Itgalpura,Bengaluru-560064

School of Engineering
Department of Electrical and Electronics
Engineering
Control System
Engineering Laboratory
COURSE CODE: EEE 2063
Academic Year: 2025 - 2026
(Odd Sem)

Name of the Student:

Student Id. No:

Semester/Year:

Section:

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 School of Engineering
Department of Electrical & Electronics Engineering

Contents

S. Page No
Title
No
3
1 Vision, Mission and PEOs
4
2 Do’s and Don’ts
5
3 List of Experiments
6
4 Course Outcomes
7
5 Cycle wise List of Experiments

6 Obtain the Time Response of Second Order System 8

7 Study the Step Response Using MATLAB 12

8 Frequency Response of RC lead Compensation Network 14

9 Frequency Response of RC Lag Compensation Network. 18

10 Frequency Response of RC Lag-Lead Compensation 21

Study the Effect of P, PI and PID on a Second Order System using Hardware 25
11
components
12 Study the Effect of P, PI and PID on a Second Order System using MATLAB. 29

13 Characteristics of AC Servo Motor 34

14 Stability Analysis (Bode, Root Locus) of LTI System using MATLAB 37

44
15 Simulation of DC Position control System using MATLAB

2
 School of Engineering
Department of Electrical & Electronics Engineering

Vision
To excel in Electrical and Electronics Engineering education and research
committed to produce globally competent professionals through innovation,
sustainability, and societal advancement

Mission
1. Impart comprehensive education in Electrical and Electronics Engineering
through state-of-the-art facilities and hands-on learning experience.
2. Foster design thinking, creativity, industry collaboration, and multidisciplinary
research to cultivate an ecosystem of innovation and entrepreneurship.
3. Develop ethical professionals with integrity and a commitment to sustainability,
driven by a passion for lifelong learning, individual growth, and societal well-
being.

Programme Educational Objectives

PEO-1: Graduates will excel in providing optimal solutions to real-time
engineering problems in Electrical and Electronics engineering and
multidisciplinary fields.
PEO-2: Graduates will develop the abilities for lifelong learning and pursue
higher education in the core area.
PEO-3: Graduates will exhibit entrepreneurial qualities with a strong
commitment to professional integrity.
PEO-4: Graduates will adapt good human values and professional ethics to
serve society through their core expertise.

3
 School of Engineering
Department of Electrical & Electronics Engineering

Control System Engineering Lab

DO’S:-

1. Proper dress code has to be maintained while entering the lab.

2. Students should carry observation book and record in all aspects.
3. Correct specification of the equipment have to mention in the circuit
diagram.
4. Student should be aware of operating equipment’s.
5. Student should be at their concerned experiment table, unnecessary moment
is restricted.
6. After completing the connection students should get the circuit verified by
the instructor in charge.
7. The readings must be shown to the instructor in charge for verification.
8. Students must ensure that all switches are in the OFF position, all the
connections are removed before they leave table.
9. All kits and stools should be placed at original positions before they leave
the LAB.

DON’Ts:-

1. Don’t come late to the Lab.

2. Don’t make or remove the connections with POWER ON.
3. Don’t Switch ON the power supply without getting verified by the Instructor
in charge.
4. Don’t Switch OFF the Equipment’s with circuit connection.
5. Don’t leave the Lab without the permission of the Instructor in charge.
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Control System Engineering Lab Manual

LIST OF EXPERIMENTS
S.
Title of the Experiment
No
1 Obtain the Time Response of Second Order System
2 Study the Step Response Using MATLAB
3 Frequency Response of RC lead Compensation Network
4 Frequency Response of RC Lag Compensation Network.
5 Frequency Response of RC Lag-Lead Compensation
6 Study the Effect of P, PI and PID on a Second Order System using Hardware components
7 Study the Effect of P, PI and PID on a Second Order System using MATLAB.
8 Characteristics of AC Servo Motor

9 Stability Analysis (Bode, Root Locus) of LTI System using MATLAB

10 Simulation of DC Position control System using MATLAB

Additional Experiments
Using MATLAB obtain the time response of the given system subjected to any arbitrary
1
input.
2 Design of PID Controller for speed control of DC Motor System using Simulink
3 Controllability and Observability test for robotic system using MATLAB.

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Course Outcomes
✓ Analyze the time domain specifications for second order system.

✓ Examine the behaviour of lag, lead and lag - lead compensating networks

✓ Compare the performance of P, PI, and PID controllers.

✓ Examine the Characteristics of Servo Motor.

✓ Analyse the stability of LTI system using Root locus and Bode plots

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Cycle wise List of Experiments

S.
I Cycle
No
1 Obtain the Time Response of Second Order System
2 Frequency Response of RC lead Compensation Network
3 Frequency Response of RC Lag Compensation Network.
4 Study the Effect of P, PI and PID on a Second Order System using Hardware components
5 Characteristics of AC Servo Motor

II Cycle
6 Study the Step Response Using MATLAB
7 Study the Effect of P, PI and PID on a Second Order System using MATLAB.

8 Stability Analysis (Bode, Root Locus) of LTI System using MATLAB

9 Simulation of DC Position control System using MATLAB

10 Frequency Response of RC Lag-Lead Compensation

Additional Experiments
Using MATLAB obtain the time response of the given system subjected to any arbitrary
1
input.
2 Design of PID Controller for speed control of DC Motor System using Simulink
3 Controllability and Observability test for robotic system using MATLAB.

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 Control System Engineering Lab Manual
EXPERIMENT- 1
TIME RESPONSE OF SECOND ORDER SYSTEM

AIM : To determine the time response characteristics of a second order system to a

step input when the system is
a) Under Damped.
b) Critically Damped
c) Over Damped and evaluation of time response specification.

APPARATUS REQUIRED:

Decade Resistance Box, Decade Inductance Box, Decade Capacitance Box, Multimeter,
Patch Cords, Function Generator, D.S.O (Digital Storage Oscilloscope).

CIRCUIT DIAGRAM:

Fig. 1.1: RLC Series Circuit

THEORY:
The time response of control system consists of two parts. Transient responseand
steady state. Most of the control systems use time as its independent variable. Analysis of response
means to see the variation of output with respect to time. The output of the system takes some
finite time to reach to its final value. Every system has a tendency to oppose the oscillatory
behavior of the system which is called damping. The damping is measured by a factor called
damping ratio of the system. If the damping is very high then there will not be any oscillations in
the output. The output is purely exponential. Such system is called an over damped system. If the
damping is less compared to over damped case then the system is called a
critically damped system. If the damping is very less, then the system is called under damped
system. With no damping system is undamped.

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1   Over damped system.

 =1 Critically damped system.

0 1 Under damped system.

 =0 Undamped system

The desired performance characteristics of control system s are specified in terms of

time domain specifications. The transient response of a system to a unit step input depends on
the initial conditions. The transient response characteristic of a control system to a unit step
input is specified in terms of the following time domain specifications.

1. Delay time (td )

2. Rise time (tr)
3. Peak time (tp)
4. Maximum overshoot (Mp )
5. Settling time (ts)
1. Delay time (td ):
It is the time taken for the response to reach 50% of the final value, for the first
time.
2. Rise time (tr):
It is the time taken for a response to raise from 0% to 100% for the very first time. For
under damped system, the rise is calculated from 0% to 100%.But for over damped system it is
the time taken by the response to raise from 10% to 90%.For critically damped systems, it is
the time taken by the response to raise from 5% to 95%.
3. Peak time (tp):
It is the taken for the response to reach the peak value for the very fast time.
4. Maximum overshoots (Mp)
It is defined as the maximum peak value fot the very first time to the final value.

5. Settling time (ts):

It is defined as the time taken by the response to reach and stay within a specified
error. It is usually expressed as % of final value. The usual tolerable error is 2% or 5 % of the
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Control System Engineering Lab Manual
final value.
Design:
V0(s) 1/LC
=
Vi(s) s2+(R/L) s+1/LC

ωn= 1/√LC ξ =R/2√C/L τ = 1/ ξ ωn

a) Under Damped System.

Putting L= 100mH, C= 0.1μF, ξ = 0.1
Then R= 200Ω, ωn= 10,000 rad/sec, τ = 1.0msec
b) Critically Damped System
Putting L= 100mH, C= 0.1μF, ξ=1

Then R= 2000Ω, ωn= 10,000 rad/sec, τ = 0.1msec

c) Over Damped System
Putting L= 100mH, C= 0.1μF, ξ=2
Then R= 4000Ω, ωn= 10,000 rad/sec, τ = 0.05msec

Procedure:
1. The RLC circuit is connected as shown in Fig. 1.
2. The Square Wave is applied from a signal Generator.
3. Set Approximate Values of R, L and C for as per the designed computation.
4. Adjust the frequency of the input such that one half period of square wave is atleast 5 times of the
time constant. This allows the response to settle.
5. Observe the output waveform in the CRO & note down rise time, Peak time, settling time &
Maximum Over shoot.
6. Repeat the above procedure for different values of ξ.
7. Compare the Experimental & Theoretical Values.
Calculations:
Tp= π/ ωn √ (1- ξ2)

MP= e- ξ π/√ (1- ξ2)

TS = 3/ ξ ωn ................. For 5% settling time

TS = 4/ ξ ωn ................. For 2% settling time

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TR= (π-φ)/ ωn √ (1- ξ2)

Where φ = √ ((1- ξ2) / ξ)

MODEL GRAPH:

Figure 1.2: Step Response of an Underdamped System

OBSERVATION TABLE:

Time Domain
Theoretical Practical
Specification
Rise Time (tr)

Peak Time (tp)

Delay Time (td)

Settling Time (ts)

Peak Overshoot (Mp)

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Result & Conclusion

Review Questions:
1 What is Time Response?
2 Define Delay Time, Rise Time, Peak Time, Peak Over Shoot, Settling Time?
3 Define type and order of a system?
4 Distinguish between Type and Order of a system
5 What is Steady State Error?
6 The damping ratio of system is 0.6 and the natural frequency of oscillation is 8
rad/ sec. Determine the rise time
7 Define Positional Error Constant and Velocity Error Constant?
8 How the system is classified depending on the value of damping?
9 What will be the nature of response of a second order system with different
types of damping?
10 Sketch the response of a second order under damped systems.
11 What is a damped frequency of oscillation?
12 Give the expression for natural frequency of oscillation of electrical & Mechanical
system.

13 The Closed loop transfer function of a second order system is C(s) = 10

R(s) s2+6s+10
14 What is the type of damping in the system?
15 The Closed loop transfer function of a second order system is given by (200/
s2+20s+200) determine the damping ratio & natural frequency of oscillation.
16 A second order system has a damping ratio of 0.6 & natural frequency of
oscillation is 10 rad/sec. determine the damped frequency of oscillation.

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EXPERIMENT – 2
STEP RESPONSE USING MATLAB

AIM: To obtain the unit step response of a given transfer function using MATLAB

RESOURCES:
MATLAB Software
THEORY:
The step response is the output of a control system when subjected to a sudden change in
input values. This change in input value can be in the form of a step function, which is a rapid
change from one value to another. The step response reflects how the system reacts to the new
input value and how long it takes to reach a stable output.

PROGRAM:
n= [0 0 100000000];
d= [1 2000 100000000];
t=0:0.000005:0.005;
y = step (n, d, t);
n= [0 0 100000000];
d1= [1 20000 100000000];
t=0:0.000005:0.005;
y1 = step (n, d1, t);
n= [0 0 100000000];
d2= [1 40000 100000000];
t=0:0.000005:0.005;
y2 = step (n, d2, t);
plot (t, y, t, y1, t, y2)
grid;

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The expected waveform is shown in the figure 2.1

Figure 2.1 Time response of second order system for underdamped, critically
damped and over damped conditions

OBSERVATION TABLE:

Time Domain Under damped systems Critically damped Over damped systems
Specification systems
Rise Time (tr)

Peak Time (tp)

Delay Time (td)

Settling Time (ts)

Peak Overshoot (Mp)

RESULTS & CONCLUSIONS:

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EXPERIMENT NO - 3
FREQUENCY RESPONSE OF RC LEAD COMPENSATION NETWORK
AIM:
To design a passive RC lead compensating network for the given specifications and to obtain its frequency
response.
APPARATUS REQUIRED:
Function Generator, D.S.O, Resistance, Capacitance, Multimeter, Patch Cords.
THEORY:
If a sinusoidal input is applied to the input of a network and steady state output has a phase lead,
then network is called lead compensator/network. Lead compensator has a zero at s = 1/T and a
pole at s = 1/ αT with zero closer to the origin than pole. This compensator speeds up the transient
response and increases the margin of stability of a system. It also helps to increase the system error
constant through to a limited extent. These compensators are used when fast dynamic response is
required.
Effect of Phase Lead Compensation:
1) The velocity constant Kv increases.
2) The slope of the magnitude plot reduces at the gain crossover frequency so that relative
stability improves & error decrease due to error is directly proportional to the slope.
3) Phase margin increases.
4) Response become faster.

Advantages of Phase Lead Compensation:

1. Due to the presence of phase lead network the speed of the system increases because it shifts gain
crossover frequency to a higher value.

2. Due to the presence of phase lead compensation maximum overshoot of the system decreases.

Disadvantages of Phase Lead Compensation:

Steady state error is not improved.

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CIRCUIT DIAGRAM:

Figure 3.1: Lead Compensating Network

Design:
1
s+
Gc ( s ) = 
1
s+

R2
 = R1C ,  = R + R  1

1 2

 G ( j) = tan
−1
() − tan−1 ( )
1
Frequency at which maximum phase lead occurs, m =
 
1 − sinm
Maximum phase lead  is given by  =
m
1 + sinm
1 1
Corner frequencies,  = and  =
1 2
 
m 
Design a lead compensator for the given values of and f =
m 2
PROCEDURE:

1) Derive the transfer function for the Lead compensating network for the given figure 3.1.
2) For the given specification, i.e. for given m at given Fm , calculations of R1, R2 and C are
done.

3) Connections are made as per the figure 8.1 by selecting the R and C values are found by
using the given equations in design.
4) Switch ON the mains supply and apply sinusoidal wave by selecting suitable amplitude.
5) The frequency of the signal is varied in steps and at each step note down the
corresponding magnitude of output and phase angle.
6) Draw the frequency response plot and hence find the transfer function & compare it with
the design.
7) Typical waveform is shown the figure 3.2.

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TABULAR COLUMN:

Input Voltage Vi = V (Volts)

V0
Frequency Output G ( j) = 20log dB  Gc ( j ) degrees
c 10
(Hz) V0 (Volts) Vi

Typical Lead Characteristics:

Figure 8.2 Magnitude and Phase plot of RC lead Compensating Network

RESULTS & CONCLUSIONS:

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Review Questions:
1. What is lag compensation? Write the frequency response of it.
2. What is the importance of lag network?
3. What is Compensation?
4. What is the compensated system?
5. What is compensator?
6. Why compensation of the system using Root Locus Technique?
7. What are the various types of Compensation method?
8. What are the classifications of compensators?
9. What is a lead compensator?
10. What are the characteristics of a lead compensator?

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EXPERIMENT NO - 4
RC LAG COMPENSATING NETWORK
AIM:
To design a passive RC lag compensating network for the given specifications and to obtain its
frequency response.
APPARATUS REQUIRED:
Function Generator, D.S.O, Decade Resistance Box, Decade Capacitance Box, Multimeter,
Patch Cords.
THEORY:
If a sinusoidal input is applied to the input of a network and steady state output has a phase lag,
1
then network is called lag compensator/network. Lag compensator has a pole at s = and a
T
pole at s = 1 with pole closer to the origin than zero. This compensator improves the steady
T
state behavior of the system while nearly preserving its transient response. These compensators
are used when low steady state error is required.
Effect of Phase Lag Compensation:
1. Gain crossover frequency increases.
2. Bandwidth decreases.
3. Phase margin will be increase.
4. Response will be slower before due to decreasing bandwidth, the rise time and the
settling time become larger.
Advantages of Phase Lag Compensation:
1. Phase lag network allows low frequencies and high frequencies are attenuated.
2. Due to the presence of phase lag compensation the steady state accuracy increases.
Disadvantages of Phase Lag Compensation:
Due to the presence of phase lag compensation the speed of the system decreases.

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Control System Engineering Lab Manual
CIRCUIT DIAGRAM:

Figure 9.1 RC Lag Compensating Network

Design:
 1 
 s+ 
1 
Gc ( s ) =    
   s + 1 
  
 
R1 + R2
 = R2C ,  = 1
R2
 G ( j ) = tan −1 ( ) − tan −1 (  )
1
Frequency at which maximum phase lead occurs, m =
 
1 − sinm
Maximum phase lead m is given by =
1 + sinm
1
Corner frequencies, 1 = and 2 = 1
 
Design a lead compensator for the given values of m and f m = 
2

PROCEDURE:

1. Derive the transfer function for the Lead network given in figure 9.1.
2. For the given specification, i.e. for given m at given Fm, calculations of R1, R2 and C are
done.
3. Connections are made as per the figure 4.1 by selecting the values found in the above step.
4. Switch ON the mains supply and apply sinusoidal wave by selecting suitable amplitude.
5. The frequency of the signal is varied in steps and at each step note down the corresponding
magnitude of output and phase angle.
6. Draw the frequency response plot and hence find the transfer function & compare it with the
design.
7. Typical waveform is shown in figure 9.2.

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TABULAR COLUMN:

Input Voltage Vi = __________________ V (Volts)

V0
Frequency Output Gc ( j ) = 20log10 dB  Gc ( j ) degrees
(Hz) V0 (Volts) Vi

Typical Lead Characteristics:

Figure 9.2 Magnitude and Phase plot of RC lead Compensating Network

RESULTS AND CONCLUSIONS:

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EXPERIMENT NO - 5
RC LAG - LEAD COMPENSATING NETWORK

AIM:
Experiment to draw the Frequency Response of a given Lead-Lag Compensating
Network.
APPARATUS REQUIRED:
Function Generator, D.S.O, Decade Resistance Box, Decade Capacitance Box,
Multimeter, Patch Cords.
THEORY:
Lag lead compensator is a combination of a lag compensator and lead
compensator. The lag section has one real pole and one real zero with pole to the right of
zero. The lead section also has one real pole and one zero but zero is to the right of the
pole. When both steady state and transient response require improvement, a lag lead
compensator is required.
ADVANTAGES OF PHASE LAG-LEAD COMPENSATION
1. Due to the presence of phase lag-lead network the speed of the system increases
because it shifts gain crossover frequency to a higher value.

2. Due to the presence of phase lag-lead network accuracy is improved.

CIRCUIT DIAGRAM:

Figure 5.1: Lag-Lead Compensating Network

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PROCEDURE:
1) Derive the transfer function for the lag lead network given in figure 5.1.

2) Connections are made as per figure 5.1 by selecting the proper values.

3) Switch ON the mains supply and apply sinusoidal wave by selecting suitable
amplitude.

4) The frequency of the signal is varied in steps and at each step note down the
corresponding magnitude of output and phase angle.

5) Draw the frequency response plot and hence find the transfer function &
compare it with the design.

6) Expected waveform is shown in the figure 5.2.

DESIGN:
Write the above circuit in Laplace form.
Vi ( s ) = ( Z1 + Z2 )  I ( s )
Where I ( s ) is the current in the circuit
Z1 = ( R1 || C1S )
 1 
Z2 =  R2 + 
 C2 S 
V0 ( s ) = Z2  I ( s )
V0 ( s ) Z2
=
Vi ( s ) ( Z1 + Z2 )
After simplification,
 S + 1  1
GC ( S ) =   S + 
 T1  T2 
 S +1  S +  
  T2   T 
  1 
1 
Where T1 = R1C1 , T2 = R2C2 , R1C1 + R2C2 + R1C2 = +
 T2 T

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TABULAR COLUMN:

Input Voltage VS =___________________ V (Volts)

Frequency V0  (degree) Gain (dB)

(Hz) (rms) Indicated 20log (V0 / Vs)

TYPICAL CHARACTERISTICS:

Figure 5.2 Magnitude and Phase plot of RC lead Compensating Network

RESULTS AND CONCLUSIONS:

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Review Questions:
1 What is lag lead Compensation? Write the frequency response of it.
2 What is the importance of lag lead network?
3 Draw a pole zero plot of a lead compensator network?
4 What are dominant poles & zeros?
5 Draw the opamp based lead compensation network?
6 Draw a typical lag lead compensation network using opamp?
7 What is a lag compensator?

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EXPERIMENT - 6

EFFECT OF P, PI, PID CONTROLLER ON A SECOND

ORDER SYSTEM (HARD WARE)
AIM:
To study the steady state performance of an analog P, PI & PID controller using
PID controller kit.
APPARATUS REQUIRED
PID Controller Kit, Patch Chords
THEORY:
Electronic PID controllers can be obtained using operational amplifiers and passive
components like resistors and capacitors. A typical scheme is shown in Figure
5.1 with little calculations, it can be shown that the circuit is capable of delivering the PID
actions as:
 1 de (t ) 
e0(t ) = K p e (t ) +  e ( ) d +  d 
 i dt 

BLOCK DIAGRAM OF PID CONTROLLER:

Figure 5.1 Block diagram of PID Controller

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DETAILED CIRCUIT DIAGRAM OF PID CONTROLLER:

Figure 5.2 Circuit diagram of PID Controller

R2
It is evident from Figure 5.1, the proportional gain Kp is decided by the ratio
R1
of the first amplifier; the integral action is decided by R3 and C1 and the derivative action by R5
and C2. The final output however comes out with a negative sign, compared to equation (though
the positive sign can also be obtained by using a non-inverting amplifier at the input stage,
instead of the inverting amplifier). The Op-amps shown in the circuits are assumed to be ideal.
PROCEDURE:
1) Make the connections as per the figure 5.1 block diagram.
2) Set input DC amplitude to 1V.

3) Adjust I, D to Zero.

4) For various values of P, measure Vf, Vi and Ve using meter provided on the kitand
note down the readings and tabulate.

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TABULAR COLUMN:
P CONTROLLER (VARIABLE PROPORTIONATE GAIN)

Sl. No P Vi Vf Ve
1.
2.
3.
4.

PI CONTROLLER (CONSTANT PROPORTIONATE GAIN AND VARIABLE

INTEGRALGAIN)
P=

Sl. No Vi Vf Ve
1.
2.
3.
4.

PID CONTROLLER (CONSTANT PROPORTIONATE GAIN & INTEGRAL

GAIN ANDVARIABLE DIFFERENTIAL GAIN)
P= , I=

Sl. No D Vi Vf Ve
1.
2.
3.
4.

RESULTS AND CONCLUSIONS:

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REVIEW QUESTIONS

1 What is a controller?
2 What is the difference between a compensator and controller?
3 Write a brief note about Proportional Controller?
4 Write a brief note about Derivative Controller?
5 Write a brief note about Integral Controller?
6 Write a brief note about PID Controller?
7 Compare the performance of PI and PD controller?
8 Which controller is used for improving the transient response of the system?
9 Which controller is used for improving the steady state response of the system?
10 What is the purpose of PID controller?

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Control System Engineering Lab Manual
EXPERIMENT NO - 7
EFFECT OF P, PI AND PID CONTROLLERS ON A
SECONDORDER SYSTEM USING MATLAB

AIM:
To simulate the effect of P, PI, PD and PID Controllers on a given second order

1
system for a unit step input G (s )=
2
s +10s + 20

PROGRAM:
I) FOR STEP RESPONSE OF AN OPEN LOOP SYSTEM
num=1;

den=[1 10 20];

plant=tf(num,den);
step(plant);
The expected waveform from the simulation study is as shown in Figure 3.1

MATLAB COMMAND WINDOW PLOT:

Figure 3.1 Step response for an open loop system

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OBSERVE SETTLING TIME AND STEADY STATE ERROR:

II) FOR CLOSED LOOP SYSTEM WITH PROPORTIONAL CONTROL:

Kp
G (s ) = 2
s + 10s + (20 + Kp)
Let kp = 300;

kp=300;
contr=kp;
sys=feedback(contr*plant,1);
t=0:0.01:2;
step(sys,t)
The expected waveform from the simulation study is as shown in Figure 3.2

MATLAB COMMAND PLOT:

Figure 3.2 Step response of closed loop system with Proportional controller

OBSERVATIONS:
Rise time and steady state error has been reduced
Settling time has been reduced
Overshoot has increased

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III) FOR CLOSED LOOP SYSTEM WITH PRORTIONAL DERIVATIVE CONTROL

Kds + Kp
G (s ) =
s2 + (10 + Kd)s + (20 + Kp)

Let Kp = 300; Kd = 10
Kp=300;
Kd=10;
contr=tf([Kd Kp],1);
sys=feedback(contr*plant,1);
t=0:0.01:2;
step(sys,t)
The expected waveform from the simulation study is as shown in Figure 3.3

MATLAB COMMAND PLOT:

Figure 3.3 Step response of closed loop system with PD controller

OBSERVATIONS:
Overshoot and settling time has been reduced

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IV) FOR CLOSED LOOP SYSTEM WITH PROPORTIONAL INTEGRAL CONTROL

Kps + Ki
G (s ) = 3
s + 10s + (20 + Kp )s + Ki
2

Let kp=30; ki=70;

kp=30;
ki=70;
contr=tf([kp ki],[1 0]);
sys=feedback(contr*plant,1);
t=0:0.01:2;
step(sys,t)
The expected waveform from the simulation study is as shown in Figure 3.4

MATLAB COMMAND PLOT:

Figure 3.4 Step response of closed loop system with PI controller

OBSERVATIONS:
Steady state error has been eliminated

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V) FOR CLOSED LOOP SYSTEM WITH PROPORTIONAL INTEGRAL
DERIVATIVECONTROL

Kds2 + Kps + Ki
G (s ) =
s3 + (10 + Kd )s2 + (20 + Kp)s + Ki

Let kp=350; ki=300 and kd = 50;

kp=350;
ki=300;
kd = 50;
contr=tf([ kd kp ki],[1 0]);
sys=feedback(contr*plant,1);
t=0:0.01:2;
step(sys,t)
The expected waveform from the simulation study is as shown in Figure 3.5

MATLAB COMMAND PLOT:

Figure 3.5 Step response of closed loop system with PID controller

OBSERVATIONS:
No overshoot, fast rise time and no steady state error has been achieved with PID controller

RESULTS AND CONCLUSIONS:

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EXPERIMENT NO - 8
CHARACTERISTICS OF AC SERVO MOTOR

AIM:
To study the Speed-Torque and Speed-Back e.m.f. characteristics of AC

Servomotor.
APPARATUS REQUIRD:
AC Servo Motor Kit, Patch Chords, Digital Multimeter
BLOCK DIAGRAM:

Figure 8.1 Symbolic representation of AC Servomotor

The symbolic representation of an AC servomotor is shown in the Figure 8.1.
PROCEDURE:
1) Study all the controls carefully on the front panel
2) Initially keep load control switch at OFF position, indicating that the armature circuit
of dc machine is not connected to auxiliary dc supply – 12V dc. Keep servomotor
supply switch also at OFF position
3) Ensure load potentiometer and control voltage auto transformer at minimum position.
4) Now switch ON mains supply to the unit and also AC servomotor supply switch. Vary
the control voltage transformer. You can observe that the Ac servomotor will starts
rotating and the speed will be indicated by the tachometer in the front panel

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5) With load switch in OFF position, vary the speed of the Ac servomotor by varying the
control voltage and note down back EMF generated by the dc motor (Now working as
dc generator or tachogenerator). Enter the results in the Table.

6) Now with the load switch at OFF position, switch ON Ac servomotor and keep the
speed in the minimum position. You can observe that the Ac servomotor starts moving
with the speed being indicated by the tachometer. Now vary the control winding
voltage by varying the auto transformer and set the speed for maximum speed. Now
switch ON the load switch and start loading the AC servomotor by varying the load
potentiometer slowly. Note down the corresponding AC servomotor by varying the
load potentiometer slowly. Note down the corresponding values of Ia and speed and
enter these readings in the table. And also note down control voltage.

TABULAR COLUMN:
1) Speed, Back emf (Eb) Characteristics:

Sl. No Speed (N) in rpm Back emf (Eb) in Volts

1.

2.

3.

4.

2) Speed, Torque (T) Characteristics:

Power (P) (P Torque (T)

Sl. Speed (N) Back emf (Eb)
= Eb × Ia) = (P × 1.019 10-4 × 60) / 2N
No in rpm in Volts (Watts) (N-m)
1.

2.

3.

4.

5.

6.

7.

8.

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MODEL GRAPHS:
The expected waveforms are shown in the Figure 8.2 and Figure 8.3

Figure 8.2 Back EMF vs Speed curve Figure 8.3 Torque vs Speed curve

RESULTS & CONCLUSIONS:

REVIEW QUESTIONS:
1 What are the main parts of an AC servo motor?

2 What are the advantages and disadvantages of an AC servo motor over dc servo
motor?

3 Give the applications of Ac servomotor?

4 Define servo mechanism?

5 What is the difference between regulator & servomechanism?

6 What are the components of AC position control?

7 How is position control achieved?

8 What are the applications of AC servomotors?

9 What is meant by the dynamic response of DC servomotor?

10 Why a revolver is used in Ac servo motor?

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EXPERIMENT- 9
STABILITY ANALYSIS (BODE, ROOT LOCUS) OF LTI
SYSTEM USING MATLAB
AIM:
To analyses frequency response of a system by plotting Root locus, bode plot
using MATLAB software.

RESOURECES:
MATLAB Software
PROCEDURE:
1) Click on MATLAB icon.

2) From FILE menu click on NEW button and select SCRIPT to open untitled
window

3) Enter the following program in untitled window

4) Save the above program by clicking on SAVE button from FILE menu (or) Ctrl+S

5) Run the program by clicking RUN button (or) F5 and clear the errors (if any).
6) Observe the output on the MATLAB Command Window and plots from figure
window.

PROGRAM:

FOR ROOT LOCUS PLOT:

num = 1
den = [1 8 36 80 0]
sys = tf(num,den)

rlocus(sys)

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FOR BODE PLOT:

K ( s + 10)
G (s)H (s) =
s ( s + 20) ( s 2 + 2.4 s + 16)
Let K = 48
48 ( s + 10) 48s + 480
G (s)H (s) = =
s ( s + 20) ( s + 2.4 s + 16)
2
s + 22.4 s 3 + 64 s 2 + 320s
4

PROGRAM

num = [48 480]

den = [1 22.4 64 320 0]
sys = tf(num,den)
[gm,pm,wcg,wcp] = margin (sys) margin(sys)
MODEL GRAPHS:
The expected waveforms are shown in the Figure 9.1, Figure 9.2 and Figure 9.3

ROOT LOCUS PLOT:

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Figure Root locus plot

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BODE
PLOT:

Figure 9.2 Magnitude plot

Figure 9.3 Phase plot

OUTPUT:

Phase Cross Over frequency is:

Wpc =
Gain Cross Over frequency is :
Wgc =
Phase Margin in degrees is :
Pm =
Gain Margin in db is :
GM =

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THEORETICAL CALCULATION:

PHASE MARGIN:
1) For a given Transfer Function G(s), get G(jω) by placing s = jω.
2) Separate Magnitude and Phase terms from G(jω).
3) Equate magnitude of G(jω) to one and get ω value, this ω is called Gain Cross Over
Frequency (ωgc)
4) Substitute ωgc in place of G(jω), get the phase angle (φ).

5) Now Phase margin (PM) = 180 + φ

GAIN MARGIN:
1) For a given Transfer Function G(s), get G(jω) by placing s = jω

2) Separate Magnitude and Phase terms from G(jω).

3) Equate imaginary part to ZERO and get ω value, this ω is called Phase cross over
frequency (ωpc)

4) Substitute ωpc in real pat, get the corresponding gain (K).

5) Now Gain Margin (GM) = 20 log10 (1/K)

MAXIMUM ALLOWABLE GAIN:

1) For a given Transfer Function G(s), place K in the numerator and get the
characteristic equation Q(s) = 1 + G(s).

2) Get Q(jω) by placing s = jω.

3) Separate imaginary and real terms from Q(jω).

4) Equate imaginary part to ZERO and get ω values, these values called Imaginary

5) Cross Over points.

6) Substitute ωpc in real pat and equate real part of G(jω) to ZERO and get the
corresponding gain (K).

7) This gain is called maximum Allowable Gain (Kmax) or Limiting value of the
Gain for stability.

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TABULAR COLUMN:
Gain Margin (GM) and Phase Margin (PM) and
Maximum
Gain Cross Over Phase Cross Over
Specification Frequency (Wgc) Frequency (Wpc) allowable
Gain (Kmax)

From MATLAB

Theoretical

REVIEW QUESTIONS:
1) What is gain margin and phase margin?
2) What is gain cross over frequency and phase crossover frequency?

3) What are the different types of stability conditions?

4) What are the advantages and disadvantages of root locus, bode &Nyquist plot?
5) What are the advantages of frequency response analysis?

6) What is complementary Root Loci?

7) What are contours?
8) How can you analyse the stability of system with bode, Nyquist?

RESULTS & CONCLUSIONS:

Hence Root Locus Plot, Bode Plot of given transfer function has been plotted and
verified with theoretical calculations.

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EXPERIMENT- 10
DC POSITION CONTROL SYSTEM

OBJECTIVE:
To simulate a DC position control system using MATLAB and obtain its step response.

RESOURCES:
MATLAB Software

THEORY:

A DC Position Control System is a type of feedback control system designed to control the
angular or linear position of a mechanical load using a DC motor as the actuator. The main goal is
to make the output shaft (or load) move to a desired position and stay there despite disturbances or
load changes. It is used in applications like antenna positioning, robotic arms, machine tools, and
servo mechanisms.

A general block diagram is shown in the figure 10.1

Figure 10.1 General block diagram

MATLAB simulation diagram is shown in the Figure 10.2 and Figure 10.3.

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Figure 10.3 MATLAB simulation diagram

The expected waveform is shown in the Figure 10.4.

Figure 10.4 Step response of the closed loop system

RESULT AND CONCLUSION

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