Lab 1

Modeling and simulation of open loop and closed loop

response of RC circuit with proportional, proportional integral,
and proportional derivative integral controllers.
Ahmad hassan
IEECE, University of the Punjab Lahore-54590 PAKISTAN
Email: [email protected]
Instructor: Dr. Umar Farooq

Abstract: 2. Introduction:

In an RC circuit the capacitor which is

connected to a five volt battery. it requires Rc circuits are very useful in making the
ten seconds to get fully charged and in an filter circuits by which we can block a
open loop system the charging time is fixed certain type of range of frequency by
and to change. we shall have to change the making low pass ,high pass and band filters.
initial conditions like capacitance or the
voltage. The use of controller may result in
But in close loop system we can use the improvement in performance of the RC
controller of different kinds circuit
Pi or pid .by using. The controller we can
reduce the charging time and by using PID For that purpose we mathematical
controller we can make capacitor charge expressions for the values of the constants
completely. that are used to make the controller.
1 . Keywords:
Open loop, controller, closed loop, control The transfer function can be formed by the
objective, capacitor. input and the output.
P controller,PI controller,PID controller

3. Modeling Eq(2) is the mathematical form of

proportional controller
By using first principle we calculated the 𝐾𝑝
Zeros of this equation are 𝑅∗𝐶
transfer function of the proportion 1 𝐾𝑝
Poles of this equation are s+ 𝑅∗𝐶 + 𝑅∗𝐶
Controller.
1 In proportional controller zeros are located
𝑅∗𝐶
T(s)= 1 ……….. eq(1) at negative half plane and poles are also
𝑠+𝑅∗𝐶
Eq(1) is the transfer function of RC circuit located at negative half plane.
For Kp proportional controller: PI controller
𝐾𝑝 The response of proportional controller is
𝑅∗𝐶
T1(s)= 1 𝐾𝑝 ……………..eq(2) overdamped.
𝑠+𝑅∗𝐶+𝑅∗𝐶
For Ki proportional integral controller:
 𝐾𝑖+𝑠∗𝐾𝑝 For Kd proportional integral derivative
T2(s)= 𝐾𝑝+1 𝐾𝑖 ……………eq(3)
𝑠∗𝑠+ 𝑅∗𝐶 ∗𝑠+𝑅∗𝐶 controller:
Eq(3) is the mathematical equation of T3(s)=
𝑠∗𝑠∗𝐾𝑑+𝑠∗𝐾𝑝+𝐾𝑖
……Eq(4)
𝐾𝑝+1 𝐾𝑖
proportional integral controller. 𝑠∗𝑠+𝑠( )+
𝑅∗𝐶+𝐾𝑑 (𝑅∗𝐶+𝐾𝑑)
−𝐾𝑖
Poles of this equation is s= 𝐾𝑝
(𝐾𝑝+1) This is the equation of proportional integral
Zeros of this equation are s=- 2∗𝑅∗𝐶 + controller.
𝐾𝑖 𝐾𝑝+1 𝐾𝑝+1
𝑖√ −( )∗( )
𝑅∗𝐶 2∗𝑅∗𝐶 2∗𝑅∗𝐶 Zeros of this equation are
(𝐾𝑝+1) 𝐾𝑖 𝐾𝑝+1 𝐾𝑝+1 −𝐾𝑝+√𝐾𝑝∗𝐾𝑝−4𝐾𝑑∗𝐾𝑖
s=- 2∗𝑅∗𝐶 − 𝑖√𝑅∗𝐶 − (2∗𝑅∗𝐶) ∗ (2∗𝑅∗𝐶) s= 2∗𝐾𝑑
Zeros of proportional integral controller are
−𝐾𝑝−√𝐾𝑝∗𝐾𝑝−4𝐾𝑑∗𝐾𝑖
located at the negative half plane. s= 2∗𝐾𝑑
Poles of this equation are real so its exit at
left half plane. Poles of this equation are
PID controller −(𝐾𝑝+1) (𝐾𝑝+1) (𝐾𝑝+1) 𝐾𝑖
+√( )∗((𝑅∗𝐶+𝐾𝑑))−4
The response of proportional integral s=
𝑅∗𝐶+𝐾𝐷 𝑅∗𝐶+𝐾𝑑 𝑅𝐶+𝐾𝑑

controller is overdamped. 2

Poles of this equation are located at real

plane right half plane and the system is
−(𝐾𝑝+1) (𝐾𝑝+1) (𝐾𝑝+1) 𝐾𝑖
−√(𝑅∗𝐶+𝐾𝑑)∗((𝑅∗𝐶+𝐾𝑑))−4𝑅𝐶+𝐾𝑑 unbounded.
𝑅∗𝐶+𝐾𝐷
s= 2
The response of this system is critically
Zeros of this equation is placed at left half damped.
plane
4. Implementation
We implement this experiment on Figure.2.
• Matlab Simulink
4.1 Simulation
We Implement the simulation on Matlab simulink
are shown in Fig.2.

Figure 3
 Figure 6
4. Conclusions
We implemented the open loop as well as the
closed loop .we saw the difference between them
that in the closed loop we could make it better and
faster .we can reduce the charging time and make
it charged completely by adjusting the frequency
accordingly.

Figure 4 Acknowledgment
Our instructor motivated us to do this lab and us
the basic idea of the circuit behavior and
introduced us that how the system may be
improved.

References
[1] E . Monmasson and M. N. Cirtea, “Design
methodology for industrial control systems: A
review, “IEEE trans. IND. Electrons., vol . 54. No. 4
pp. 1824-1842,2007.
[2] J. Holtz, “Pulsewidth modulation: A survey”IEEE
trans. Ind. Electrons, vol. 39, no.5,pp. 410-420, dec.
1992.
Figure 5