Jayawant Shikshan Prasarak Mandal’s

Bhivarabai Sawant Institute of Technology & Research Centre, Wagholi, Pune

Department of Electrical Engineering

Academic Year 2023-24
Bachelor of Engineering (2019 Pattern)

Control System
Engineering
LAB MANUAL
 JSPM’S
BHIVARABAI SAWANT INSTITUTE OF TECHNOLOGY &
RESEARCH, WAGHOLI, PUNE

Vision and Mission of Institute

VISION

“To Satisfy the aspirations of youth force, who

wants to lead nation towards prosperity through
techno-economic developments”
MISSION

”To provide, nurture and maintain an environment

of high academic excellence, research and
entrepreneurship for all aspiring students which
will prepare them to face global challenges,
maintaining high ethical and moral standard”
 JSPM’S
BHIVARABAI SAWANT INSTITUTE OF TECHNOLOGY &
RESEARCH, WAGHOLI, PUNE

Vision and Mission of Electrical Department

VISION

”Human resource development to meet growing

industrial & social challenges”
MISSION

”To impart quality education and nurture aspirants

to face the growing challenges and
satisfystakeholders”
Engineering Graduates will be able to:

PO1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering fundamentals,
and an engineering specialization to the solution of complex engineering problems.

PO2. Problem analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of mathematics,
natural sciences, and engineering sciences.

PO3. Design/development of solutions: Design solutions for complex engineering problems and
design system components or processes that meet the specified needs with appropriate consideration
for the public health and safety, and the cultural, societal, and environmental considerations.

PO4. Conduct investigations of complex problems: Use research-based knowledge and research
methods including design of experiments, analysis and interpretation of data, and synthesis of the
information to provide valid conclusions.

PO5. Modern tool usage: Create, select, and apply appropriate techniques, resources, and modern
engineering and IT tools including prediction and modeling to complex engineering activities with an
understanding of the limitations.

PO6. The engineer and society: Apply reasoning informed by the contextual knowledge to assess
societal, health, safety, legal and cultural issues and the consequent responsibilities relevant to the
professional engineering practice.

PO7. Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts, and demonstrate the knowledge of, and need for
sustainable development.

PO8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and norms of
the engineering practice.

PO9. Individual and team work: Function effectively as an individual, and as a member or leader
in diverse teams, and in multidisciplinary settings.

PO10. Communication: Communicate effectively on complex engineering activities with the

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

PO11. Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a member and leader
in a team, to manage projects and in multidisciplinary environments.

PO12. Life-long learning: Recognize the need for, and have the preparation and ability to engage in
independent and life-long learning in the broadest context of technological change.
 LAB OBJECTIVE
● Understand basic concepts of the classical control theory.
● Model physical systems mathematically.
● Analyze behavior of system in time and frequency domain.
● Design controller to meet desired specifications.

Course Outcomes:
Students should be able to
CO 1: determine time response of linear system

CO 2: analyze stability of LTI system

CO 3: analyze stability of system in frequency domain by polar and Nyquist Plot.

CO 4: analyze stability of system in frequency domain by Bode plot.

CO 5: Design PID controller for a given plant to meet desired time domain specifications.

CO 6: design PID controller for LTI system and study of control system components.
 Practical Session Plan

Time Typical Skill /

Content Learning Aid / Faculty
Student Competency
(min) Methodology Approach
Activity Developed.

Relevance and Introduces, Listens, Knowledge,

10 Chalk & Talk,
significance of Facilitates, Participates, Communication,
experiment Presentation Monitors Discusses intrapersonal

Knowledge,
20 Introduces, Communication,
Explanation of Chalk & Talk, Facilitates, Listens
intrapersonal,
experiment Presentation Explains Application

Debate,
Explains, comprehension,
60 Participates,
Role play/demonstration
Reading Monitors Discusses Hands on
experiment
Knowledge,
20 Explains, Communication,
Participates,
Calculations N/A Monitors Intrapersonal,
Discusses
Application

Knowledge,
10 Listens, Communication,
Results and Participates,
Keywords Lists, Facilitates intrapersonal,
conclusions Discusses Comprehension
Lab Safety Guidelines
● Obtain authorization from the lab In charge prior to entering the lab
working area.
● Smoking is strictly prohibited inside the Lab area.
● Ensure that safety devices are adequate, appropriate and in good
working order.
● Every Student should know the locations and operating procedures
for all safety equipment including, First AID KIT (s) and Fire
extinguisher.
● Know where the fire alarm and the exits are located.
● Laboratories must be locked if no one is in the lab.
● Proper handling and disposal of bio-hazardous materials, including
all patient specimens.
Savitribai Phule Pune University Faculty of Engineering Course
Structure
 LIST OF EXPERIMENTS
A) Minimum five experiments should be conducted.

1. Experimental determination of DC servo motor parameters for

mathematical modeling and transfer function
2. Experimental study of time response characteristics of R-L-C second order
system. Validate the results using software simulation.
3. Experimental determination of frequency response of Lead compensator.
4. Experimental determination of frequency response of Lag compensator.
5. PID control of level/ Temperature/speed control system.
6. Experimental determination of transfer function of any one physical systems
(AC Servomotor/ Two Tank System/ Temperature control/ Level control)
7. Experimental analysis of D.C. Motor Position control System.

B) Minimum three experiments should be conducted (perform using

software)

1. Stability analysis using a) Bode plot, b) Root locus and c) Nyquist plot.
2. Effect of P, PI and PID controllers on time response of second order system.
3. Analysis of closed loop DC position control system using PID controller.
4. Effect of addition of pole-zero on root locus of second order system.
5. Effect of addition of dominant and non-dominant poles on step response of
second order system.
6. PID controller for speed/position control of DC servomotor.
 EXPERIMENT NO. 1
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 01
Aim:
Experimental determination of DC servo motor parameters for mathematical modeling,
transfer function and characteristics.

Appratus:
S. No Description Range Type Quantity

1. DC servo motor trainer kit - 1

2. DC servo motor 1

3. Rheostat 500Ω/1A 1

(0-1)A MC 1
4. Ammeter
(0-100) mA MI 1

(0–300) V MC 1
5. Voltmeter
(0–75) V MI 1

6. Stopwatch - 1

7. Patch cords - As required

Theory:
Circuit diagram for armature controlled DC servomotor can be given as,

Fig.1 Armature Controlled DC Servomotor

 In servo applications a DC motor is required to produce rapid accelerations from standstill.
Therefore the physical requirements of such a motor are low inertia and high starting torque. Low
inertia is attained with reduced armature diameter with a consequent increase in the armature length
such that the desired power output is achieved. Thus, except for minor differences in constructional
features a DC servomotor is essentially an ordinary DC motor. A DC servomotor is a torque
transducer which converts electrical energy into mechanical energy. It is basically a separately
excited type DC motor. The torque developed on the motor shaft is directly proportional to the field
flux and armature current, Tm = Km Φ Ia. The back emf developed by the motor is Eb = Kb Φ ωm.. In
an armature controlled DC Servo motor, the field winding is supplied with constant current hence
the flux remains constant. Therefore these motors are also called as constant magnetic flux motors.
Armature control scheme is suitable for large size motors.

Circuit Diagram:

Fig.2 Experimental Setup

Mathematical model of DC servomotor:

Ra = Armature Resistance
La = Armature Inductance
la = Armature Current
Eb = Back emf
T = Torque developed
J = Moment of Inertia =0.024 Kg-m2
= Frictional Co-efficient - 0.8
B
Kb = Back emf constant
KT = Torque Constant
 By Kirchhoff’s law
𝑑𝐼𝑎
𝐼𝑎𝑅𝑎 + 𝐿𝑎 + 𝐸𝑏 = 𝑉
𝑑𝑡

Since flux is constant Torque is proportional to Ia.

Tm α Ia Tm
α KTIa
Also for Mechanical System

J dѲm2 + B dѲm = Tm
dt2 dt

Also Back emf Eb is given as

𝐸𝑏 = 𝐾𝑏 𝑑𝜃𝑚
𝑑𝑡

By solving the Laplace equation we obtain the transfer function as,

𝜃(𝑠) 𝐾𝑡
= 3
𝑉(𝑠) (𝑆 (𝐽𝑚𝐿𝑎) + 𝑆2(𝑅𝑎. 𝐽𝑚 + 𝐿𝑎. 𝐵) + (𝑅𝑎. 𝐵 + 𝐾𝑏. 𝐾𝑡)𝑆)
Procedure :

A) Measurement of Armature Resistance (Ra):

1. Connect the circuit as shown in the figure. Keeping field circuit open.
2. Motor shaft should not rotate.
3. Vary the input voltage from 0-100V from the controller and note dowr ammeter and
voltmeter readings and enter in the tabular column.
4. Calculate the Resistance = V/I
5. Repeat the same for different input voltages.
6. The average resistance value gives the armature resistance.

B) Measurement of Armature inductance (La):

1. Make the connections as given in the circuit diagram. Keep field circuit open.
2. Vary the input AC Voltage from the controller and note down voltmeter and Ammeter readings and
enter in the tabular column.
3. Calculate Za, Xa and La
4. Repeat the same for different input voltages
5. The average Value gives the La at f = 50Hz

C) Load Test on DC Motor:

Fig.3 Experimental setup for load test on DC motor

1. Circuit connections are making as per the circuit diagram.

2. Connect 220V fixed DC supply to the field of DC motor and Brake drum belt should be
loosened.
3. Start the motor by applying 0-220V variable DC supply from the controller till the motor rotates
 at its rated speed.
4. Note down meter readings which indicates no load reading.
5. Apply load in steps up to rated current of the motor and note down corresponding I L, N, F1and
F2 readings.
6. Switch OFF the armature DC supply using Armature supply ON/OFF switch and them switch
OFF the MCB. Radius: R= 17.5mm

Observation Table:
A) Given Parameters:
[Link]. Parameter Value
1 Kt – torque constant 0.139N.m/Amp
2 Jm-moment of inertia 3x10-3 kg-m2
3 fm-coefficient of viscous friction 1.3x10-3 Nm/(rad/sec)
4 Kb-back emf constant 0.0036V/rpm

B) Measurement of Armature Resistance (Ra):

Va Volts 1a Amps Ra = V/I Ohms

24 6 4

C) Measurement of Armature inductance (La):

Za = Va La= Xa
Va la Xa =√Za2 Ra2
Ia 2πf
24 5.91 4.06 0.7131 2.27mH
D) Load Test on DC Motor:
i) No Load Test:
Sr. No load Speed Armature Voltage Armature Current Power (W)
No (rpm) (V) (A)
1
2

3
4
5

ii) Load Test: L=250 mm & r=17.5 mm. ( Keep armature voltage at 24V)
Sr. Speed Armature F1 (N) F2 (N) T=( F1- F2)*r*L*2π
Current (A)
No (rpm)

1
2
3
4
5

Calculations:

Formula: T=( F1- F2)*r*L*2π

Graphs:
i) Speed- Torque Characteristics
ii) No load speed Vs Power Characteristics
iii) No load speed Vs Armature voltage.

Conclusion:

𝜃(𝑠) 𝐾𝑡
= 3
𝑉(𝑠) (𝑆 (𝐽𝑚𝐿𝑎) + 𝑆2(𝑅𝑎. 𝐽𝑚 + 𝐿𝑎. 𝐵) + (𝑅𝑎. 𝐵 + 𝐾𝑏. 𝐾𝑡)𝑆)
VIVA QUESTIONS:
1. What are the uses of DC servo motor?
2. What are the types of DC servo motors?
3. How the speed of DC servo motor is controlled?
4. What is the relation between torque and speed of DC servo motor?
5. Why the speed torque characteristics of DC servo motor has large Negative Slope?
6. What is the effect of negative slope?
7. In which wattage the DC servo motors are available?
8. What are the special features of DC SERVO MOTORS?
9. How the direction of rotation of DC servo motor can be changed?
10. What is transfer function of DC SERVO MOTOR?
 EXPERIMENT NO. 2
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 02

AIM: To design lead compensation network.

EQUIPMENTS:
S. No Description Range Quantity

1. Function generator - 1
2. CRO 1

3. Capacitor 22kpF 1

10k Ω 1
4. Resister
100 Ω 1
5. Patch cords - As required

THEORY:
Schematic diagram of an electrical lead network is shown in figure. The name lead
network comes from the fact that for a sinusoidal input ‘ei’ in the phase ‘eo’ is also
sinusoidal, with phase lead. The phase lead angle is a function of input frequency. T.F. of
lead network can be derived as,

G(s) = Eo(s) = R2+R1R2 C3 .

Ei(s) R1+R2+R1R2C3

Put R1C=I1  = . R2 .
R1+R2

G(s) = 1+ R1R2C3/ R2 .
R1/R2 + 1 + R1R2C3/R2

G(s) = 1+ T R1 S .
Ri/R2+1+R1TS

Ri/R2 = (1- ) / 

G(s) = ___1+ tR1S ____ .

1+TR1S + (1 - ) / 

= 1/ R1 T (S + 1/T) .
1/ T R1 (S + 1/ T)

G(s) = S + 1/T .
 S + T/

Wn = geometric mean of cancel freq.

W  W2

W= . 1 .
 T

tan  = tan–1 (wt) – tan-1 (wt)

tan  = WT+(1-)
1+ 2 T2

W = wn = . 1 .
T 
tan n = tan  = 1 - 
1-2

CIRCUIT DIAGRAM: Phase Lead Network

R1 = 10 K

C = 0.022 f
R2
I/p 100 O/p Eo

Fig.2:- Phase Lead

Network

PROCEDURE:
1. Set the 1 kHz, 5 V signal on function generator.
2. Give Function Generator output to the LEAD Network.
3. Connect the LEAD Network output to the CRO.
4. Observe phase LEAD between input & output signal on dual channel oscilloscope.
5. Vary the input signals & see the output response.
OBSERVATION TABLE:

Sr.
Frequency (Hz) Vo  20 log Vo / Vi
No.
1
2
3
4
5
6
7
8
9
10
11

RESULT:
THEORETICALLY PRACTICALLY
F1
F2
F3
.

CONCLUSION:
VIVA QUESTIONS:

1. Write a brief note about Lag Compensator.

2. Which compensation is adopted for improving transient response of a negative unity
feedback system?
3. Which compensation is adopted for improving steady response of a negative unity
feedback system?
4. Which compensation is adopted for improving both steady state and transient
response of a negative unity feedback system?
5. What happens to the gain crossover frequency when phase lag compensator is used?
6. What is the effect of phase lag compensation on servo system performance?
 EXPERIMENT NO. 3
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 03

AIM: To study the response of phase lag network and to draw bode plot.

APPARATUS:
S. No Description Range Quantity

1. Function generator - 1
2. CRO 1

3. Capacitor 63kpF 1

4k7 Ω 1
4. Resister
110 Ω 1

5. Patch cords - As required

THEORY:
Circuit diagram shows electrical lag network. The name lag network comes from
the fact that when the input voltage is sinusoidal but lags the output voltage by an
angle, which is a function of the frequency of the input. The complex impedance are
reduced to pure resistance.
T. F. is given by,

Eo . = 1 + RsCs .
Es 1+(R1R2)Cs

R2 C = T

R1 + R2 = 
R2

 Eo = R2 X S T + 1/R2C .
Es (R1+R1) S + 1/(R1 + R2) C

Eo = G(s) = 1 + 1/T
Es 1+1/T

tan  = tan-1 (wt) – tan-1 (wt)

PROCEDURE:
1. Set the 1 kHz, 5 V signal on function generator.
2. Give Function Generator output to the LAG Network.
3. Connect the LAG Network output to the CRO.
4. Observe phase LAG between input & output signal on dual channel oscilloscope.
5. Vary the input signals & see the output response.

CIRCUIT DIAGRAM: Phase Lag Network

R1 = 4.7k 


R2 = 120 

Es O/p Eo

C = 0.068 f

Fig.: 3- Phase Lag

Network

OBSERVATION TABLE:

Sr.
Frequency (Hz) Vo (Volts)  (Phase)
No.
1
2
3
4
5
6
7
8
9
10
11
12
RESULTS:

Theoretical Practical

CONCLUSION:
VIVA QUESTIONS:

1. Write a brief note about Lead Compensator.

2. Which compensation is adopted for improving transient response of a negative unity
feedback system?
3. Which compensation is adopted for improving steady response of a negative unity
feedback system?
4. Which compensation is adopted for improving both steady state and transient
response of a negative unity feedback system?
5. What happens to the gain crossover frequency when phase lead compensator is used?
 EXPERIMENT NO. 4
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 04

Aim: Transfer function of two tank system.

Appratus:

S. No Description Range Quantity

1. - 1
Two Tank system trainer kit

2. CRO - 1

3. Patch cords - As required

Theory:

The two tank system consist of pump, control valve, process tank , supply tank, rota-meter, main
power, supply switch, pump switch. The fluid level or liquid level in tank is measured by scale. The rota-
meter measures, the flow through the pipe and control valve’s control the liquid flow.

Liquid Level System:

Consider the system shown in Fig.1, The variables are defined as follows:
̅ = steady-state flow rate (before any change has occurred), m3/sec

qi= small deviation of inflow rate from its steady-state value, m3/sec,

q0= small deviation of outflow rate from its steady-state value, m3/sec
¯ ̅̅̅̅ = steady-state head (before any change has occurred), m
̅̅̅̅= small deviation of head from its steady-state value, m.
Transfer Function of Two Tank System:

Fig. 4.1: Two Tank System

Consider the system shown in Fig.1. In this system, the two tanks interact. Thus the transfer function of
the system is not the product of two first-order transfer functions. In the following, we shall assume
only small variations of the variables from the steady-state values. Using the symbols as defined in
Figure we can obtainthe following equations for this system
For Tank 1

Assume linear resistance to flow,

Time constant T1= C1R1

Taking Laplace transform on both sides of equation

( ) ( ) ( ) ( )

( )
( )

For Tank 2

Assume linear resistance to flow,

 ( )

Time constant, T2= C2R2

Taking Laplace transform on both sides,

Analysis of liquid level systems:
Resistance and capacitance are the two important terms used in two tank system.
Resistance of the liquid level is defined as change in the level difference
between the two tanks whichnecessarily causes a unit change in flow rate.
𝐶ℎ𝑎𝑛𝑔𝑒 i𝑛 𝑙𝑒𝑣𝑒𝑙 𝑑iff𝑒𝑟𝑒𝑛𝑐𝑒
𝑅=
𝐶ℎ𝑛𝑎𝑔𝑒 i𝑛 f𝑙𝑜𝑤 𝑟𝑎𝑡𝑒
𝐶ℎ𝑎𝑛𝑔𝑒 i𝑛 𝑙i𝑞𝑢i𝑑 𝑠𝑡𝑜𝑟𝑒𝑑
𝐶=
𝐶ℎ𝑛𝑎𝑔𝑒 i𝑛 ℎ𝑒𝑎𝑑
Procedure:

1. Fill the sump tank with water

2. Close all the valves
3. Connect mains chord to mains outlets, switch on power
4. Adjust flow rate on Rota meter to 50LPH. Switch off the system. Drain
the water in tank 1 bycontrol valve, open the control valve to R2 and
close R1 and R3. These are initial adjustments
5. Switch on the Supply. The pump will start pumping water from
sump tank to tank 1 withpredetermined flow rate and from tank 1
to tank 2.
6. Note down the level in tank 2 after you hear beep
7. Switch off power when tank 1 is nearer to full
8. Open valve 1 full when the level in tank 1 is about 140mm. water will flow from
tank 1 to tank2
9. Note the level in tank two after you hear a beep
10. Tabulate the results
11. Plot graph of time Vs level in mm for tank 1 and tank 2.

Observation Table:

Sr. No. LPH Height of liquid in Height of liquid in Tank 2 Time

Tank 1
1
2
3
 Calculations:

i) Given Data
K 0.41
a R=2.5mm

A R=45.5mm

Volume of cylinder= 𝑉 = 𝜋𝑟2ℎ

Conclusion:
 EXPERIMENT NO. 5
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 05
Aim: Experimental analysis of D.C. Position control System.

Appratus:

S. No Description Range Quantity

1. D.C Position control system - 1

trainer kit
2. CRO - 1
3. Patch cords - As required

Theory:

The D.C Position control system is so called because the D.C signals exist in the system.
For example if the reference input and the controlled output are constant values a straight line can
graphically represent the actuating signal. For D.C voltage controlled system, the actuating signal
e [t]is a D.C voltage. In the simplest form the output position and the reference position o1and
02 are measured and compared by a potentiometer pair whose output voltage is proportional to
error in the angular position. The error voltage is amplified and applied to servomotor whose
positions the load and the output potentiometer such that the error is reduced to zero.
NEED FOR STABILIZATION
With switch SW1in open position and the step change in the input shaft, the output shaft
exhibits an oscillating behavior. This happens because of the system elements, which are capable
of storing energy i.e. capacitance, inductance inertia of moving components like rotor, load, gear
train etc. Once the system is excited by change in the input signal, the various elements begin to
store energy, even if the error voltage falls to zero. The stored energy causes the output shaft to
move in the same direction. This creates an error of opposite polarity and the system is again
instructed to work in the opposite direction. In this way, energy storing elements tend to produce
overshoots and undershoot in the system. In the experimental setup, output Derivative Feedback
is used for stabilization of the output. The Tacho generator, which is coupled to the motor,
generates an output voltage, which is proportional to the rate of change of displacement. This
voltage is coupled to the input of error amplifier, either in the regenerative mode or degenerative
 mode. By the adjustment of potentiometer P4ampunt of derivative feedback can be adjusted,
while DPDT switch is meant for selection of mode of stabilizing feedback.

Procedure:

Operation with stablizing feedback

1. Now put the SW switch in lower position i.e. tacho in position, SW2 must be in downward
position i,edegenerative mode. Keep P4 in fully anticlockwise direction.
2. The system can be tested for operation as follows
a) Now take the pot P1to 180 position& effect the step input change in one of the directions, output
again indicates oscillations. Now advance the pot in P4 in clockwise direction and the output now
is observed to follow the input in a smooth fashion without oscillation. If the P4 pot is too much
advanced, the output now follow input in a sluggish fashion indicating over –damped system.
Now take the pot P1 to 180 positions.
b) Now put the switch SW2 in upward position i.e. regenerative mode. Now if the pot P1 is
disturbed the output pot P2 is found to oscillate continuously around the desired position. As the
amount of feedback is adjusted the frequency and the amplitude of output is observed to vary.

NOTE:- DO NOT OPERATE THE D.C POSITION CONTROL IN THE REGENERATIVE

MODE FOR ALONG TIME.
Circuit Diagram:-

Fig. 5.1: Component layout for DC position control system

Fig. 5.2: Block diagram for DC position control system

 Observation Table:
i) Without stabilizing feedback

Sr. No Input angular position Output angular position

1
2
3
4
5

ii) With stabilizing feedback

Sr. No Input angular position Output angular position

1
2
3
4
5

iii) With stabilizing feedback Regenerative mode

Sr. No Input angular position Output angular position

1 60
2 120

Graph: The output angle v/s input angle characteristics for both the system i.e. without and with
stabilizingfeedback.

Conclusion:
 EXPERIMENT NO. 6
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 06 (a)
Aim: Stability analysis of Bode Plot by using MATLAB software.

Appratus:
1. MATLAB software.
Theory:
A Bode plot is a standard format for plotting frequency response of LTI systems.
Becoming familiar with this format is useful because:
1. It is a standard format, so using that format facilitates communication between
engineers.
2. Many common system behaviours produce simple shapes (e.g. straight lines) on a Bode
plot, so it is easy to either look at a plot or recognize the system behaviour, or to sketch
a plot from what you know about the system behaviour.
MATLAB CODE:
clc;
clear all;
close all;
num=[1 10];
den=[1 7 10 0];
sys=tf (num,den);
bode(sys);
[gm,pm,wpc,wgc]=margin(sys);
margin(sys);
grid on

Input:

Output:
gm=
pm=
wpc=
wgc=
Conclusion:
VIVA QUESTIONS:
1. What is bode plot?
2. What is gain margin?
3. What is phase margin?
4. What is gain crossover frequency?
5. What is phase crossover frequency?
 Experiment No.: 06 (b)
Aim: Stability analysis of Root Locus by using MATLAB software.

Appratus:
1. MATLAB software.
Theory:
rlocus computes the Evans root locus of a SISO open-loop model. The root
locus gives the closed-loop pole trajectories as a function of the feedback
gain k (assuming negative feedback). Root loci are used to study the effects
of varying feedback gains on closed-loop pole locations. In turn, these
locations provide indirect information on the time and frequency responses.
rlocus(sys) calculates and plots the root locus of the open-loop SISO model
sys. This function can be applied to any of the following feedback loops by
setting sys appropriately. If sys has transfer function G(s) = , the closed-
loop poles are the roots of d(s) + k*n(s) = 0
MATLAB CODE:
clear all;
close all;
num=[1];
den=[1 9 18 0];
sys=tf(num,den);
rlocus (sys)
axis ('equal')
title ('root locus')
grid on
[k,poles]=rlocfind(sys)
Input:

Output:

Conclusion:
VIVA QUESTIONS:

1. What is relative stability?

2. How can you measure relative stability using root locus?
3. What do you mean by breakaway point?
4. What is asymptotic line?
5. What do you mean by centroid?
 Experiment No.: 06 (c)
Aim: Stability analysis of Nyquist Plot by using MATLAB software.

Appratus:
1. MATLAB software.
Theory:
It is a graphical technique for determining the stability of a dynamical system.
Because it only looks atthe Nyquist plot of the open loop systems, it can be applied without
explicitly computing the poles and zeros of either the closed-loop or open-loop system. A
Nyquist plot is a parametric plot of a frequency response used in automatic control and
signal processing. In Cartesian coordinates, the real part of the transfer function is plotted
on the X axis. The imaginary part is plotted on the Y axis. The Nyquist plot can provide
some information about the shape of the transfer function.

MATLAB CODE:
clear all;
close all;
num=[1];
den=[1 1];
sys=tf(num,den);
nyquist (sys)
title (‘nyquist locus')
grid on

Input:

Output:

Conclusion:
VIVA QUESTIONS:

1. What is Nyquist contour?

2. What is polar plot?
3. How Nyquist plot is different from polar plot?
 EXPERIMENT NO. 7
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 07
Aim: Effect of P, PI and PID controllers on time response of second order systems.

Appratus:
1. MATLAB software.
Theory:
P, PI, and PID controllers are feedback controllers that can be used to improve
the performance of second-order systems. Here are the main effects of each type of
controller on the time response of a second-order system:

1. P Controller: A P (proportional) controller provides a proportional response to the

error signal, which is the difference between the desired and actual output of the
system. The effect of a P controller is to reduce the steady-state error of the system
and increase the speed of response. However, it may also cause overshoot and
oscillations in the system response.

2. PI Controller: A PI (proportional-integral) controller provides a proportional

response as well as an integral response to the error signal. The integral response
helps to eliminate steady-state error in the system. The effect of a PI controller is to
improve the steady-state accuracy and speed of response compared to a P
controller. However, it may still cause overshoot and oscillations in the system
response.

3. PID Controller: A PID (proportional-integral-derivative) controller provides a

proportional, integral, and derivative response to the error signal. The derivative
response provides a damping effect that helps to reduce overshoot and oscillations
in the system response. The effect of a PID controller is to provide fast and accurate
response with minimal overshoot and oscillations. However, it may be more
difficult to tune compared to P or PI controllers.

In summary, the P, PI, and PID controllers have different effects on the time
response of a second-order system. A P controller provides a proportional response that
increases the speed of response and reduces steady-state error, but may cause overshoot
and oscillations. A PI controller adds an integral response to eliminate steady-state error,
and further improves the steady-state accuracy and speed of response. A PID controller
adds a derivative response to reduce overshoot and oscillations, providing fast and
accurate response with minimal overshoot and oscillations.
MATLAB CODE:
clc;
clear all;
%P control
s=tf('s');
G=1/(s+1)^2;
for kp=[0.1:0.1:1],Gcl=feedback(kp*G,1);
figure (1),step(Gcl),hold on;
end
%PI control
s=tf('s');
G=1/(s+1)^2;
kp=1;
for Ti=[0.7:0.1:1.5],Gc=kp*(1+1/Ti/s);
Gcl=feedback (G*Gc,1)
figure (2),step(Gcl),hold on;
end
%PID control
s=tf('s');
G=1/(s+1)^2;
kp=1; Ti=1;
for Td=[0.1:0.2:2],Gc=kp*(1+1/Ti/s+s*Td);
Gcl=feedback(G*Gc,1)
figure(3),step(Gcl),hold on;
end

Input:

Output:

Conclusion:
VIVA 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.
 EXPERIMENT NO. 8
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 8
Aim: Effect of addition of pole-zero on root locus of second order system.

Apparatus:
1. MATLAB software.
Theory:
The addition of a pole or a zero to a second-order system can have a significant
effect on the root locus of the system. Here are some possible effects:
 Addition of a pole: When a pole is added to the system, the root locus moves
towards the pole, which means that the closed-loop system becomes less stable. This
is because the pole adds a new source of instability to the system. The further the
pole is from the imaginary axis, the more unstable the system becomes.
 Addition of a zero: When a zero is added to the system, the root locus moves
towards the zero, which means that the closed-loop system becomes more stable.
This is because the zero provides additional damping to the system. The further the
zero is from the imaginary axis, the more stable the system becomes.
 Addition of a complex conjugate pole or zero: When a complex conjugate pole or
zero is added to the system, the root locus may change its shape and position
depending on the relative location of the pole or zero. If the pole or zero is close to
the imaginary axis, the root locus will move towards or away from the pole or zero,
which can affect the stability and performance of the system.
In general, the addition of a pole or a zero to a second-order system can have a
significant effect on the root locus, and hence on the stability and performance of the
closed-loop system. It is important to carefully analyze the effect of the additional pole
or zero on the system and to design appropriate compensators, such as a lead or lag
compensator, to improve the stability and performance of the system.

MATLAB CODE:
num=[1]
den=[1 5 8 6 0]
sys=tf(num,den)
subplot(3,2,1)
rlocus(sys)
%addition of one zero% num=[1 1]
den=[1 5 8 6 0]
sys1=tf(num,den)
subplot(3,2,2)
rlocus(sys1)
title('rlocus after adding one zero')
%addition of two zero%
num=[1 3 2]
den=[1 5 8 6 0]
sys2=tf(num,den)
subplot(3,2,3)
rlocus(sys2)
title('rlocus after adding two zeros')
%addition of one pole%
num=[1]
den=[1 9 28 38 24 0]
sys3=tf(num,den)
subplot(3,2,4)
rlocus(sys3)
title('rlocus after adding one pole')
%addition of two pole% num=[1]
den=[1 14 73 178 214 120 0]
sys4=tf(num,den)
subplot(3,2,5)
rlocus(sys3)
title('rlocus after adding two poles')

Input:

Output:

Conclusion:
 VIVA QUESTIONS:

1. What is the root locus of a second-order system?

2. How does the addition of a pole affect the root locus of a second-order system?
3. How does the addition of a zero affect the root locus of a second-order system?
4. What is the effect of a complex conjugate pole or zero on the root locus of a second-order
system?
5. How can a compensator be used to improve the stability and performance of a second-order
system with an additional pole or zero?
6. How does the damping ratio of a second-order system affect the root locus?
 EXPERIMENT NO. 9
Date of performance:

Roll no:

Date of submission:

University roll no.:

Signature of Staff:
 Experiment No.: 9
Aim: Effect of addition of dominant and non-dominant poles on step response of second
order system.

Apparatus:
1. MATLAB software.
Theory:
The effect of adding dominant and non-dominant poles on the step response of a
second-order system can be analyzed using the concept of pole-zero cancellation and
pole dominance.

When a dominant pole is added to a second-order system, it can significantly affect the
step response by making the system more overdamped or critically damped. This is
because dominant poles have a much larger influence on the system behavior than non-
dominant poles, and they can quickly dominate the system response. As a result, the
overshoot and settling time of the system can decrease, and the rise time can increase.

On the other hand, when a non-dominant pole is added to a second-order system, its
effect on the step response is generally negligible, especially if it is far away from the
origin. This is because non-dominant poles have a much smaller influence on the
system behavior than dominant poles, and they can be easily canceled by the system's
zeros. Therefore, the overall effect of adding a non-dominant pole to a second-order
system is typically minor, and it may only slightly affect the damping ratio and natural
frequency of the system.

In summary, the addition of a dominant pole to a second-order system can have a

significant impact on the step response by making the system more overdamped or
critically damped, while the addition of a non-dominant pole may have a minor effect
on the response, especially if it is far away from the origin.

MATLAB CODE:
% Define the transfer function of the original second-order system
num = 1;
den = [1 2 1];
sys = tf(num, den);
% Plot the step response of the original system
step(sys);
title('Step Response of Original Second-Order System');
grid on;
% Add a dominant pole to the system transfer function
num_d = [1 1];
den_d = [1 10];
sys_d = tf(num_d, den_d);
sys_new = sys * sys_d;
% Plot the step response of the system with a dominant pole
figure;
step(sys_new);
title('Step Response of Second-Order System with Dominant Pole');
grid on;
% Add a non-dominant pole to the system transfer function
num_nd = [1 1];
den_nd = [1 0.1];
sys_nd = tf(num_nd, den_nd);
sys_new = sys * sys_nd;
% Plot the step response of the system with a non-dominant pole
figure;
step(sys_new);
title('Step Response of Second-Order System with Non-Dominant
Pole');
grid on;

In this code, we first define the transfer function of the original second-order system
with numerator 1 and denominator [1 2 1], which corresponds to a system with a
natural frequency of sqrt(2) and a damping ratio of 1/sqrt(2).
We then plot the step response of the original system using the step function and label
the plot accordingly.
Next, we add a dominant pole to the system transfer function by defining a new
transfer function sys_d with numerator [1 1] and denominator [1 10]. This corresponds
to a pole at s = -10, which is much farther from the origin than the original poles of the
system. We then multiply the original transfer function sys with sys_d to obtain a new
transfer function sys_new that includes the dominant pole.
We plot the step response of the system with the dominant pole using the step function
 again and label the plot accordingly.
Finally, we add a non-dominant pole to the system transfer function by defining a new
transfer function sys_nd with numerator [1 1] and denominator [1 0.1]. This
corresponds to a pole at s = -0.1, which is closer to the origin than the original poles of
the system. We then multiply the original transfer function sys with sys_nd to obtain a
new transfer function sys_new that includes the non-dominant pole.
We plot the step response of the system with the non-dominant pole using the step
function again and label the plot accordingly.
Note that you may need to adjust the pole locations and the system parameters to see
different effects on the step response. Also, you can use other MATLAB functions, such
as pzmap, stepinfo, and rlocus, to analyze the pole-zero locations and other properties of
the system.
Input:

Output:

Conclusion:

VIVA QUESTIONS:

1. What is the root locus of a second-order system?

2. How does the addition of a pole affect the root locus of a second-order system?
3. How does the addition of a zero affect the root locus of a second-order system?
4. What is the effect of a complex conjugate pole or zero on the root locus of a second-order
system?
5. How can a compensator be used to improve the stability and performance of a second-order
system with an additional pole or zero?
6. How does the damping ratio of a second-order system affect the root locus?