NRI INSTITUTE OF INFORMATION SCIENCE

& TECHNOLOGY BHOPAL

DEPARTMENT OF ELECTRONICS &

COMMUNICATION ENGINEERING

LAB MANNUAL
EC 404
CONTROL SYSTEM
 BACHLOR OF ENGINEERING (B.E.)
BACHLOR OF TECHNOLOGY (B.TECH.)

Index
S. No. Particulars Page No.
1 Vision and Mission of the Institute
2 Vision and Mission of the Department
3 Programme Educational Objective (PEOs)
4 Programme Specific Outcomes (PSOs)
5 Programme Outcomes (POs)
6 Course Outcomes (COs)
7 CO-PO Matrix
8 CO-PSO Matrix
9 University Scheme
10 Syllabus
11 Academic Calendar
12 List of EXPERIMENT NO:-s
13 Lab Time Table (Individual & Class)
14 Laboratory Plan
15 Lab Manual

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 16 Important Viva questions
17 Attendance Record
18 Internal Assessment Record of attainment of Course Outcomes

19 Measurement of CO attainment through Internal Assessments

20

VISION AND MISSION OF THE INSTITUTE

VISION

The Institute aspires to develop as a centre of excellence with emphasis on quality

teaching and research so as to deliver comprehensively trained, innovative engineers
and enterprising, competent professionals, who are ethically responsible to serve the
society.

MISSION

To create an academic ambience this nurtures the students to attain domain

knowledge, lifelong learning skills and ethical inputs to sustain in a highly
competitive environment.

To establish state of art infrastructure and facilities, this will pave the way for
dissemination of technical knowledge with passion and commitment.

To impart industry relevant skill based training and aid in overall development of
students.

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 To foster research and consultancy in collaboration with Institutes of National repute
and industry, so that students can come up with innovative technology, that caters to
the needs of the society.

VISION AND MISSION OF THE DEPARTMENT

VISION

To produce comprehensively trained socially responsible, innovative Electronics and

Communication engineers and researchers of highest quality.

MISSION

To provide high quality teaching, research, services and supportive environment to

M1
students for acclimatizing to the rapidly developing world of Electronics.

M2 To provide multiple options so that students can maximize on their career choices.

To promote intellectual, ethical and technological environment to the students

M3 and invokes a strong desire of contributing to the society and the ability of life-
long learning in the students for pursuing successful career in engineering.

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 Programme Educational Objective (PEOs)

Able to apply concepts of mathematics, science and computing to Electronics and

PEO 1: Communication Engineering

PEO 2: Able to design and develop interdisciplinary and innovative systems

Able to inculcate effective communication skills, team work, ethics, leadership in

preparation for a successful career in Government, academia, industry and R&D
PEO 3:
organizations.

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 Programme Specific Outcomes (PSOs)

Graduate will be able to analyze complex designs and provide solutions in the
PSO1
domains of Communication systems, antennas and Signal processing using acquired
analytic knowledge and Modern Design and automation tools

Graduate will be able to implement the concepts of Internet of things,

PSO2 Microprocessors and VLSI as per the current trends and needs of the Electronics
Industry.

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 Programme Outcomes (POs)
Engineering Graduates will be able to:

1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering problems.
2. Problem analysis: Identify, formulate, reviewer search literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of mathematics,
natural sciences, and engineering sciences.
3. Design/development of solutions: Design solutions for complex engineering problems and
design system components or processes that meet the specified needs with appropriate consideration
for the public health and safety, and the cultural, societal, and environmental considerations.
4. Conduct investigations of complex problems: Use research-based knowledge and research
methods including design of EXPERIMENT NO:-s, analysis and interpretation of data, and synthesis
of the information to provide valid conclusions.
5. Modern tool usage: Create, select, and apply appropriate techniques, resources, and modern
engineering and IT tools including prediction and modeling to complex Engineering activities with
an understanding of the limitations.
6. The engineer and society: Apply reasoning informed by the contextual knowledge to assess
societal, health, safety, legal and cultural issues and the consequent responsibilities relevant to the
professional engineering practice.
7. Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts, and demonstrate the knowledge of, and need for

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 sustainable development.
8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and
norms of the engineering practices.
9. Individual and teamwork: Function effectively as an individual, and as a member or leader in
diverse teams, and in multidisciplinary settings.
10. Communication: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend and write
effective reports and design documentation, make effective presentations, and give and receive clear
instructions.
11. Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a member and leader
in a team, to manage projects and in multidisciplinary environments.
12. Life-long learning: Recognize the need for, and have the preparation and ability to engage in
independent and life-long learning in the broadest context of technological change.

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 CONTROL SYSTEM LABORATORY

Lab Course Outcomes

Course Name: Control Systems (EC404)

Year of Study: 2018-19 (IV Semester)

After completion of this course students will be able to

EC404.1 Evaluate the transfer function of control system using block diagram and signal flow graph.

Determine the frequency-domain responses of first and second-order systems using standard
EC404.2
test signals.

EC404.3 Analyze the stability of a closed-loop control system.

EC404.4 Design the system and reduced steady state error using compensation circuit.

EC404.5 Apply state space analysis technique to analyze control system.

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 CO Vs PO
CO PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12
1 3 3 3 3 3 1
2 3 3 2 2 3 3 1 2 1
3 3 2 2 2 3 3 1 1
4 3 3 3 3 3 3 3 3
5 3 3 2 3 3 3 3 2

CO Vs PSO
CO PSO1 PSO2
1 3 1
2 2 1
3 3 2
4 3 3
5 1 1

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 SCHEME

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CONTROL SYSTEM LAB
Control System performance analysis and applications of MATLAB in Control system performance analysis &
design.

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 LIST OF EXPERIMENT
S. No Name of EXPERIMENT NO:- Page No. Course
Outcome
To obtain transfer function of control system using block
1 CO1
diagram using MATLAB.
Study of evaluation of the transfer function of control system
2 CO1
using signal flow graph.
To draw graph of output response of first and second order
3 CO2
Open & Close loop system for by using Linear System
Simulator.
To obtain step, ramp, impulse response of first and second
4 CO2
order system using MATLAB.
To analyze the stability of linear systems using Bode plot using
5 CO3
MATLAB.
To analyze the stability of linear systems using Root locus using
6 CO3
MATLAB.
Design of PID Controller for a given systems.
7 CO4

Analyze the output response of PID control system using

8 CO4
MATLAB.
9 State space model for classical transfer function using CO5
MATLAB.
10 Design of Compensating Networks of lead and lag using CO5
MATLAB.

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 LABORATORY PLAN

Department EC Session 2018-19

Name of Faculty Semester IV
Subject Control System Subject Code EC-404

Planned Date
Exp. CO Actual Date of HOD
EXPERIMENT NO:- of Remarks
No. Completion Verification
Completion

To obtain transfer function of control

1 system using block diagram using CO1
MATLAB.

Study of evaluation of the transfer

2 function of control system using signal CO1
flow graph.

To draw graph of output response of first

and second order Open & Close loop
3 CO2
system for by using Linear System
Simulator.
To obtain step, ramp, impulse response
4 of first and second order system using CO2
MATLAB.

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 To analyze the stability of linear Systems
5 using Bode plot using MATLAB. CO3

To analyze the stability of linear Systems

6 using Root locus using MATLAB. CO3

Design of PID Controller for a given

7 CO4
systems.
Analyze the output response of PID
8 CO4
control system using MATLAB.
State space model for classical transfer
9 CO5
function using MATLAB.
Design of Compensating Networks of
10 lead and lag using MATLAB. CO5

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 EXPERIMENT NO: - 1

AIM :
To obtain transfer function of control system using block diagram using MATLAB.
APPARATUS REQUIRED:
Computer, MATLAB software
THEORY:
Series configuration: If the two blocks are connected as shown below then the blocks are said to be in series. It
would like multiplying two transfer functions. The MATLAB command for the such configuration is “series”

Figure 1.1: Series configuration of transfer function

The series command is implemented as shown below:

Figure 1.2: Series command implementation

Given the transfer functions of individual blocks generate the system transfer function of the block
combinations.

Figure 1.3: Transfer function of individual blocks

Parallel configuration: If the two blocks are connected as shown below then the blocks
are said to be in parallel. It would like adding two transfer functions.

Figure 1.4: Parallel configuration of transfer function

PROCEDURE:
1. The MATLAB command for implementing a parallel configuration is “parallel” as shown below:
Given a unity feedback system as shown in the figure, obtain the overall transfer function using MATLAB:

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 Figure 1.5: Unity feedback system

2. Write the following code to obtain the transfer function.

Figure1.6: Code

RESULT:

Figure 1.7: Result

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 EXPERIMENT NO:- 2

AIM :
Study of evaluation of the transfer function of control system using signal flow graph.
APPARATUS REQUIRED:
Computer, MATLAB software
THEORY:
Signal-flow graphs are another method for visually representing a system. Signal Flow Diagrams are especially
useful, because they allow for particular methods of analysis, such as Mason's Gain Formula.
Signal flow diagrams typically use curved lines to represent wires and systems, instead of using lines at right-
angles, and boxes, respectively. Every curved line is considered to have a multiplier value, which can be a
constant gain value, or an entire transfer function. Signals travel from one end of a line to the other, and lines
that are placed in series with one another have their total multiplier values multiplied together (just like in block
diagrams).
MASON'S RULE
Mason's rule is a rule for determining the gain of a system. Mason's rule can be used with block diagrams, but it
is most commonly (and most easily) used with signal flow diagrams.
If we have computed our delta values (above), we can then use Mason's Gain Rule to find the complete gain of
the system:

Where M is the total gain of the system, represented as the ratio of the output gain (yout) to the input gain (yin)
of the system. Mk is the gain of the kth forward path, and Δk is the loop gain of the kth loop.

PROCEDURE:
1. Let us consider the following signal flow graph to identify these nodes.

 The nodes present in this signal flow graph are y1, y2, y3 and y4.
 y1 and y4 are the input node and output node respectively.
 y2 and y3 are mixed nodes.

2. Construction of Signal Flow Graph

Let us construct a signal flow graph by considering the following algebraic equations −

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3. There will be six nodes (y1, y2, y3, y4, y5 and y6) and eight branches in this signal flow graph. The gains of
the branches are a12, a23, a34, a45, a56, a42, a53 and a35.
4. To get the overall signal flow graph, draw the signal flow graph for each equation, then combine all these
signal flow graphs and then follow the steps given below

Step 1 − Signal flow graph for y2=a13y1+a42y4y2=a13y1+a42y4 is shown in the following figure.

Step 2 − Signal flow graph for y3=a23y2+a53y5y3=a23y2+a53y5 is shown in the following figure.

Step 3 − Signal flow graph for y4=a34y3y4=a34y3 is shown in the following figure.

Step 4 − Signal flow graph for y5=a45y4+a35y3y5=a45y4+a35y3 is shown in the following figure.

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Step 5 − Signal flow graph for y6=a56y5y6=a56y5 is shown in the following figure.

Step 6 − Signal flow graph of overall system is shown in the following figure.

Step 7 – evaluate the transfer function of given control system.

RESULT:
……………………………………………………………………………………...

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 EXPERIMENT NO:- 3

AIM :
To draw graph of output response of first and second order Open & Close loop system for by using Linear
System Simulator.
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY :
A dynamic system of desired configuration may be constructed by a suitable interconnection of the basic blocks
available. To avoid unnecessary complications, these blocks are all pre-wired, they all have fixed transfer
functions and handle signals referred to a common ground.
Error detector cum gain: The block has three inputs (e1, e2, e3) and one output (e0) which are related by the
expression:
e0= -K(e1+e2+e3)
where K is the gain. The value of K may be varied from 0 to 10 by a ten turn potentiometer having a calibrated
dial. This block may be used as simple error detector in a multiple loop system or simply as an adder.
Integrator: The integrator block has an approximate transfer function of the form –K1/s and is used in
simulating type-1 systems having a pole at the origin. Nominal value of K1 is 10.
Time Constant: two time constant blocks in the system have transfer functions of the form –K2/ (sT+1) each.
The second block has a X5 option which results in higher gain if necessary. Nominal values of K2=K3 and
T1=T2 are 10 and 1msec respectively.
Disturbance adder: this is two input (e1, e2) one output block (e0) having a defining equation of the form:
e0= - (e1+e2).
The block can have applications similar to the error detector.
Amplifier: While completing the feedback path, one might need to invert the signal, for second order system,
so that the resulting system is a negative feedback system. The amplifier here is a unity gain inverting amplifier
used specifically for this purpose.
SPECIFICATIONS:
There are three built-in sources in the unit with the following nominal specifications:
Square wave Frequency 40-90 Hz (variable) : Amplitude 0-2 Volt (p-p) (variable)
Triangular wave Frequency 40-90 Hz (variable) : Amplitude 0-2 Volt (p-p) (variable)
Trigger wave Frequency 40-90 Hz (variable) : Amplitude ± 5V (approx.)

PROCEDURE:
Open loop response:
As a first step, the open loop transfer function of all the blocks viz. integrator, time constant, amplifier and error
detector/adder are to be determined EXPERIMENT NO:-ally. All measurements are done with the help of
measuring DSO and the signal source is in the built-in-square wave generator in each case.
Error detector cum variable gain:
Apply a 100mV square wave signal to any of the three inputs.
Set the gain setting potentiometer to 10.0
Measure the p-p output voltage and note its gain. Calculate the gain, this is the maximum value of gain possible
for this block.

Repeat for the other two inputs one by one.

Disturbance adder (output):

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This section may be tested exactly in the same manner as error detector except that there are only two inputs
and there is no gain setting potentiometer.
Amplifier:
Apply a 1 V p-p square wave input. Measure the p-p output voltage and notice its sign. Save the waveform.
Integrator:
Apply 1V p-p square wave input of known frequency. Measure the p-p output voltage of the triangular wave
and also notice its phase. Calculate the gain constant K of the integrator.
Time constant:
Apply a 100mV p-p square wave of known frequency. The frequency should be selected towards the lower end.
Find the time t=T at which the response reaches 63.2% from the wave form. This is the time constant. Find the
steady state value of the response from the trace. The value of K is given by the ratio of p-p steady state output
to the p-p input amplitude.
Closed loop response:
First order system:
1. There are two types of first order closed loop system can be formed, one using normal time constant and
other using X5 time constant.
2. Connect 1V p-p square wave signal to the REF point. Connect the output of gain to normal time constant.
The output of time constant should be connected directly to the feedback node of the error detector.

Figure 3.1: First order system

3. Connect one channel of DSO with REF point and other channel at time constant output.
4. Vary the gain, and observe the effect at the output of time constant. Trace the wave forms
and calculate maximum overshoot (MP), rise time (t r), peak time (tP), settling time (t S), delay time (t d) and
steady state error (eSS).
Where
Maximum overshoot (MP) = First peak value – Ref value
Delay time (td) = that time when the response reaches 50% of the ref value.
Rise time (tr) = that time when the response reaches 90% of the ref value.
Peak time (tP) = that time when the response reaches its first peak value.
Settling time (t S) = that time when the response comes 5% tolerance of ref value.
Steady state error (eSS) = ref value – response at t(∞).
Repeat the above steps for X5 time constant.

Second order type 0 system:

 Make the connection of the patch cord as per the block diagram shown below. Follow the same steps as
above.

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 Figure 3.2: Second order type 0 system

 Observe all the effects and make the tabulation and save the wave forms.
 Try for time constant X5 also

Second order type 1 system:

 Make the connection of the patch cord as per the block diagram shown below. Follow the same steps as
above.

Figure 3.3: Second order type 1 system

 Make the tabulation and save the wave forms.

 Try for time constant X5 also.

Disturbance Rejection:
 Connect the second order system as shown in the fig. below.

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 Figure 3.4: Second order system with disturbance

 Apply a low frequency disturbance signal (sinewave of 1 V) from function generator at N1 and see its
effect on output. Save the wave form.
 Now apply the same disturbance signal at N2, and observe its effect on the output. Save the wave form
and conclude the result.

OBSERVATION TABLE:
Sl. no Gain (K) MP td tr tP tS eSS

RESULT :
....................................................................................................................................................................................
....................................................................................................................................................................................
..........................................................................................

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 EXPERIMENT NO:- 4

AIM :
To obtain step, ramp, impulse response of first/second order system using MATLAB.
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY:
Transfer function: It is the laplace of the output divided by the laplace of the input of a system. Step-The
response of a system (with all initial conditions equal to zero at t= 0-, i.e, zero state response) to the unit step
input is called the unit step response.
Ramp : The ramp function is a unary real function whose graph is shaped like a graph.

PROCEDURE:
Enter the program in the editor window. If the program is typed in command window, the functions should be
typed without semi-colon. Enter the values in the numerator & denominator depending on order of the system.
The syntax used to get transfer function is tf. The syntax used for impulse is impulse. Finally save the program
and run it.

DESIGN PROCEDURE/ DESIGN CALCULATIONS:

Step and Impulse Function
A=input(‘enter numerator’);

B=input(‘enter denominator’);

h = tf(A,B); step(h); impulse(h);

subplot(2,1,1),plot(step(h));

subplot(2,1,2),plot(impulse(h));

Ramp Function
t = -1:0.1:1;
x1= t>0;

u = (t.*x1);

lsim(h,u,t);

SAMPLE GRAPH:

SECOND ORDER STEP RESPONSE:

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 Figure 4.1: Second order Step response

IMPULSE RESPONSE:

Figure 4.2: Impulse response

RAMP RESPONSE:

Figure 4.3: Ramp response

FIRST ORDER STEP RESPONSE

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 Figure 4.4: First order Step response

IMPULSE RESPONSE

Figure 4.5: Impulse response

RAMP RESPONSE

Figure 4.6: Ramp response

RESULT :
....................................................................................................................................................................................
....................................................................................................................................................................................
..........................................................................................

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 EXPERIMENT NO:- 5

AIM :
To analyze the stability of linear systems using Bode plot using MATLAB
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY:
The bode plot is a frequency response plot of the transfer function of a system. A bode plot consists of two
graphs. One is plot of the magnitude of a sinusoidal transfer function versus log ω .The other is plot of the phase
angle of a sinusoidal transfer function versus logω .The main advantage of the bode plot is that multiplication of
magnitude can be converted into addition. Also a simple method for sketching an approximate log magnitude
curve is available.

PROCEDURE:
1. Enter the command window of the MATLAB.
2. Create a new M – file by selecting File – New – M – File.
3. Type and save the program.
4. Execute the program by either pressing F5 or Debug – Run.
5. View the results.
6. Analyze the stability of the system.
DESIGN PROCEDURE/ DESIGN CALCULATIONS:
Problem: • The open loop transfer function of a unity feedback system G(s)=K/s(s2 +2s+3) Draw the Bode
Plot.
Find (i)Gain Margin (ii)Phase Margin (iii)Gain cross over frequency (iv)Phase cross over frequency (v)
Resonant Peak (vi)Resonant Frequency (vii)Bandwidth and Check the same results using MATLAB Software.
(Assume K=1)
MATLAB PROGRAM:
%Draw the Bode Plot for the given transfer function G(S)=1/S(S2+2S+3) %Find (i)Gain Margin (ii) Phase
Margin (iii) Gain Cross over Frequency %(iv) Phase Cross over Frequency (v)Resonant Peak (vi)Resonant
%Frequency (vii)Bandwidth
num=[1 ];

den=[1 2 3 0];

w=logspace(-1,3,100);

figure(1);

bode(num,den,w);

title('Bode Plot for the given transfer function G(s)=1/s(s^2+2s+3)')

grid;

[Gm Pm Wcg Wcp] =margin(num,den);

Gain_Margin_dB=20*log10(Gm)

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Phase_Margin=Pm

Gaincrossover_Frequency=Wcp

Phasecrossover_Frequency=Wcg

[M P w]=bode(num,den);

[Mp i]=max(M);

Resonant_PeakdB=20*log10(Mp)

Wp=w(i);

Resonant_Frequency=Wp

for i=1:1:length(M);

if M(i)<=1/(sqrt(2));

Bandwidth=w(i)

break;

end;

end;

SAMPLE GRAPH:

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 Figure 5.1: Output response

Gain_Margin_dB =15.5630

Phase_Margin = 76.8410

Gaincrossover_Frequency = 0.3374rad/sec

Phasecrossover_Frequency= 1.7321 rad/sec

Resonant_PeakdB = 10.4672

Resonant_Frequency = 0.1000 rad/sec

Bandwidth = 0.5356

RESULT :
....................................................................................................................................................................................
....................................................................................................................................................................................
..........................................................................................

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 EXPERIMENT NO:- 6

AIM :
To analyze the stability of linear systems using Root locus using MATLAB.
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY:
The root locus technique is a powerful tool for adjusting the location of closed loop poles to achieve the desired
system performance by varying one or more system parameters. The path taken by the roots of the characteristics
equation when open loop gain K is varied from 0 to ∞ are called root loci.

PROCEDURE:
1. Enter the command window of the MATLAB.
2. Create a new M – file by selecting File – New – M – File.
3. Type and save the program.
4. Execute the program by either pressing F5 or Debug – Run.
5. View the results.
6. Analyze the stability of the system for various values of gain.

DESIGN PROCEDURE/ DESIGN CALCULATIONS:

Problem:
The open loop transfer function of a unity feedback system G(s)=K/s (s2+8s+17)
Draw the root locus using MATLAB Software. (Assume K=1).

MATLAB PROGRAM:
% Root locus of the transfer function
G(s)=1/(S^3+8S^2+17S) num=[1];

den=[1 8 17 0];

figure(1);

rlocus(num,den);

Title('Root Locus for the transfer function

G(s)=1/(S^3+8S^2+17S)') grid;

SAMPLE GRAPH:

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 Figure 5.1: Output response

RESULT:

...........................................................................................................................................................................................
...........................................................................................................................................................................................
..........................................................................................

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 EXPERIMENT NO:- 7

AIM –
Design of PID Controller for a given systems.
APPARATUS REQUIRED:
Computer, MATLAB software.
OBJECTIVE OF THE EXPERIMENT NO:-
To design a PID controller for the following first order and second order system,
3.6
1.
𝑆+10
5
2.
𝑆 2 +6𝑆+5

Your design should satisfy the following specifications:

i) Percentage overshoot < 15%.
ii) Rise time < 100 msec.
iii) Settling time < 500 msec.
iv)Zero steady-state error to a step.

THEORY:
Most PID controllers are adjusted on-site and many different types of tuning rules have been proposed in
different literatures. Using these tuning rules, delicate and fine tuning of PID controllers can be made on-site.
Also, automatic tuning methods have been developed and some of the PID controllers may possess on-line
automatic tuning capabilities. Modified forms of PID control, such as I-PD control and two-degrees-of- freedom
PID control, are currently in use in industry.

PROCEDURE:
1. Implement the understanding of effects of Proportional, Integral and Derivative Gains over the system
response.

DESIGN PROCEDURE/ DESIGN CALCULATIONS:

 Trial and Error basis
 If needed use the cascaded controllers like PID with another PID or any
other combinations in series.

BLOCK DIAGRAM:

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 Figure 7.1: Block diagram of PID controllers

DESIGN PARAMETERS OF PID CONTROLLERS:

First order system:
Kp =..........................
Ki =...........................
Kd =..........................
Second order system:
Kp =...........................
Ki =............................
Kd =..........................

SAMPLE GRAPH:

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 Figure 7.2: First order uncontrolled open loop response

Figure 7.3: First order controlled open loop response

Figure 7.4: Second order uncontrolled open loop response

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 Figure 7.5: Second order controlled open loop response

RESULT:

...........................................................................................................................................................................................
...........................................................................................................................................................................................
..............................................................................................

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 EXPERIMENT NO:- 8

AIM :
Analyze the output response of PID control system using MATLAB.
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY:
PID Tuning Toolbox Can be use the PID tuning toolbox to determine the parameter of controller depend on the
system form MATLAB or SIMULINK as following step:
Use the PID Tuner to interactively design a SISO PID controller in the feed-forward path of single-loop,
unity-feedback control configuration The PID Tuner automatically designs a controller for your plant. You
specify the controller type (P, I, PI, PD, PDF, PID, PIDF) and form (parallel or standard). You can analyze the
design using a variety of response plots, and interactively adjust the design to meet your performance
requirements.
To launch the PID Tuner, use the pidTuner command:
pidTuner(sys,type)

where sys is a linear model of the plant you want to control, type is a string indicating the controller type to
design.

PROCEDURE:
1. Build the Simulink block represent the closed loop system

Figure 8.1: Block diagram of closed loop system

2. Observe output at scope without PID controller

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 Figure8.2: Output without PID controller

3. Add PID Controller block

Figure 8.3: Block diagram of closed loop system with PID controller

4. PID controller block

Figure 8.4: PID controller block

5. Choose the controller type , click apply and click tune The PID tuner window will appear and can follow the
steps.

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6. Right-click on the plot and select Characteristics > Rise Time to mark the rise time as a blue dot on the plot.
Select Characteristics > Settling Time to mark the settling time. To see tooltips with numerical values, click
each of the blue dots.
7. Slide the Response time slider to the right to try to improve the loop performance. The response plot
automatically updates with the new design
8. Moving the Response time slider far enough to meet the rise time requirement of less than 1.5 s results in
more oscillation. Additionally, the parameters display shows that the new response has an unacceptably long
settling time
9. To achieve the faster response speed, the algorithm must sacrifice stability.
10. Analyze and note final results.

SAMPLE GRAPH:

Figure 8.5: Output graph

RESULT:
………………………………………………………………………………………………………………………
………………………………………………………………………………………………………………………
………………………………………………………………………………………………………………………
………………………………….

Laboratory Manual
 EXPERIMENT NO:- 9

AIM :
State space model for classical transfer function using MATLAB.
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY:
Find the transfer function of the system with state space representation

First find (sI-A) and the Φ=(sI-A)-1 (note: this calculation is not obvious. Details are here). Rules for
inverting a 3x3 matrix are here.

Now we can find the transfer function

To make this task easier, MatLab has a command (ss2tf) for converting from state space to transfer function.

PROCEDURE:
1. Write the following code on MATLAB command window

Laboratory Manual
 >> % First define state space system

>> A=[0 1 0; 0 0 1; -3 -4 -2];

>> B=[0; 0; 1];

>> C=[5 1 0];

>> [n,d]=ss2tf(A,B,C,D)

n =

0 0 1.0000 5.0000

d =

1.0000 2.0000 4.0000 3.0000

>> mySys_tf=tf(n,d)

2. Thus the State space model is converted in to classical transfer function using MATLAB.

Transfer function:

s + 5

----------------------

s^3 + 2 s^2 + 4 s + 3

3. Consider the system described by the transfer function

4. Convert it to state-space form using tf2ss.

Laboratory Manual
 b = [0 2 3; 1 2 1];
a = [1 0.4 1];
[A,B,C,D] = tf2ss(b,a)

5. The transfer function of the system has an analytic expression:

6. The system is excited with a unit impulse in the positive direction. Compute the time evolution of the system
using the transfer function. Plot the response.
bf = [1 -(1+cos(dt)) cos(dt)];
af = [1 -2*cos(dt) 1];
yf = filter(bf,af,u);

stem(t,yf,'o')
xlabel('t')
SAMPLE GRAPH :

Figure9.1: Output

RESULT :

...........................................................................................................................

Laboratory Manual
 EXPERIMENT NO:- 10

AIM :
Design of Compensating Networks of lead and lag using MATLAB.
APPARATUS REQUIRED:
Computer, MATLAB software.
THEORY:
Lead and lag compensators are used quite extensively in control. A lead compensator can increase the stability
or speed of reponse of a system; a lag compensator can reduce (but not eliminate) the steady-state error.
Depending on the effect desired, one or more lead and lag compensators may be used in various combinations.

PROCEDURE :
Design of a Phase-Lag Compensator Using MATLAB
The desired phase margin is 60 o .
10
1. 𝐺𝑃 (𝑠) = 𝑠 2+ 2𝑠

Figure 10.1:

2. 1  0.917
3. o  0.0917
4.  p  o / | G p ( j0.917) | 1013.9 / 20  0.0917 / 4.9545
5. Transfer function:
10.71 s + 1
-----------
53.05 s + 1

6. The MATLAB code.

Laboratory Manual
 Figure10.2: Code

SAMPLE GRAPH:

Figure10.3: Bode Plots of compensator system

Figure 10.4: Step response

RESULT:
………………………………………………………………………………………………………………………
………………………………………………………………………………………

Laboratory Manual