EF

W
K

?? EF ?

? J

? ?W
?

KMatlabK
W,

W
W

P-ControllerW

PI-ControllerW

Automatic Speed ControlW

Automatic Light ControlW

MATLABW

W
PID W

W
KLeyboldCom3Lab

K K
KK

KMatlab

KW
W
W

P-ControllerW

PI-ControllerW

Automatic Speed ControlW

Automatic Light ControlW

MATLABW

PID W

Open Loop Control

EFK

K K

K K

COM3LABK

kyt FEytFDarlington

E10
K 100 = =

K U/W

E FEzF

K
K

--

Com3Lab J

K J

K J

K J

K J

(Power Supply) J

K J

Function Generator J

(Controlled Unit) J

Multimeter J

Func. Gen.

yt

xt

Out J
K

--

Multimeter J

z=5vz=0

KZ
Z = 0 V

Z= 5 V

U= V

U= V

KExFEyF

K J

y
x

--

KK J

KCom3Lab J

WEx/yF
m = x
y
W
W m

W y1 , y0

KW x1 , x0

10 3
7
=
= 0 . 096
100 25
75

y = 0 . 096 ( 60 25 ) + 3 = 6 . 4V
1
m =

--

J


EF J

--

Closed Loop Control

Com3Lab J

K J
K J

K J

Power Supply)F J
K J

Function Generator J

Controlled Unit)F J

K J

J
KOut

J J

K J

J
K

--

J
Multimeter

Kz=5vz=0

J J

W J

KW J

KZ

--

Z = 0 V

U= V

J
Z= 5 V

U= V

KExFEyF

K J

y
x

K J

KCom3Lab J
J
EF J

--

P- Controller

Com3Lab

PT1

Step FunctionPT1
Ramp Function

EPower SupplyF
K

Function Generator

PT1

KOscilloscope
K
W

KOut

KY2Y1
K

--

W J

EKp

EF

EF EF
Kp1=1

Kp2=10

Kp3=50

Kp4=100

- -

_________________________________________________________________________________________
_________________________________________________________________________________________
________________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
___________________________________________________

_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________
_________________________________________________________________________________________

- -

PI- Controller

Com3Lab

PT1

Step FunctionPT1
Ramp Function

EPower SupplyF
K

Function Generator

PT1

KOscilloscope
K
W

KOut

KY2Y1
K

- -

W J

Kp
EKi FK

Ki
E

KpFK

Delay Time: Td =

Rise Time: Tr =

Rise Rate: R =

Buildup Time: TB =

Settling Time: Ts=

Maximum Overshoot: Vm=

- -

Ki

Delay Time Td o

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- -

Automatic Speed Control

Com3Lab J

K J

Kxs J
Ks,Tu,Tg J

PID J
K

EPower SupplyF J
K J

Speed Control Unit J

KOscilloscope J

Function Generator J

K J
K J J

KY1 J

K J
KY1 J

- -

W J

KTu

KKs

KTg

K J

K J

K J
Kp

- -

- -

Automatic Light Control

Com3Lab J

K J

Kxs J
Ks,Tu,Tg J

KPID J

EPower SupplyF J
K J

Light Control Unit J

KOscilloscope J

Function Generator J

K J
K J J

KY1 J

K J
KY1 J

- -

W J

KTu

KKs

KTg

K J

K J

K J
Kp

- -

MATLAB

W
W

KMATLAB
SIMULINK

SimulinkMATLAB

KControl Tool Box

W J

G ( s ) = n( s)

d ( s)

Kn(s)W

(Polynomial in s)sd(s)
W J

W J
p ( s ) = s 2 + 3s + 1

W1

p=[1 3 1];

1Wp(s)

K
- -

WW
p( s ) = s 3 + 3s + 1
W s 2
p=[1 0 3 1];

WW
s 2 + 2s + 1
G(s) = 3
s + 4s 2 + 2s + 1

n=[1 2 1];
d=[1 4 2 1];
Froots(n
Zans

roots(d)
ans=

-3.5115
-0.2442 + 0.4745i
-0.2442 0.4745i

- -

-1

-1

W o

n=[1 2 1]
d=[1 4 2 1]
sys=tf(n,d]

s2 + 2 s + 1
3
s + 4 s2 + 2 s + 1

Transfer function:

W
rlocus(n,d)
@Eroots(d)

@ERoots(nF

@Erlocus(n)
@Erlocus(d
@
- -

clf
@

clc W

W
xn=[1 2@
Ed=[1 4 3];

step(n,d@

SIMULINK
SIMULINK

K
WSimulink
W

KW

Untitled SIMULINKSIMULINKW

(Sources)Library: Simulink/Sources

KKKK(Demos)(Linear)(Sinks)

Sinks(Sources)W

LinearK
K(drag and drop)

- -

StartSimulation W

KScopeW

G(s)= (s+1)/s(s+2)(s+3)W J

G(s)= 2/(s+1)(s+2) J

K J

Simulink J

- -

MATLAB J

J
MATLAB
J
J

MATLAB J
Control Tool Box

MATLAB J

WMATLABEG(s)F J
n(s)
- G(s) =
d(s)
- G(s) =

(s + 2)
(s 2 + 4s + 3)

- n=[1 2];
- d=[1 4 3];
- step(n,d)

- -

J
W

W
W o

yss=

W o

y
G = ss =
E

y ( ) = 0.63 y ss =

W o
o

ts

ts=

- -

PID

PID

PID

PID

MATLAB
KPID

KPID

PID
KPID

Control Tool BoxSimulinkMATLAB

W
Kp

21.81

5
Reference
Input

1
Ki

0.0063s 2 + 0.379 s + 1

Scope

Kd

Transfer Function of
DC Motor

du/
dt

Simulink -

- -

PID

MATLAB J

SIMULINK J

Simulink J J

W J

WKi Kp = 1,
5

K d = 1 W

0.1

Ki

StartSimulation J

Scope J
WKp Ki = 1,
5

K d = 1

0.5

Kp

StartSimulation
Scope

WKd Ki = 1,
5

J
J

K p = 1

Kd

- -

PID

PID o

PID o

PID o

- -

1. Modern Control System, R. C. Dorf, Edison Wesley, 1990

2. Control System Design, C. T. Chen, Saunders College Publishing,

1993.
3. Feedback Control System, John Van De Vegta, Prentice Hall, 1990.
4. Automatic Control Systems, B. Kuo, Prentice Hall.
5. Johnson, C. D. Process Control Instrumentation Technology,
Prentice Hall, 2002
6. Bateson, R. N. Introduction to Control Systems Technology, Prentice
Hall, 2002
7. Ogata, K. Modern control Engineering, Prentice Hall, 1997
8. Dorf, R. C. and Bishop, R. H. Modern Control Systems, Addisson
Wesley, 1998
K

K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K
K K K K K K K K K K K K K K K K K K K K K K W
K K K K K K K K K K K K K K K K K K K K K K W
K K K K K K K K K K K K K K K K K K K P-ControllerW
K K K K K K K K K K K K K K K K PI-ControllerW
K K K K K K K K K K K Automatic Speed ControlW
K K K K K K K K K K Automatic Light ControlW
K K K K K K K K K K K K K MATLABW
K K K K K K K K K K K K K K K KW
K> K K K K K K K PIDW
K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K