INDIRA GANDHI DELHI TECHNICAL

UNIVERSITY FOR WOMEN

DELHI-110006

CONTROL SYSTEM LAB

SUBMITTED TO: Dr. Pankaj Gupta

SUBMITTED BY: Kalpana
ENROLLMENT NO.: 00611182023
B.Tech ECE-AI 2 (3rd yr)
SEMESTER-5
 INDEX

Sno Program Sign

1.
Where zeta= 0,0.2,0.4,0.6,0.8and 1.0
Write a MATLAB program using a “for loop” to
obtain the two-dimensional and three-
dimensional plots of the system output. The
input is the unit-step function.

Obtain the response of the given system

2. .

Obtain the response of the closed-loop system

3.

4.
5.

6.

7.

Consider the control system shown in figure .

8. Draw the root locus of the system

9.

10.

11.
12.

Using MATLAB, plot Bode diagrams for the

13. closed-loop system shown in figure for K=1,
K=10 and K=20. Plot three magnitude curves in
one diagram and three phase-angle curves in
another diagram.

14.

15.
 Experiment -1

SOLUTION:
clc;
clear;
t = 0:0.2:12;
for n = 1:6
num = [0 0 1];
den = [1 2*(n-1)*0.2 1];
[y(1:61,n),x,t] = step(num,den,t);
end
plot(t,y);
grid
title('Unit-Step Response Curves')
xlabel('t Sec')
ylabel('Outputs')
gtext('\zeta = 0'),
gtext('0.2')
gtext('0.4')
gtext('0.6')
gtext('0.8')
gtext('1.0')

mesh(y)
title('Three-Dimensional Plot of unit-step response
curves using command "mesh(y)"')
xlabel('n, where n=1,2,3,4,5,6')
ylabel('Computation Time points')
zlabel('Outputs')

mesh(y')
title('Three-Dimensional Plot of unit step response
curves using command "mesh(y transpose)"')
xlabel('Computation Time points')
ylabel('n, where n=1,2,3,4,5,6')
zlabel('Outputs')
Conclusion:
For second order system the following cases arises:
1. When =0, then system is said to be undamped.
2. When =1,then system is a critically damped case.
3. When 0<<1, then system is underdamped.
 For unit step response, on increasing the value of  system will
turn out to be more stable.
 Experiment 02
Obtain the response of the given system shown in figure for input r(t)

SOLUTION:
num=[0 0 2];
den=[1 1 2];
t=0:0.2:10;
r=0.5*t.^2;
y=lsim(num,den,r,t);
plot(t,r,'-',t,y,'o',t,y,'-')
grid
title('Unit acceleration Response')
xlabel('t Sec')
ylabel('Input and Output')
text(2.1,27.5,'Unit acceleration Input')
text(7.2,7.5,'Output')
Conclusion:
 The given system is type 1 system. Hence, the steady state error
for parabolic input is infinity.
 Therefore, the given system is unsteady for unit parabolic input.
 Experiment 03

SOLUTION:

num=[0 0 5];
den=[1 1 5];
t=0:0.05:10;
r=2+t;
c=lsim(num,den,r,t);
plot(t,r,'-',t,c,'o')
grid
title('Response to input r(t) =2+t ')
xlabel('t Sec')
ylabel('Output c(t) and Input r(t) = 2+t ')
Conclusion:
 The given system is type 1 system.
 The steady state error for unit step input is finite i.e 0.2.
 Therefore, the given system is stable for unit step input.
 Experiment 04

SOLUTION:
%-------Unit-Ramp Response -------- %
num = [0 0 1 10];
den = [1 6 9 10];
t = 0:0.1:10;
r=t;
y = lsim(num,den,r,t);
plot(t,r,'-',t,y,'o')
grid
title('Unit-Ramp Response by Use of Command "lsim"')
xlabel('t Sec')
ylabel('Output')
text(3.2,6.5,'Unit-Ramp Input')
text(6.0,3.1, 'Output')

Conclusion:
The given system is stable because steady state error is finite.
%--------Response to Input r1 = exp(-0.5t) --------- %

num = [0 0 1 10];
den = [1 6 9 10];
t = 0:0.1:12;
r1 = exp(-0.5*t);
y1 = lsim(num,den,r1,0);
plot(t,r1,'-',t,y1,'o')
grid
title('Response to Input r1 = exp(-0.5t)')
xlabel('t Sec')
ylabel('Input and Output')
text(1.4,0.75,'Input r1 exp(-0.5t)')
text(6.2,0.34,'Output')

Conclusion:
The given system is stable because steady state error is zero.
 Experiment 05

SOLUTION:

a = [1 4 16 36];
b = [0.6 2 5.6 9.6];
t = 0:0.1:8;
y = zeros(81,4);
for i = 1:4
num = [0 0 a(i)];
den = [1 b(i) a(i)];
y(:,i) = step(num,den,t);
end

plot(t,y(:,1),'o',t,y(:,2),'x',t,y(:,3),'-
',t,y(:,4),'-.')
grid
title('Unit-Step Response Curves for Four Cases')
xlabel('T Sec')
ylabel('Outputs')
gtext('1')
gtext('2')
gtext('3')
gtext('4')
Conclusion:
 When n increases, rise time decreases. On increasing ωn , the
speed of the system improves and steady state is accomplished
quicker. Moreover, the oscillations and the amplitude of peak
overshoot in the system is inversely proportional to ζ(damping
factor).
 Case 1 has the minimum value of ωn and ζ -> its curve has
maximum amplitude of peak overshoot and maximum settling
time.
 In all other cases (2, 3 and 4), the values of ωn and ζ keeps on
increasing in each case. This reduces the oscillations and steady
state is achieved faster. Case 4 is the most stable of all cases.
 Experiment 06

SOLUTION:
%-------Unit-Step Response ------ %
num = [0 10 4];
den = [1 4 4];
t = 0:0.02:10;
r=t>=0;
y = step(num,den,t);
subplot(2,1,1)
plot(t,r,'--',t,y)
grid on
title('Unit-Step Response')
xlabel('t (sec)')
ylabel('Unit-Step Input and Output')
text(1,0.8,'Unit-step Input')
text(2,2,'Output')

%-------Unit-Ramp Response ------ %

num1 = [0 0 10 4];
den1 = [1 4 4 0];
r1=t;
y1 = step(num1,den1,t);
subplot(2,1,2)
plot(t,r1,'--',t,y1)
grid on
title('Unit-Ramp Response')
xlabel('t (sec)')
ylabel('Unit-Ramp Input and Output')
text(7,5,'Unit-Ramp Input')
text(4,9,'Output')
Conclusion:
 The system is stable because the unit-step response has one
overshoot which reaches the steady state at 4seconds. The
steady state error now is zero.
 The unit ramp response has finite steady state error.
 Experiment 07

Solution:
%---------Unit-impulse Responce -------- %
t=0:0.02:10;
num=[0 0 10];
den=[1 2 10];
r=t==0;
y=impulse(num,den,t);
subplot(2,2,1)
plot(t,r,'--',t,y)
grid
title('Unit-impulse Response')
xlabel('t (sec)')
ylabel('Unit-impulse Input and Output')

%---------Unit-Step Responce -------- %

t=0:0.02:10;
num=[0 0 10];
den=[1 2 10];
r1=t>=0;
y1=step(num,den,t);
subplot(2,2,2)
plot(t,r1,'--',t,y1)
grid
title('Unit-step Response')
xlabel('t (sec)')
ylabel('Unit-step Input and Output')

%---------Unit-Ramp Responce -------- %

t=0:0.02:10;
num=[0 0 0 10];
den=[1 2 10 0];
r1=t;
y1=step(num,den,t);
subplot(2,2,3)
plot(t,r1,'--',t,y1)
grid
title('Unit-ramp Response')
xlabel('t (sec)')
ylabel('Unit-ramp Input and Output')

Conclusion:
 The unit-impulse response has some overshoot but the system
achieves steady state after some time. The system is stable.
 The unit step response has some overshoot and then enters
steady state with zero steady state error.
 The unit-ramp response has finite steady state error.
 Experiment 08
Consider the control system shown in figure

Draw the root locus of the system.

SOLUTION:

num = [0 0 1 0.4];
den = [1 3.6 0 0];
rlocus(num,den);
v= [-5 1 -3 3];
axis(v)
grid
title('Root-Locus Plot of G(s) = K(s + 0.4/[s^2(s +
3.6)])')
Conclusion:
 There are two poles at origin, one pole at -3.6 and one zero at -
0.4 .
 Number of branches=>3
 Number of asymptote =>2
 Centroid of asymptote =>-1.6
 Angle of asymptotes => 90,270
 System will be stable as all the roots are at left hand side of s
plane and for k > 0 system will be stable.
 Experiment 09

Solution:
clc;
clear;
num = [0 0 0 1];
den = [1 3 2 0];
rlocus(num,den);
v = [-5 1 -3 3];
axis(v)
grid on
title('Root-Locus Plot of G(s) = K/(s(s+1)(s+2))');

Conclusion:
 Poles at 0,-1 and -2 and no Zeroes.
 No of branches=3
 No of asymptote =3
 Centroid of asymptote=-1
 Angles of asymptote= 60, 180, 300
 System will be stable if k>0
 Experiment 10

Solution:

num = [0 0 1 4 4];
den = [1 10 29 40 100];
r = rlocus(num,den);
plot(r, 'o')
hold
current plot held
plot(r,'-')
v= [-8 4 -6 6];
axis(v);
axis('square')
grid
title('Root-Locus Plot of G(s) = (s + 2)^2/[(s^2 +
4)(s + 5)^2]')

xlabel('Real Axis')
ylabel('Imaginary Axis')
Conclusion:
 Two poles at imaginary axis at +2j,-2j and two poles at -5.
 Two zeroes at -2
 No of branches=4
 No of asymptote=2
 Angles of asymptote= 90, 270
 For the system to be stable k>-20
 Experiment 11

Solution:
num = [0 0 1 2];
den = [1 9 8 0];
K=0:0.2:200;
rlocus( num,den,K);
v =[-10 2 -6 6]; axis(v); axis('square');
sgrid
title('Root-Locus Plot with Constant \zeta Lines and
Constant \omega_n Circles')
gtext('\zeta = 0.9')
gtext('0.7')
gtext('0.5')
gtext('0.3')
gtext('\omega_n = 10')
gtext('8')
gtext('6')
gtext('4')
gtext('2')
Conclusion:
 Poles at 0,-8,-1
 Zero at -2
 No of branches=3
 No of asymptote=2
 Angles of asymptote= 90, 270
 System will be stable as all the roots are at left hand side of s
plane
 Experiment 12

Solution:

% Root-Locus Plot %
num = [0 1 0 25 0];
den = [ 1 0 404 0 1600];
K = 0:0.4:1000;
rlocus(num,den, K)
v = [-30 20 -25 25]; axis(v); axis('square')
grid
title('Root-Locus Plot of G(s) = K(s^2 +
25)s/(s^4+404s^2 + 1600)')
Conclusion:
 Two poles at imaginary axis at +2j,-2j and two poles at +20j,-
20j.
 Two zeroes at imaginary axis =5j,-5j and 0
 No of branches=4
 No of asymptote=1
 Angles of asymptote= 180
 System will be stable as all the roots are at left hand side of s
plane
 Experiment 13

Solution:
w = logspace(-1,2,200);
for i = 1:3
if i == 1; K = 1;[mag,phase,w] = bode([0 0 0 K],[1 6 5
K],w);
mag1dB = 20*log10(mag); phase1 = phase; end
if i == 2; K = 10;[mag,phase,w] = bode([0 0 0 K],[1 6 5
K],w);
mag2dB = 20*log10(mag); phase2 = phase; end
if i == 3; K = 20;[mag,phase,w] = bode([0 0 0 K],[1 6 5
K],w);
mag3dB = 20*log10(mag); phase3 = phase; end
end
subplot(2,1,1)
semilogx(w,mag1dB,'-',w,mag2dB,'-',w,mag3dB,'-')
grid
title('Bode Diagrams of G(s) = K/[s(s + 1)/(s + 5)],
where K=1, K= 10, and K = 20')
xlabel('Frequency (rad/sec)')
ylabel('Gain (dB)')
text(1.2,-31,'K = 1')
text(1.1,-8, 'K = 10')
text(11,-31, 'K = 20')
subplot(2,1,2)
semilogx(w,phase1,'-',w,phase2,'-',w,phase3,'-')
grid
xlabel('Frequency (rad/sec)')
ylabel('Phase (deg)')
text(0.2,-90,' K= 1')
text(0.2,-20,' K= 10')
text(1.6,-20,' K= 20')
 Experiment 14

Solution:
num=[0 20 20 10];
den=[1 11 10 0];
nyquist(num,den)
v=[-2 3 -3 3]; axis(v)
grid
 Experiment 15

Solution:
num=[-1 -4 -6];
den=[1 5 4];
nyquist(num, den);
grid
title('Nyquist Plot of G(s)=-(s^2+4s+6)/(s^2+5s+4)')