Exp 1
Exp 1
Exp 1
CONTROL SYSTEM
LAB EXPERIMENTS
SUBMITTED BY-
Sargun Singh
21104140
SARGUN SINGH 21104140
INDEX
S.NO AIM
1 1) to study rlc (second order) system
7 To draw nyquist plot of open loop transfer loop functions and examine
8 Plot bode plot of given transfer function. Also determine the relative
9 Plot the nyquist plot for given transfer function and to discuss closed loop
stability.
SARGUN SINGH 21104140
EXPERIMENT – 1
Objectives:-
Instruments Required:-
C.R.O, Function Generator, DMM
Components Used:-
Theory:-
RLC circuit (resistance, inductance and the capacitor elements connected in series) is used in
as a second order system. A step input is applied to obtain the time response and a sine
function is applied for frequency response of the system. The responses of the second order
system to these inputs are analyzed and they are compared with the theoretical results
The RLC circuit shown in Figure 1 can be described by an equation containing the complex
variables of the Laplace transform. The denominator of this equation becomes zero for
certain values of s. Since these values represent the characteristics of the circuit, the
denominator being equal to zero is known as the characteristic equation of the circuit. The
roots of this equation plotted in the s plane are shown in Figure 2. If the roots are complex
conjugates, the system is under damped and will exhibit oscillations. If the roots are real and
equal, the system is critically damped while two real unequal roots indicate an over damped
system
The characteristic equation of the system can (and should) be factored to have the following
form:
x²+203+00, -0. a and, (the undamped natural frequency) are as illustrated in Figure 2.
However, the damping factor, E, is related to a and con through Ealeo. Therefore the
characteristic equation may be written as:
s²+250,s+w² = 0.
se
Procedure:
RESULT
Thus the second order RLC system to study its time constant is studied
EXPERIMENT – 2
2. EQUIPMENT DESCRIPTION
The present set up has been designed to provide a convenient means of studying. the transient
response of linear systems. Special attention has been given at every stage to make the
systems operationally simple and straightforward. Instead of bothering The students with
system configuration, disturbance points etc Block diagram approach has been employed as a
standard technique with Fig 1 depicting the features available to the user. A description of the
various subsystems is presented next, an understanding of which is necessary for both
conducting the routine and designing more advanced ones.
There are three built-in sources in the unit with the following nominal specifications actual
values may vary somewhat from unit to unit without causing any limitations to the scope of
the experiment.
Square Wave-
1. Frequency 20-80 Hz (variable).
2. p-p amplitude 0-2 Volt (variable)
Triangular-
1. Frequency 20-80 Hz (variable)
2. p-p amplitude 0-2 Volt (variable)-
Trigger-
1. Frequency 20-80 Hz (variable)
2. Amplitude 15 Volt (approx)
All the above sources are derived from the same basic circuit and are therefore synchronized.
They are uncalibrated both in frequency and amplitude, are zero balanced and grounded to a
common earth. The actual frequency in a particular experiment could be easily measured on
the CRO
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BUILDING BLOCKS
(a) Error Detector-Cum-Gain: The block has three inputs (e1, e2, and e3) and one output (e0)
which are related by expression
E0 = -K(e1+e2+e3)
where K is the gain. The value of K may e varied form 0 to 10 by a ten-turn potentiometer
having a calibrated dial. This block may be used as a simple error detector (with one signal
inverted) in a multiple loop system or simply as an adder.
(b) Integrator: The integrator block has an approximate transfer function of the form K1/s and
is used in simulating type-1 system having a pole at the origin. Nominal value of K1 is 10.
(c) Time Constant: The two time constant blocks in the system have transfer functions of the
from -K1/(ST+1) each. The second block has an x5 option which results in a higher gain if
necessary. Nominal values of gains are K,=K,=10 and of time constant are T1 = T2 = 10
msec.
(d) Disturbance Adder: This is a two input (e1 , e2) one output (e0) block having a defining
equation of the form.
E0 = -(e1+e2)
The block can have applications similar to the error detector.
(e) Uncommitted Amplifier: While completing the feedback path, one might need to invert
the signal so that the resulting system is a negative feedback system. The uncommitted
amplifier is used specifically for this purpose.
POWER SUPPLY
The set-up has an internal +/- 12V IC regulated power supply, which is permanently
connected to all the circuits. The power supply and all the circuits are short circuit protected
and will not get damaged under normal operation. No external do supply should be connected
to the unit. With the help of the above sub-systems a very large variety of simulated systems.
can be constructed. Besides single-output systems this would include multi-input systems
with feedforward path and systems with minor loops as well.
Considering the time constrains in the laboratory class, a limited number of basic experiments
have been proposed in the following pages, which are compatible with the average course
content of the subject. A good quality dual trace measuring oscilloscope is the only external
equipment required for the experiments
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OPEN LOOP
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===
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CLOSED LOOP
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EXPERIMENT - 3
EQUIPMENT REQUIRED
1. Temperature System Simulator
2. A stop watch
PROCEDURE
1. From the response curve taken in experiment 1, apply Kp. Ki and Kd value
2. Set S. P. at 60". Select oven temperature at display reading. Switch ON the heater and
start the stop watch. Note the temperature at regular intervals at 10 seconds
3. Plot the response curve from the results obtained from the experiment. Find out the %
error from the plot as Tset - Toven/ Tset x100.
4. Change the temperature setting and adjust Kp according to it. Note as given in page 5,
the Ki and Kd is effected by Kp, and system constant does effect only Kp (see table at
page 7).
5. Take a final curve from the controlled process. Find out Mp and Tp from the curve.
Calculate te damping factor and undamped natural frequency. Write the transfer
function of the system
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AFTER TUNING
P
At P =1
AT P=10
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PI
P=1, I=1
P=10, I=1
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RESULT:
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EXPERIMENT - 4
AIM : To observe the process characteristics.
EQUIPMENT REQUIRED
1. Temperature System Simulator
2. A stop watch
PROCEDURE
1. Connect the oven with the set up. Keep 'ION' switch towards off. Keep Heater switch
in off position. The D control at minimum and P control at centre 12'o clock position
(dial setting 5).
2. Switch ON the power. The display will be ON. Select Temperature switch (situated
just below of display) to OVEN side. Note the temperature when heater is off
3. Now select the Temperature selector to S.P. side. Adjust SET POINT control to raise
the reference temperature about 20 degree.
4. Select the Temperature selector again to oven. Switch ON the heater and start the
stop watch simultaneously. Note the oven temperature at 5, 10, 20, 30 seconds till the
temperature becomes stable at any degree. 1.5 Plot the curve between the temperature
and the time. Find out the inflation point where the temperature. Draw the tangent line
and find out the values of T and L.
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OBSERVATION:
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TIME(SECS) TEMP
0 24.6
10 26
20 29
30 33
40 37.2
50 41.2
60 45.7
70 48.8
80 51.3
90 52.9
100 53.4
110 53.1
120 52.2
130 50.8
140 49.3
150 47.8
160 46.3
170 45.3
180 45.3
190 46.1
200 47.5
210 49
220 50.1
230 50.8
240 50.9
250 50.7
260 50.3
270 49.5
280 48.7
290 48
300 47.6
310 47.5
320 47.8
330 48.4
340 48.9
350 49.4
360 49.7
370 49.8
380 49.7
390 49.4
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400 49.1
410 48.8
420 48.5
430 48.3
440 48.3
450 48.4
460 48.7
470 48.9
480 49
490 49.2
500 49.3
510 49.3
520 49.2
530 49
540 48.9
550 48.8
560 48.7
570 48.6
580 48.7
590 48.8
600 48.9
TEMP
60
50
40
30
TEMP
20
10
0
0 30 60 90 120 150 180 210 240 270 300 330 360 390 420 450 480 510 540 570 600
TIME
RESULT:
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EXPERIMENT – 5
Aim
To study open loop and closed loop temperature controller:
Circuit Description:
The figure shown on the front panel of the board is Open & Closed loop temperature control
system. The actuator Set I/P Vref is set by "Ref Adj" as Vref to the OP-Amp as summing
amplifier which drives the Heater driver circuit. The RTD Temperature sensor and Error
circuit generates F/B or Error O/P VF (Ve). This feed back O/P may be feedback to V or V
This would select the different temperature cutt-off. When the F/B is Open the circuit will
work as an "OPEN LOOP" temperature controller. When the F/B is connected through either
V or Vi₂ then Heater temperature will set the respective temperature cut-off. The
Temperature Indicator display the Heater temperature in °C.
Circuit diagram
Procedure
(A) OPEN LOOP TEMPERATURE CONTROLLER:
1. Study the circuit provided on front panel of the kit
2. Connect the Heater and RTD sensor in the circuit. Keep the F/B Connection OPEN.
3. Now Connect the set I/P Vref in circuit. Ensure Initially the Heater is in OFF State.
4. Now Vary the Set I/P Adj to Turn-On the Heater.
5. Observe that the Heater temperature goes on increasing and heater will not turn off at any
temperature. Such a operation is called as Open loop Control Temperature controller.
6. Repeat the above steps for different values of Set I/P Vref.
Observation
CLOSED LOOP
On OFF
Temperature 32.4 39.2
Temperature 31.2 33.6
Conclusion
In open loop system, when heater is switched on, the temperature keeps on increasing.
In closed-loop system, initially, the heater is off, and fan is on and temperature keeps on
decreasing. At a particular temperature, the heater switches on and temperature increases. At
a certain temperature heater switches off and this is repeated.
EXPERIMENT – 6
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EXPERIMENTAL PROCEDURE
Connect CRO one channel at reference socket (V,). Note the signal amplitude in
VA, p-p.
e 00 = error output
constant c in deg.·
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Set gain KA =7, Apply same step and find out the e,,.
Connect
0
back
1 with is is voltage at 120° and
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RESULT:
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EXPERIMENT-7
Aim
To draw nyquist plot of open loop transfer loop functions and examine the stability of the
closed loop system
Procedure:
1. Introduction
Nyquist plots are a valuable tool in the analysis and design of control systems. They offer a
graphical representation of the frequency response of a system, which helps engineers and
scientists gain insights into the system's stability, performance, and dynamic behaviour. In
this experiment, we will explore Nyquist plots and their crucial role in control system
analysis.
2. Mathematical Background
Mathematical Foundation of Nyquist Plots:
A Nyquist plot is a graphical representation of the frequency response of a system. It is
constructed by mapping the complex values of the system's transfer function, G(s), as s varies
over the complex plane. The key equations and concepts for Nyquist plots include:
1. Transfer Function (G(s)): The transfer function is a mathematical representation of a
linear time-invariant system. It relates the Laplace transform of the system's output to the
Laplace transform of its input. The general form of a transfer function is:
G(s) = Y(s) / X(s)
Where G(s) is the transfer function, Y(s) is the Laplace transform of the system's output,
and X(s) is the Laplace transform of the input.
2. Complex Frequency (s): In the Laplace domain, s is a complex variable with a real part
(σ) and an imaginary part (jω), where σ represents the damping and ω represents the
frequency. The Nyquist plot analyses how the system responds to different values of s.
3. Nyquist Path: The Nyquist plot is created by tracing the behaviour of G(s) as s varies over
a semi-circular path in the right-half complex plane. This path is typically along the
imaginary axis and extends to infinity.
4. Nyquist Plot Points: At each point along the Nyquist path, you calculate the complex
value of G(s), yielding G(jω) for each ω. These values are plotted as points on the Nyquist
diagram.
3. MATLAB Setup
a. Launch MATLAB on your computer.
b. Create a new script or function file for implementing Nyquist plots and stability analysis.
4. Nyquist Plot and Stability Analysis for a Single Transfer Function
a. Define the transfer function. For example, consider a system with the following transfer
function:
G = tf([1], [1, 2, 1])
b. Compute the Nyquist plot for the defined transfer function and visualize it:
nyquist(G);
c. Calculate and display the gain and phase margin:
[GM, PM, WC] = margin(G);
d. Calculate the time constant (if applicable) using the transfer function parameters
[num, den] = tfdata(G, 'v');
time_constant = -1 / min(real(roots(den)))
e. Customize the plot with labels, titles, and other necessary information
title('Nyquist Plot for G(s) = 1 / (s^2 + 2s + 1)');
xlabel('Real');
ylabel('Imaginary');
f. Save the plot for documentation purposes.
Transfer function :
10
1.
( s+2)( s+5)
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( s +2 )
2.
( s +1 )( s−1 )
RESULT:
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Experiment 8
Objective: Plot bode plot of given transfer function. Also determine the relative stability by
measuring gain and phase margins.
Theory: The Bode plot of a transfer function is a very useful graphical tool for the analysis
and design of linear control systems in the frequency domain. Before the inception of
computers, Bode plots were often called the “asymptotic plots,” because the magnitude and
phase curves can be sketched from their asymptotic properties without detailed plotting.
Modern applications of the Bode plot for control systems should be identified with the
following advantages.
Matlab Code:
num=[1,2];
den=[1,5,0];
sys1=tf(num,den)
% step(sys1)
bode(sys1)
Result :
bode_plot
s+ 2 s +2
sys 1 = 2 , sys2 =
s +5s s +5
Continuous-time transfer function.
Plot :
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Precautions:
1. Program must be written carefully to avoid errors.
2. Programs can never be saved as standard function name.
3. Functions in MATLAB case sensitive so commands must be written in proper format
Experiment 9
Objective: Plot the Nyquist plot for given transfer function and to discuss closed loop
stability.
For stability, all the roots of the characteristic equation 1+GH(s) = 0 must lie in the lefthalf
plane. • Note that open loop transfer function of a stable system may have poles in the left
half plane. • Nyquist stability criteria relates the open-loop transfer functions and the poles of
the characteristic function.
Matlab Code :
num=[1,2];
den=[1,0,-1];
sys1=tf(num,den)
% step(sys1)
nyquist(sys1)
Result :
nyquist_plot
s+2
sys1 = 2
s −1
Continuous-time transfer function.
s+2
sys2 = 2
s + 2 s−1
Continuous-time transfer function.
Plot :
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Precautions:
1. Program must be written carefully to avoid errors.
2. Programs can never be saved as standard function name.
3. Functions in MATLAB case sensitive so commands must be written in proper format.
EXPERIMENT 10
AIM:
Theory → Introduction of Root Locus: The root locus of an (open-loop) transfer function
H(s) is a plot of the locations (locus) of all possible closed-loop poles with proportional gain
K and unity feedback.
Code in Matlab :
RESULT: