Control System

FEDERAL URDU UNIVERSITY
ELECTRICAL
OFENGINEERING
ARTS, SCIENCE, AND TECHNOLOGY
ISLAMABAD
SEVENTH SEMESTER
CONTROL SYSTEMS
COMPUTER SIMULATION LAB

DEPARTMENT OF ELECTRICAL ENGINEERING
Prepared Checked Approved By:

By: By:
Engr. Zain Ul Abidin Engr. M.Nasim Khan Dr.Noman Jafri
Lecturer (Lab) Senior Lab Engineer Dean,
Electrical,
FUUAST- Electrical,
FUUAST- FUUAST-Islamabad
Islamabad Islamabad
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Name: ____________________________________________
Registration No: ____________________________________
Roll No: ___________________________________________
Semester: _________________________________________
Batch: ____________________________________________
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C ONTENTS
CONTENTS
Exp No List of Experiments
1
INTRODUCTION TO MATLAB BASICS IN CONTROL SYSTEM
2
MATHEMATICAL MODELS
3
LTI MODELS
4
LTI MODELS (USING BLOCK DIAGRAM)
5
OPERATIONS ON LTI MODELS
6
STABILITY
7
STATE SPACE ANALYSIS
8
SIMULINK BASICS
9
STATE VARIABLE MODELS
10
STEADY STATE AND PERFORMANCE ANALYSIS
11 TRANSIENT RESPONSE & GAIN EFFECT
12 TIME DOMAIN INTERPRETATION OF PD, PI, PID CONTROLLER
13 ROOT LOCUS ANALYSIS
14,15,16 PROJECT ASSIGNED BY TEACHER
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EXPERIMENT NO – 01
INTRODUCTION TO MATLAB BASICS IN CONTROL SYSTEM
OBJECTIVE
To understand the basics of MATLAB
PROCEDURE
This lab is based on following

sections:
Statements and
variables
Matri
xPlot a
function
STATEMENTS AND VARIABLES
MATLAB is usually used in a command driven mode. When single line commands are
MATLAB processes these commands immediately and displays the result. MATLAB is
entered,
capable of executing sequences of commands that are stored in
also
files.
Que: What is the output of the following statements
Ans:
a=10?
Que: That is the output of the following instruction b=[1 2 3;4 5

Ans:
6]?
b=
MATRIX
In MATLAB, the basics computational unit is the matrix. Vectors and scalars are special cases
matrices. Matrix dimensions must be compatible for matrix
of
operations.
Que: >>a=[1 2 3;4 5
6]; >>b=[2 2 2;3 3 3];
>>c=[4 3 2;1 0 2;7 2
What is the output of
1];
command>>d=a+b?
Ans:
Que: When >>d=a+c?

Ans:
Que: When >>a*c?

Ans:
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Que: When>>a*b?
Ans:
PLOT A FUNCTION
MATLAB has a variety of powerful commands used to plot

variables.
Que: What is the output of
Ans:
t=0:0.1:1?
Que: Size of variable can be obtained by

Ans:
>>size(t)?
Que: What is the difference of show() and

Ans:
length()?
Que: Following statements are used to generate a sinusoidal function with 50Hz
>>t=0:0.002:0.04
frequency
;>>y=sin(2*pi*50*t)
;>>Plot(t,y)
;>>grid;
>>xlable(‘time(s)’)
;>>ylabel(‘y’)
;Title(‘sin(2*pi*50*t)’)
;The plot shows 10 values in one cycle how can you do to have 100 values in one
Ans:
cycle?
Que: The following statements are used to plot three phase voltage at
50Hz?
>>t=0:0.0002:0.04
;>>y1=sin(2*pi*50*t)
;>>y2=sin(2*pi*50*t-
>>
2*pi/3);
>>figure
y2=sin(2*pi*50*t+2*pi/3);
;>>hold;
>>plot(t,y1,’r’)
;>>
>>
plot(t,y2,’b’);
>>grid;
plot(t,y3,’g’);
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Sketch the
plot?
For 3D plot of y1,y2,y3

>>plot3(y1,y2,y3)
;
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MATHEMATICAL MODELS
OBJECTIVE
To learn how to define a

polynomial
To find roots of
polynomial,
To multiply two
polynomials
To evaluate a polynomial at a value of independent
variable.
PROCEDURE

sections:
Section 1
Section 2
SECTION 1
Write three loop current equations for the following

circuit.
R= 1Ω
R= 1Ω R= 1Ω
V=5v
R= 1Ω R= 1Ω
Loop-1:
Loop-2:
Loop-3:
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Write all the matrices required to calculate I1, I2 and I 3. Use Cramer’s
rule.
∆=
I1 = I2 = I3=
Write the MATLAB command to calculate I1, I2 and I

3.
I1= I2= I3=
What are the values returned by the

MATLAB?
I1= I2= I3=
Matrix representation can be used for the loop equations of the circuit
above as IR=V, where R is the resistance matrix, I is the current matrix and V is
shown
voltage matrix. Once these matrices are declared, currents can be calculated
the
I=R^-1V.
as Once all the matrices are defined, enter the following
Command.
MATLAB
I=inv (R)*V
Show how the MATLAB returns values of I1, I2 and I 3.
I1= I2= I3=
SECTION 2
In MATLAB, a polynomial is defined by expressing only the coefficients of

Independent variable in descending order. Enter the following commands to define
the
apolynomial p(s)= s^3 +3s^2 +4 and to compute the roots of
polynomial
this
.
p=[1 3 0 4];
r=roots(p)
;
The third zero in the list of the coefficients is due to the missing term s^1 in the
polynomia
above
l
Write the polynomial and its
roots.
Polynomial
:
Roots:
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A polynomial can be reassembled from roots

as:
p= poly(r)
MATLAB function poly will return a list of coefficients of the polynomial

descending powers.
in
What are the coefficients of the reassembled

polynomial?
Ans:
Write the polynomial from the MATLAB generated

coefficients.
Ans
Try to reassemble the polynomials by entering various roots

like
poly ( [ 1
2] )
This will return the coefficients of a second order
polynomial.
A fifth order polynomial with all five roots equal to 1 can be reassembled
as:
poly ( [ 1 1 1 1
1] )
coefficients.
Ans:
Two polynomials (3s^3 + 2s^2 + 1)(s + 4) can be multiplied as shown below and
apolynomial can be evaluated at a given value of the variable
as:
p = [3 2 0 1] ; q = [1
n4 =
] ;conv (p, q);

coefficients
Ans:
Multiply (3s^3 + 2s^2 + 1)(s + 4) manually and write the product and list
coefficients in descending powers of
of
s.
Ans:
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A polynomial p can be evaluated at a given value of the variable

as:
value =
polyval(p,2)
Write the value returned by the above command and check it
manually.
Ans:
The following commands are used to evaluate polynomials q and n defined

above.
polyval(q,2
)polyval(n,2
)
Note that the above lines are not terminated by semicolons. The output is displayed
pressing enter key after each command and the value is assigned to the generic
after
variable
What is n and value? Multiply the polynomials p = 3s^3 + 3s^2 +1 and q = s^2 +
m
4 anually and verify that the MATLAB generates a correct product of the
Also verify the value of the resultant polynomial at s =
polynomials.
2.
n= value =
Product of two polynomials

=
Value of polynomial at s = 2
=
COMMENTS
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LTI MODELS
OBJECTIVE
To learn how to find the transfer function of a

system.
To compute the step
response.
To compute the Impulse
response
PROCEDURE

steps:
Verification of transfer
function.
Plotting step
response.
Plotting impulse
response.
VERIFICATION OF TRANSFER FUNCTION
DIAGRAM
x(t)
K
M f(t)
B
Verify that the transfer function of the system shown above

is;
G(s) = F(s) / X(s) = 1 / (Ms^2 + Bs + K) = 1 / (s^2 + s +
5)
This transfer function can be defined
as;
Ans: m = 1 ; k = 5 ; b =
1 ; num = [1] ; den = [m b
sys
k] ; = tf(num,
den) ;
num and den must be defined before using the transfer
function.
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What is the characteristic equation of the

system ?
Ans:
Calculate the frequency of oscillations ω = ωn √ (1- ς^2) from the characteristic

equation.
Ans: ω = rad/sec f=
;
STEP RESPONSE
Step response is the output of a system when step input is

applied
In MATLAB, the step response can be plotted using step function
as;
step(sys
)
Calculate the frequency of oscillations ω from the step response. It should
ωn √ (1- ς^2) you calculated earlier. step response is calculated for
be
20s.
Ans:
PLOT
Sketch the step response for the following three

cases.
Case-1: Eliminate spring (k=0) where m = 1 and b =
1Case-2: Eliminate damping (b=0) where m = 1 and k =
5Case-3: Eliminate mass (m=0) where b = 1 and k =
5

1
PLOT
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Case-2: Eliminate damping (b=0) where m = 1 and k =

5
PLOT
Case-3: Eliminate mass (m=0) where b = 1 and k =

5
PLOT
● Calculate the natural undamped frequency ωn, damping ratio ς, and the
of oscillation ω for each case as shown in the following
frequency
table.
Eliminating Eliminating Eliminating

m = 1; k = 0; b =
Spring m = 1; k = 5; b =
Damping mMass
= 0; k = 5; b = 1;
ωn 1; 0;
ς
ω
IMPULSE RESPONSE
Impulse response describes reaction of the system as a function of time or possibly a

of some other dependent variable that parameterize the dynamic behavior of the
function
system
The impulse response can be plotted by using impulse function
as
Ans:
impulse(sys)
PLOT
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Sketch the impulse response for the following three

cases.
1Case-2: Eliminate damping (b=0) where m = 1 and k =
5Case-3: Eliminate mass (m=0) where b = 1 and k =
5
1
PLOT

5
PLOT

5
PLOT
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LTI MODELS (USING BLOCK DIAGRAM)
OBJECTIVE
To learn how to compute the transfer function from the block diagram of a
system.
To compute the step
response.
To compute the impulse
response.
PROCEDURE

steps:
Transfer function of system in series with unity
gain.
Transfer function of a non unity feedback
system.
TRANSFER FUNCTION OF SYSTEM IN SERIES WITH UNITY GAIN
BLOCK DIAGRAM
X S+1 / S+3 1 / 5000 S2 X
MATLAB CODE
Derive the transfer function of the above system manually to verify the
generated transfer
MATLAB
function.
numc = [ 1 1] ; denc = [ 1
numg
2 ] ; = [ 1 ] ; deng = [ 500 0
[num1,
0] ; den1] = series (numg, deng, numc,
[num, den] = cloop(num1,
denc);
sys = tf(num,
den1);
den);
Ans:
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STEP RESPONSE
IMPULSE RESPONSE
TRANSFER FUNCTION OF A NON UNITY FEEDBACK SYSTEM
BLOCK DIAGRAM
X 1 / 5000 S2 X
S+1 / S+2
MATLAB CODE
Derive the transfer function of the above system manually to verify the
generated transfer
MATLAB
function
numg = [ 1 1] ; deng = [ 1
numh
2 ] ; = [ 1 ] ; denh = [ 500 0
[num,
0] ; den] = feedback (numh, denh, numg, deng,
sys = tf(num,
-1);
den);
Ans:
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STEP RESPONSE
IMPULSE RESPONSE
Answer the following

questions.
What is the settling time of the
system?
Ans:
What are the roots of the characteristics

equation?
Ans:
Show the position of poles in s-

plane?
What is the relationship between the real part of the roots, the time constant and
time
settling
?
Ans:
What is the relationship between the imaginary part of the roots and the frequency
oscillations of the step
of
response?
Ans:
COMMENTS
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OPERATIONS ON LTI MODELS
OBJECTIVE
To learn to apply arithmetic operations on LTI

To learn different
Models.
characteristics.
PROCEDURE

steps:
Addition of LTI
Models.
Subtraction of LTI
Models.
Multiplication of LTI
Feedback and Other Interconnection
Models.
Continuous/Discrete Conversions of LTI
Functions.
Models.
ADDING LTI MODELS
Adding LTI models is equivalent to connecting them in parallel. Specifically the

model
LTI
sys = sys1 + sys2
represents the parallel interconnection shown below.
Write the code for the section in the dashed lines and also find the value of the output
y
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where sys1 = 1/(s +2) and sys2 = 2/

(s+3)
SUBTRACTION OF LTI MODELS
the subtraction of two LTI

models
sys = sys1 -
sys2
is depicted by the following block diagram.
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MULTIPLCATION OF LTI MODELS
Multiplication of two LTI models connects them in series.

Specifically,
sys = sys1*sys2
returns an LTI model for the series interconnection shown

below;
y
FEEDBACK AND OTHER INTERCONNECTION FUNCTIONS
The following LTI model interconnection functions are useful for specifying closed-loop
open-loop
and
configurations:
● Feedback puts two LTI models with compatible dimensions in a
configuratio
feedback
n
● Series connects two LTI models in
series.
y
X S+1 / S+3 1 / 3S2+ 1 X
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y
X S+1 / S+2 X
S+1 / S+2
CONTINOUS/DISCRETE CONVERSION OF LTI MODELS
The syntax
sysd =
where Ts is the sampling period in
c2d(sysc,Ts);
sysc=d2c(sysd)
seconds
;
Resampling of Discrete- Time

Models
You can resample a discrete-time
sys2=d2d(sys1,Ts)
TF
Example
H1 = tf([1 0.4],[1 -0.7],

H2=d2d(H1,0.25);
0.1);
Compare the step responses of both H1 and
What command is
H2.
used?
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STEP RESPONSE OF H1
STEP RESPONSE OF H2
P = 5 e-3.4S / S + 1
This transfer function can be defined

Num=5;
as;
den=[1 1];
P=tf(num,den,’input
delay’,3.4)
As expected, the step response of P is a shifted version of the delay free
response;
P0=tf(num,den)
;Step(po,’b’,p,’r’
)
If the process model has multiple
outputs
P(s)=[ 5 e-3.4S / S + 1 -2 e-2.75 / s + 3]
Num={5 ; -2};
Den={[11] ; [1 3]};
P=tf(num,den,’outputdelay’,[3.4 ;
2.7])
Next consider a multi-input, multi output
model
P(s)=[ 5 e-3.4S / S + 1 1 ]
[ -2 e-2.75 / s + 3 e-0.7s/s ]
num={5 , 1; -2 1};
den={[1 1] , 1; [1 3], [1
p=tf(num,den,’iodelay’,[3.4 0 ; 2.7
0]};
0.7]);
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OUTPUT
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STABILITY
OBJECTIVE
To learn about stability of the control

To learn different
system.
characteristics.
PROCEDURE

steps:
Closed loop transfer
function.
Step response.
Pole zero
maps.
CLOSED LOOP TRANSFER FUNCTION
Find the closed-loop transfer function of the

system.
X K S2– S + 1 /
S2– 2S + 1
Ans:
Now determine the closed-loop transfer function using Matlab and verify
the
transfer function you derived in the previous step. Write Matlab commands
calculate the transfer function when
to
K=1.
Ans:
Write the transfer function derived by

Matlab.
Ans:
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Find the roots of the characteristic equation for K=1, 2 and 5 and check if the system
stable for these values of the controller
is
gain.
K =1
K=2
K=5
STEP RESPONSE
Sketch the step response of the system for K=1, 2 and 5 in the following space. Label
response
each
properly.
FOR K = 1
FOR K = 2
FOR K = 3
FOR K = 5
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TRANSFER FUNCTION
Consider the transfer

function
S^2 - s + 1
-------------
2 s^2 + s + 2
Calculate roots of the transfer function using Mat

lab.
Ans:
POLE ZERO MAP
Show the position of poles and zeroes in the s-

plane.
Ans: num1=[1 -1 1]
den1=[1 2 1]
[num,den]=cloop(num1,den1
)sys=tf([1 -1 1],[2 1
iopzmap(sys
2])
)
PLOT
What are the positions of the poles in the s-

plane?
Ans: num1=[1 -1 1]
den1=[1 2 1]
[num,den]=cloop(num1,den1
)sys=tf([1 -1 1],[2 1
sgrid;
2])
p=pole(sys
)
PLOT
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Sketch the step response of the

system.
PLOT
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STATE SPACE ANALYSIS
OBJECTIVE
To learn about state space

To learn different
analysis.
characteristics.
PROCEDURE
Transfer function.(Mason’s
form)
Signal flow
diagram.
Equation in Matrix
form.
Roots of
equation.
Step response.
TRANSFER FUNCTION (MASON’S FORM)

function
-5 S^2 -4s - 12
Ans: ---------------------
2 s^3 + 6s^2 + 3
Write the transfer function in Mason’s

form.
Ans:
SIGNAL FLOW DIAGRAM
Draw the signal flow

graph.
Write the state equations of the system

Ans: above.
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EQUATION IN MATRIX FORM
Write the state equation in the Matrix-vector

form.
Ans:
ROOTS OF EQUATION
Compute the Roots of the characteristics

equation.
Ans: FOR K = 1
Write Matlab function to find the transfer function of the

system.
Ans:
STEP RESPONSE
Sketch step response of the

system.
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TRANSFER FUNCTION (MASON’S FORM)

function
3S+s-6
---------------------
s^3 + 6s^2 + s + 3
Write the transfer function in Mason’s

form.
Ans:
SIGNAL FLOW DIAGRAM
Draw the signal flow

graph.
Write the state equations of the system

above.
Ans:
EQUATION IN MATRIX FORM
Write the state equation in the Matrix-vector

form.
Ans:
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ROOTS OF EQUATION
Compute the Roots of the characteristics

equation.
Ans:
Write Matlab function to find the transfer function of the

system.
Ans:
STEP RESPONSE
Sketch step response of the

system.
PLOT
COMMENTS
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SIMULINK BASICS
OBJECTIVE
To learn about
To observing behavior of different system in
Simulink.
simulink.
PROCEDURE

steps:
Simulink
introduction.
Ramp response of transfer
function.
Step function of transfer
function.
SIMULINK INTRODUCTION
Simulink is a graphical extension to MATLAB for modeling and simulation of systems.

Simulink, systems are drawn on screen as block diagrams. Many elements of
In
diagrams are available, such as transfer functions, summing junctions etc. Simulink
block
integrated with MATLAB and data can be easily transferred between the
is
programs.
The simple model consists of three blocks: Step, transfer function, and scope. The step is
asource block from which a step input signal originates. This signal is transferred
the line in the direction indicated by the arrow to the transfer function linear block.
through
transfer function modifies the input signal gives a new signal on the line to the scope.
The
scope is a sink block used to display a signal much like an
The
oscilloscope.
RAMP RESPONSE OF TRANSFER FUNCTION
For a general transfer

function
G(s) = F(s) / X(s) = 1 / (ms^2 + bs +
k)
Observe the waveforms for different values of m, b and k, when ramp input is
applied.
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1
BLOCK DIAGRAM
PLOT
RESULT

5
BLOCK DIAGRAM
PLOT
RESULT

5
BLOCK DIAGRAM
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PLOT
RESULT
STEP RESPONSE OF TRANSFER FUNCTION
For a general transfer

function
G(s) = F(s) / X(s) = 1 / (ms^2 + bs +
k)
Observe the waveforms for different values of m, b and k, when step input is
applied.
1
BLOCK DIAGRAM
PLOT
RESULT

5
BLOCK DIAGRAM
PLOT
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RESULT

5
BLOCK DIAGRAM
PLOT
RESULT
Differential equation modeling in

Simulink
Let us solve a simple RC circuit, as shown below, on
simulink,
C
V
SIMULINK MODEL
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Write the differential equation in terms of capacitor

voltage.
Ans:
Sketch the
waveform.
SCOPE 1
SCOPE 2
COMMENTS
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STATE VARIABLE MODELS
OBJECTIVE
To learn about state variable

To learn about conversion of transfer function to state
models.
variable..
PROCEDURE

steps:
State space
conversion.
State space
model.
Differential equation modeling in
Simulink.
STATE SPACE CONVERSION
Write matlab command to determine the closed loop transfer function using the
and denominator polynomials.
numerator
 5s 2 + 4s  12
G ( s)
s 3 + 11s 2  8s + 15
Ans:
In state space representation, simultaneous first order differential equations can

represented
be
by
X=Ax + Bu
Y=Cx + Du
Where the matrices A, B, C and D are the matrices that describe the system. The vectors
and U are the state and input vectors respectively. The vector Y is called output
X
The first equation is called state
vector.
equation.
Transfer function to state space conversion can accomplished using the
function
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tf2ss
Use matlab help to learn and implement the above

function.
[A B C D] = tf2ss (NUM,DEN)
STATE SPACE MODEL
The following command will print the stae space

model,
Print
sys

function.
Matrices A, B, C and D can be printed by entering the matrix name. Write the matrices
the state space model returned by the
of
matlab.
Ans:
A system expressed in state space can be converted to transfer function.

functionused to convert the state space representation of a system discussed before
Following
transfer
into
function,
ss2tf
STATE SPACE CONVERSION
Write matlab command to determine the closed loop transfer function using the
and denominator polynomials.
numerator
 s 2 + 10s  9
G ( s)
s 3 + 14s 2  7 s + 15
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Ans:
[A B C D] = tf2ss (NUM,DEN)
STATE SPACE MODEL
The following command will print the stae space

model,
Print
sys

function.
Matrices A, B, C and D can be printed by entering the matrix name. Write the matrices
the state space model returned by the
of
matlab.
Ans:
A system expressed in state space can be converted to transfer function.

functionused to convert the state space representation of a system discussed before
Following
transfer
into
function,
ss2tf
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STEADY STATE AND PERFORMANCE ANALYSIS
OBJECTIVE
To explore the steady state analysis of a control

To explore the effect of changing parameters on performance of a control
system.
system.
PROCEDURE

sections:
Steady state error and DC
gain.
Dominant poles and second order
approximation.
STEADY STATE ERROR AND DC GAIN
Consider the unity feedback system with
G(S)=10s+20/s^2+10
The response of this system to a ramp (triangular) input can be observerd using
function as
lsim
follows
MATLAB COMMAND
Numg=[10 20];
Deng=[1 10 0];
Sysg=tf(numg,deng)
;Sys=feedback(sysg,1)
;T=[0:0.1:8.2]’
;V1=[0:0.1:2];v2=[2:-0.1:-2];v3=[-
U=[v1;v2;v3];
2:0.1:0]’;
[y,T]=lsim(sys,u,t)
;plot(T,y,t,u,’..’)
,xlabel(‘Time(sec)’),Ylabel(‘Amplitude’),gri
d
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Sketch the output in the space

provided.
What is the steady state

error?
Ans:
Find steady state error for ramp input mathematically, using the relation ess=A/Kv
Kv=lim s__0[sG(s)] and ‘A’ is the magnitude of step
Where
input.
Ans:
DC GAIN
The steady state of the system, or simply the dc gain of the system, is determine
evaluating the transfer function of the system at zero frequency I-e the value of s in
by
transfer function must be zero. For example, if a closed loop system is characterized by
the
transfer
the
function.
K n
G(s) = 2
s + 2=+n s  n 2
Then ,the dc gain of the system

is
K n K n
2
G(s) = 2 = = K
s + 2=+n s  n 2 n 2
s=0
Thus ,K is the dc-gain of the
system.
In MATLAB the dc gain of the system can be obtained by using the
dcgain(sys),where ‘sys’ is the transfer function of the
function
system.
Consider the system below, plot the actual output of the open loop system due to a
input
step
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Ans: : numg=[2 5]; deng=[1 4 5

sysg=tf(numg,deng)
0];
;sys=feedback(sysg,1)
;t=[0:0.1:8.2]'
v; 1=[0:0.1:2]'; v2=[2:-.1:-2]'; v3=[-
u=[v1;v2;v3]
2:.1:0]';
;[y,T]=lsim(sys,u,t)
;figure(1
p) lot(T,y,t,u,'--'),xlabel('Time(sec)'),ylabel('Amplitude'),gri
dfigure(2
)step(sys
)dcgain(sys
)
OUTPUT
Using command dcgain(sys),find the dc gain of the open loop

system
What is the steady state

error?
Ans: .
Now construct a unity feedback system as the plant. Plot the actual output of the
loop system due to a step input.
closed-
MATLAB COMMANDS
numg = [2
deng = [1 4 -5 0];
5];
sys=tf(numg,deng)
;t=[0:0.1:8.2]'
;v1=[0:0.1:2]'; v2=[2:-.1:-2]'; v3=[-
u=[v1;v2;v3]
2:.1:0]';
;[y,T]=lsim(sys,u,t)
;figure(1
)plot(T,y,t,u,'--'),xlabel('Time(sec)'),ylabel('Amplitude'),gri
dfigure(2
)
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step(sys
)
PLOT
Now a construct a unity feedback system shown below ,the error function is determines
the equation and can directly be found from
by
MATLAB.
e(t) = r(t) – y(t)
To be able to determine the error function in MATLAB, we need first to determine

vector containing the input signal r(t), and the vector containing the actual output
the
y(t). The next step is subtract y(t) from r(t) to obtain the error function. MATLAB
signal
below is an unit step function. The system is defined by the following
code
model.
2s + 3
G(s)
s + 3s + 6
2
MATLAB COMMAND
numg=[2 3]
deng=[1 3 6]
sysg=tf(numg,deng
)%Generate unity feedback
syst=feedback(sysg,1
system
)%Dtermine output and time
[out,t]=step(syst)
vectors
;%Determine error
ref=ones(1,length(t))
function
;err=ref-
plot(t,err
out';
)grid on
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OUTPUT
DOMINENT POLES AND SECOND ORDER APPROXIMATION
Both Zeros and poles may affect the system response, but the dominant poles are the one
have significant amount of impact on system
who
response.
For the following transfer
function
G(s)=62.5(s+2.5)/(s^2+6s+25)
(s+6.25)
Write MATLAB commands to find poles and
zeros.
Ans:
Plot poles and zeros in s-plane. What is the command that will be
used?
Now find and sketch the step

response.
What is %Overshoot and settling time from the

response?
Ans:
rd
As an approximation we neglect the (real) pole, and again find the response of
system.
3 the
Ans:
Again find step response and values of % Overshoot and settling time for
approximated system.(you can use step(sys1,sys2) for comparison of
the
responses)
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TRANSIENT RESPONSE & GAIN EFFECT
OBJECTIVE
To explore the transient response of a control

To explore the effect of gain on transient response of a control
system.
system.
PROCEDURE

steps;
Open loop transfer
function.
Closed loop unity
feedback.
Closed loop transfer
function.
Unity feedback.
OPEN LOOP TRANSFER FUNCTION
Consider the open-loop

TF
G(s)=5/s2+2s+2
5
When the input is unit step,find the step function ,show the steady state
error .
Ans:
STEP RESPONSE
steady
steady state
state=
error=
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CLOSED LOOP UNITY FEEDBACK
Obtain the step response of this close loop unity feedback system and also determind
overshoot and steady state
the
error.
G(s)=100/s(s+15
)
Ans:
STEP RESPONSE
percentage
steady state
overshoot=
error=
CLOSED LOOP TRANSFER FUNCTION
Consider the Close loop

TF
T(s)=10k/s2+20s+k
Obtain the step response for k=1,10,100, Co-plot the

responses.
For k=1
clear
k=1
all
a=1
num=[10*k]
den=[1 20 k]
y=tf(num,den
s) ys=feedback(y,1
)step(sys
)title('step responce for
k=1')
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STEP RESPONSE
For k=10;
clear
clc
all
k=10
a=1
num=[10*k]
den=[1 20 k]
y=tf(num,den
)sys=feedback(y,1
)step(sys
)title('step responce for k=10')STEP
RESPONSE
For k=100;
clear
clc
all
k=100
a=1
num=[10*k]
den=[1 20 k]
y=tf(num,den
)sys=feedback(y,1
)step(sys
)title('step responce for
k=100')
STEP RESPONSE
K Steady
Overshoot
state error Setting Time
1 (sec)
10
100
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OBSERVATION
As the value of K is increases Overshoot percentage is also increasing and setting time
decreasing and steady state error is
is
same
UNITY FEEDBACK SYSTEM
Consider the unity feedback system
When k=2,a=1 find the steady state value of y(t) and also find Ts at
2%.
Code:
STEP RESPONSE
Steady state value

Value of Ts at 2% =
=
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Consider the Unity feedback System
Ans: FOR PROPORTIONAL CONTROLLER

clear
Gs=2
all
a=1
num=[10]
den=[1 10]
y1=tf(num,den
)num1=[Gs]
den1=[1]
y2=tf(num1,den1
)y=y1*y2
sys=feedback(y,1
)step(sys
)title('Propotional Controller when
Gc=K')
STEP RESPONSE
(FOR PROPORTIONAL INTEGRAL CONTROLLER)
clear
k=2
all
k0=2
k1=20
a=1
num=[10]
den=[1 10]
y1=tf(num,den
)num1=[k0 k1]
den1=[1 0]
y2=tf(num1,den1
)y=y1*y2
sys=feedback(y,1
)step(sys
)title(‘Proportional Integral
Controller’)
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STEP RESPONSE
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TIME DOMAIN INTERPRETATION OF PD, PI, PID
CONTROLLER
OBJECTIVE
To observe the effect of different controllers on Rise time, overshoot, settling time
steady state
and
error.
PROCEDURE

steps;
The three term
controller.
Open loop step
response.
Proportional
control.
PD control.
PI
control.
PID control.
THE THREE-TERM CONTROLLER
The transfer function of PID controller looks like the

following:
Kp+ki/s+kds=kds+kps+ki/
s
Where kp is the proportional gain, Ki is the integral gain, and kd is the derivative
The effects on the closed-loop response of adding to the controller terms kp, ki and kd
gain.
listed in table form
are
below.
CL RISE TIME OVERSHOOT S ERROR SETTLING S-

RESPONSE TIME
Kp Decreases Increases No change
Decreases
Ki Decreases Increases Increases Eliminates
Kd No change Decreases Decreases No change
Note that these correlations are not Exactly accurate, because Kp,Ki,Kd are related to
other. Changing one of these variables can change the effect of the other two. For
each
reason, the table should only be used, as a reference when you are determining the
this
for ki,Kp and Kd by trial &
values
error.
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OPEN-LOOP STEP RESPONSE
Many PID controllers are designed by the trial & error selection of the variables kp.Ki
kd. There are some rules of thumb that you can consult to determine good values to
and
from; see your controls book for some explanations of these
start
Suppose we have a second-order plant transfer
recommendations.
function;
_____1_______
s^2+10s+20
let’s first view the open-loop step

num=1;
response.
den=[1 10 20];
Step(num,den
)
OUTPUT
The Dc gain of the plant transfer function is 1/20, so 0.05 is the final value of the
for a unit step input. This corresponds to a steady –state error of 0.95, quite large
output
Furthermore, the rise time is about one second, and the settling time is about 1.5
indeed.
Most likely, the response will not be adequate. Therefore, we need to add some
seconds.
control.
PROPORTIONAL CONTROL
From the chart above we see that kp will help us to reduce the steady-state error. Let’s
add a proportional controller into the
first
system.
Num=1;
Den=[1 10 20];
Kp=10;
[numCL,denCL]=cloop(kp*num,den,-
t=0:0.01:2
1);
;step(numCL,denCL,t)
OUTPUT
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It should also be noted that it is not a good idea to use proportional control to reduce
steady-state
the error, because you will never be able to eliminate the error completely.
fact will become evident
This
Now, the rise time has been reduced and the steady-state error is smaller, if we use
below.
Kp, the rise time and steady-state error will become even smaller Change the
greater
This time we see that the rise time is now about 0.1 second and the steady-state error
Kp=500.
much smaller. But the overshoot has gotten very
is
large.
PD CONTROL
The rise time is now probably satisfactory (rise time is about 0.1 second).Now let’s add
aderivative controller to the system to see if the overshoot can be reduced. Add
variable, Kd, to them-file, set it equal to 10 and return them-
another
file:
Kp=500;
Kd=10;
Numc=[Kd Kp];
[numCL,denCL]=cloop(conv(num,den),den)
;step(numCL,denCL,t)
OUTPUT
The overshoot is much less then before. it is now only twenty percent instead of
forty-five percent. we can now try improve that even more. Try increasing Kd to 100,
almost
will see the overshoot eliminated
you
We now have a system with a fast rise time and ni overshoot. Unfortunately, there is
completely.
about a 5 percent steady-state error. It would seem that a PD controller is not
still
for this system. Let’s try a PI controller
satisfactory
instead.
PI CONTROL
As we have seen, proportional control will reduce the steady-state error, but at the cost
larger overshoot. Furthermore, proportional gain will never completely eliminate
of
steady-state error .For that we need to try integral control. Let’s implement a PI
the
and start with a small
controller
ki.
Kp=500;
Ki=1;
Kd=0;
Numc[Kd Kp Ki];
Denc=[1 0];
[numCL,denCL]=cloop(conv(num,numc),conv(den,denc))
;step(numCL,denCL)
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OUTPUT
Try Ki=10,
Kp=500;
Ki=10;
Kd=0;
Numc[Kd Kp Ki];
Denc=[1 0];
;step(numCL,denCL)
axis([0 100 0
1.5])
OUTPUT
PID CONTROL
From the two controllers above, we see that if we want a fast response, small overshot,
no steady-state error, neither a PI nor a PD controller will suffice. Let’s implement
and
controllers and design a PID controller to see if combining the two controllers will
both
the desired response. Recalling that, our PD controller gave us a pretty good
yield
except for a little steady-state
response
error.
Kp=500;
Ki=1;
Kd=100;
Numc=[Kd Kp Ki];
Denc[1 0];
:step(numCL,denCL)
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OUTPUT
The settling time is still very long. increase ki to

100.
The settling time is much shorter,but still small enough. Increase ki to 500 and change the
command to
step
step(numCL,denCL,t):
SUMMARY
To design a PID controller, the general rule is to add proportional control to get the
rise time, add derivative control to get desire overshoot, and then add integral control
desired
needed).To eliminate the steady-state
(if
error.
COMMENTS
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ROOT LOCUS ANALYSIS
OBJECTIVE
To explore the root-locus analysis of a control

system.
PROCEDURE

steps;
Section – 1
Section – 2
Section – 3
Section – 4
SECTION – 1
A CLOSED-LOOP control system using a proportional controller and unity-feedback

shown below
is
Determine the open-loop transfer

function.
Ans:
Determine the closed-loop transfer

function.
Ans:
Show the position of poles and zeros of the open-loop transfer function in the s-
plane.
Ans:
OUTPUT
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Following MATLAB commands can be used to plot the root-locus of a

system.
rlocus(sys)
;
Sketch the output of the above
commands
OUTPUT
What is range of K for a stable

operation?
Ans:
SECTION - 2
In the system shown above, using integral controller K/s and determined the open loop
close loop TF?
and
For Open loop integral

controller
num=[1]
d; en=[1 5 6 0];
sys=tf(num,den
)
For closed loop integral
controller
num=[1]
;den=[1 5 6 0];
sys=tf(num,den
)y=feedback(sys,1
)
Plot the root-locus using MATLAB commands rlocus and sketch the root-
locus.
num=[1]
;den=[1 5 6 0];
sys=tf(num,den
)y=feedback(sys,1
)rlocus(sys
)
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OUTPUT
How can you identify an integrator in the s-

pane?
Ans:
What is the range of K for a stable

operation?
Ans:
SECTION - 3
In the system shown above, use a proportional integral (PI) controller K(1+1/s)
determine the open-loop and closed-loop transfer
and
functions
For integral open-loop
proportional
num=[1
den=[1 5 6 0];
1];
sys=tf(num,den
)
For close-loop proportional
integral
num=[1
den=[1 5 6 0];
1];
sys=tf(num,den
)y=feedback(sys,1
)
Plot the root-locus using MATLAB command rlocus and sketch the root-
locus.
Ans: num=[1 1];
den=[1 5 6 0];
sys=tf(num,den
)y=feedback(sys,1
)rlocus(sys
)
OUTPUT
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What is significant effect of using a PI controller on the system

response?
Ans:
What is range of
K?
Ans:
SECTION - 4
The root locus of (open-loop) TF, H(s) is s plot of the location (locus) of all
closed loop poles with proportional gain k and unity feedback;
possible
The closed-loop function

is
Y(s)/R(s)=KH(s)/1+KH(s
)
And thus the poles of the closed loop system are values of such that
Since the root locus is actually the location of all possible closed-loop poles, from the
1+KH(s)=0.
locus we can select a gain such that our closed-loop system will perform the way we
root
if any of the selected poles are on the right half plane, the closed-loop system will
want.
unstable. The poles that ate closest to the imaginary axis have the greatest influence on
be
closed-loop response, so even though the system has three or four poles, it may still
the
like a second or even first order system depending on the location (s) of the
act
pole(s).
dominant
PLOTTING THE ROOT LOCUS OF A TRANSFER FUNCTION
Consider an open loop system which has a TF

of
H(s)=Y(s)/U(s)=s+7/s(s+5)(s+15)
(s+20)
Say our design criteria are 5% overshoot and I second rise
time
num=[1
den=conv(conv[1 0],[1 5]),conv[1 5],[1
7];
sys=tf(num,den
20]));
)rlocus(sys),axis([-22 3 -15
15])
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FEDERAL URDU UNIVERSITY

COMPUTER SIMULATION LAB

Prepared Checked Approved By:

Registration No: ____________________________________

Roll No: ___________________________________________

Exp No List of Experiments

12 TIME DOMAIN INTERPRETATION OF PD, PI, PID CONTROLLER

13 ROOT LOCUS ANALYSIS

14,15,16 PROJECT ASSIGNED BY TEACHER

To understand the basics of MATLAB

This lab is based on following

Que: That is the output of the following instruction b=[1 2 3;4 5

Que: When >>d=a+c?

Que: When >>a*c?

MATLAB has a variety of powerful commands used to plot

Que: Size of variable can be obtained by

Que: What is the difference of show() and

For 3D plot of y1,y2,y3

To learn how to define a

This lab is based on following

Write three loop current equations for the following

Write the MATLAB command to calculate I1, I2 and I

I1= I2= I3=

What are the values returned by the

Show how the MATLAB returns values of I1, I2 and I 3.

I1= I2= I3=

In MATLAB, a polynomial is defined by expressing only the coefficients of

A polynomial can be reassembled from roots

MATLAB function poly will return a list of coefficients of the polynomial

What are the coefficients of the reassembled

Write the polynomial from the MATLAB generated

Try to reassemble the polynomials by entering various roots

Write the polynomial from the MATLAB generated

A polynomial p can be evaluated at a given value of the variable

The following commands are used to evaluate polynomials q and n defined

Product of two polynomials

To learn how to find the transfer function of a

This lab is based on following

VERIFICATION OF TRANSFER FUNCTION

Verify that the transfer function of the system shown above

What is the characteristic equation of the

Calculate the frequency of oscillations ω = ωn √ (1- ς^2) from the characteristic

Step response is the output of a system when step input is

Sketch the step response for the following three

Case-1: Eliminate spring (k=0) where m = 1 and b =

Case-2: Eliminate damping (b=0) where m = 1 and k =

Case-3: Eliminate mass (m=0) where b = 1 and k =

Eliminating Eliminating Eliminating

Impulse response describes reaction of the system as a function of time or possibly a

Sketch the impulse response for the following three

Case-2: Eliminate damping (b=0) where m = 1 and k =

Case-3: Eliminate mass (m=0) where b = 1 and k =

LTI MODELS (USING BLOCK DIAGRAM)

This lab is based on following

X S+1 / S+3 1 / 5000 S2 X

TRANSFER FUNCTION OF A NON UNITY FEEDBACK SYSTEM

Answer the following

What are the roots of the characteristics

Show the position of poles in s-

To learn to apply arithmetic operations on LTI

This lab is based on following

ADDING LTI MODELS

Adding LTI models is equivalent to connecting them in parallel. Specifically the