirclements is 0
 N=0
The Nyquist stability criterion is Z = P + N
Hence, Z = 0 + 0 = 0
 No roots of the system lie to the right half of s-plane. Hence the closed-loop control system
is stable.

(s+2) 𝑠+2
Example 2: G(s)H(s) = (s+1)(s−1) = s2 −1

Here open loop poles on right half of s-plane is 1

 P=1
Number of encirclements is 1 and is counterclockwise

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 Control Systems Manual-BEC403-IPCC

 N = -1
The Nyquist stability criterion is Z = P + N
Hence, Z = 1 - 1 = 0
No roots of the system lie to the right half of s-plane. Hence the closed-loop control system is
stable.

(s−2) 𝑠−2
Example 3: G(s)H(s) = (𝑠+1)2 = s2 +2𝑠+1

Here open loop poles on right half of s-plane is 0

 P=0
Number of encirclements is 1 and is clockwise
 N=1
The Nyquist stability criterion is Z = P + N
Hence, Z = 0 + 1 = 1
One root of the system lie to the right half of s-plane. Hence the closed-loop control system is
unstable.

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Control Systems Manual-BEC403-IPCC

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 Control Systems Manual-BEC403-IPCC

Experiment – 11: Obtain the time response from state model of a system
Aim: To obtain the solution of given state equation
Learning Objectives: 1) To know the functions used for obtaining solutions of state equations
in MATLAB.
2) To determine the solution theoretically and from the software tool.
State Variable analysis and design approach forms the basis of modern control theory. It is
applicable for systems with multi-input multi-output, being non-linear and having non-zero initial
conditions. It is also very much suited for computer-based development of models and solutions
of systems.
State Equation of SISO system:
−𝟑 𝟏 𝟏
𝐗̇ = [ ] 𝐗 + [ ] 𝐔(𝐭)
−𝟐 𝟎 𝟎
𝐱 ̇ (𝐭) 𝐱 𝟏 (𝐭)
𝐍𝐨𝐭𝐞, 𝐗̇ = [ 𝟏 ] , 𝐗=[ ]
𝐱 𝟐̇ (𝐭) 𝐱 𝟐 (𝐭)
𝐱 𝟏 (𝟎) 𝟏
𝐘(𝐭) = [𝟎 𝟏] 𝐗, 𝐗(𝟎) = [ ]= [ ]
𝐱 𝟐 (𝟎) −𝟏
Consider the input U(t) to be a step function.
−𝟑 𝟏 𝟏
Here: 𝐀 = [ ] , 𝐁 = [ ] , 𝐂 = [𝟎 𝟏]
−𝟐 𝟎 𝟎
𝐬+𝟑 −𝟏
𝐬𝐈 − 𝐀 = [ ]
𝟐 𝐬
𝟏 𝐬 𝟏
(𝐬𝐈 − 𝐀)−𝟏 = [ ]
(𝒔 + 𝟏)(𝒔 + 𝟐) −𝟐 𝐬+𝟑
𝒔
(𝒔 + 𝟏)(𝒔 + 𝟐)
(𝐬𝐈 − 𝐀)−𝟏 𝐁= −𝟐
[(𝒔 + 𝟏)(𝒔 + 𝟐)]
𝒔−𝟏
(𝒔 + 𝟏)(𝒔 + 𝟐)
(𝐬𝐈 − 𝐀)−𝟏 𝐗(𝟎) =
−(𝒔 + 𝟓)
[(𝒔 + 𝟏)(𝒔 + 𝟐)]
𝒔−𝟏 𝒔
𝐱 (𝐭) (𝒔+𝟏)(𝒔+𝟐) 𝟏 (𝒔+𝟏)(𝒔+𝟐)
𝐗 = [ 𝟏 ] = 𝑳𝒂𝒑𝒍𝒂𝒄𝒆 𝒊𝒏𝒗 {[ −(𝒔+𝟓) ]} + 𝑳𝒂𝒑𝒍𝒂𝒄𝒆 𝒊𝒏𝒗 { 𝒔 [ −𝟐 ] }
𝐱 𝟐 (𝐭)
(𝒔+𝟏)(𝒔+𝟐) (𝒔+𝟏)(𝒔+𝟐)

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 Control Systems Manual-BEC403-IPCC

𝐱 𝟏 (𝐭) −𝟐𝐭 −𝐭 −𝟐𝐭

+ 𝐞−𝐭 ]
𝐗=[ ] = [𝟑𝐞−𝟐𝐭 − 𝟐 𝐞−𝐭 ] + [ −𝐞
𝐱 𝟐 (𝐭) 𝟑𝐞 − 𝟒 𝐞 −𝐞 + 𝟐 𝐞−𝐭 − 𝟏
−𝟐𝐭

𝐱 𝟏 (𝐭) 𝟐𝐞−𝟐𝐭 − 𝐞−𝐭 ]

𝐗=[ ] = [ −𝟐𝐭
𝐱 𝟐 (𝐭) 𝟐𝐞 − 𝟐 𝐞−𝐭 − 𝟏
𝐱 𝟏 (𝐭)
𝐘(𝐭) = 𝐂 [ ] = 𝟐𝐞−𝟐𝐭 − 𝟐 𝐞−𝐭 − 𝟏
𝐱 𝟐 (𝐭)
Program:
close all;
clear;
% Program for solution of state equations representing SISO
A = input ('enter the matrix A of the state model')
orderA=size(A);
B = input ('enter the matrix B of the state model, (note its a
column matrix)')
C = input ('enter the matrix C of the state model')
D = input ('enter the matrix D of the state model')

XI= input ('enter the initial conditions')

syms s t
Ut = input('enter the input function')
STM_LT = s*eye(orderA(1))-A % eye is a function for identity
matrix
Xt = ilaplace(inv(STM_LT)*B*laplace(Ut)) + ilaplace(inv(STM_LT)
* XI)
Yt = C * Xt + D * Ut

Program outcomes:
>> StateEquationSolu
enter the matrix A of the state model [-3 1; -2 0]
A=
-3 1
-2 0
enter the matrix B of the state model, (note its a column matrix)[1; 0]
B=
1
0

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 Control Systems Manual-BEC403-IPCC

enter the matrix C of the state model [0 1]

C=
0 1
enter the matrix D of the state model0
D=
0
enter the initial conditions [1; -1]
XI =
1
-1
enter the input function heaviside(t)
Ut =
heaviside(t) % step function
STM_LT =
[s + 3, -1]
[ 2, s]
Xt =
2*exp(-2*t) - exp(-t)
2*exp(-2*t) - 2*exp(-t) - 1
Yt =
2*exp(-2*t) - 2*exp(-t) - 1

Viva Questions:
1. Mention the different ways of representing a system?
2. What are the drawbacks of Transfer function models for systems?
3. Mention the different functions used in the program for solution of state equations.
4. Mention the properties of state transition matrix.
5. A system has 4 adders, 3 gain inducing elements, 1 differentiator and 2 integrators.
How many state variables can be considered to develop state model?

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 Control Systems Manual-BEC403-IPCC

Experiment – 12, 13, 14: Implement PI, PD and PID Controllers

Aim: To implement a feedback control system with PI, PD and PID Controls
Learning Objectives: 1) To use MATLAB Simulink for implementation
2) To test the model developed
3) To understand the effect of each type of control on the step response
PID enabled systems:
Proportional-integral-derivative (PID) control systems are a fundamental building block of
classical and modern control systems. They have been used in the majority of industrial
applications from chemical process control, mechanical process control, electro-mechanical
process control, aerospace systems control to electrical drive control and power converter control.
Understanding these control systems and having the capability to design and implementing them
are very essential to an engineer.
To tune the PID controller by setting the optimal gains for P, I and D to get an ideal response from
a control system. The main objective in tuning PID controllers is to adjust the gain of PID
controllers to minimize the unmeasured disturbances such that variability of control error is
minimized.
Proportional (P) controllers:
Proportional controller or commonly called P controller gives the output m(t) which is proportional
to the error signal (e(t)). The error signal is the difference between the set point and the current
process value. The resulting error is multiplied with a multiplication factor to get the output. The
multiplication factor is called the Proportional Gain Factor (KP)of the proportional controller. The
equation for proportional controller is given by:
m(t) α e(t)
m(t) = K p e(t)

where Kp is the proportionality constant or gain, e(t) is the error signal, and m(t) is the input that
gets applied to open loop transfer function.
The following are the advantages of Proportional Controller
1. The proportional controller reduces the steady-state error when the difference between set
point and process variable decreases. Thus, it improves the system stability.
2. It is possible to improve the slow response of the overdamped system.
The disadvantages of Proportional Controller are listed below:

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 Control Systems Manual-BEC403-IPCC

1. The Proportional Controller produces steady state error. The special term used for this is
the offset. This means that after some time, there will be a constant error between the input
signal and the output signal. Proportional Controller cannot eliminate this error.
2. Proportional controllers also cause overshoots and undershoots in the system.
Integral Controller:
Integral controllers are the type of controllers where the output is proportional to the integral of
the error signal. Thus, is given as

where Ki is the integral gain

The function of the integral control mode is to increment or decrement the controller's output over
time to reduce the error, as long as there is any error present. A major disadvantage which is
associated with the integral controller is that these are quite unstable. The reason behind this is that
integral controllers show somewhat slow response towards the produced error.
Derivative Controller:
In the derivative type of controller, the controller output depends on the rate with which the error
signal varies. Practically we can say that the error is a function of time and at any given time instant
it can be 0. However, it is not necessary that it will remain zero even after that instant of time.
Thus, there must be some action that specifies the rate of change of error signal.

Kd denotes the derivative gain constant which shows the amount of variation in output of the
controller for every per second rate of change of actuating error signal.
Proportional Integrator Controller (PI):
It is to be noted here that one can use integral controllers separately without combining it with
proportional controllers. However, generally proportional and integral controllers together can
overcome the disadvantage of integral controllers. The equation for the PI controller can be given
by

The block diagram of control system with PI controller is shown below.

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 Control Systems Manual-BEC403-IPCC

Fig.1: Block Diagram of Control System with PI controller

Proportional Derivative Controller:

We know that the presence of controllers in any control system improves the performance of the
overall system. So, the presence of two distinct control action generates a more precise system.

For the PD controller, the output is given as:

The block diagram of a control system comprising of PD controller is given below:

Fig.2: Block Diagram of Control System with PD controller

Proportional Integral Derivative Controller:

A type of controller in which the output of the controller varies in proportion with the error signal,
integral of the error signal and derivative of the error signal is known as the proportional integral
derivative controller. PID is the acronym used for this type of controller. Proportional plus
integral plus derivative controller is sometimes referred as a 3-mode controller, as it combines
the controlling action of proportional, integral as well as derivative controller altogether. The PID
controller consists of proportional controller, integral controller and derivative controller.
Depending upon the application more combinations of the controllers are used. (ex: in a liquid

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 Control Systems Manual-BEC403-IPCC

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
Mathematically it is given as:
t
d
m(t) = K p e(t) + K p ∫ e(t) dt + K D e(t)
0 dt
The block diagram is as shown below:

Fig.3: Block Diagram of Control System with PID controller

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:

Procedure and results

Step 1: Obtain the open loop transfer function G(S) of 3rd order closed loop control system

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 Control Systems Manual-BEC403-IPCC

C(S) 10S+100
= (S+5)(S2 +4S+100) .
R(S)

Let us consider the closed loop control system

𝐶(𝑆) 10𝑆 + 100
=
𝑅(𝑆) (𝑆 + 5)(𝑆 2 + 4𝑆 + 100)
T(S)
We know that G(S) = 1−T(S)

Therefore,
10S + 100
G(S) =
S3 + 9S 2 + 110S + 400
Step 2: Implement using Simulink

Result obtained:

Observation: Steady state error is high.

Step 3: Improving Steady state error using Proportional controller. Vary proportional gain
and observe the response.

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 Control Systems Manual-BEC403-IPCC

For Kp=5

For Kp=10

Kp=100

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 Control Systems Manual-BEC403-IPCC

Results obtained:
Kp ess Rise time (tr)
5
10
100

Observation: By increasing Kp, steady state error can be reduced. However, higher Kp will result
in system oscillations.
Step 4: Proportion-Integral (PI) controller: Observe system response

Case 1: Kp=10, Ki=5

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 Control Systems Manual-BEC403-IPCC

Case 2: Kp=10, Ki=10

Case 3: Kp=10, Ki=100

Results:
Kp Ki ess Rise time (tr)
10 5
10 10
100 100

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 Control Systems Manual-BEC403-IPCC

Observation: As Ki is increased, the steady state error can be improved. However, the higher Ki
will increase the oscillations.
Step 5: Improve the response using Proportional Integral Derivativel (PID) controller

Case 1: Kp=10, Ki=10, Kd=10

Case 2: Kp=10, Ki=10, Kd=100

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 Control Systems Manual-BEC403-IPCC

Case 3: Kp=10, Ki=100, Kd=100

Results:
Kp Ki Kd Rise time (tr) Settling time
time (tr)
10 10 10
10 10 100
10 100 100

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 Control Systems Manual-BEC403-IPCC

Observation: When both Ki and Kd are increased to 100 we can observe improvement in rise time
and settling time.
Assignment: Implement a PD Controller and demonstrate its effect on the system above,
with the focus on rise-time, steady, state error and settling time. Put forth your observations
for various gain factors.
PID Controller operating as Error Detector:
The PID Controller operating as Error detector can be seen here. Progressively the error comes
down to zero. Without PID controller, the steady state error is 0.8. Kp=10, Ki=100 and Kd=100.

Waveforms:

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 Control Systems Manual-BEC403-IPCC

Conclusion: The given Third order system was simulated and the effect of various types of
controllers on its step response were studied. By tuning the three parameters in the PID controller
algorithm, the controller can provide control action designed for specific process requirements.
The response of the controller can be described in terms of the responsiveness of the controller to
an error, the degree to which the controller overshoots the set point, and the degree of system
oscillation. Note that the use of the PID algorithm for control does not guarantee optimal control
of the system or system stability. Some applications may require using only one or two actions to
provide the appropriate system control. This is achieved by setting the other parameters to zero. A
PID controller will be called a PI, PD, P or I controller in the absence of the respective control
actions. PI controllers are fairly common, since derivative action is sensitive to measurement noise,
whereas the absence of an integral term may prevent the system from reaching its target value due
to the control action.
Viva Questions:
1. What is a PID controller?
2. What is the problem with the differentiator or derivative block in practice?
3. Mention the applications of PID control?
4. Mention the transfer function of P, I and D individual blocks.
5. Mention the polea and zeros of the feedback control system considered.

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