Control system Lab Manual 18EE61 2023

EXPERIMENT 5

DESIGN OF RC LAG COMPENSATOR

AIM: - To design a passive RC lag compensating network for the given specifications, viz.,
the maximum phase lag and the frequency at which it occurs and to obtain its frequency
response

APPARATUS REQUIRED:
SL NO NAME OF THE APPARATUS SL NO NAME OF THE APPARATUS
1 Resistors and capacitors 3 C.R.O. with probes
2 Signal Generator 4 Connecting wires

FORMULAE USED THEORETICAL CALCULATIONS: -

1. The transfer function of a lag compensator is given by, G(s)
1 , 1
sT
1 s T
R1 R2
2. Constant factor , which is always greater than unity.
R2
1 sin m
3. Also, the constant factor where is the maximum phase angle lag
m
1 sin m
in deg.

4. The maximum frequency at which maximum phase lag occurs, is, m 2 * *

f rad/sec.where, f is the maximum frequency in Hz at which maximum phase lag
occurs.
1
5. The maximum frequency at which maximum phase lag occurs is, m

*T
rad/sec
6. The time constant T R2 *C1sec.
1
7. Phase angle tan 1
m 2 

DESIGN: -

Obtain the frequency response for fm =325 Hz and Φm =45 deg.

Step 1. With the help of given specifications, compute the maximum frequency at which
maximum phase lag occurs using the formula m 2 * * f 2042.03 rad / sec

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 Control system Lab Manual 18EE61 2023

Step 2. Compute the constant factor using the formula

1 1 sin(45)
5.828 6
sin m 1 sin(45)
1
sin m

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 Control system Lab Manual 18EE61 2023

1
Step 3. Compute the time constant T using the formulaT 0.2 10 3 sec
m * 
Step 4.Assume the value of C as like 1 uF, then compute the value of R1 using the time
3
0.2 10
constant formula T R2 * C1 therefore R2 200ohms
1*10 6
R1 R2
Step 5.Using the formula of constant factor compute the value of R
R2
1200 R1 200 therefore R1 1000 ohms
CIRCUIT DIAGRAM:

PROCEDURE: -

1. A passive RC lag compensating network is designed for the given specifications.

2. Connections are made as per the circuit diagram.
3. The output voltage of signal generator which is a sine wave is set to 2-10 V (peak to
peak) and is supplied as input to the RC lag compensator.
4. A CRO is connected at the output of the lag compensator.
5. The input frequency of the circuit is varied in steps and the corresponding output voltage is
tabulated from CRO in every steps.
6. In addition to this, the phase angle is calculated in every step.
7. The voltage gain is calculated using the formula as given in the table.
8. The plots of gain in dB Vs frequency and phase angle Vs frequency are plotted in semi log sheet.
9. From this plot, maximum phase lag in degrees and the frequency at which this maximum phase lag
occurs f in Hz are found.

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 Control system Lab Manual 18EE61 2023

TABULAR COLOUMN:

SL FREQUENCY INPUT OUTPUT ANGULAR PHASE GAIN IN

NO (HZ) AMPLITUDE AMPLITUDE FREQUENCY ANGLE Db
Vi Vo W (rad/sec) 20log(Vo/Vi)

EXPECTED GRAPH

RESULT: -
Thus, the frequency response characteristics of a given passive RC lag compensating network
is drawn.
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 Control system Lab Manual 18EE61 2023
EXPERIMENT 4

DESIGN OF RC LEAD COMPENSATOR

AIM: - To design a passive RC lead compensating network for the given specifications, viz., the
maximum phase lead and the frequency at which it occurs and to obtain its frequency response

APPARATUS REQUIRED:

SL NO NAME OF THE APPARATUS SL NO NAME OF THE APPARATUS

1 Resistors and capacitors 3 C.R.O. with probes
2 Signal Generator 4 Connecting wires

FORMULAE USED THEORETICAL CALCULATIONS: -

𝜶(𝟏+𝒔𝑻)
1. The transfer function of a lead compensator is given by 𝑮(𝒔) = ,𝛼<1
(𝟏+𝒔𝜶𝑻)

𝑹𝟐
2. Constant factor 𝜶 = , which is always less than unity.
(𝑹𝟏 +𝑹𝟐 )
(𝟏−𝐬𝐢𝐧𝛗𝐦 )
3. Also, the constant factor 𝛂 = where φm is the maximum phase angle lead in deg.
(𝟏+𝐬𝐢𝐧𝛗𝐦 )

4. The maximum frequency at which maximum phase lead occurs, is, m 2 * * f

rad/sec where, f is the maximum frequency in Hz at which maximum phase lead occurs.

𝟏 𝑟𝑎𝑑
5. The maximum frequency at which maximum phase lead occurs is, 𝛚𝐦 =
√𝜶∗𝐓 𝑠𝑒𝑐
6. The time constant 𝑇 = 𝑅1 ∗ 𝐶1sec.
(1−𝛼)
7. Phase angle 𝜑𝑚 = tan−1
2√𝛼


DESIGN:

Obtain the frequency response for fm =3 K Hz and Φm =46 deg.

Step 1. With the help of given specifications, compute the maximum frequency at which maximum
phase lead occurs using the formula m 2 * * f 18849 .55 rad / sec
Step 2. Compute the constant factor using the formula
𝟏 − 𝐬𝐢𝐧 𝛗𝐦
𝛂= = 𝟎. 𝟏𝟑𝟎𝐦𝐬𝐞𝐜
𝟏 + 𝐬𝐢𝐧 𝛗 𝐦
1
Step 3. Compute the time constant T using the formula T
m * 

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 Control system Lab Manual 18EE61 2023
Step 4. Assume the value of C as like 0.1 uF, then compute th e value of R1 using the time
3
0.130 *10
constant formula T R1 * C1 therefore R1 1300 ohm
0.1*10 6
Step 5:Using the formula of constant factor
R2
Compute the value of R
R1
R2
217 0.167 R2 R2 therefore R2 260ohms

CIRCUIT DIAGRAM:

PROCEDURE: -

1. A passive RC lead compensating network is designed for the given specifications.

2. Connections are made as per the circuit diagram.
3. The output voltage of signal generator which is a sine wave is set to 10 V (peak to peak)
and is supplied as input to the RC lead compensator.
4. A CRO is connected at the output of the lead compensator.
5. The input frequency of the circuit is varied in steps and the corresponding output voltage is
tabulated from CRO in every steps.
6. In addition to this, the phase angle is calculated in every step.
7. The voltage gain is calculated using the formula as given in the table.
8. The plots of gain in dB Vs frequency and phase angle Vs frequency are plotted in semi log
sheet.

9. From this plot, the maximum phase lead in degrees and the frequency at which this
m
maximum phase lead occurs f in Hz are found.

2. With these values and using the formulae, the transfer function of the given RC phase lead

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 Control system Lab Manual 18EE61 2023
compensating network is found.

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 Control system Lab Manual 18EE61 2023
TABULAR COLOUMN:

Sl Frequency Input Output Angular Phase Gain in db

no (Hz) Amplitude Amplitude frequency Angle 20log(vo/vi)
Vi Vo w φ (Deg)
(rad/sec)

EXPECTED GRAPH:

RESULT:
• A passive RC lead compensating network is designed for the given specifications like the
maximum phase lead and the frequency at which it occurs.
• The frequency response characteristics were obtained.
 Control system Lab Manual 18EE61 2023
EXPERIMENT 2
SYNCHRO TRANSMITTER AND RECEIVER PAIR
AIM: To conduct a suitable experiment to plot the graph of Synchro Transmitter rotor
position v/s Stator voltage for 3 phase.

APPARATUS REQUIRED:
1. Synchro Transmitter Unit.
2. Voltmeter.
3. Connecting wires
CIRCUIT DIAGRAM:

a )Study of Synchro Transmitter

PROCEDURE:
1. Connect the main supply to the system with the help of cable provided. Do not
interconnect S1, S2 and S3 to S1’,S2’ and S3’.
2. Switch ON main supply for the unit and transmitter rotor supply.
3. Starting from zero position, note down the voltage between stator winding
terminals i.e.VS1S2, Vs1s2 and VS2S3 in a sequential manner. Enter readings in a
tabular column and plot a graph of angular position V/S rotor voltages for all
three phases.
4. Note that zero position of the stator rotor coincide with Vs3s1 voltage equal to
 Control system Lab Manual 18EE61 2023
zero voltage. Do not disturb this condition.

TABULAR COLUMN:

Sl.No Rotor Position VS3S1 VS1S2 VS2S3

in degrees
1 00
2 30
3 60
4 90
5 120
6 150
7 180
8 210
9 240
10 370
11 300
12 330
13 360

EXPECTED GRAPH

b) Study of Synchro Transmitter and

Receiver pair Procedure:

1. Connect mains supply cable.
2. Connect S1, S2, S3 terminals of transmitter to S1’, S2’ and S3’,of synchro
receiver by patch cords provided respectively.
3. Switch on rotor supply of both transmitter and receiver and also switch on the
mains supply.
4. Move the pointer i.e. rotor position of synchro transmitter in steps of 30
degrees and observe the new rotor position. Observe that whenever Transmitter
rotor is rotated, the receiver rotor follows it for both the directions of rotations
and their positions are in good agreement.
5. Enter the input angular position and output angular position in the tabular
column and plot a graph.
 Control system Lab Manual 18EE61 2023
EXPECTED GRAPH:

TABULAR COLUMN:

Sl.No Transmitter Receiver

angular angular
position position
in degrees in degrees
1 00
2 30
3 60
4 90
5 120
6 150
7 180
8 210
9 240
10 270
11 300
12 330
13 360

RESULT:
The graph of angular position V/S rotor voltage and input angular positions V/S Output
angular positions were plotted.
 Control system Lab Manual 18EE61 2023
EXPERIMENT 1

a)SPEED TORQUE CHARACTERISTICS OF A.C SERVOMOTOR

AIM: To study the speed - torque characteristics of two phase AC servomotor and to
plot a graph of toque Vs speed.

APPARATUS REQUIRED:
1. A.C Servomotor module
2. Patch chords
3. Ammeter- 0-2A DC
4. Multimeter.

CIRCUIT DIAGRAM:

PROCEDURE:

1. Observe all front panel control.

2. Initially keep load control switch OFF, indicating armature of D.C machine is not
connected to auxiliary supply of 12 V D.C. Keep servomotor supply switch OFF
(Left).
3. Ensure load potentiometer and control voltage autotransformer at minimum position.
4. Now, Switch on the main supply of unit and also of A.C Servomotor supply switch.
Vary the control voltage transformer. One can observe that the A.C servomotor will
start rotating and the speed will be indicated by Tachometer on the front panel.
5. With load switch in OFF position adjust the control winding voltage to a desired value
(200, 180,150) by varying the auto transformer.
6. Now switch on load and start loading the DC machine by varying the load rheostat.
For different loadings note down the corresponding values of armature current (Ia), Eb
and speed
 Control system Lab Manual 18EE61 2023
(N) and tabulate the readings as shown in the table.
7. Bring back the rheostat to minimum position and set the control winding voltage to a
new value by adjusting the auto transformer and repeat the step-7.
8. Plot Speed-Torque Characteristics for various values of control winding voltages.

TABULAR COLUMN:

SL Control winding Current, Speed, Back Emf, Power Torque, T

Ia(Amps) N(rpm) Eb (Volts) P0servo (gm-cm)
NO Voltage VC[Volts]
Watts)
1
2
150 V
3
1
2
180 V
3
1
2
200 V
3

FORMULAE USED:

Output of the DC machine

Po Eb Ia Watts
Po
Pi
Input to the DC machine = (Assume efficiency of 80 to 85%)
Output power of AC Servomotor = Poservo Pi

Poservo 60
T kg m
Therefore Torque (T) 2 N
9.81

Where, Eb = Back Emf, volts

Ia = Current, amps
P = Power, watts
 Control system Lab Manual 18EE61 2023
EXPECTED GRAPH

RESULT:
The Speed-Torque Characteristics of A.C Servomotor were drawn.
 Control system Lab Manual 18EE61 2023

EXPERIMENT – 1

B )SPEED TORQUE CHARACTERISTICS OF D.C. SERVOMOTOR

AIM: To study the Speed-Torque Characteristics of a D.C. SERVOMOTOR.

APPARATUS REQUIRED:

1. D.C. Servomotor Speed-Torque Study Unit.

2. D.C. Voltmeter (0-30V) or Multimeter---1 No.

CIRCUIT DIAGRAM:

1. Study the various controls on the front panel of the module.

2. Adjust zero reading in both the balances, also set the speed potentiometer at minimum
3. position.
4. Switch ON the main supply to the unit and both the RPM meter and ammeter shows zero
reading.witch ON the DC servomotor switch and the motor starts rotating and note down No load
speed and No load current. Now vary the speed potentiometer to the maximum position and check
the D.C voltage, it should be 24V. if not then adjust it to 24V. At this voltage note down the speed
and current.
5. Now slowly start loading the motor by adjusting the wheel and note down the current, speed, S1
and S2 for every 25 to 50 gms of load and max current=0.8 amps
6. Tabulate the readings as shown in the tabular column.
7. Now release the load fully and set the DC voltage to 75 % and 50% of the rated
voltage and repeat the steps 5 and 6.
8. Finally torque is calculated and the graphs of speed v/s Torque are plotted.

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 Control system Lab Manual 18EE61 2023
Expected Graph

FORMULA USED:

Torque=T=(S1-S2)*R

Where, R = Radius of brake drum

TABULAR COLUMN:

SL VOLTAGE SPEED S1 S2 TORQUE

NO [V] VOLTS N RPM gms gms gm-cm
1
RATED
2
VOLTAGE
3
24 V
4
1
75% OF
2
RATED
3
VOLTAGE
4
18 V
1
50% OF
2
RATED
3
VOLTAGE
6
12 V

RESULT: The Speed-Torque Characteristics of A.C Servomotor were drawn.

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 Control system Lab Manual 18EE61 2023
EXPERIMENT 6

DESIGN OF RC LAG-LEAD COMPENSATOR

AIM: -To draw the frequency response characteristic of a given lag- lead
compensating network.

APPARATUS REQUIRED:

SL NO NAME OF THE APPARATUS SL NO NAME OF THE APPARATUS

1 Resistors and capacitors 3 C.R.O. with probes
2 Signal Generator 4 Connecting wires

FORMULAE USED:-

TRANSFER FUNCTION FOR LAG LEAD SYSTEM:

𝟏 𝟏
(𝑺+𝑻 )(𝑺+𝑻 )
𝟏 𝟐
TF= 𝟏 𝟏
, 𝜷 > 𝟏 𝒂𝒏𝒅 𝜶𝜷 = 𝟏
(𝑺+𝜷𝑻 )(𝑺+𝜷𝑻 )
𝟏 𝟐

1 1
tan
m
2 √ For lead

m tan 1 1
2√ For lag
1
T1 R2C2
-------------------
2 f1 √

T2 R1C1
2 f2 √

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 Control system Lab Manual 18EE61 2023
DESIGN: -

Obtain the frequency response for f1 =650 Hz, f2=3 K Hz and Φm =45 deg.

Step 1. With the help of given specifications, compute the maximum frequency at which
maximum phase lag occurs using the formula 1 2 f1 4084 .07 rad / sec
2 2* *f2 18849 .55 rad / sec.

1+sin ∅𝑚 1+sin 45
Step 2: Compute the constant factor using the formula 𝛽 = = = 6 and as 𝛼𝛽 = 1,
1−sin ∅𝑚 1−sin 45

1
𝛼= = 0.166
𝛽

Step 3. Compute the time constants T1and T2 using the formula

1 1
𝑇1 = = 3 = 0.1 ∗ 10−3 𝑠𝑒𝑐
2𝜋𝑓1 √𝛽 2𝜋∗0.65∗10 ∗√6
1 1
𝑇2 = = = 0.1299 ∗ 10−3 𝑠𝑒𝑐
3
2𝜋𝑓2 √𝛼 2𝜋 ∗ 3 ∗ 10 ∗ √0.166
Step 4.Assume the value of C2 as like 1 uF, then compute the value of R1 using the time
𝑇
constant formula 𝑇1 = 𝑅2 ∗ 𝐶2 .Therefore 𝑅2 = 𝐶1 = 100Ω
2
Step 5. Assume the value of C1 as like 0.1 uF, then compute the value of R2 using the time
𝑇
constant formula 𝑇2 = 𝑅1 ∗ 𝐶1 . Therefore 𝑅1 = 𝐶2 = 1300Ω.
1

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 Control system Lab Manual 18EE61 2023

CIRCUIT DIAGRAM:

Procedure:
1. Connections are made as per the circuit diagram.
2. The output voltage of sine generator is set to 2V/5V (peak to peak) and is
supplied as input to the RC lag – lead compensator.
3. A CRO is connected at the output of the lag – lead compensator.
4. The input frequency of the circuit is varied in steps and the
corresponding output voltage is tabulated using CRO in every steps.
5. In addition to this, the phase angle is calculated.
6. The voltage gain is calculated using the formula as given in the table.
7. The plots of gain in dB Vs frequency and phase angle Vs frequency are
plotted in semi log sheet.
TABULAR COLOUMN:

SL FREQUENCY INPUT OUTPUT ANGULAR PHASE GAIN IN

NO (HZ) AMPLITUDE AMPLITUDE FREQUENCY ANGLE Db
Vi Vo W (rad/sec) 20log(Vo/Vi)
 Control system Lab Manual 18EE61 2023

EXPECTED GRAPH: -

Bode Diagram
0

-2
Magnitude (dB)

-4

-6

-8

-10
30
Phase (deg)

-30
2 3 4 5 6
10 10 10 10 10
Frequency (rad/sec)

RESULT: -
Thus, the frequency response characteristics of a given passive RC lag – lead
compensating network was drawn.
 Control system Lab Manual 18EE61 2023
EXPERIMENT 3

FREQUENCY RESPONSE OF SECOND ORDER SYSTEM

AIM: - To determine experimentally the frequency response of a second -order
system and evaluation of frequency domain specifications.

APPARATUS REQUIRED:

SL NO NAME OF THE APPARATUS

1 Resistance box, inductance box and capacitance box
2 Signal Generator
3 C.R.O. with probes
4 Connecting wires

R C
 Control system Lab Manual 18EE61 2023

CIRCUIT DIAGRAM

PROCEDURE:

1. Connections are made as per the circuit diagram choosing R, L and C values for
under damped system.
2. Connect the output port of the signal generator to the input port of the circuit as shown.
3. Set the signal generator output to sine wave.
4. Switch on the signal generator and set the amplitude of sine wave signal output to
2-5 V (peak to peak).
5. Now observe the output of the circuit in CRO.
6. Vary the input frequency of the sine wave from 100 Hz to 100 kHz in steps and tabulate
the corresponding output voltage and phase angles.
7. Compute the gain and phase angles for all the input frequencies using the formulae listed
above
8. Plot the graphs of gain in dB Vs frequency and phase angle Vs frequency in semi log
sheet..
9. Compute the frequency domain specifications, like undamped natural frequency n,
damping ratio and damped frequency d using the formulae as listed above and comment on
the system.

TABULAR COLOUMN:

SL Frequency INPUT OUTPUT ANGULAR GAIN IN Db

NO (HZ) Amplitude AMPLITUDE FREQUENCY 20log(Vo/Vi)
Vi Vo W (rad/sec)
 Control system Lab Manual 18EE61 2023
Expected Graph:

Results:

Thus the frequency response of a given second – order system was drawn and its frequency domain
specifications were evaluated
 Control system Lab Manual 18EE61 2023

EXPERIMENT 7

SIMULATION OF A TYPICAL SECOND ORDER SYSTEM

a) To simulate a typical second order system and to determine the step response of it and
evaluate the time – domain specifications.
b) To Evaluate the effect of additional poles and zeroes
c) To Evaluate the Effect of pole location on stability
d) To study the Effect of loop gain of a negative feedback system on stability

SOFTWARE REQUIRED:-MATLAB10 and above.

SECOND ORDER SYSTEM

Amplitude

Fig: Time response specification.

 Control system Lab Manual 18EE61 2023

FORMULAE USED-

A) TO SIMULATE A TYPICAL SECOND ORDER SYSTEM AND TO DETERMINE

THE STEP RESPONSE OF IT AND EVALUATE THE TIME – DOMAIN
SPECIFICATIONS.

SECOND ORDER SYSTEM TRANSFER FUNCTION

A) For Under damped system B) For critically damped C) For over damped
 Control system Lab Manual 18EE61 2023
PROGRAM:
%Simulation of a typical Second Order System & determine the step response of it and evaluate the time domain specification.

clc;
wn=input('Enter the value of natural frequency wn= ');
zeta=input('Enter the value of damping factor zeta= ');
num=wn^2;
den=[1 2*zeta*wn wn^2];
sys=tf(num,den);
[y t]=step(sys);
stepinfo(sys,'Rise time limits',[0,1])
plot(t,y);
xlabel('Time(sec)');
ylabel('Amplitude');
grid;
title('Step response for Under/OVER/CRITICALLY/UN damped system without using function');

Time domain specifications:

a)For Under damped System(zeta<1)

Enter the value of natural frequency wn=5

Enter the value of damping factor zeta=0.2
Transfer Function:

RiseTime: NaN
SettlingTime: 2.9757
SettlingMin: NaN
SettlingMax: NaN
Overshoot: 0
Undershoot: 0
Peak: 0.9993
PeakTime: 5.5193
 Control system Lab Manual 18EE61 2023
b)For Critically damped(zeta=1)

Enter the value of natural frequency

wn=5
Enter the value of damping factor
zeta=1
Transfer Function:

RiseTime: NaN
SettlingTime: 1.1668
SettlingMin: NaN
SettlingMax: NaN
Overshoot: 0
Undershoot: 0
Peak: 0.9991
PeakTime: 1.8780

c)For Over damped System(zeta>1)

Enter the value of natural frequency

wn=5
Enter the value of damping factor
zeta=2

ans =
RiseTime: NaN
SettlingTime: 2.9757
SettlingMin: NaN
SettlingMax: NaN
Overshoot: 0
Undershoot: 0
Peak: 0.9993
PeakTime: 5.5193
 Control system Lab Manual 18EE61 2023
d)For Un damped System(zeta=0)

Enter the value of natural frequency

wn=5

Enter the value of damping factor

zeta=0

RiseTime: NaN

SettlingTime: NaN

SettlingMin: NaN

SettlingMax: NaN

Overshoot: NaN

Undershoot: NaN

Peak: Inf

PeakTime: Inf
 Control system Lab Manual 18EE61 2023
B) TO EVALUATE THE EFFECT OF ADDITIONAL POLES AND ZEROES
1) Addition of zero
clc;
clear all
wn=5;
zeta=0.2;
num=wn^2;
den=[1 2*zeta*wn wn^2];
sys=tf(num,den)
[y t]=step(sys);
subplot(2,2,1);plot(t,y);
xlabel('time(sec)');
ylabel('Amplitude');
grid;

%plot step response

title('step response for under damped system without using function');
stepinfo(sys,'rise time limits',[0,1])
%pole zero plot of under damped system
[poles zeroes]=pzmap(sys)
subplot(2,2,2);
pzmap(sys)
title('pole zero plot for under damped system');

%Effect of adding zero on time response of second order system

z=input('enter the value of additional zero=');
num_az=[wn^2 z*wn^2];
den_az=[1 (2*zeta*wn) wn^2];
sys_az=tf(num_az,den_az)
[y_az t_az]=step(sys_az);
subplot(2,2,3);plot(t_az, y_az);
xlabel('Time(sec)');
ylabel('Amplitude');
grid;

%plot step response

title('step response for under damped system showing effect of additional zero');
stepinfo(sys_az,'rise time limits',[0,1])

%pole zero plot of under damped system showing effect of additional zero
[poles_az zeroes_az]=pzmap(sys_az)
subplot(2,2,4);
pzmap(sys_az)
title('pole zero plot for under damped system showing effect of additional zero');
 Control system Lab Manual 18EE61 2023

Results:
Transfer function:
25
--------------
s^2 + 2 s + 25
ans =

RiseTime: 0.3620
SettlingTime: 3.9164
SettlingMin: 0.7246
SettlingMax: 1.5257
Overshoot: 52.5701
Undershoot: 0
Peak: 1.5257
PeakTime: 0.6295

poles =
-1.0000 + 4.8990i
-1.0000 - 4.8990i
zeroes =
Empty matrix: 0-by-1
Enter the value of additional zero=2

Transfer function:

25 s + 50
--------------
s^2 + 2 s + 25
ans =
RiseTime: 0.0829
SettlingTime: 4.2780
SettlingMin: 0.1671
SettlingMax: 5.4810
Overshoot: 174.0511
Undershoot: 0
Peak: 5.4810
PeakTime: 0.3672

poles_az =
-1.0000 + 4.8990i
-1.0000 - 4.8990i
zeroes_az =
-2
 Control system Lab Manual 18EE61 2023
2) Additional zero in Right half of S-plane
Reluts:
Transfer function:
25
--------------
s^2 + 2 s + 25
ans =
RiseTime: 0.3620
SettlingTime: 3.9164
SettlingMin: 0.7246
SettlingMax: 1.5257
Overshoot: 52.5701
Undershoot: 0
Peak: 1.5257
PeakTime: 0.6295

poles =
-1.0000 + 4.8990i
-1.0000 - 4.8990i
zeroes =
Empty matrix: 0-by-1
Enter the value of additional zero = -2

Transfer function:

25 s - 50
--------------
s^2 + 2 s + 25
ans =
RiseTime: 0.5705
SettlingTime: 4.1247
SettlingMin: -4.4526
SettlingMax: -0.7147
Overshoot: 122.6283
Undershoot: 133.1719
Peak: 4.4526
PeakTime: 0.8393
poles_az =

-1.0000 + 4.8990i
-1.0000 - 4.8990i
zeroes_az =
2
 Control system Lab Manual 18EE61 2023

Inference-
The zeros of a transfer function affect the amplitude of a response component but do not
affect the nature of the response. The closer the zero is to the dominant poles, the more effect
it has on the transient response. The rise time and the peak time are decreased, while the
overshoot is increased. As the zero moves away from the dominant poles, the response
approaches that of the second-order system.

3) Additional Pole in Left half of S-plane

%Addition of Poles
clc;
clear all
wn=5;
zeta=0.7;
num=wn^2;
den=[1 2*zeta*wn wn^2];
sys=tf(num,den)
[y t]=step(sys);
subplot(2,2,1);plot(t,y);
xlabel('Time(sec)');
ylabel('Amplitude');
grid;

%plot step response

title('step response for under damped system without using function');
stepinfo(sys,'rise time limits',[0,1])

%pole zero plot of under damped system

[poles zeroes]=pzmap(sys)
subplot(2,2,2);
pzmap(sys)
title('pole zero plot for under damped system');

%Effect of adding pole on time response of second order system

p=input('Enter the value of additional pole=');
num_ap=wn^2;
den_ap=[1 ((2*zeta*wn)+p) (wn^2+(2*zeta*wn*p)) (wn^2*p)];
sys_ap=tf(num_ap,den_ap)
[y_ap t_ap]=step(sys_ap);
subplot(2,2,3);plot(t_ap,y_ap);
xlabel('Time(sec)');
ylabel('Amplitude');
grid;
 Control system Lab Manual 18EE61 2023

title('step response for under damped system showing effect of additional pole');
stepinfo(sys_ap,'rise time limits',[0,1])

%pole zero plot of under damped system showing effect of additional pole
[poles_ap zeroes_ap]=pzmap(sys_ap)
subplot(2,2,4);
pzmap(sys_ap)
title('pole zero plot for under damped system showing effect of additional pole');

Results:
Transfer function:
25
--------------
s^2 + 7 s + 25

ans =
RiseTime: 0.6572
SettlingTime: 1.1958
SettlingMin: 0.9979
SettlingMax: 1.0460
Overshoot: 4.5976
Undershoot: 0
Peak: 1.0460
PeakTime: 0.8843

poles =
-3.5000 + 3.5707i
-3.5000 - 3.5707i

zeroes =
Empty matrix: 0-by-1

Enter the value of additional pole= -3

Transfer function:
25
----------------------
s^3 + 4 s^2 + 4 s - 75

ans =
RiseTime: NaN
SettlingTime: NaN
SettlingMin: NaN
SettlingMax: NaN
Overshoot: NaN
Undershoot: NaN
Peak: Inf
 Control system Lab Manual 18EE61 2023
PeakTime: Inf
poles_ap =

-3.5000 + 3.5707i
-3.5000 - 3.5707i
3.0000
zeroes_ap =

Empty matrix: 0-by-1

4) Additional Pole in Left half of S-plane

Transfer function:
25
--------------
s^2 + 7 s + 25

ans =
RiseTime: 0.6572
SettlingTime: 1.1958
SettlingMin: 0.9979
SettlingMax: 1.0460
Overshoot: 4.5976
Undershoot: 0
Peak: 1.0460
PeakTime: 0.8843

poles =

-3.5000 + 3.5707i
-3.5000 - 3.5707i
zeroes =
Empty matrix: 0-by-1
 Control system Lab Manual 18EE61 2023
enter the value of additional pole= -3

Transfer function:
25
----------------------
s^3 + 4 s^2 + 4 s - 75
ans =
RiseTime: NaN
SettlingTime: NaN
SettlingMin: NaN
SettlingMax: NaN
Overshoot: NaN
Undershoot: NaN
Peak: Inf
PeakTime: Inf

poles_ap =
-3.5000 + 3.5707i
-3.5000 - 3.5707i
3.0000
zeroes_ap =
Empty matrix: 0-by-1

Inference-
Since the poles of the closed-loop transfer function are the roots of the characteristic equation,
they control the transient response of the system directly. If the pole is located in left half of
s-plane then the rise time and the peak time are increased with a reduction in the overshoot.
As the pole moves away from the dominant pole, it has less effect. When the poles lie right
half of s-plane then the system is unstable.

C) Addition of Pole and Zero

%Addition of pole & zero to LHS of s-plane
clc;
clear all
wn=5;
zeta=0.7;
num=wn^2;
den=[1 2*zeta*wn wn^2];
sys=tf(num,den)
[y t]=step(sys);
subplot(2,2,1);plot(t,y);
xlabel('time(sec)');
ylabel('Amplitude');
grid;
 Control system Lab Manual 18EE61 2023
%plot step response
title('step response for under damped system without using function');
stepinfo(sys,'rise time limits',[0,1])

%pole zero plot of under damped system

[poles zeroes]=pzmap(sys)
subplot(2,2,2);
pzmap(sys)
title('pole zero plot for under damped system');

%Effect of adding pole and zero on time response of second order system
z1=input('enter the value of additional zero=');
p1=input('enter the value of additional pole=');
num_apz=[wn^2 z1*wn^2];
den_apz=[1 ((2*zeta*wn)+p1) (wn^2+(2*zeta*wn*p1)) (wn^2*p1)];
sys_apz=tf(num_apz,den_apz)

[y_apz t_apz]=step(sys_apz);
subplot(2,2,3);plot(t_apz, y_apz);
xlabel('Time(sec)');
ylabel('Amplitude');
grid;

%plot step response

title('step response for under damped system showing effect of additional pole&zero');
stepinfo(sys_apz,'rise time limits',[0,1])

%pole zero plot of under damped system showing effect of additional zero
[poles_apz zeroes_apz]=pzmap(sys_apz)
subplot(2,2,4);
pzmap(sys_apz)
title('pole zero plot for under damped system showing effect of additional pole&zero');
 Control system Lab Manual 18EE61 2023
Results:
Transfer function:
25
--------------
s^2 + 7 s + 25
ans =
RiseTime: 0.6572
SettlingTime: 1.1958
SettlingMin: 0.9979
SettlingMax: 1.0460
Overshoot: 4.5976
Undershoot: 0
Peak: 1.0460
PeakTime: 0.8843

poles =

-3.5000 + 3.5707i
-3.5000 - 3.5707i
zeroes =
Empty matrix: 0-by-1

enter the value of additional zero=2

enter the value of additional pole=3

Transfer function:
25 s + 50
------------------------
s^3 + 10 s^2 + 46 s + 75
ans =

RiseTime: 0.4290
SettlingTime: 1.3854
SettlingMin: 0.6669
SettlingMax: 0.7971
Overshoot: 19.5706
Undershoot: 0
Peak: 0.7971
PeakTime: 0.7044

poles_apz =
-3.5000 + 3.5707i
-3.5000 - 3.5707i
-3.0000
zeroes_apz =
-2
 Control system Lab Manual 18EE61 2023

Additional pole and zero in Right half of S-plane

Inference- If the pole and zero are located in left half of s-plane then the system remains
stable. If the pole and zero are located in right half of s plane then the system will become
unstable.
 Control system Lab Manual 18EE61 2023

D) TO EVALUATE THE EFFECT OF POLE LOCATION ON STABILITY

PROGRAM:

% To evaluate the effect of pole location on STABILITY

%STABLE SYSTEM
clc;
clear all;
num=25;
den=[1 2 25];
sys=tf(num,den)
[y t]=step(sys);
subplot(1,2,1);plot(t,y);
xlabel('Time(sec)');
ylabel('Amplitude');
grid;

%Plot Step response

title('Step response');

%Pole-zero plot of underdamped system

[poles zeros]=pzmap(sys)
subplot(1,2,2);
pzmap(sys)
title('pole-zero plot');

RESULTS
STABLE SYSTEM
Transfer function:
25
--------------
s^2 + 2 s + 25

poles =

-1.0000 + 4.8990i
-1.0000 - 4.8990i

zeros =
Empty matrix: 0-by-1
 Control system Lab Manual 18EE61 2023

MARGINALLY STABLE
SYSTEM
Transfer function:
9
-------
s^2 + 9

poles =

0 + 3.0000i
0 - 3.0000i

zeros =

Empty matrix: 0-by-1

 Control system Lab Manual 18EE61 2023

%UNSTABLE SYSTEM
Transfer function:
25
--------------
s^2 - 2 s + 17

poles =

1.0000 + 4.0000i
1.0000 - 4.0000i

zeros =

Empty matrix: 0-by-1

Control system Lab Manual 18EE61 2023
 Control system Lab Manual 18EE61 2023

EXPERIMENT 8

SIMULATION OF PID CONTROLLER

AIM: To study the effect of P, PI, PD and PID controller on the step response of a feedback
control system
A) TOSIMULATE A TYPICAL SECOND ORDER SYSTEM WITHOUT
CONTROLLER AND TO DETERMINE THE STEP RESPONSE OF IT AND
EVALUATE THE TIME – DOMAIN SPECIFICATIONS.

SECOND ORDER SYSTEM

12
TRANSFER FUNCTION =
s + 2s + 12
2

PROGRAM

clc
clearall
wn=sqrt(12);
zeta=2/(2*wn);
num=12;
den=[1 2*zeta*wn wn^2];
transfer_function=tf(num,den)
[y t]=step(transfer_function);
figure(1);plot(t,y);
xlabel('Time(sec)');ylabel('Amplitude');grid;% plot step
response
title('step response');
% TIME DOMAIN SPECIFICATIONS
stepinfo(transfer_function,’Rise time Limits’,[0,1]) Ke=(num/(wn^2));
steady_state_error=1/(1+Ke)
 Control system Lab Manual 18EE61 2023

RESULT

Transfer function:
1

s^2 + 2 s + 12

RiseTime: 0.3796
SettlingTime: 3.9360
SettlingMin: 0.0708
SettlingMax: 0.1156
Overshoot: 38.7795
Undershoot: 0
Peak: 0.1156
PeakTime: 0.9443
steady_state_error = 0.9231

step response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6
Time(sec)

B) TO SIMULATE A TYPICAL SECOND ORDER SYSTEM WITH CONTROLLER

AND TO DETERMINE THE STEP RESPONSE

1) P- CONTROLLER
 Control system Lab Manual 18EE61 2023
Kp n2
TRANSFER FUNCTION =
s2 2 ns p n
2

PROGRAM K

clc clearall
wn=sqrt(12);
zeta=2/(2*wn);
kp=input('Enter the value of kp= '); num=kp*(wn^2);
den=[1 2*zeta*wn (1+kp)*(wn^2)]; transfer_function=tf(num,den)
[y t]=step(transfer_function); figure(1);plot(t,y);
xlabel('Time(sec)');ylabel('Amplitude');grid;
% plot step response
title('STEP RESPONSE WITH PROPORTIONAL CONTROLLER');
% TIME DOMAIN SPECIFICATIONS
stepinfo(transfer_function,’Rise time Limits’,[0,1])
Ke=(num/((1+kp)*(wn^2))); steady_state_error=1/(1+Ke)

RESULTS
Enter the value of kp= 5 Transfer
function:

RiseTime: 0.1348
SettlingTime: 3.7973
SettlingMin: 0.4384
SettlingMax: 1.4072
Overshoot: 68.8609
Undershoot: 0
Peak: 1.4072
PeakTime: 0.3702
steady_state_error =0.5455
 Control system Lab Manual 18EE61 2023

STEP RESPONSE WITH PROPORTIONAL CONTROLLER

1.5

1
Amplitude

0.5

Enter the value of kp= 10

Transfer function:
120

s^2 + 2 s + 132
RiseTime: 0.0971
SettlingTime: 3.8724
SettlingMin: 0.3842
SettlingMax: 1.5999
Overshoot: 75.9911
Undershoot: 0
Peak: 1.5999
PeakTime: 0.2734
steady_state_error =0.5238
Amplitude

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time(sec)

Enter the value of kp= 100

Transfer function:
1200

s^2 + 2 s + 1212
RiseTime: 0.0306 SettlingTime: 3.8884
 Control system Lab Manual 18EE61 2023

SettlingMin: 0.1636
SettlingMax: 1.8947
Overshoot: 91.3677
Undershoot: 0
Peak: 1.8947
PeakTime: 0.0902
steady_state_error = 0.5025

STEP RESPONSE WITH PROPORTIONAL CONTROLLER

2

1.8
Amplitude

Conclusion
▪ Integral control eliminates the steady state error.
▪ After certain limit, increasing Ki will only increase overshoot.
▪ Increasing Ki reduces the rise time a little.
 Control system Lab Manual 18EE61 2023

PROGRAM

clc clearall
wn=sqrt(12);
zeta=2/(2*wn);
kp=input('Enter the value of kp= '); ki=input('Enter
the value of ki= '); num=[kp*(wn^2) ki*(wn^2)];
den=[1 2*zeta*wnkp*(wn^2) (ki*(wn^2))]; transfer_function=tf(num,den)
[y t]=step(transfer_function); plot(t,y);
xlabel('Time(sec)');ylabel('Amplitude');grid;
% plot step response
title('STEP RESPONSE WITH PI CONTROLLER');
stepinfo(transfer_function,’Rise time Limits’,[0,1])
RESULT

Enter the value of kp= 0.5 Enter

the value of ki= 0.05

Transfer function: 6 s

RiseTime: 0.5851
SettlingTime: 5.1719
SettlingMin: 0.9559
SettlingMax: 1.2993
Overshoot: 29.9326
Undershoot: 0
Peak: 1.2993
PeakTime: 1.4383

0.4
 Control system Lab Manual 18EE61 2023
Enter the value of kp= 0.5
Enter the value of ki= 0.01

Transfer function:
6 s + 0.12
s^3 + 2 s^2 + 6 s + 0.12
RiseTime: 0.5999
SettlingTime: 4.4196
SettlingMin: 0.9444
SettlingMax: 1.2560
Overshoot: 25.6007
Undershoot: 0
Peak: 1.2560
PeakTime: 1.4308
Amplitude

Time(sec)

Conclusion
▪ Integral control eliminates the steady state error.
▪ After certain limit, increasing Ki will only increase overshoot.
▪ Increasing Ki reduces the rise time a little.

3) PD- CONTROLLER
 Control system Lab Manual 18EE61 2023

2
Kd n s Kp n2
TRANSFER FUNCTION =
s2 (2 n Kd 2
n )s p n
2
K
PROGRAM
clc clearall
wn=sqrt(12);
zeta=2/(2*wn);
kp=input('Enter the value of kp= '); kd=input('Enter
the value of kd= '); num=[kd*(wn^2) kp*(wn^2)];
den=[1 ((2*zeta*wn)+(kd*(wn^2))) (kp*(wn^2))]; transfer_function=tf(num,den)
[y t]=step(transfer_function); plot(t,y);
xlabel('Time(sec)');ylabel('Amplitude');grid;
% plot step response
title('STEP RESPONSE WITH PD CONTROLLER');
stepinfo(transfer_function,’Rise time Limits’,[0,1])

RESULT
Enter the value of kp= 0.45
Enter the value of kd= 0.1
Transfer function:
1.2 s + 5.4
---------------------
s^2 + 3.2 s + 5.4
RiseTime: 0.7629
SettlingTime: 2.3491
SettlingMin: 0.9057
SettlingMax: 1.0622
Overshoot: 6.2217
Undershoot: 0
Peak: 1.0622
PeakTime: 1.5410

STEP RESPONSE WITH PD CONTROLLER

1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5
Time(sec)
 Control system Lab Manual 18EE61 2023

Enter the value of kp= 0.45

Enter the value of kd= 0.045
Transfer function:
0.54 s + 5.4

s^2 + 2.54 s + 5.4

RiseTime: 0.7186
SettlingTime: 2.3981
SettlingMin: 0.9151
SettlingMax: 1.1328
Overshoot: 13.2756
Undershoot: 0
Peak: 1.1328
PeakTime: 1.4870
STEP RESPONSE WITH PD CONTROLLER
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time(sec)

Conclusions:

▪ Kd decreases the overshoot.

▪ Kd reduces the settling time.

4) PID- CONTROLLER
 Control system Lab Manual 18EE61 2023

PROGRAM

clc clearall
wn=sqrt(12);
zeta=2/(2*wn);
kp=input('Enter the value of kp= '); ki=input('Enter
the value of ki= '); kd=input('Enter the value of kd= ');
num=[kd*(wn^2) kp*(wn^2) ki*(wn^2)];
den=[1 ((2*zeta*wn)+(kd*(wn^2))) (kp*(wn^2)) ki*(wn^2)]; transfer_function=tf(num,den)
[y t]=step(transfer_function); plot(t,y);
xlabel('Time(sec)');ylabel('Amplitude');grid;
% plot step response
title('STEP RESPONSE WITH PID CONTROLLER');
stepinfo(transfer_function,’Rise time Limits’,[0,1])

RESULT

Enter the value of kp= 0.6

Enter the value of ki= 0.05
Enter the value of kd= 0.5
Transfer function:

RiseTime: 0.5647
SettlingTime: 1.5553
SettlingMin: 0.9007
SettlingMax: 1.0175
Overshoot: 1.7463
Undershoot: 0
Peak: 1.0175
PeakTime: 4.9897
 Control system Lab Manual 18EE61 2023

STEP RESPONSE WITH PID CONTROLLER

1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

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Dept. of EEE,AMCEC Page 53