SANJIVANI COLLEGE OF ENGINEERING

(An Autonomous Institution)

(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

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Academic Year: 2025-

CIA ACTIVITY REPORT Revision: 00
26
Department Electrical Engineering
Year/Sem: TY / 6th
Course Code & Name: Control System

Batch (T1 / T2 / T3) : T2

Closed-loop inverter control for AC motor drive

Name of the Activity / Title :

using vector control

efficiency CO Mapped CO2

Explain the characteristics and operation of various power semiconductor
CO1
devices used in power electronic circuits.
Design and evaluate the operation of DC-DC converters (choppers) for
CO2 various load conditions and switching techniques.
Analyze the performance of single-phase and three-phase controlled
CO3 rectifiers with R and RL loads.
CO4 Demonstrate inverter operation and apply appropriate PWM techniques for
enhanced power conversion and motor drive applications.
CO5 Compare different types of AC-AC converters and assess their suitability in
industrial applications.

Activity Rubrics (20 Marks)

Submitted by:
Circuit Report
Simulation Waveform Total
Roll Modelling Quality &
Name of the Student Execution Interpretation Marks
No. Accuracy Presentation
(5) (5) (5) (5) (20)

1 Somase Shubham

Tanpure Akanksha
2

3 Tanpure Apurva

Course Faculty
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
ABSTRACT
This study presents a comprehensive analysis of a control system using both frequency-domain and
time-domain techniques. The system is mathematically modeled in the form of a transfer function
and analyzed using MATLAB. The frequency response of the system is evaluated through the
Bode plot, which provides insight into the variation of system gain and phase with respect to
frequency. Key stability parameters, namely Gain Margin (GM) and Phase Margin (PM), are
determined to assess the robustness and stability of the system.

The closed-loop performance of the system is further analyzed using step response characteristics,
including rise time, settling time, and overshoot. Stability is verified by examining the location of
system poles in the complex plane, ensuring that they lie in the left half-plane. Additionally, a
parametric study is conducted by varying the system gain to observe its impact on stability and
dynamic response. It is observed that an increase in gain reduces the stability margins and may
result in oscillatory or unstable behavior.

The results obtained demonstrate the importance of proper gain selection and highlight the
effectiveness of frequency response methods in control system analysis and design. This work
emphasizes the practical application of computational tools in evaluating system stability and
improving system performance.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
INTRODUCTION

Control systems play a vital role in modern engineering applications such as power systems, industrial
automation, robotics, and communication systems. The primary objective of a control system is to regulate
the behavior of a system to achieve desired performance in terms of stability, accuracy, and speed of
response. Among these, stability is the most critical requirement, as an unstable system can lead to
oscillations or complete system failure.

Frequency response analysis is one of the most effective methods for evaluating system stability.
Techniques such as the Bode plot provide a graphical representation of a system’s magnitude and phase
response over a range of frequencies. Using these plots, important stability parameters such as Gain
Margin (GM) and Phase Margin (PM) can be determined. These parameters help in assessing how close
the system is to instability and how robust it is against parameter variations.

In this experiment, a given transfer function is analyzed using MATLAB. The system’s frequency response
is studied by plotting the Bode diagram, and stability is evaluated by calculating gain margin and phase
margin. Furthermore, the closed-loop behavior of the system is examined using step response analysis and
pole location methods. The effect of varying system gain on stability and performance is also observed.
This study provides a clear understanding of how system parameters influence stability and demonstrates
the practical use of computational tools in control system analysis and design.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K

OBJECTIVES

 To understand the fundamental concepts of control systems and stability analysis.

 To model a control system using a transfer function representation.
 To analyze the frequency response of the system using Bode plots.
 To plot the magnitude and phase characteristics of the system over a range of frequencies.
 To determine the Gain Margin (GM) and Phase Margin (PM) using MATLAB.
 To evaluate the stability of the system based on frequency response parameters.
 To analyze the closed-loop behavior of the system using step response.
 To study important time-domain parameters such as:
o Rise time
o Settling time
o Overshoot
 To verify system stability by examining the location of poles in the complex plane.
 To understand the relationship between open-loop and closed-loop systems.
 To investigate the effect of varying system gain on stability and performance.
 To observe how increasing gain affects:
o Stability margins
o Oscillations
o Response speed
 To analyze system behavior using root locus techniques.
 To understand the importance of frequency-domain analysis in control system design.
 To gain practical experience in using computational tools like MATLAB for system analysis.
 To develop the ability to interpret graphical results such as Bode plots and step responses.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
PROBLEM STATEMENT

The objective of this experiment is to analyze the stability and performance of a given control system using
frequency response techniques. A transfer function of the system is provided, and the system is to be
simulated using MATLAB.

The tasks include plotting the Bode diagram of the system, determining important stability parameters
such as Gain Margin (GM) and Phase Margin (PM), and analyzing the closed-loop stability of the
system. Additionally, the effect of varying system gain on the frequency response and time response
characteristics is to be observed.

The goal is to evaluate how system parameters influence stability and to verify whether the system operates
within stable limits under different conditions.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
LITERATURE REVIEW

Control system stability analysis has been a fundamental area of study in the field of engineering,
particularly in electrical, mechanical, and aerospace systems. Classical control theory provides various
techniques to evaluate system performance, among which frequency response methods are widely used
due to their simplicity and effectiveness.

The concept of Bode plots was introduced by Hendrik Wade Bode, which provides a graphical
representation of a system’s magnitude and phase over a range of frequencies. These plots help
engineers determine important stability parameters such as Gain Margin (GM) and Phase Margin (PM).
These margins indicate how much variation in system gain or phase can be tolerated before the system
becomes unstable.

According to classical control theory, a system is considered stable if all its closed-loop poles lie in the
left half of the complex plane. Frequency domain techniques complement this by providing an indirect
yet efficient way of assessing stability without explicitly solving for system poles.

With the advancement of computational tools, software such as MATLAB has become essential for
analyzing and designing control systems. It allows accurate plotting of Bode diagrams, calculation of
stability margins, and simulation of system responses. Researchers and engineers widely use MATLAB
to study the effect of parameter variations on system behavior and to design robust control systems.

This experiment is based on these established principles of control theory and demonstrates the practical
application of frequency response analysis using modern computational tools.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
METHODOLOGY
The following steps were followed to analyze the stability and performance of the given control system using
MATLAB:

1. System Definition
 The transfer function of the system was defined in MATLAB using the tf command.
 The Laplace variable s was initialized, and the given transfer function G(s)was modeled.

2. Bode Plot Generation

 The frequency response of the system was obtained using the bode() function.
 The Bode plot was analyzed to study the variation of magnitude and phase with respect to frequency.

3. Gain Margin and Phase Margin Calculation

 The margin() function was used to determine Gain Margin (GM) and Phase Margin (PM).
 These parameters were used to evaluate the stability and robustness of the system.

4. Closed-Loop System Analysis

 The closed-loop transfer function was obtained using the feedback() function.
 The step response of the closed-loop system was plotted using step() to observe system performance.

5. Stability Verification
 The poles of the closed-loop system were determined using the pole() function.
 Stability was confirmed by checking whether all poles lie in the left half of the complex plane.

6. Parameter Variation Study

 The system gain was varied (e.g., K=1 , 5 , 10) to observe its effect on system behavior.
 Bode plots and step responses were compared for different gain values.

7. Root Locus Analysis

 The rlocus() function was used to plot the root locus of the system.
 This helped in understanding how the system poles move with variation in gain.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
MATLAB Code:

clc;
clear;
close all;

% Define transfer function

s = tf('s');
G = (2*s + 5)/(s^2 + 4*s + 6);

disp('Transfer Function:')
G

% Bode Plot
figure;
bode(G);
grid on;
title('Bode Plot');

% Gain Margin & Phase Margin

[GM, PM, Wcg, Wcp] = margin(G);

fprintf('\nGain Margin: %.2f dB\n', 20*log10(GM));

fprintf('Phase Margin: %.2f degrees\n', PM);

figure;
margin(G);
title('Gain & Phase Margin');

% Closed-loop system
T = feedback(G,1);

figure;
step(T);
grid on;
title('Closed Loop Step Response');

% Stability Check
p = pole(T);
disp('Closed Loop Poles:');
disp(p);

if all(real(p) < 0)
disp('System is STABLE');
else
disp('System is UNSTABLE');
end

% Gain variation
K = [1 5 10];

figure;
hold on;
for i = 1:length(K)
Gk = K(i)*G;
bode(Gk);
end
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
legend('K=1','K=5','K=10');
grid on;

% Root Locus
figure;
rlocus(G);
title('Root Locus');

Code Explanation

1. Initialization
 clc, clear, close all
→ Clears command window, workspace, and closes previous figures.

2. Transfer Function Definition

 s = tf('s') defines Laplace variable
 G = (2*s + 5)/(s^2 + 4*s + 6) defines system
This represents the mathematical model of the system.

3. Bode Plot
 bode(G) generates frequency response
 Shows:
o Magnitude vs frequency
o Phase vs frequency

4. Gain Margin & Phase Margin

 margin(G) calculates stability margins
 GM → Gain Margin
 PM → Phase Margin
Used to check how stable the system is.

5. Closed-Loop System
 T = feedback(G,1) creates closed-loop system
 step(T) shows time response
Helps analyze real system behavior.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
6. Stability Check
 pole(T) finds system poles
 Condition:
o Real part < 0 → Stable
o Otherwise → Unstable

7. Gain Variation
 Gain values: K = [1 5 10]
 Observes effect of gain on system
Higher gain → less stability

8. Root Locus
 rlocus(G) shows pole movement
 Helps understand stability vs gain

The MATLAB code was used to analyze the system in both frequency and time domains, and to evaluate stability
using multiple techniques.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K
RESULTS & DISCUSSION
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K

1. Bode Plot Analysis

The Bode plot of the open-loop system shows the variation of magnitude and phase with respect to
frequency.
 At low frequencies, the system exhibits higher gain, indicating good tracking ability.
 As frequency increases, the magnitude decreases, showing attenuation of high-frequency signals.
 The phase plot indicates the phase lag introduced by the system.
From the Bode plot, it is observed that the system maintains a reasonable phase margin, indicating stable
behavior.

2. Gain Margin and Phase Margin

The Gain Margin (GM) and Phase Margin (PM) were obtained using the margin function.

 A positive phase margin indicates that the system is stable.

 A sufficient gain margin ensures robustness against variations in system parameters.

The obtained values confirm that the system operates within stable limits and has an adequate safety margin
before instability occurs.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K

2. Gain Margin and Phase Margin

The Gain Margin (GM) and Phase Margin (PM) were obtained using the margin function.
 A positive phase margin indicates that the system is stable.
 A sufficient gain margin ensures robustness against variations in system parameters.
The obtained values confirm that the system operates within stable limits and has an adequate safety margin
before instability occurs.

4. Stability Verification Using Poles

The poles of the closed-loop system were analyzed.
 All poles were found to lie in the left half of the complex plane.
 This confirms that the system is stable according to classical control theory.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

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5. Effect of Gain Variation

The system gain was varied (K = 1, 5, 10), and its effect was observed.
 Increasing gain resulted in higher system response speed.
 However, phase margin decreased with increasing gain.
 At higher gain values, the system showed increased oscillations and reduced stability.
This demonstrates that excessive gain can lead to instability.

6. Root Locus Analysis

The root locus plot shows the movement of system poles with variation in gain.
 As gain increases, poles move closer to the imaginary axis.
 If poles cross into the right half plane, the system becomes unstable.
The plot helps visualize the stability limits of the system.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K

Conclusion

In this experiment, the stability and performance of a control system were successfully
analyzed using MATLAB. The Bode plot was used to study the frequency response,
and important stability parameters such as Gain Margin and Phase Margin were
determined. The closed-loop system response confirmed stable behavior, which was
further verified by analyzing pole locations.

It was observed that system gain has a significant impact on stability, where higher gain
reduces stability margins and can lead to oscillations. The combined use of frequency-
domain and time-domain analysis provided a clear understanding of system behavior.

Thus, the experiment demonstrates that MATLAB is an effective tool for analyzing and
designing stable control systems.
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K

References
Books
1. Norman S. Nise, Control Systems Engineering, 7th Edition, Wiley, 2015.
2. Katsuhiko Ogata, Modern Control Engineering, 5th Edition, Prentice Hall, 2010.
Software
3. MATLAB , MathWorks. Available: [Link]
Online Resources
4. MathWorks, “Control System Toolbox Documentation.”
5. Tutorials Point, “Control Systems – Bode Plots.”

[1] Norman S. Nise, Control Systems Engineering, 7th ed. Hoboken, NJ, USA: Wiley,
2015.
[2] Katsuhiko Ogata, Modern Control Engineering, 5th ed. Upper Saddle River, NJ, USA:
Prentice Hall, 2010.
[3] MATLAB, “MATLAB Control System Toolbox Documentation,” MathWorks, Natick,
MA, USA. [Online]. Available: [Link]
[4] Hendrik Wade Bode, “Network Analysis and Feedback Amplifier Design,” New York,
NY, USA: Van Nostrand, 1945.
[5] TutorialsPoint, “Control Systems – Bode Plot,” [Online]. Available:
[Link]
[6] Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, Feedback Control of
Dynamic Systems, 7th ed. Boston, MA, USA: Pearson, 2015.
[7] Richard C. Dorf and Robert H. Bishop, Modern Control Systems, 13th ed. Upper
Saddle River, NJ, USA: Pearson, 2016.
[8] MathWorks, “Bode Plot and Stability Margins,” Control System Toolbox
Documentation. [Online]. Available: [Link]
[9] National Programme on Technology Enhanced Learning (NPTEL), “Control Systems
Lectures,” IIT, India. [Online]. Available: [Link]
[10] Massachusetts Institute of Technology, “Introduction to Control Systems,”
OpenCourseWare. [Online]. Available: [Link]
 SANJIVANI COLLEGE OF ENGINEERING
(An Autonomous Institution)
(Approved by AICTE, New Delhi, Accredited ‘A’ Grade by NAAC & Affiliated to SPPU
University) Kopargaon – 423 603, Maharashtra.

ACAD-F-15 K