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Control & Instrumentation lab

Control systems (Anna University)

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CHENDHURAN COLLEGE OF ENGINEERING AND TECHNOLOGY

Accredited by NAAC with B++ Grade
Approved by AICTE, New Delhi and Affiliated by Anna University, Chennai
Lena Vilakku, Pilivalam [Po], Thirumayam [Tk], Pudukkottai - 622 507.

DEPARTMENT OF ELECTRICAL AND ELECTRONICS

ENGINEERING

EE3512 – CONTROL AND INSTRUMENTATION

LABORATORY

REGULATION 2021

III YEAR
V SEMESTER

LAB MANUAL

LAB IN-CHARGE HOD

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CONTENTS:

1. Vision and Mission of the Department

2. PEOs and POs
3. Course outcomes (COs)
4. Mapping of COs with POs
5. List of Experiments
6. Scheme of evaluation

EE3512 – CONTROL AND INSTRUMENTATION LABORATORY Page 1

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VISION
To provide Student Centric Learning Environment so as to produce socially relevant Electrical
and Electronics Engineers with technical competence and analytical skills for taking up leadership
roles in industries and research organizations.

MISSION
 To impart quality education both in theory and practical covering the entire gamut of
Electrical and Electronics Engineering.
 To conduct collaborative research and consultancy work in cutting edge technologies, to
meet the global challenges.
 To empower the students to meet the requirements of electrical and electronics sector work
and administrative services.

PROGRAM OUTCOMES
After going through the four years of study, our Electrical and Electronics Engineering
Graduates will exhibit ability to:

PO
Graduate Attribute Program Outcome
NO.
Apply knowledge of mathematics, basic science
1 Engineering Knowledge
and engineering science.
Identify, formulate and solve engineering
2 Problem Analysis
problems.
Design/Development of Design an electrical system or process to improve
3
Solutions its performance, satisfying its constraints.
Conduct Investigations of Conduct experiments in electrical and electronics
4
Complex Problems systems and interpret the data.
Apply various tools and techniques to improve the
5 Modern Tool Usage
efficiency of the system.
Conduct themselves to uphold the professional and
6 The Engineer and Society
social obligations.
Environment and Design the system with environment
7
Sustainability consciousness and sustainable development.
Interacting industry, business and society in a
8 Ethics
professional and ethical manner.
9 Individual and Team Work Function in a multidisciplinary team.
10 Communication Proficiency in oral and written Communication.
Project Management and
11 Implement Cost effective and improved system.
Finance
Continue professional development and learning
12 Life-long Learning
as a life-long activity.

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PROGRAMME SPECIFIC OUTCOMES (PSOs)

1. Foundation of Electrical Engineering: Ability to understand the principles and working

of electrical components, circuits, systems and control that are forming a part of power
generation, transmission, distribution, utilization, conservation and energy saving.
Students can assess the power management, auditing, crisis and energy saving aspects.

2. Foundation of Mathematical Concepts: Ability to apply mathematical methodologies to

solve problems related with electrical engineering using appropriate engineering tools and
algorithms.

3. Computing and Research Ability: Ability to use knowledge in various domains to

identify research gaps and hence to provide solution which leads to new ideas and
innovations.

PROGRAM EDUCATIONAL OBJECTIVES (PEOs)

The Educational Objectives of the Electrical and Electronics Engineering (EEE) Programme
prepare graduates having knowledge and attitude to

I. Find employment in Core Electrical and Electronics Engineering and service sectors.
II. Get elevated to technical lead position and to lead the organization competitively.
III. Enter into higher studies leading to post-graduate and research degrees.
IV. Become consultant and provide solutions to the practical problems of core
organization.
V. Become an entrepreneur and be part of electrical and electronics product and service
industries.

EE3512 – CONTROL AND INSTRUMENTATION LABORATORY Page 3

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COURSE OBJECTIVES:

1. To make the students familiarize with various representations of systems.

2. To make the students analyze the stability of linear systems in the time domain and
frequency domain.
3. To make the students design compensator based on the time and frequency domain
Specifications.
4. To develop linear models mainly state variable model and transfer function model
5. To make the students to design a complete closed loop control system for the physical
systems..

COURSE OUTCOMES:

At the end of this course, the students will have the ability to

CO EXPT.
COURSE OUTCOMES
NO. NOs
C308.1 Model and analyze simple physical systems and simulate the performance in
1, 2, 3
analog and digital platform.
C308.2 Design and implement simple controllers in standard forms. 4, 5
C308.3 Design compensators based on time and frequency domain specifications. 7, 8, 9
C308.4 Design a complete closed control loop and evaluate its performance for
10, 14
simple physical systems.
C308.5 Analyze the stability of a physical system in both continuous and discrete 6, 11, 12,
domains. 13, 15

CO-PO Mapping:

PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2 PSO3

C307.1 3 3 3 3 3 - - 1.5 - - - 3 3 3 3

C307.2 3 3 3 3 3 - - 1.5 - - - 3 3 3 3

C307.3 3 3 3 3 3 - - 1.5 - - - 3 3 3 3

C307.4 3 3 3 3 3 - - 1.5 - - - 3 3 3 3

C307.5 3 3 3 3 3 - - 1.5 - - - 3 3 3 3

AVERAGE 3 3 3 3 3 - - 1.5 - - - 3 3 3 3

EE3512 – CONTROL AND INSTRUMENTATION LABORATORY Page 4

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REGULATION -2021

EE3512/CONTROL AND INSTRUMENTATION LABORATORY

LIST OF EXPERIMENTS

1. Analog (op amp based) simulation of linear differential equations.

2. Numerical Simulation of given nonlinear differential equations.
3. Real time simulation of differential equations.
4. Mathematical modeling and simulation of physical systems in at least two fields.
Mechanical, Electrical and Chemical process
5. System Identification through process reaction curve.
6. Stability analysis using Pole zero maps and Routh Hurwitz Criterion in simulation
platform.
7. Root Locus based analysis in simulation platform.
8. Determination of transfer functions of a physical system using frequency response and
asymptotes.
9. Design of Lag, lead compensators and evaluation of closed loop performance.
10. Design of PID controllers and evaluation of closed loop performance.
11. Discretization of continuous system and effect of sampling.
12. Test of controllability and observability in continuous and discrete domain in simulation
platform.
13. State feedback and state observer design and evaluation of closed loop performance.
14. Mini Project 1: Simulation of complete closed loop control systems including sensor and
actuator dynamics.
15. Mini Project 2: Demonstration of a closed loop system in hardware.

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TABLE OF EXPERIMENTS
Page Mark Staff
Sl.No Date Name of the Experiments No Obtained Signature
1

10

11

12

13

14

15

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INSTRUCTIONS TO THE STUDENTS

1. Candidates should come to the lab with proper uniform and good quality leather shoes.
2. Punctuality and strict Discipline should be maintained.
3. Study and prepare well before entering into the lab.
4. Complete the observation after completion of the experiment in the lab itself.
5. Be alert till the experiment is completed.
6. Make sure that the supply is OFF before touching any terminals.
7. Use proper rating equipments carefully, for which you are duly responsible.
8. Handle the equipments carefully, for which you are duly responsible.
9. Return all the components and make sure that nothing is left on the worktable.
10. In case of any wrong observations you have to switch off the power supply related with it.
11. Make series circuit connections before the parallel circuit like voltmeter connections.

13. Check the rheostat positions and connections whether they have been connected properly
or not.

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SIMULINK BLOCKS

OUTPUT WAVE FORMS

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Expt. No: 1 Date:

ANALOG (OP AMP BASED) SIMULATION OF LINEAR DIFFERENTIAL

EQUATIONS
AIM

To Study the analog (op amp based) simulation of linear differential equations using
Mat lab-Simulink.
APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

1. To build a SIMULINK model to obtain response of a amplifier, the following procedure

is followed:

2. In MATLAB software open a new model in SIMULINK library browser.

3. From the continuous block in the library drag the transfer function block.

4. From the source block in the library drag the step input.

5. From the sink block in the library drag the scope.

6. From the math operations block in the library drag the summing point.

7. From the discrete block in the library drag the amplifier.

8. Connect all to form a system and give unity feedback to the system.

9. For changing the parameters of the blocks connected double click the respective block.

10. Start simulation and observe the results in scope.

11. Compare the simulated and theoretical results.

RESULT

Thus the (op amp based) simulation of linear differential equations has been verified by using
Mat-lab Simulink.

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PROGRAMME
A.OPEN LOOP RESPONSE (FIRST ORDER SYSTEM)
T.F=4/(s+2)
1. Response of system to Step input
n=[4];
d=[1 2];
sys=tf(n,d);
step(sys)
2. Response of system to Impulse input
n=[4];
d=[1 2];
sys=tf(n,d);
step(sys)
impulse(sys)

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Expt. No:2 Date:

NUMERICAL SIMULATION OF GIVEN NONLINEAR DIFFERENTIAL

EQUATIONS.
AIM
To digitally simulate the characteristics of Linear SISO systems using Numerical Simulation
of given nonlinear differential equations.

APPARATU REQUIRED
1. A PC with MATLAB package.

THEORY
State Variable approach is a more general mathematical representation of a system, which,
along with the output, yields information about the state of the system variables at some
predetermined points along the flow of signals. It is a direct time-domain approach, which
provides a basis for modern control theory and system optimization. SISO (single input single
output) linear systems can be easily defined with transfer function analysis. The transfer
function approach can be linked easily with the state variable approach.

The state model of a linear-time invariant system is given by the following equations:

Y(t) = C X(t) + D U(t) Output equation

Where A = n x n system matrix, B = n x m input matrix,
C= p x n output matrix and
D = p x m transmission matrix,

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PROGRAM:
B. Close Loop Response
1. Response of Step input
n=[4];
d=[1 2];
sys=tf(n,d);
sys=feedback(sys,1,-1)
step(sys)
2. Response of Impulse input
n=[4];
d=[1 2];
sys=tf(n,d);
sys=feedback(sys,1,-1)
impulse(sys)

Second Order System

TF= 4/s2+6s+16
1. Open Loop Response of Step Input
n=[4];
d=[1 6 16];
sys=tf(n,d);
step(sys)

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2. Open Loop Response of impulse Input

n=[4];
d=[1 6 16];
sys=tf(n,d);
impulse(sys)

Close Loop Response

1. Step Input
n=[4];
d=[1 6 16];
sys=tf(n,d);
sys=feedback(sys,1,-1) ;
step(sys)

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2. Impulse Input

n=[4];
d=[1 6 16];
sys=tf(n,d);
sys=feedback(sys,1,-1) ;
impulse(sys)

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RESULT
Thus the digital simulation of time response characteristics of a first and second order linear
system with step and impulse inputs were simulated using MATLAB and outputs are
observed for respective inputs.

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PROGRAM
% Simulation of discrete model
clear,
clc
% Model Parameters
a=0.25;b=2;
% Simulation Parameters
Ts=0.1; %s
Tstop=30; %s
uk=1; % Step Response
x(1)=0;
% Simulation
for k=1:(Tstop/Ts)
x(k+1)=(1-a*Ts).*x(k) + Ts*b*uk;
end
% Plot the Simulation Results
k=0:Ts:Tstop;
plot(k,x)
grid on

OUTPUT:

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Expt. No: 3 Date:

REAL TIME SIMULATION OF DIFFERENTIAL EQUATIONS.

AIM

To check the real time simulation for the given differential equation + using
MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the real time simulation for the given differential equation + using
MATLAB Software was executed.

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SIMULINK MODEL

OUTPUT

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Expt. No: 4 Date:

MATHEMATICAL MODELING AND SIMULATION OF PHYSICAL SYSTEMS IN

AT LEAST TWO FIELDS MECHANICAL, ELECTRICAL AND CHEMICAL
PROCESS
AIM
To design mathematical modelling and simulation of physical systems in at least two fields:
mechanical, electrical, and chemical processes, using MATLAB Software.
APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the mathematical modelling and simulation of physical systems in at least two fields:
mechanical, electrical, and chemical processes, using MATLAB software, were done.

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PROGRAM:
function[Weights_Model] = system_identification()

%clear all;
%clc;
% Direct modeling of Electrical system of the plant using LMS algorithm
%Plant Parameters
Weights_Plant=[0.26 0.93 0.26] ; % Transfer function coefficients
N=input('Enter the no of the iterations/input samples: '); %input number of
samples.
Input_Plant= rand(1,N); % input to the plant with mean zero and input to
model is also same.

% Model Parameters
Weights_Model=[0 0 0];
Input_Model=Input_Plant;
Learning_Para=input('Enter the Learning Parameter value:'); % Learning rate
of the model

%Signal Power to noise power

snr=input('Enter the snr value : ');

%Signal Power and Noise Power

sp=var(Input_Plant);
np =(sp)*power(10,-(snr/10));

%Noise to be added
Noise=sqrt(np)*(rand(1,N)-0.5);

% Intialization %

% Plant Output.
Plant_Output(1)=Input_Plant(1)*Weights_Plant(1);

Plant_Output(2)=Input_Plant(2)*Weights_Plant(1)+Input_Plant(1)*Weights_Plan
t(2);

%Model Output
Model_Output(1)=Input_Model(1)*Weights_Model(1);

Model_Output(2)=Input_Model(2)*Weights_Model(1)+Input_Model(1)*Weights_Mode
l(2);

% Plant output with added noise

Plant_Output(1)=Plant_Output(1)+Noise(1);
Plant_Output(2)=Plant_Output(2)+Noise(2);

% Error
error(1)=Plant_Output(1)-Model_Output(1);
error(2)=Plant_Output(2)-Model_Output(2);

%Weight Values

Weights_Model(1)=Weights_Model(1)+(2*Learning_Para*Input_Model(1)*error(1))
;
Weights_Model(1:2)=Weights_Model(1:2)+(2*Learning_Para*Input_Model(2:-
1:1)*error(2));
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%------Applying Adaptive LMS algorithm -------------- %

for i=3:1:N

%Outputs
Plant_Output(i)=Input_Plant(i)*Weights_Plant(1)+Input_Plant(i-
1)*Weights_Plant(2)+Input_Plant(i-2)*Weights_Plant(3);
Model_Output(i)=Input_Model(i)*Weights_Model(1)+Input_Model(i-
1) *Weights_Model(2)+Input_Model(i-2)*Weights_Model(3);

%White gaussian noise signal added to the output of the plant.

Plant_Output(i)=Plant_Output(i)+Noise(i);
error(i)=Plant_Output(i)-Model_Output(i);

%Weight Update using LMS algorithm

Weights_Model=Weights_Model + (2*Learning_Para*Input_Model(i:-1:i-
2)*error(i));
end

%Plots of error square and log of normalized error square

t=1:1:N;
error_square=power(error,2);
Max_error_square=max(error_square);

Normalized_error_Square=error_square./Max_error_square;

plot(t,error_square);
legend('error square');
title('Plot of error square Vs no of iterations');
xlabel('iterations');
ylabel('error square')

figure,
plot(t,log(Normalized_error_Square));
legend('Normalized error square log');
title('Plot of Normalized error square log Vs no of iterations');
xlabel('iterations');
ylabel('Normalized error square log')

% Testing mode %

s=30;
Input_test=rand(1,s);

for j= 3:1:s

Plant_Out_test(1)=Input_test(1)*Weights_Plant(1);

Plant_Out_test(2)=Input_test(2)*Weights_Plant(1)+Input_test(1)*Weights_Plan
t(2);
Plant_Out_test(j)=Input_test(j)*Weights_Plant(1)+Input_test(j-
1)*Weights_Plant(2)+Input_test(j-2)*Weights_Plant(3);

Out_Model_test(1)=Input_test(1)*Weights_Model(1);

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Out_Model_test(2)=Input_test(2)*Weights_Model(1)+Input_test(1)*Weights_Mode
l(2);
Out_Model_test(j)= Input_test(j)*Weights_Model(1)+Input_test(j-
1)*Weights_Model(2)+Input_test(j-2)*Weights_Model(3);

error_test(1)= Plant_Out_test(1)-Out_Model_test(1);
error_test(2)= Plant_Out_test(2)-Out_Model_test(2);
error_test(j)= Plant_Out_test(j)-Out_Model_test(j);

end
p=1:1:s;
figure,
plot(p,Plant_Out_test,'-ro',p,Out_Model_test,'-.b');
legend('Plant Out test','Out Model test');
title('Comparision of outputs of Plant and Model during testing');
xlabel('iterations');
ylabel('Output')

square_error= error_test.^2;
SSE=sum(square_error);

end

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Expt. No: 5 Date:

SYSTEM IDENTIFICATION THROUGH PROCESS REACTION CURVE

AIM

To design the system identification through the process reaction curve by using MATLAB
Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the design of the system identification through the process reaction curve using
MATLAB Software was executed.

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PROGRAM
s = tf('s');
G = (2*s+1)/(s^2+3*s+2);
k = 0.7;
T = feedback(G*k,1);
pzmap(T)
grid, axis([-2 0 -1 1])

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Expt. No: 6 Date:

STABILITY ANALYSIS USING POLE ZERO MAPS AND ROUTH HURWITZ

CRITERION IN SIMULATION PLATFORM
A. STABILITY ANALYSIS USING POLE ZERO MAPS

AIM

To check the stability analysis using pole zero maps for the given system or transfer function
using MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the designs for stability analysis using pole zero maps for the given system or transfer
function using MATLAB were executed.

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PROGRAM
% This script computes the roots of the characteristic
% equation D(s) = s^3 + 2 s^2 + 4 s + K for 0 < K < 20
K=[0:0.5:20]; % 0 < K < 20
for i=1:length(K); % for loop
q=[1 2 4 K(i)];
p(:,i)=roots(q);
end
figure(1)
plot(real(p),imag(p),'x'),
grid xlabel('Real axis')
ylabel('lmaginary axis')
gtext('K < 8') % Writing text on graphic
gtext('K = 8')
gtext('K > 8')
num=[1];
den=[1 2 4 9];
sysg=tf(num,den);
sys=feedback(sysg,[1]);
pole(sys) % poles of closed loop system
figure(2)
step(sys);

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Expt. No: 6 Date:

STABILITY ANALYSIS USING POLE ZERO MAPS AND ROUTH HURWITZ

CRITERION IN SIMULATION PLATFORM

B.STABILITY ANALYSIS USING ROUTH HURWITZ CRITERION IN

SIMULATION PLATFORM

AIM

To check the stability analysis is using Routh Hurwitz Criterion for the given system or
transfer function using MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the stability analysis is using Routh Hurwitz Criterion for the given system or transfer
function using MATLAB Software was executed.
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PROGRAM
% Characteristic polynomial
% C(s)=s^3+2s^2+10s^2+15
% Input coeff=Vector of coefficients of the C(s);e.g.,[1 2 10 15]
clc;
clear;
coeff=input('Enter the coefficients:')
L=length(coeff);
if (rem(L,2)==0)
Routh_array=zeros(L,L/2);
for i=1:L/2
Routh_array(1,i)=coeff(1,2*i-1);
Routh_array(2,i)=coeff(1,2*i);
end
else
Routh_array=zeros(L,(L+1)/2);
for i=1:(L+1)/2
Routh_array(1,i)=coeff(1,2*i-1);
if i==(L+1)/2
break;
end
Routh_array(2,i)=coeff(1,2*i);
end
end
for i=3:size(Routh_array,1)
if Routh_array(i-1,1)==0
Routh_array(i-1,1)=0.001;
end
for J=1:size(Routh_array,2)-1
Routh_array(i,J)=(-1/Routh_array(i-1,1))*det([Routh_array(i-2,1)...
Routh_array(i-2,J+1);Routh_array(i-1,1) Routh_array(i-1,J+1)]);
end
end
Routh_array
S=sign(Routh_array);
count=0;
for i=1:L
if S(i,1)==1
count=count+1;
end
end
if count==L
disp('The system is stable')
else
disp('The system is unstable')
end
% verify
fprintf('\n');
disp('verification:')
Roots=roots(coeff);
disp('poles:')
disp(Roots)

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Expt. No: 6 Date:

STABILITY ANALYSIS USING POLE ZERO MAPS AND ROUTH HURWITZ

CRITERION IN SIMULATION PLATFORM

C.STABILITY ANALYSIS USING ROUTH HURWITZ CRITERION IN

SIMULATION PLATFORM

AIM

To check the stability analysis is using Routh Hurwitz Criterion for the given system or
transfer function using MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

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OUTPUT:
Enter the coefficients: [1 1 2 2 11 10]

coeff =

1 1 2 2 11 10

Routh_array =

1.0000 2.0000 11.0000

1.0000 2.0000 10.0000
0.0010 1.0000 0
-998.0000 10.0000 0
1.0000 0 0
10.0000 0 0

The system is unstable

verification: poles:
1.0589 + 1.4691i
1.0589 - 1.4691i
-1.0961 + 1.4467i
-1.0961 - 1.4467i
-0.9256

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RESULT
Thus the stability analysis is using Routh Hurwitz Criterion for the given system or transfer
function using MATLAB Software was executed.

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PROGRAM

num=[0 4 5];
den=[1 4 21];
sys1=tf(num, den);
rlocus(sys1)
grid
title('Root locus plot of system G(s) = (4s+5)/(s2+4s+21)')

OUTPUT:

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Expt. No: 7 Date:

ROOT LOCUS BASED ANALYSIS IN SIMULATION PLATFORM

AIM

To Check the stability analysis of the given system or transfer function of rootlocus using
MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the designs of root locus for the given transfer function using MATLAB Software was
executed.

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PROGRAM
%Bode Plot for the Transfer Function=10/(s3+8s2+12s)
nu=[10];
de=[1 8 12 0];
sys=tf(nu,de);
bode(sys);
grid on;

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Expt. No:8 Date:

DETERMINATION OF TRANSFER FUNCTION OF A PHYSICAL SYSTEM USING

FREQUENCY RESPONSE AND BODE S ASYMPTOTES.
AIM

To Design the bode plot for the given system and also determine the gain and phase margin
using MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the design of bode plot for the given system using MATLAB Software was executed.

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PROGRAM
1. Lag Compensator
K=9600
d1=conv([1 4 0],[1 80]) % used to formulate the polynomial
G=tf(K,d1) % generate the transfer function.
margin(G)
pmreq=input('Enter Required Phase Margin') % enter 33 as given in question
pmreq=pmreq+5
phgcm=pmreq-180
wgcm=input('Enter new gain cross over frequency') % from the first bode
plot use the mouse pointer and locate wgcm corresponding to phgcm.
[Beta,p]=bode(G,wgcm)
T=10/wgcm
Zc=1/T
Pc=1/(Beta*T)
Gc=tf([1 Zc],[1 Pc])
sys=Gc*G/Beta
margin(sys)

2..LEAD COMPENSATOR
clear variables;
% plant G parameters
s = tf('s');
a = 2.5; b = 27;
%% a) Gain K for PO=10
PO = 10; % percentage overshoot
zeta = log(100/PO)/sqrt(pi^2+ (log(100/PO))^2 ); % damping ratio
PM_d = round(100*zeta)+1; % PM desired at the nearest round value
h = tand(180-90-PM_d);
omega_c = roots([1 (a+b)/h -a*b]); % new omega_c
K = omega_c(2)*sqrt(omega_c(2)^2+a^2)*sqrt(omega_c(2)^2+b^2); % new gain K
G = K/( s*(s+a)*(s+b) ); % Plant G
figure;
margin(G);

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Expt. No:9 Date:

DESIGN OF LAG, LEAD COMPENSATORS AND EVALUATION OF CLOSED

LOOP PERFORMANCE
AIM

To design the lag, lead compensators and evaluation of closed loop Performance using
MATLAB Software.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the design of lag, lead compensators and evaluation of closed loop Performance using
MATLAB Software was executed.

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PROGRAMME
% Step Response for TF 1/(s^2+10s+20)
num=[1];
den=[1 10 20];
figure(1);
step(num,den)
OUTPUT
% Step Response for TF 1/(s^2+10s+20)

% Proportional Controller
Kp=600;
num1=[Kp];
den1=[1 10 20+Kp];
t=0:0.01:2;
figure(2);
step(num1,den1,t)
grid;
OUTPUT
% Proportional Controller

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Expt. No: 10 Date:

DESIGN OF PID CONTROLLERS AND EVALUATION OF CLOSED LOOP

PERFORMANCE
AIM

To Study the effect of P, PI, PID controllers using Mat lab-Simulink.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

12. To build a SIMULINK model to obtain response of a P, PI, PID Controllers, the
following procedure is followed:

13. In MATLAB software open a new model in SIMULINK library browser.

14. From the continuous block in the library drag the transfer function block.

15. From the source block in the library drag the step input.

16. From the sink block in the library drag the scope.

17. From the math operations block in the library drag the summing point.

18. From the discrete block in the library drag the PID controller.

19. Connect all to form a system and give unity feedback to the system.

20. For changing the parameters of the blocks connected double click the respective block.

21. Start simulation and observe the results in scope.

22. Compare the simulated and theoretical results.

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% Proportional Derivative Controller

Kp=300;
Kd=10;
num2=[Kd Kp];
den2=[1 10+Kd 20+Kp];
t=0:0.01:2;
figure(3);
step(num2,den2,t)
grid;
OUTPUT:
% Proportional Derivative Controller

% Proportional Integral Controller

Kp1=30;
Ki=70;
num3=[Kp1 Ki];
den3=[1 10 20+Kp1 Ki];
t=0:0.01:2;
figure(4);
step(num3,den3,t)
grid;
OUTPUT:
% Proportional Integral Controller

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%Proportional Integral Derivative Controller

Kp2=350;
Kd2=50;
Ki2=300;
num4=[Kd2 Kp2 Ki2];
den4=[1 10+Kd2 20+Kp2 Ki2];
t=0:0.01:2;
figure(5);
step(num4,den4,t)
grid;
OUTPUT
%Proportional Integral Derivative Controller

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RESULT

Thus the effect of P, PI, PD, and PID controller has been verified by using Matlab coding.

PROGRAM:
%% Effect of sampling and verification of sampling theorem
clear
close all
clc

%% Problem
Vm1=20; % Voltage magnitude for v1
Vm2=10; % Voltage magnitude for v2
DOB=27; % Date of birth
MOB=11; % Month for birth
f1=MOB*10; % Frequency for v1
f2=DOB*10; % Frequency for v2
w1=2*pi*f1; % Frequency for v1 (rad/sec)
w2=2*pi*f2; % Frequency for v2 (rad/sec)
t=0:0.00005:0.04; % Time for plotting signal
v1=Vm1*sin(w1*t); % v1
v2=Vm2*sin(w2*t); % v2
v=v1+v2; % Combination

figure(1)
subplot(2,2,1)
plot(t,v1)
hold on
plot(t,v2)
grid on
xlabel('Time (s)')
ylabel('v_1 and v_2')
title('Voltage waveforms')
legend('v_1','v_2')

subplot(2,2,2)
plot(t,v)
grid on
xlabel('Time (s)')
ylabel('v')
title('Combined waveform')

%% Defining sampling periods

fm=max(f1,f2); % Maximum frequency component
fs1=2*fm; Ts1=1/fs1; % Just same
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fs2=3*fm; Ts2=1/fs2; % fs>2fm (satisfying sampling theorem)

fs3=1*fm; Ts3=1/fs3; % fs<2fm (not satisfying sampling theorem)

%% fs>2fm (satisfying sampling theorem)

ts2=0:Ts2:0.04;
v1s2=Vm1*sin(w1*ts2);
v2s2=Vm2*sin(w2*ts2);
vs2=v1s2+v2s2;
subplot(2,2,3)
stem(ts2,vs2)
xlabel('Time (s)')
ylabel('v')
title('Signal sampled with f_s>2f_m')

%% fs<2fm (not satisfying sampling theorem)

ts3=0:Ts3:0.04;
v1s3=Vm1*sin(w1*ts3); v2s3=Vm2*sin(w2*ts3);
vs3=v1s3+v2s3;
subplot(2,2,4)
stem(ts3,vs3)
xlabel('Time (s)')
ylabel('v')
title('Signal sampled with f_s<2f_m')

%% Comparison of signals (by plotting zoh type signals)

figure(2)
subplot(2,1,1)
plot(t,v,'b')
hold on
stairs(ts2,vs2,'k')
xlabel('Time (s)')
ylabel('v')
title('Comparison of signals')
legend('Original Signal','f_s>2f_m')

subplot(2,1,2)
plot(t,v,'b')
hold on
stairs(ts3,vs3,'--r')
xlabel('Time (s)')
ylabel('v')
title('Comparison of signals')
legend('Original Signal', 'f_s<2f_m')

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Expt. No: 11 Date:

DISCRETIZATION OF CONTINUOUS SYSTEM AND EFFECT OF SAMPLING

AIM

1. To plot a continuous-time signal using MATLAB.

2. To sample the signal at a faster, lower, and just right (satisfying criteria of sampling
theorem) sampling rates.

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

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OUTPUT

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RESULT
Thus the continuous-time signal and sample the signal at a faster, lower, and just right
(satisfying criteria of sampling theorem) sampling rates were done.

PROGRAM:
clc;
A =[1 2 1;-1 -4 -3; -1 2 3];
B = [1; 4; 6];
C = [1 1 2];
D=0;
disp('Rank of the Matrix')
Rankc=rank([B A*B A^2*B]) % To check the controllability
Ranko= rank([C' A'*C' A'^2*C']) % To check the observability
Rankoc= rank([C*B C*A*B C*A^2*B]) % To check the output Controllability
OUTPUT
Rank of the Matrix
Rankc = 3
Ranko = 3
Rankoc =1
From the above, the system is completely state controllable and observable. The system is not
output controllable since the rank of the matrix is not three.

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Alternate Program:
clc;
A =[1 2 1;-1 -4 -3; -1 2 3];
B = [1; 4; 6];
C = [1 1 2];
D=0;
disp('Rank of the Matrix')
Rankc=rank([B A*B A^2*B]) % To check the controllability
Ranko= rank([C' A'*C' A'^2*C']) % To check the observability
Rankoc= rank([C*B C*A*B C*A^2*B]) % To check the output Controllability
M=ctrb(A,B);
rank_of_M=rank(M);
if(rank_of_M==0)
disp('the given tf is not controllable');
else
disp('the given tf is controllable ');% since rank exists which is
equal to order of A
end
systemorder=length(A);
N=(obsv(A,C));
rank_of_N=rank(N);
if(rank_of_N==0)
disp('the given tf is not observable');% since rank exists which is
equal to order of A
else
disp('the given tf is observable');
end
OUTPUT
Rank of the Matrix
Rankc = 3
Ranko = 3
Rankoc =1

the given tf is controllable

the given tf is observable

Expt. No:12 Date:

TEST OF CONTROLLABILITY AND OBSERVABILITY IN CONTINUOUS AND

DISCRETE DOMAIN IN SIMULATION PLATFORM
AIM

To check for controllability and observability by MATLAB Program

APPARATUS REQUIRED

A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
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Simulink file (File, New, M file)Type the given program in M file

Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

RESULT
Thus the controllability and observability of the system verified by MATLAB Program.

PROGRAM:
% Description: M-file showing design and implementation of dynamic
% pole placement state feedback controller
%
clear ; clf ; % clear memory and figure
A = [0 1; -5 -8] ; % state matrices
B = [0; 2] ;
C = [1 1] ;
Acl = [0 C; 0 A(1,:); 0 A(2,:)] ; % closed-loop system w/error dynamics
Bcl = [0; B] ;
yd = 3.0 ; % desired output
dt = 0.001 ; % simulation time step
% Peform First State Feedback Design for poles at -2,-2 and -20
K = acker(Acl, Bcl, [-2 -2 -20]) % determine feedback gains
x = [0; 0] ; y = C*x ; % initial conditions
inte = 0.0 ;
tvec = 0.0 ; yvec = 0.0 ; i = 1 ; % define vectors for storing outputs
for t = 0.0:dt:5.0, % loop over time for simulation
inte = inte + dt*(y - yd) ; % integral of output error
u = -K*[inte; x] ; % state controller

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xdot = A*x + B*u ; % plant dynamics

x = xdot*dt + x ; % euler integrate dynamics
y = C*x ; % output equation
yvec(i) = y ; tvec(i) = t ; % store output & time into vectors
i = i + 1 ; % increment vector index
end ;
plot(tvec, yvec) ; % plot output with labels
xlabel('time (sec)') ; ylabel('y') ;
title('Output Response of Controlled System') ;
hold on ;
% Perform Second State Feedback Design for ploles at -1,-2 and -20
[num,den] = ss2tf(A,B,C,[0]) ; % find TF for open loop system
printsys(num,den,'s') ;
K = acker(Acl, Bcl, [-1 -2 -20]) % determine feedback gains
x = [0; 0] ; y = C*x ; % initial conditions
inte = 0.0 ;
tvec = 0.0 ; yvec = 0.0 ; i = 1 ; % define vectors for storing outputs
for t = 0.0:dt:5.0, % loop over time for simulation
inte = inte + dt*(y - yd) ; % integral of output error
u = -K*[inte; x] ; % state controller
xdot = A*x + B*u ; % plant dynamics
x = xdot*dt + x ; % euler integrate dynamics
y = C*x ; % output equation
yvec(i) = y ; tvec(i) = t ; % store output & time into vectors
i = i + 1 ; % increment vector index
end ;
plot(tvec, yvec, 'r-.') ; % plot alternative design output
hold off ;
legend('poles = -2, -2, -20', 'poles = -1, -2, -20') ;

Expt. No: 13 Date:

STATE FEEDBACK AND STATE OBSERVER DESIGN AND EVALUATION OF

CLOSED LOOP PERFORMANCE
AIM

To check for State feedback and state observer design and evaluation of closed loop
performance by MATLAB Program.

APPARATUS REQUIRED

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A PC with MATLAB package

PROCEDURE

Open the MATLAB software using a MATLAB icon Open a blank M- File or
Simulink file (File, New, M file)Type the given program in M file
Run the program using debug option or using F5 key
Find the stability of the system in the output graph and compare it with
theoretical value

OUTPUT:

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Pole locations are more than 10% in error.

K = 40.0000 -0.5000 8.0000

num/den = 2s+2
-------------
s^2 + 8 s + 5
K = 20.0000 8.5000 7.5000

ALTERNATE PROGRAM
%% Original Plant
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a=[-20.6 2;2 -1]

b=[5;1]
c=[1 1]
d=0
sys=ss(a,b,c,d)
eig(sys)
rank(obsv(sys))
%% Observer pole placement at -10 and -9
% This observer will lead to a fast approximation of the states
L_T=place(a',c',[-10,-9])
L=L_T'
%% Observer pole placement at -1 and -2
% This observer will lead to a slower approximation of the states
% L_anastrofos=place(a',c',[-1,-2])
% L=L_anastrofos'
% State observer Feedback
a=[-20.6 1;0 -1]
b=[0;1]
c=[1 1]
d=0
sys=ss(a,b,c,d)
eig(sys)
rank(obsv(sys))
rank(ctrb(sys))
K=place(a,b,[-5 -6])
OUTPUT:
a = -20.6000 2.0000 2.0000 -1.0000
b=51
c =1 1
d=0
a = x1 x2 x1 -20.6 x2 2 -1
b = u1 x1 5 x2 1
c = x1 x2 y1 1 1
d = u1 y1 0
Continuous-time model.
ans = -20.8020 -0.7980
ans = 2
L_T = -6.7429 4.1429
L = -6.7429 4.1429
a = -20.6000 1.0000 0 -1.0000
b= 0 1
c=1 1
d =0
a = x1 x2 x1 -20.6 1 x2 0 -1
b = u1 x1 0 x2 1
c = x1 x2 y1 1 1
d = u1 y1 0
Continuous-time model.
ans = -20.6000 -1.0000
ans = 2
ans = 2
K =227.7600 -10.6000

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RESULT
Thus the State feedback and state observer design and evaluation of closed loop performance
by MATLAB Program was done.

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