A Laboratory Journal for

Control System
Engineering
(3BEE03)

Semester III

Sigma University

Department of Electrical
Engineering
 CERTIFICATE

This is to certify that Shri/ Miss ,

Enroll No. of class has

satisfactorily completed and submitted this journal containing a full record of

the experimental work in the laboratory

during the Academic Year .

DATE:

TEACHER INCHARGE HOD

 INDEX

SR DATE PAGE
NAME OF EXPERIMENTS MARKS SIGN
NO. NO.

Introduction to Control System.

1

Block Diagram Reduction

2 Technique.

Find out transfer function

3 through the mat lab using
numerator denominator
technique using MATLAB.

Find out transfer function

4 through the mat lab using pole
zero method using MATLAB.

Find out the overall transfer

5 function using block diagram
reduction technique using
MATLAB.

To obtain the poles and zeros of

6 a system, given the transfer
function, and plot them on real
& imaginary axis using
MATLAB.

To represent graphically time

7 response of 1st order control
system subjected to step, ramp,
and parabolic, impulse input
function for different time
period using MATLAB.

To plot the ROOT LOCUS for

8 the given set of systems using
MATLAB.

To obtain the BODE-Plots for

9 the given systems by using
MATLAB.

To plot the Nyquist plot for the

10 given set of systems using
MATLAB.
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Control System Engineering (3BEE03)

EXPERIMENT NO. 1

AIM: To study open loop and closed loop system.

THEORY & (i) Open loop control system

APPLICATION: Its operation is very simple, when an input signal directs the control element to
respond, an output will be produced. Examples of the open loop control systems
include washing machines, light switches, gas ovens, etc.
(ii) Closed loop control system
Sometimes, we may use the output of the control system to adjust the input signal.
This is called feedback. Feedback is a special feature of a closed loop control
system. A closed loop control system compares the output with the expected
result or command status then it takes appropriate control actions to adjust the
input signal. Therefore, a closed loop system is always equipped with a sensor,
which is used to monitor the output and compare it with the expected result shows
a simple closed loop system. The output signal is fed back to the input to produce
a new output. A well-designed feedback system can often increase the accuracy of
the output.

Applications of the control systems

There are many household and industrial application examples of the control
systems, such as washing machine, air conditioner, security alarm system and
automatic ticket selling machine, etc.
(i) Washing machine
Nowadays, many families use fully automatic washing machines. There are
numerous preset washing procedures available for the users. When we have
chosen the suitable washing procedures, the machine automatically starts to pour
water, add washing powder, spin and wash clothes, discharge wastewater, etc.
After the completion of all the procedures, the washing machine will stop the
operation. Fully automatic washing machine only requires the user to input a
suitable procedure to complete the whole washing process, thus this saves much
time for the users. However, this kind of machine only operates according to the
present time to complete the whole washing process. It ignores the cleanness of
the clothes and does not generate feedback. Therefore, this kind of washing
machine is of open loop control system indeed
(ii) Air conditioner
Nowadays, there are many families using automatic control system for the
temperature of the air conditioner. The coolant circulated in the machine will
absorb heat indoor and then it will be transported from the vaporization device to
cooling device. The hot air is then blown to outdoor by a fan. There is an
adjustable temperature device equipped in the air conditioner for the users to
adjust the extent of cooling. When the temperature of the cool air is lower than the
preset one, the controller of the air conditioner will stop the operation of the
compressor to cease the circulation of the coolant. The temperature sensor
installed near the vaporization device will continuously measure the indoor
temperature, and send the results to the controller for further processing.

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APPLICATIONS OF CONTROL SYSTEMS

Control systems are widely used in both domestic and industrial applications. Below are two
common examples to illustrate the use of open and closed loop systems.

1. Washing Machine (Open Loop Example)

A typical fully automatic washing machine allows the user to select a washing program. Once
started, the machine performs all functions (water intake, washing, rinsing, spinning) based
on preset time intervals. It does not check whether the clothes are actually clean or whether
the washing is sufficient. Therefore, this system operates without feedback and is considered
an open loop control system.

2. Air Conditioner (Closed Loop Example)

An air conditioner is equipped with a temperature sensor that continuously monitors the room
temperature. When the actual temperature deviates from the set temperature, the controller
activates or deactivates the compressor accordingly. This regulation is achieved using
feedback, making the air conditioner a closed loop control system.

COMPARISON BETWEEN OPEN LOOP AND

CLOSED LOOP CONTROL SYSTEMS

Feature Open Loop System Closed Loop System

Feedback Not used Used

Accuracy Less accurate High accuracy

Complexity Simple Complex

Cost Relatively low Relatively high

Error Correction Not possible Automatically corrected

Stability Stable under ideal only Stable under variable conditions

ADVANTAGES AND LIMITATIONS

Open Loop Control System

Advantages:

Simple design and construction

Cost-effective
Easy to operate and maintain

Limitations:

No feedback or error correction

Output is not regulated
Performance is affected by disturbances

Closed Loop Control System

Advantages:

Accurate and reliable

Capable of automatic adjustment
Stable under variable working conditions

Limitations:

Higher cost
Complex design and maintenance
Requires sensors and additional components

Conclusion:
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CONCLUSION:

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EXPERIMENT NO. 2
BLOCK DIAGRAM REDUCTION TECHNIQUE

AIM: Study rules for block diagram technique.

THEORY & A block diagram system is representation of the functional performed by each
APPLICATION component and flow of the signal.
:
Advantages:
It gives info about dynamic performance of system.
It can easily formed by connected i/p and o/p respectively.
Functional operation can be observed of the system.
Overall and individual performance can be studied.

Disadvantages:
include info about physical construction of system.
Source of energy
Assumption include systems surround condition effect.

Reduction Rules

Rule 1: (cascade) series connection

Cascade (serial) connection: The transfer function equivalent to a serial connection of

n blocks with transfer functions G1(s); G2(s); Gn(s), represented in Figure is
given by

Block diagram of cascade connection

Rule 2: parallel connection

Parallel (tandem) connection: The equivalent transfer function for such a connection
representing a summation of signals, given in Figure as G(s) = G1(s) +G2
Gn(s)

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Block diagram of parallel connection

Rule 3: Elimination of feedback loop

Y (s) = G(s) E(s)

E(s) = U(s)-H(s) Y(s)
Eliminating E(s) from the last equation, it follows
Y (s) = G(s) U(s)-H(s) Y(s)
Y (s)/U(s) =G(s)/1+H(s) Y(s)

Rule: 4 shifting a takeoff point before of the block

Y(s) = G(s) X(s)

Y(s) = Y(s)

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Rule: 5 Shifting a takeoff point beyond of the block

Y(s) = X(s)
X(s) =X(s)
Y(s) =G(s) X(s)
X(s) =Y(s)/G(s) =X(s)
X(s) =X(s)/G(s)

Rule 6:Shifting a summing point before of the block

Shifting a summing point before of the block: An adder or subtracted may be moved
from one side of a block to another as figure above illustrates. It is easy to show that
the diagrams on the left-hand and right-hand sides are equivalent.
Z(s) =G(s) X(s) +/-Y(s)
Z(s) =G(s) [X(s) +/-Y(s)/G(s)]

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Rule 7:Shifting a summing point beyond of the block

Z(s) =G(s) X(s)

Z(s) =G(s) [X(s) +/-Y(s)]
Z(s) =G(s) X(s) +/-G(s) Y(s)

CONCLUSION
:

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EXPERIMENT NO. 3

AIM: Find out transfer function through the mat lab using numerator denominator
technique using MATLAB.

APPARATUS: MATLAB Software

THEORY &
APPLICATION: 1)
Program: num= [1 1];
den= [1 2 5];
tf(num, den)

Result:-Transferfunction:

2)
Program: num= [1 -1];
den= [1 0 -4];
tf(num, den)

Result:-Transferfunction:

3)
Program: num=[2 0 5];
den=[1 0 3 1];
tf(num,den)

Result: -Transferfunction:

4)
Program: num=[5];
den=[6 0 2];
tf(num,den)

Result: - Transferfunction:

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5)
Program: num=[1 -3];
den=[1 -2 1];
tf(num,den)

Result: - Transferfunction:

6)
Program: num=[4.524 1];
den=[0.128 0.256 1 0];
tf(num,den)

Result: - Transferfunction:

CONCLUSION:

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EXPERIMENT NO. 4

AIM: Find out transfer function through the mat lab using pole zero method using
MATLAB.

APPARATUS: MATLAB Software

THEORY & 1)
APPLICATION:
Program: z=[-1];
p=[0 -2];
k=[1];
tf=zpk(z,p,k)

Result:- Polefunction:

2)
Program: z=[0];
p=[2];
k=[1];
tf=zpk(z,p,k)

Result:- Polefunction:

3)
Program: z=[-3];
p=[-1 1];
k=[12];
tf=zpk(z,p,k)

Result:- Polefunction:

4)
Program: z=[-2 -3];
p=[0 2];
k=[1];
tf=zpk(z,p,k)

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Result:- Polefunction:

5)
Program: z=[3];
p=[1 1];
k=[1];
tf=zpk(z,p,k)

Result:- Polefunction:

6)
Program: z=[-1/0.377];
p=[0 -1 -1/0.128];
k=[12];
tf=zpk(z,p,k)

Result:- Polefunction:

7)
Program: z=[-1];
p=[-5];
k=[25];
tf=zpk(z,p,k)

Result:- Polefunction:

8)
Program: z=[-0.1];
p=[-10];
k=[1];
tf=zpk(z,p,k)

Result:- Polefunction:

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CONCLUSION:

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EXPERIMENT NO. 5

AIM: Find out the overall transfer function using block diagram reduction technique using
MATLAB.

APPARATUS: MATLAB Software

THEORY & 1) Series:

APPLICATION:

Program: num1=[1]
den1=[1 0 500]
num2=[1 1]
den2=[1 2 1]
[num3,den3]=series(num1,den1,num2,den2)
t=tf(num3,den3)
Ans:

2) Parallel:

Program: num1=[1 2 1]
den1=[1 3 2]
num2=[1 1]
den2=[1 3 4]
[num3,den3]=parallel(num1,den1,num2,den2)
t=tf(num3,den3)

Ans:

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3) Series-Parallel:

Program: num1=[1 1]
den1=[1 2]
num2=[1 10 9]
den2=[2 0 45]
[num3,den3]=series(num1,den1,num2,den2)
num4=[1 3 1]
den4=[2 0 0 0 9 ]
[num5,den5]=parallel(num3,den3,num4,den4)
t=tf(num5,den5)
Ans:

4) Sub Loop:

Program: num1=[1 0]

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den1=[1 2]
num2=[1 10]
den2=[1 20]
[num3,den3]=series(num1,den1,num2,den2)
num4=[1 0]
den4=[1 1 ]
[num5,den5]=parallel(num3,den3,num4,den4)
num6=[1 0 2 1]
den6=[1 0 9 3]
[num7,den7]=series(num5,den5,num6,den6)
num8=[1]
den8=[1 ]
[num10,den10]=parallel(num7,den7,num8,den8)
t=tf(num10,den10)
Ans:

5) Feedback:

Program: num1= [121];

den1= [1 3 4];
num2=[1 1];
den2=[1 3 4];
[num3,
den3]=feedback(num1,den1,num2,den2)
Ans:

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CONCLUSION:

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EXPERIMENT NO. 6

AIM: To obtain the poles and zeros of a system, given the transfer function,
and plot them on real & imaginary axis using MATLAB.

APPARATUS: MATLAB Software

THEORY & s2+2s+3

APPLICATION: 1) ----------------
2s2+5s+7
Program: n=[1 2 3];
d=[2 5 7];
[z,p,k]=tf2zp(n,d)
pzmap(n , d)

Output: z= -1.0000 + 1.4142i

-1.0000 - 1.4142i

p= -1.2500 + 1.3919i
-1.2500 - 1.3919i

k= 0.5000
Output:

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2) 7s2-7

4s2+4s+1

Program: n=[7 0 -7];

d=[4 4 1];
[z,p,k]=tf2zp(n,d)
pzmap(n , d)

Output: z = -1
1
p = -0.5000
-0.5000
k= 1.7500

CONCLUSION:

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EXPERIMENT NO. 7
To represent graphically time response of 1st order control system subjected to step,
AIM: ramp, and parabolic, impulse input function for different time period using
MATLAB.

APPARATUS: MATLAB Software

THEORY & 1) For step input

APPLICATION: %step response with t=1

Program: num=[1]
den=[1 1]
sys=tf(num,den)
figure(1)
step(sys)
grid

%step response with t=10

Program: num1=[1]
den1=[10 1]
sys1=tf(num1,den1)
figure(2)
step(sys1)
grid

%step response with t=100

Program: num2=[1]
den2=[100 1]
sys2=tf(num1,den1)
figure(3)
step(sys2)
grid

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2) For ramp input

%ramp response with t=1

Program: num=[1]
den=[1 1 0]
sys=tf(num,den)
figure(1)
step(sys)
grid

%ramp response with t=10

Program: num1=[1]
den1=[10 1 0]
sys1=tf(num1,den1)
figure(2)
step(sys1)
grid

%ramp response with t=100

Program: num2=[1]
den2=[100 1 0]
sys2=tf(num1,den1)
figure(3)
step(sys2)
grid

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3) For parabolic input

%parabolic response with t=1

Program: num=[1]
den=[1 1 0 0]
sys=tf(num,den)
figure(1)
step(sys)
grid

%parabolic response with t=10

Program: num1=[1]
den1=[10 1 0 0]
sys1=tf(num1,den1)
figure(2)
step(sys1)
grid

%parabolic response with t=100

Program: num2=[1]
den2=[100 1 0 0]
sys2=tf(num1,den1)
figure(3)
step(sys2)
grid

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4) For impulse input:

%impulse response with t=1

Program: num=[1]
den=[1]
sys=tf(num,den)
figure(1)
impulse(sys)
grid

%impulse response with t=10

Program: num1=[1]
den1=[10]
sys1=tf(num1,den1)
figure(2)
impulse(sys1)
grid

%impulse response with t=100

Program: num2=[1]
den2=[100]
sys2=tf(num1,den1)
figure(3)
impulse(sys2)
grid

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CONCLUSION:

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EXPERIMENT NO. 8

AIM: To obtain the poles and zeros of a system, given the transfer function, and plot them
on real & imaginary axis using MATLAB.

APPARATUS: MATLAB Software

THEORY & (1) To plot the root locus for

APPLICATION:
G(s).H(s) =

%plot the root locus whose open loop transfer function is

%G(s)H(s)=k*(s+2)/(3s^2+5s+7)

Program: clc; clear all

n=[1 2];
d=[3 5 7];
rlocus(n,d)

Output:

(2) To plot the root locus for

G(s).H(s) =

%plot the root locus whose open loop transfer function is

%G(s)H(s)=k*(s+3)/s(s+2)(s+4)(s+5)

Program: clc; clear all

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n=[1 3];

%conv will give multiplication of two polynomial

d=conv(conv([1 0],[1 2]),conv([1 4],[1 5]))

rlocus(n,d)

Output:

(3) To plot the root locus for

G(s).H(s) = And gain k=10 to 50

%obtain the roots of the characteristics equation for given values of k for
%the following transfer function (2s+9)k/s(s^2+6s+13) for k=10;5:50

Program: n=[2 9];

k=10:5:50;
d=[1 6 13 0];
[p,k]=rlocus(n,d,k)
plot(p,'')
grid

Output: p = -1.1604 + 4.8078i-1.1604 - 4.8078i -3.6793 + 0.0000i

-1.0591 + 5.8014i -1.0591 - 5.8014i -3.8818 + 0.0000i
-1.0000 + 6.6332i -1.0000 - 6.6332i -4.0000 + 0.0000i
-0.9606 + 7.3648i -0.9606 - 7.3648i -4.0788 + 0.0000i
-0.9323 + 8.0262i -0.9323 - 8.0262i -4.1354 + 0.0000i
-0.9108 + 8.6348i -0.9108 - 8.6348i -4.1784 + 0.0000i

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-0.8940 + 9.2016i -0.8940 - 9.2016i -4.2121 + 0.0000i

-0.8804 + 9.7345i -0.8804 - 9.7345i -4.2393 + 0.0000i
-0.8692 +10.2390i -0.8692 -10.2390i -4.2617 + 0.0000i

k= 10 15 20 25 30 35 40 45 50

(4) To plot the root locus for

n=1.5

%plot the root locus and draw grid lines corresponding to zeta=0.5 and
%wn=1.5 for the given open loop transfer function

Program: clc;clearall
n=[0 0 0 1];
d=[1 5 2 0];
rlocus(n,d)
v=[-6 2 -5 5];
axis(v);
sgrid(0.5,1.5)

Output:

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CONCLUSION:

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EXPERIMENT NO. 9

AIM: To obtain the BODE-PLOTs for the given systems by using MATLAB.

APPARATUS: MATLAB Software

THEORY & 1) G(s).H(s) =

APPLICATION:

Program: z=[]
p=[0 -3 -1]
k=[1]
T=zpk(z,p,k)
bode(T)
margin(T)

Output: z =[]
p =0 -3 -1
k =1
Zero/Pole/Gain:

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2) G(S).H(S) =

Program: z=[]
p=[0 -1 -10]
k=[10]
T=zpk(z,p,k)
bode(T)
margin(T)

Output: z = []
p = 0 -1 -10
k = 10
Zero/Pole/Gain:

3) G(S).H(S) =

Program: z=[]
p=[0 -1 -5]
k=[10]
T=zpk(z,p,k)
bode(T)
margin(T)

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Output: z= []
p =0 -1 -5
k =10
Zero/Pole/Gain:

4) G(S).H(S) =

Program: z=[]
p=[-10 -100]
k=[1000000]
T=zpk(z,p,k)
bode(T)
margin(T)
Output:
z =[]
p = -10 -100
k =1000000
Zero/Pole/Gain :

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5) G(S).H(S) =

Program: z=[-10]
p=[0 -1000]
k=[10000]
T=zpk(z,p,k)
bode(T)
margin(T)
Output:
z =-10
p =0 -1000
k =10000
Zero/Pole/Gain:

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CONCLUSION:

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EXPERIMENT NO. 10

AIM: To plot the Nyquist plot for the given set of systems using MATLAB.

APPARATUS: MATLAB Software

THEORY & 1) Plot the Nyquist response for the given system
APPLICATION:
H(s) =
%Plot the Nyquist response of the system

Program: H = tf([2 5 1],[1 2 3]);

nyquist(H)
Output:

2) Plot the nyquist response for the given system

G(s) =

Program: clc
s = tf('s');
G = 1/(s^2+0.8*s+1);
nyquist(G);
axis equal;

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Output:

Note: Axis used should be ' equal', otherwise circles appear squashed.

3) Plot the nyquist response for the given system

G(s) =

Program: s = tf('s');
G=1/((s)*(s+1));
nyquist(G)
Output:

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CONCLUSION:

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