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    EEE-404 - Control System I Lab - 2019-2020

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    Tanvir Ahamed

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    EEE-404 - Control System I Lab - 2019-2020

    Uploaded by

    Tanvir Ahamed
    4 views15 pages

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    EEE-404_Control System I Lab_2019-2020

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    © All Rights Reserved
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    4 views15 pages

    EEE-404 - Control System I Lab - 2019-2020

    Uploaded by

    Tanvir Ahamed

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 15

    Experiment 1: Determine the time response of the given system subjected to any arbitrary input

    𝑪(𝒔) 𝟏
    Let us consider general transfer function of first order system: 𝑻(𝒔) = 𝑹(𝒔) = 𝒔+𝟏

    MATLAB CODE:
    clc;
    clear all;
    close all;
    n=[1];
    d=[1,1];
    %unit step response%
    step(n,d)
    grid on
    %unit impulse response%
    figure
    impulse(n,d)
    grid on
    printsys(n,d)
    %unit ramp response%
    t=0:0.01:10;
    r=t;
    figure
    lsim(n,d,r,t)
    grid on;

    Output: The output will be a plot of step response, impulse response, and ramp response.
    Experiment 2: Plot unit step response of given transfer function and finds delay time, rise time,
    peak time and peak overshoot
    The transfer function of a 2nd order system is generally represented by the following transfer
    𝒀(𝒔) 𝝎𝟐
    function: 𝑹(𝒔) = 𝒔𝟐+𝟐𝜻𝝎𝒏 𝒔+𝝎𝟐
    𝒏 𝒏

    MATLAB CODE:
    clc;
    close all;
    clear all;
    zeta=0:0.25:1; % Different values of zeta is taken
    for i=1:5
    num=1;
    den=[1 2*zeta(i) 1];
    a=tf(num,den);
    step(a);
    hold on;
    end
    axis([-1 50 -0.5 2]);
    grid on;
    xlabel('Time');
    ylabel('Response');

    Output: The output will be a plot of step response for different values of zeta.

    Experiment 3: Plot the pole-zero configurations in s-plane for the given transfer function
    𝟐𝒔𝟐 +𝟓𝒔+𝟏
    The transfer function: 𝑯(𝒔) = 𝒔𝟐 +𝟑𝒔+𝟓

    MATLAB CODE:
    Program to plot pole zero configuration of transfer function

    clc;
    clear all;
    close all;
    n= [2 5 1];
    d=[1 3 5];
    sys=tf(n,d)
    pzmap(sys)

    Output: The output will be a plot of poles and zeros in the complex plane.

    For this particular transfer function the output will be as follow:


    Experiment 4: Plot the Root locus of given transfer function, locate closed loop poles for different
    values of k.

    𝒔+𝟏
    The transfer function: 𝑯(𝒔) = 𝒔(𝟎.𝟓𝒔+𝟏)

    MATLAB CODE:
    %Program to plot root locus for H(s)
    clc;
    clear all;
    close all;
    num = [1 1];
    den = conv([1 0], [0.5 1]);
    g = tf(num,den);
    rlocus(g)

    Output:
    𝟏
    Another transfer function: 𝑯(𝒔) = 𝒔(𝒔+𝟏)(𝒔+𝟐)

    MATLAB CODE:
    %Program to plot root locus for H(s) %
    clc;
    clear all;
    close all;
    num = [1];
    den = poly([0 -1 -2]);
    g = tf(num,den);
    rlocus(g)

    Output:
    Experiment 5: Determine the steady state errors of a given transfer function.
    10
    Transfer function: 𝐻(𝑠) =
    𝑠2 +6𝑠+10)

    MATLAB CODE:
    clc;
    close all;
    clear all;
    n=[10];
    d=[1 6 10];
    sys=tf(n,d);
    kp=dcgain(sys)
    ess=1/(1+kp)
    n1=conv([1 0],n);
    sys1=tf(n1,d);
    kv=dcgain(sys1)
    ess=1/kv
    n2=conv([1 0 0],n);
    sys2=tf(n2,d);
    ka=dcgain(sys2)
    ess=1/ka

    Output:
    kp = 1
    ess= 0.5
    kv = 0
    ess= inf
    ka = 0
    ess= inf
    Experiment 6: Simulation of open loop, proportional, proportional derivative, proportional
    integral, and proportional integral derivative controller.
    𝑋(𝑠) 1
    Open-loop transfer function: 𝐹(𝑠) = 𝑚𝑠2 +𝑏𝑠+𝑘)

    Assumptions
    Let: m = 1 [kg], b = 10 [Ns/m], k = 20 [N/m]

    MATLAB CODE:
    %{Set up v a r i a b l e s%
    m=1; b=10; k=20;
    % Calculate response%
    num=1;
    den=[m, b , k ];
    plant=tf (num, den );
    step (plant)

    Output:
    𝑋(𝑠) 𝐾𝑝
    Proportional Controller transfer function: 𝐹(𝑠)
    = 𝑠2 +𝑏𝑠+(𝑘+𝐾
    𝑝)

    MATLAB CODE:
    %Set up proportional gain%
    Kp=300;
    %Calculate controller%
    sys_ctl=feedback (Kp∗plant , 1);
    %Plot results%
    t=0:0.01:2;
    step (sys_ctl, t)

    Output:
    𝑋(𝑠) 𝐾𝑑 𝑠+𝐾𝑝
    Proportional Derivative Controller transfer function: 𝐹(𝑠) = 𝑠2 +(𝑏+𝐾
    𝑑 )𝑠+(𝑘+𝐾𝑝 )

    MATLAB CODE:
    %Set up proportional and derivative gain%
    Kp=300; Kd=10;
    %Calculate controller%
    contr=tf([Kd, Kp], 1);
    sys_ctl=feedback(contr∗plant, 1);
    %Plot results%
    t=0:0.01:2;
    step (sys_ctl, t)

    Output:
    𝑋(𝑠) 𝐾𝑝 𝑠+𝐾𝑖
    Proportional Integral Controller transfer function: 𝐹(𝑠)
    = 𝑠3 +𝑏𝑠2 +(𝑘+𝐾
    𝑝 )𝑠+𝐾𝑖

    MATLAB CODE:
    %Set up Proportional Integral gain%
    Kp=30; Ki =70;
    %Calculate controller%
    contr=tf([Kp,Ki], [1,0]);
    sys_ctl=feedback(contr∗plant, 1);
    % Plot results%
    t=0:0.01:2;
    step(sys_ctl, t)

    Output:
    𝑋(𝑠) 𝐾𝑑 𝑠2 +𝐾𝑝 𝑠+𝐾𝑖
    Proportional Integral Derivative Controller transfer function: 𝐹(𝑠) = 𝑠3 +(𝑏+𝐾 2 +(𝑘+𝐾 )𝑠+𝐾
    𝑑 )𝑠 𝑝 𝑖

    MATLAB CODE:
    %Set up Proportional Integral Derivative Controller gain%
    Kp=350; Ki =300; Kd=50;
    %Calculate controller%
    contr=tf([Kd,Kp,Ki], [1, 0]);
    sys_ctl=feedback(contr∗plant, 1);
    %Plot results%
    t=0:0.01:2;
    step( sys_ctl, t)

    Output:
    𝑲
    Plot the Root locus for transfer function 𝑮(𝒔) = 𝒔(𝒔𝟐+𝟒𝒔+𝟓) and locate closed loop poles in
    the complex s-plane
    MATLAB CODE:
    num= [O O O 1];
    den = [1 4 5 O];
    rlocus(num, den);
    v = [-3 1 -2 2]; axis(v); axis('square')
    sgrid(O.5, [])
    [K,r] = rlocfind(num, den)
    Select a point in the graphics window
    selected-point =
    -O.6246 + 1.O792i
    K=
    4.2823
    r=
    -2.7474
    -O.6263 + 1.O8OOi
    -O.6263 - 1.O8O0i

    Output:
    𝑪(𝒔) 𝟏𝟎𝒔+𝟒
    Plot the unit-step response curve for a large overshoot for transfer function 𝑹(𝒔) = 𝒔𝟐+𝟒𝒔+𝟒

    Matlab Code:
    num = [O 1O 4];
    den = [1 4 4];
    t = O:O.O2:1O];
    y = step(num,den,t);
    plot(t,y)
    grid
    title('Unit-Step Response')
    xlabel('t (sec)')
    ylabel('Output')
    numl = [O O 1O 4];
    den1 = [1 4 4 O];
    yl = step(num1 ,den1 ,t);
    plot(t,t,'--',t,yl )
    v = [O 1 0 0 101; axis(v);
    grid
    title('Unit-Ramp Response')
    xlabel('t (sec)')
    ylabel('Unit-Ramp Input and Output')
    text(6.1 ,5.O,'Unit-Ramp Input')
    te~t(3.5,7.1 ,'Output)
    Output:

    𝑲(𝒔𝟐 +𝟐𝟓)𝒔
    Plot the Root locus for a feedforward transfer function 𝑮(𝒔) = .
    (𝒔𝟒 +𝟒𝟎𝟒𝒔𝟐 +𝟏𝟔𝟎𝟎)

    Matlab Code:
    num = [O 1 O 25 O];
    den = [1 O 4O4 O 16OO];
    K = O:O.4:1OOO;
    rlocus(num,den,K)
    v = [-3O 2O -25 25]; axis(v); axis('square')
    grid
    title('Root-Locus Plot of G(s) = K(s^2 + 25)s/(s^4 + 4O4s^2 + 16OO)')
    Output:

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