Department of Electrical & Electronics Engineering
Academic Year 2023-24
IV Semester
Faculty :
Dr. S B
Karajgi
Mrs. Minal salunke
Name : Shankar I B
USN: 01FE21BEE032
Div: A
Subject: LCS
Q1.Figure shows a second order control system with a plant controlled by a PI
controller. The controller gains Kp and Ki are to be determined so as to meet
the following: (i) Closed loop poles placed at (-4±jβ) (ii) Peak time of unit step
response is around 0.5 sec. For the above descriptions, (i) Express the design
specifications in terms of damping ratio (ζ) and natural angular oscillating
frequency (wn). Deduce the required relation for Kp and Ki in terms of ζ and
wn. (iii) Required gains Kp and Ki (iv) Settling time and rise time for these
settings.
MATLAB CODE:
%s1=-4+jb; alpha = 4
alpha=
4;
Tp=0.5
Wd=(pi/Tp);
Wn=sqrt(Wd^2+alpha
^2); geta=4/Wn;
Kp=(2*geta*Wn-4)/10
; Ki=Wn^2/10;
Ts=4/(geta*Wn);
theeta=atan(sqrt((1-(geta^2))/
geta^2)); Tr=(pi-theeta)/Wd;
s=tf('s');
G=(Kp+Ki/s)*(10/
(s+4)); H=1;
TF=G/(1+G*H);
step(TF,10);
Q2. Figure shows the depth control system of a submersible vehicle, where
K=0.5.(i) If K2=0.5 and gain K1 has limits 5 ≤ K1 ≤ 20, obtain the unit step
response with K1 selected for fasted response.(ii) If gain K1 is varied from 1.0
to 7.0 in steps of 1.0, determine the gain K2 values that give time constant ≤
0.1 and plot in the parameter plane K1 - K2. Also compute the corresponding
equivalent gain (Ke) and steady-state errors and comment on the effect of K1
variations on the steady-state error.
MATLAB CODE:
k=0.5;
k2=0.5;
k1_range=5:20; %for fastest response
k1=20; k1=20;
%TF=(k1*k)/(s+k1*k2+k1*k);
%let ke=k/(k+k2); and
Tou=1/(k1*(k+k2)); kep=k/(k+k2);
Tou=1/(k1*(k+k2));
%fot time constant <=0.1, find k2
values k1_values=1:1:7;
k2_values=0.1./k1_values;
ke=k./(k+k2_values);
ess=1-ke;
%plot k1-k2 on parameter plane;
plot(k1_values,k2_values); %blue line k1
vs k2 hold on
grid on
%plot of ke vs ess;
plot(ke,ess); %orange line ke vs
ess; hold off
Q3. Figure shows the model of Automatic Voltage Regulator (AVR) employed in
the field excitation control of a synchronous generator. It is required to design
a PI and PID controllers using Zeigler-Nichol’s tuning approach. Determine (i)
Ultimate gain (Kcu) and time period (Tu) by applying R-H criterion (ii) PI and
PID gain settings. For these controller settings, compute steady-state errors.
MATLAB CODE:
s=tf('s');
G=5/((0.1*s+1)*(0.4*s+1)*(s+
1)); H=1/(0.05*s+1);
TF=G/
(1+G*H); ku =
2.4313;
%to get wn, from routh array form auxillary equation of s^2 row
%AE=0.568*s^2 + 13.157 = 0, on solving we get s=(+or-)sqrt(-13.157/0.568);
wn=sqrt(13.157/0.568);
tu=2*pi/wn;
%for pi
controller
kp_pi=0.45*ku
;
ki_pi=0.5*ku/tu;
Gpi=kp_pi+ki_pi/s;
TF_pi=G*Gpi/(1+G*Gpi*H);
step(TF_pi,10); %blue colour pi
controller plot hold on
%for pid
controller
kp_pid=0.75*ku;
ki_pid=1.2*ku/tu;
kd_pid=0.075*ku
*tu;
Gpid=kp_pid+ki_pid/s+kd_pid*s;
TF_pid=G*Gpid/(1+G*Gpid*H);
step(TF_pid,10); %orange colour pid controller
plot hold off
Q4. Figure depicts the simplified model of an automobile cruise control system.
Design a PID controller that places two dominant closed loop poles at (-2±j4).
Choose the integral gain setting (Ki) as 10. If Ki is varied as 10, 20 and 30,
compute the location of third closed loop pole and comment on its effect on
overall system response.
MATLAB CODE:
a=2
b=
4;
s1=-a+b*i;
%Gc=Kp+Ki/s+Kd*s;
G=0.833*(1/(s1+1))*(40/(3*s1
+1)); H=0.03;
mn=-s1/(G*H);
m=real(mn);
n=imag(mn);
Ki=10;
Ki_range=10:10:30;
Kd=(Ki-m-n*(a/b))/
(a^2+b^2);
Kp=(n+2*a*b*Kd)/b;
s3a=-Ki/
60; s3b=-
20/60;
s3c=-
30/60;
for Ki=Ki_range
s=tf('s');
Gc=Kp+Ki/s+Kd*s
Gp=0.833*(1/(s+1))*(40/
(3*s+1)); H=0.03;
TF=(Gp*Gc)/(1+Gp*Gc*H);
hold on
step(TF,10); %blue Ki=10, red Ki=20,
orange Ki=30 end
hold off
