LABORATORY INSTRUCTION MANUAL

Control System - I
(EE593)
Laboratory Manual
3rd Year
5th Semester

Prepare by

Mr. Biswamoy Pal

Dr. Maitrayee Chakrabarty
Assistant Professor
Department of Electrical Engineering

Department of Electrical Engineering

JIS College of Engineering

((An Autonomous Institution)
NAAC and NBA Accredited Institution
Approved by AICTE, New Delhi & Affiliated to WBUT
Block A, Phase III, PO. Kalyani, Dist. Nadia, Pin - 741235, West Bengal.

Signature of Lab-in-Charge
Charge Signature of Course coordinator Signature of HoD
 Vision of the Institute
To develop a sustainable ecosystem of technical education while fostering quality in teaching-
learning & research through techno-pedagogical approach, capacity building, inculcating ethical
values & leadership qualities to create the global citizen for serving the society.

Mission of the Institute

IM 1. World Class Education - Provide a state-of-the-art educational infrastructure and enriching
project-based learning environment conducive to higher learning for students, internships in
leading organizations, participation in national and international community service projects.
IM 2. Cutting-edge Research - Maintain a vibrant research environment creating opportunities for
intellectual engagement of students in cutting edge interdisciplinary research and innovation
through collaborative work with local, regional and international communities.
IM 3. Capacity Development - Conduct capacity development programs for skilling, up-skilling
and re skilling of faculties & students by involving practitioners from governments,
corporations, and civil society organizations to enhance their management & leadership
qualities as well as commitment to professional ethics.
IM 4. Impactful People - Promote a culture of excellence in curricular, co-curricular and
extracurricular activities of the Institute by implementing good practices aimed at personal
and professional development of students, faculty members & non-academic staffs.

Vision of the Department of Electrical Engineering

To impart technical knowledge, develop skills for research and innovation and prepare graduates
with a great human value to meet the industry and societal needs.

Mission of the Department of Electrical Engineering

DM 1. To impart quality engineering education with holistic development and to produce engineers,
technologists, scientists and citizens who will contribute meaningfully to the growth and
development of the country
DM 2. To promote interdisciplinary research work and opportunity to work in a team through
collaborative research and project work to meet the industrial and societal challenges
DM 3. To inculcate professional ethics, focusing on excellence in curricular, co-curricular,
extracurricular activities and moral responsibility for a better society
 Program Educational Objectives (PEO)
PEO 1. Graduates will initiate their careers in industry, government and private sector, research
organizations or become an entrepreneur
PEO 2. Graduates will pursue higher education in electrical engineering or other fields of their
comfort
PEO 3. Graduates will work in a team with leadership quality, show ethical values, express with
effective communication, concern to environment and commitment to safety and
development of society in the field they choose to pursue

Program Specific Outcomes (PSO)

At the end of the program, the graduates will able to

PSO 1. Analyze, design and solve societal problems to cater the needs of industry related to the
electrical engineering field.

PSO 2. Conduct investigations and experiments using modern techniques and tools as an individual
or in a multidisciplinary team to cater the needs of societal and industry related problems.

PSO 3. Be motivated for continuous self learning and pursue academics and research in advanced
areas of electrical engineering and be a professional and responsible citizen of India for
sustainable energy development.
 Program Outcomes as defined by NBA (PO)
Engineering Graduates will be able to:

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

fundamentals, and an engineering specialization to the solution of complex engineering
problems.
PO 2. Problem analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences.
PO 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.
PO 4. Conduct investigations of complex problems: Use research-based knowledge and
research methods including design of experiments, analysis and interpretation of data, and
synthesis of the information to provide valid conclusions.
PO 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.
PO 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.
PO 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 sustainable development.
PO 8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and
norms of the engineering practice.
PO 9. Individual and team work: Function effectively as an individual, and as a member or leader
in diverse teams, and in multidisciplinary settings.
PO 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.
PO 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.
PO 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.
 GENERAL SAFETY INSTRUCTIONS FOR THE STUDENTS

Read this section carefully before you perform any experiment in the Control System I
Laboratory

1. While performing experiments in the Control System Laboratory, you must follow stringent safety
rules and precautionary measures for your own safety as well as for safety of your co-workers.
2. Don’t attempt to enter the lab except when asked for and accompanied by concerned Lab Staff /
Instructors.
3. Every student should obtain a set of instruction sheets provided by your Laboratory instructor.
4. Instruments, tools and computers will be issued by the Lab Staff / Instructors in each Laboratory
session. Every student must produce his identity card for the purpose. Instruments, tools and
computers
etc. must be returned to the Lab Staff / Instructors on the same day after work hours.
5. The student should take the permission and guidance of the Lab Staff / Instructors before
operating any
KIT. Do not attempt to operate any KIT yourself without permission of the concerned teachers /
instructors. You should never be in casual while in the lab. Be careful that you don’t operate any
button
etc. by mistake, it may lead to serious mal operation and hazards. Unauthorized usage of any KIT is
strictly prohibited.
6. Before taking entry in the lab, always double check that all the apparatus and equipment are
disconnected from supply and are properly grounded.
7. The student should not lean on the machines / PC or take any kind of support of these at any point
of time. If found leaning on these without proper reasons, serious action may be taken against
him/ her.
8. Laboratory reports should be prepared and submitted as instructed by faculty. The students must
submit report on the next lab session.
 COURSE CONTENT
Course Name Control System – I Lab
Course Code EE593
Course Credit 1.5
Contact Hour 3P
Admission Batch: 2022-2026
Academic Session: 2024-2025
Academic Semester: ODD 2024
Prerequisite Concept of Laplace Transform, Basic Electrical Engineering
Course Objective
The objectives of this course are
1. To analyze performance of systems in time and frequency domain.
Course Outcome
On completion of the course students will be able to
COs BL Course Outcome
Conduct simulation using MATLAB Control System Toolbox and Simulink Toolbox to find the
EE593.1 Analyze
solution in control system
Conduct simulation using MATLAB to analyze time domain behavior of different systems for
EE593.2 Analyze
common input signals and predict different time domain specification parameters.
Conduct simulation using MATLAB to conclude system stability using different stability
EE593.3 Analyze
analysis tools, to illustrate effects of variation of controller parameters on system response.
Conduct experiment using experimental kit to study the use of potentiometric error detector
EE593.4 Analyze
in control engineering
Perform experiments on control system in a group and interpret the observed test result and
EE593.5 Analyze
hence calculate unknown parameters individually.
Perform experiments on control system, note the observation with ethics and write an
EE593.6 Analyze
effective report to represent the observation.

CO Mapping with POs and PSOs

H: High, M: Medium, L: Low
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12 PSO1 PSO2 PSO3
- - - H H - - - - - - - H H M
EE593.1
- M M H H - - - - - - - H H M
EE593.2
- M M H H - - - - - - - H H M
EE593.3
- - - H - - - - - - - - H H M
EE593.4
EE593.5 - - - - - - - - H - - - - -

- - - - - - - M - H - - - - -
EE593.6
 LIST OF EXPERIMENT

1. Familiarization with MATLAB control system tool box, MATLAB simulink tool box and PSPICE.
2. Determination of step & impulse response for a first order unity Feedback system.
3. Determination of step & impulse response for a second order unity Feedback system.
4. Determination of step & impulse response for a type ‘0’, type ‘1’, type ‘2’ systems.
5. Determination of bode plot using matlab control system toolbox for 2nd order system & obtain controller
specification parameters.
6. Determination of root locus plot using matlab control system Toolbox for 2nd order system & obtain
controller specification Parameters.
7. Determination of nyquist plot using matlab control system Toolbox.
8. Study the effect of PI & PD controller on system performance
9. Study the effect of addition of zeros to the forward path transfer function of a Closed loop system.
10. Study the effect of addition of poles to the forward path transfer function of a Closed loop system.
11. Study of Potentiometric Error Detector.
12. Innovative Experiment
CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS -I /1

TITLE : FAMILIARIZATION WITH MATLAB CONTROL SYSTEM TOOL BOX,

MATLAB/SIMULINK TOOL BOX.
OBJECTIVE : To obtain
I. Pole, zero, gain values from a given transfer function
II. Transfer function model from pole, zero, gain values
III. Pole, zero plot of a transfer function

THEORY:
A transfer function is also known as the network function is a mathematical representation, in
terms of spatial or temporal frequency, of the relation between the input and output of a (linear
time invariant) system. The transfer function is the ratio of the output Laplace Transform to the
input Laplace Transform assuming zero initial conditions. Many important characteristics of
dynamic or control systems can be determined from the transfer function. The transfer function
is commonly used in the analysis of single-input single-output electronic system, for instance. It
is mainly used in signal processing, communication theory, and control theory. The term is often
used exclusively to refer to linear time-invariant systems (LTI). In its simplest form for
continuous time input signal x(t) and output y(t), the transfer function is the linear mapping of
the Laplace transform of the input, X(s), to the output Y(s).
Zeros are the value(s) for z where the numerator of the transfer function equals zero. The
complex frequencies that make the overall gain of the filter transfer function zero.
Poles are the value(s) for z where the denominator of the transfer function equals zero. The
complex frequencies that make the overall gain of the filter transfer function infinite.
The general procedure to find the transfer function of a linear differential equation from input to
output is to take the Laplace Transforms of both sides assuming zero conditions, and to solve for
the ratio of the output Laplace over the input Laplace.

The transfer function provides a basis for determining important system response characteristics
without solving the complete differential equation. As defined, the transfer function is a rational
function in the complex variable ‘s’ that is It is often convenient to factor the polynomials in the
numerator and the denominator, and to write the transfer function in terms of those factors:

𝑁(𝑆) (𝑠−𝑧1 )(𝑠−𝑧2 )............... (𝑠−𝑧𝑛 )

G(s) = =𝐾
𝐷(𝑆) (𝑠−𝑝1 )(𝑠−𝑝2 )............... (𝑠−𝑝𝑚 )
where, the numerator and denominator polynomials, N(s) and D(s).
The values of s for which N(S) = 0, are known as zeros of the system. i.e; at s = 𝑧1 , 𝑧2 ,….., 𝑧𝑛 .
The values of s for which D(S) = 0, are known as poles of the system. i.e; at s = 𝑝1 , 𝑝2 ,….., 𝑝𝑛 .

Page | 2
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Example 1: Obtain pole, zero & gain values of a transfer function.

𝒔𝟐 + 𝟒𝒔 + 𝟑
𝐆(𝐬) =
(𝒔 + 𝟓)(𝒔𝟐 + 𝟒𝒔 + 𝟕)
Also obtain the pole zero plot.

num = [1 4 3]
den= conv([1 5], [3 4 7])
g = tf (num,den)
[z,p,k] = tf2zp(num,den)
pzmap(g)

Output :

Transfer function:
s^2 + 4 s + 3

3 s^3 + 19 s^2 + 27 s + 35

z =

-3
-1

p =

-5.0000
-0.6667 + 1.3744i
-0.6667 - 1.3744i

k =

0.3333

Pole Zero Plot:

Page | 3
CONTROL SYSTEM I LAB. MANUAL EE 593

Example 2: Write matlab code to obtain transfer function of a system from its pole ,zero,
gain values. Assume pole locations are -2, 1, zero at -1 and gain is 7.

Matlab Code :

p= [-2 1]
z= [-1]
k=7
[num,den]= zp2tf(z',p',k)
g=tf(num,den)

Output:

Transfer function:
7s+7

s^2 + s - 2

Assignments:
Obtain Pole, zero, gain values of the transfer functions given below. Also verify your result theoretically

1. G(s) = 1 2. G(s) = 5 3. G(s) = 1

𝑠2 +𝑠+4 𝑠2 +9 (𝑠2 +3𝑠+5)(𝑠+3)(𝑠+5)

Obtain Transfer function of the systems (Theoretically & Practically).

1. Poles = -1+i, -1-i,-4. Zeros = -2,-5, gain = 1
2. Poles = -1+4i, -1-4i,-5. Zeros = -8,-5, gain = .75

DISCUSSION:
1. What do you mean by poles?
2. What is the significance of transfer function?

Page | 4
 EE 593 CONTROL SYSTEM I LAB. MANUAL

EXPERIMENT NO : CS -I/2
TILLE : DETERMINATION OF STEP & IMPULSE RESPONSE FOR A FIRST ORDER UNITY
FEEDBACK SYSTEM
OBJECTIVE : To determine
I. Step response of 1st order system
II. Impulse response of 1st order system

THEORY: A first order system is one in which highest power of s in denominator if transfer
function defines order of the system.

For first order system,

𝐶(𝑠) 1
=
𝑅(𝑠) 𝑠𝑇+1
C(s)= 1
R(s) .......................................................................... (1)
𝑠𝑇+1
Since the laplace transform of the unit step function is 1/s , substituting R(s)=1/s in equation
(1)
C(s) = 1 *1
𝑠𝑇+1 𝑠
Expanding C(s) into partial fractions gives ,
C(s) = 1 - 1
𝑠 𝑠𝑇+1
C(s) = 1 - 1 …………………………………… (2)
𝑠 𝑠+(1/𝑇)
Taking the inverse laplace transform of equation (2),we get
C(t) = 1- e-t/T for t ≥ 0 ................................................ (3)
Equation (3) shows that initially (when t=0), the output c(t) is zero and finally (t→ ∞) e-t/T is
zero and the output c(t) becomes unity .
At t = T,
C(t) = 1 – e-1 = 1 – 0.368 = 0.632
That’s , the output response has reached 63.2 % of it’s final value . T is known as the time
constant . Thus , the time constant T is defined as the time required for the output response to
attain 63.2% of its final value or steady state value .
Equation (3) shows that the response curve is exponential in nature as shown on figure.

Fig. : Response curve of first order unit step input

Page | 5
 CONTROL SYSTEM I LAB. MANUAL EE 593

Response of the first order system with unit impulse response

For the unit – impulse input
R(s) = 1
C(s) = 1 * R(s) .......................................... (1)
𝑠𝑇+1
Substituting the value of R(s) = 1 in equation (1),we get
C(s)= = 1 * 1
𝑠𝑇+1
C(s) = = 1 * = 1 ………………………….(2)
𝑇 𝑠+1/𝑇
Taking the inverse laplace transform of the equation of (2) , we get the output response as
C(t) = = 1 e - t/T for t ≥ 0 ......................................... (3)
𝑇
The output response curve shown in the figure

Fig. : unit impulse response of first order system

Example 1: Obtain step response of a unity feedback system having forward path transfer function of
G(s) = 1
𝑠+4
Matlab Code:

num = [1];
den = [1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')

Output:

Page | 6
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Example 2: Obtain impulse response of a unity feedback system having forward path transfer function
of G(s) = 1
𝑠+9

Matlab Code :
num = [1];
den = [1 9]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output:

Assignments:
Obtain step and impulse response of the following systems with unity feedback connection. Also verify
your result theoretically
1. G(s) = 1 2. G(s) = 1
𝑠+11 𝑠+2

DISCUSSION:
1. Explain why a series RL circuit with high inductance has a slow response?

Page | 7
 CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS -I/3
TILLE : DETERMINATION OF STEP & IMPULSE RESPONSE FOR A SECOND ORDER UNITY
FEEDBACK SYSTEM
OBJECTIVE : To determine
I. Step response of 2nd order system
II. Impulse response of 2nd order system
THEORY: The time response has utmost importance for the design and analysis of control systems because
these are inherently time domain systems where time is independent variable. During the analysis
of response, the variation of output with respect to time can be studied and it is known as time
response. To obtain satisfactory performance of the system with respect to time must be within
the specified limits. From time response analysis and corresponding results, the stability of
system, accuracy of system and complete evaluation can be studied easily. Due to the application
of an excitation to a system, the response of the system is known as time response and it is a
function of time. The two parts of response of any system:
Transient response; Steady-state response.
Transient response: The part of the time response which goes to zero after large interval of time is known
as transient response.
Steady state response: The part of response that means even after the transients have died out is said to be
steady state response.
The total response of a system is sum of transient response and steady state response: C(t)=Ctr(t)+Css(t)

Time Response Specification Parameters: The transfer function of a 2-nd order system is generally
represented by the following transfer function:
𝑌(𝑆 𝜔𝑛2
=
𝑅(𝑆) 𝑠2 + 2𝜍𝜔𝑛 𝑠 + 𝜔𝑛2
The dynamic behavior of the second-order system can then be described in terms of two parameters: the
damping ratio and the natural frequency.
If the dumping ratio is between 0 and 1, the system poles are complex conjugates and lie in the left-
half s plane. The system is then called underdamped, and the transient response is oscillatory. If
the damping ratio is equal to 1 the system is called critically damped, and when the damping
ratio is larger than 1 we have overdamped system. The transient response of critically damped
and overdamped systems do not oscillate. If the damping ratio is 0, the transient response does
not die out.

Page | 8
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Delay time (td)

The delay time is the time required for the response to reach half the final value the very first time.
Rise time (tr)
The rise time is the time required for the response to rise from 10% to 90%, 5% to 95%, or 0% to 100% of its
final value. For underdamped second
second-order
er systems, the 0% to 100% rise time is normally used.
For overdamped systems, the 10% to 90% rise time is commonly used.
Peak time (tp)
The peak time is the time required for the response to reach the first peak of the overshoot.
Maximum (percent) overshoot (Mp)
The maximum overshoot is the maximum peak value of the response curve measured from unity. If the final
steady-state
state value of the response differs from unity, then it is common to use the maximum
percent overshoot. It is defined by

Settling time (ts)

The settling time is the time required for the response curve to reach and stay within a range about the final
value of size specified by absolute percentage of the final value (usually 2% or 5%). The settling
time is related to the largest time const
constant of the control system.

Example 1: Obtain step response of a unity feedback system having forward path transfer function of
G(s) = 1
𝑠2 +𝑠+4
Matlab Code:

num = [1];
den = [1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')

Page | 9
 CONTROL SYSTEM I LAB. MANUAL EE 593

Output:

Example 2: Obtain impulse response of a unity feedback system having forward path transfer function
of G(s) = 2 1
𝑠 +𝑠+4

Matlab Code :
num = [1];
den = [1 9]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output:

Page | 10
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Assignments:
Obtain step and impulse response of the following systems with unity feedback connection. Also verify
your result theoretically
1. G(s) = 19 2. G(s) = 1
(𝑠+4)(𝑠+8) 𝑠2 +3𝑠+4

DISCUSSION:
1. What do you mean by rise time? Derive its expression for a unity feedback 2nd order control system.
2. Why is less overshoot desired for practical systems?

Page | 11
 CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS -I/4
TILLE : DETERMINATION OF STEP & IMPULSE RESPONSE FOR A TYPE ‘0’, TYPE ‘1’,
TYPE ‘2’ SYSTEMS
OBJECTIVE : To determine
I. Step response of Type ‘0’ system
II. Impulse response of Type ‘0’ system
III. Step response of Type ‘1’ system
IV. Impulse response of Type ‘1’ system
V. Step response of Type ‘2’ system
VI. Impulse response of Type ‘2’ system

THEORY:
A real time system can be expressed by its transfer function. Based on presence of poles at origin of s
plane , transfer functions can be classified as Type ‘0’, Type ‘1’, Type ‘2’ ….. Systems. Let open loop
transfer function a system is expressed as:
(1+𝑠𝑇𝑎 )(1+𝑠𝑇𝑏 ).................................................................................
G(s)H(s) = 𝐾𝑁 (i)
𝑠 (1+𝑠𝑇1 )(1+𝑠𝑇2 )……
From equation (i) it is clear that ‘N’ determines the number of poles at origin.
For a Type ‘0’ system, N = 0
For a Type ‘1’ system, N = 1
For a Type ‘2’ system, N = 2
.
.
.
.
For a Type ‘N’ system, N = N

The steady state error can be found out by the following equation
𝑠𝑅(𝑠)
𝑒𝑠𝑠 = lim
𝑠→0 1 + 𝐺(𝑠)𝐻(𝑠)

Ramp input Parabolic input

Type Step Input
KV ESS Ka ESS
KP ESS
0 1 0 ∞ 0 ∞
K 1+𝐾

1 0 K 1 0 ∞
∞ 𝐾
2 0 ∞ 0 K 1
∞ 𝐾

Page | 12
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Example 1: Obtain step response of a Type ‘0’ system having forward path transfer function of G(s) =
1
𝑠2 +𝑠+4

Matlab Code :
num = [1];
den = [1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')

Output:

Example 2: Obtain impulse response of a Type ‘0’ system having forward path transfer function of G(s)
1
=
𝑠2 +𝑠+4

Matlab Code :
num = [1];
den = [1 1 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')

Output:

Page | 13
 CONTROL SYSTEM I LAB. MANUAL EE 593

Example 3: Obtain step response of a Type ‘1’ system having forward path transfer function of G(s) =
1
𝑠(𝑠2 +𝑠+4)

Matlab Code :
num = [1];
den = [0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')

Output:

Example 4: Obtain Impulse response of a Type ‘1’ system having forward path transfer function of G(s)
1
=
𝑠(𝑠2 +𝑠+4)

Page | 14
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Matlab Code :
num = [1];
den = [0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')

Output:

Example 5: Obtain Step response of a Type ‘2’ system having forward path transfer function of G(s) =
1
𝑠2 (𝑠2 +𝑠+4)

Matlab Code :

num = [1];
den = [0 0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
step(t,'r')

Output:

Page | 15
 CONTROL SYSTEM I LAB. MANUAL EE 593

Example 6: Obtain Impulse response of a Type ‘2’ system having forward path transfer function of G(s)
1
=
𝑠2 (𝑠2 +𝑠+4)

Matlab Code :

num = [1];
den = [0 0 1 1 4]
g = tf (num,den)
t = feedback(g,1)
impulse(t,'r')
Output :

DISCUSSION:
1. What would be steady state error for a type 1 system if unit ramp input is applied?

Page | 16
 EE 593 CONTROL SYSTEM I LAB. MANUAL

EXPERIMENT NO : CS -I/5
TILLE : DETERMINATION OF BODE PLOT USING MATLAB CONTROL SYSTEM TOOLBOX
ND
FOR 2 ORDER SYSTEM & OBTAIN CONTROLLER SPECIFICATION PARAMETERS.
OBJECTIVE : To determine
I. Bode plot of a 2nd order system
II. Frequency domain specification parameters
THEORY: The frequency response method may be less intuitive than other methods you have studied
previously. However, it has certain advantages, especially in real-life situations such as modeling transfer
functions from physical data. The frequency response of a system can be viewed two different ways: via the
Bode plot or via the Nyquist diagram. Both methods display the same information; the difference lies in the
way the information is presented. We will explore both methods during this lab exercise. The frequency
response is a representation of the system's response to sinusoidal inputs at varying frequencies. The output
of a linear system to a sinusoidal input is a sinusoid of the same frequency but with a different magnitude and
phase. The frequency response is defined as the magnitude and phase differences between the input and
output sinusoids. In this lab, we will see how we can use the open-loop frequency response of a system to
predict its behavior in closedloop. To plot the frequency response, we create a vector of frequencies (varying
between zero or "DC" and infinity i.e., a higher value) and compute the value of the plant transfer function at
those frequencies. If G(s) is the open loop transfer function of a system and ω is the frequency vector, we
then plot G( jω) vs. ω . Since G( jω) is a complex number, we can plot both its magnitude and phase (the
Bode plot) or its position in the complex plane (the Nyquist plot).
The gain margin is defined as the change in open loop gain required to make the system unstable. Systems
with greater gain margins can withstand greater changes in system parameters before becoming unstable in
closed loop.
The phase margin is defined as the change in open loop phase shift required to make a closed loop system
unstable.

Example 1: Obtain Bode Plot of the system having forward path transfer function of G(s) = 1+𝑠
𝑠(1+0.5𝑠)

Matlab Code:

num = [1 1]
den = conv([1 0],[.5 1])

Page | 17
 CONTROL SYSTEM I LAB. MANUAL EE 593

g = tf(num,den);
bode(g)
margin(g)

Output :

Assignments:
Obtain bode diagram of the following transfer function. Also verify your result theoretically.
4(2+𝑠)
G(s) =
𝑠(5+𝑠)(𝑠+10)
DISCUSSION:

1. What do you mean by GM & PM?

2. How GM & PM affects system?
3. What is gain cross over frequency?

Page | 18
 EE 593 CONTROL SYSTEM I LAB. MANUAL

EXPERIMENT NO : CS -I/6
TILLE : DETERMINATION OF ROOT LOCUS PLOT USING MATLAB CONTROL SYSTEM
ND
TOOLBOX FOR 2 ORDER SYSTEM & OBTAIN CONTROLLER SPECIFICATION
PARAMETERS.
OBJECTIVE : To determine Root Locus plot of a 2nd order system
THEORY: rlocus computes the Evans root locus of a SISO open-loop model. The root locus gives the
closed-loop pole trajectories as a function of the feedback gain k (assuming negative feedback). Root loci are
used to study the effects of varying feedback gains on closed-loop pole locations. In turn, these locations
provide indirect information on the time and frequency responses. rlocus(sys) calculates and plots the
rootlocus of the open-loop SISO model sys. This function can be applied to any of the following feedback
loops by setting sys appropriately. If sys has transfer function G(s) = 𝑁(𝑆) , The closed-loop poles are the
𝐷(𝑆)
roots of d(s) + k*n(s)=0
Example 1: Obtain Root Locus Plot of a system having forward path transfer function of G(s) =
1+𝑠
𝑠(1+0.5𝑠)

Matlab Code:

num = [1 1]
den = conv([1 0],[.5 1])
g = tf(num,den);
rlocus(g)

Output :

Example 2: Obtain Root Locus Plot of a system having forward path transfer function of G(s) =
1
𝑠(1+𝑠)(𝑠+2)

Matlab Code :
num = [1]
den = poly([0 -1 -2])
g = tf(num,den);

Page | 19
 CONTROL SYSTEM I LAB. MANUAL EE 593

rlocus(g)

Output :

Assignment:
Obtain Root Locus Plot of the following transfer function. Also verify your result theoretically.
(𝑠+6)
G(s) =
(3+𝑠)(𝑠+6)

DISCUSSION:
1. What is relative stability? How can you measure relative stability using Root locus?
2. What do you mean by break away point?
3. What is asymptotic line?

Page | 20
 EE 593 CONTROL SYSTEM I LAB. MANUAL

EXPERIMENT NO : CS -I/7
TILLE : DETERMINATION OF NYQUIST PLOT USING MATLAB CONTROL SYSTEM
TOOLBOX.
OBJECTIVE : To determine nyquist plot of a 2nd order system
THEORY: A stability test for time invariant linear systems can also be derived in the frequency domain. It is
known as Nyquist stability criterion. It is based on the complex analysis result known as Cauchy’s principle
of argument. Note that the system transfer function is a complex function. By applying Cauchy’s principle of
argument to the open-loop system transfer function, we will get information about stability of the closed-loop
system transfer function and arrive at the Nyquist stability criterion (Nyquist, 1932). The importance of
Nyquist stability lies in the fact that it can also be used to determine the relative degree of system stability by
producing the so-called phase and gain stability margins. These stability margins are needed for frequency
domain controller design techniques.
We present only the essence of the Nyquist stability criterion and define the phase and gain stability margins.
The Nyquist method is used for studying the stability of linear systems with pure time delay. For a SISO
feedback system the closed-loop transfer function is given by:

T(s) = 𝐺(𝑠)
1+𝐺(𝑠)𝐻(𝑠)
Since the system poles are determined as those values at which its transfer function becomes infinity, it
follows that the closed-loop system poles are obtained by solving the following equation.
In the following we consider the complex function
D(s) = 1 + 𝐺(𝑠)𝐻(𝑠)
whose zeros are the closed-loop poles of the transfer function. In addition, it is easy to see that the poles of
D(s) are the zeros of T(s) . At the same time the poles of are the open-loop control system poles since they
are contributed by the poles of , which can be considered as the open-loop control system transfer function—
obtained when the feedback loop is open at some point. The Nyquist stability test is obtained by applying the
Cauchy principle of argument to the complex function . First, we state Cauchy’s principle of argument.
Let F(s) be an analytic function in a closed region of the complex plane except at a finite number of points. It
is also assumed that F(s) is analytic at every point on the contour. Then, as travels around the contour in the -
plane in the clockwise direction, the function F(s) encircles the origin in the plane in the same direction N
times, given by N = Z-P
Where Z and P stand for the number of zeros and poles (including their multiplicities) of the function inside
the F(s) contour.
The above result can be also written as
Arg(F(s)) = 2πN
Nyquist Criterion:
It states that the number of unstable closed-loop poles is equal to the number of unstable open-loop poles plus
the number of encirclements of the origin of the Nyquist plot of the complex function D(s). This can be easily
justified by applying Cauchy’s principle of argument to the function D(s) with the -plane contour. Note that
and represent the numbers of zeros and poles, respectively, of in the unstable part of the complex plane. At

Page | 21
 CONTROL SYSTEM I LAB. MANUAL EE 593

the same time, the zeros of D(s) are the closed-loop system poles, and the poles of D(s) are the open-loop
system poles (closed-loop zeros).
The above criterion can be slightly simplified if instead of plotting the function D(s) = 1 + 𝐺(𝑠)𝐻(𝑠)
, we plot only the function 𝐺(𝑠)𝐻(𝑠) and count encirclement of the Nyquist plot of around the point (-1+j0)
, so that the modified Nyquist criterion has the following form. The number of unstable closed-loop poles (Z)
is equal to the number of unstable open-loop poles (P) plus the number of encirclements (N) of the point
(=1+j0),
Z=N+P

Example 1: Obtain Nyquist Plot of a system having forward path transfer function of

G(s) = 2+𝑠
(𝑠+1)(𝑠−1)
Matlab Code:

num = [1 2]
den = conv([1 1], [1 -1])
g = tf(num,den);
nyquist(g)

Output :

Example 2: Obtain Nyquist Plot of a ufb system having forward path transfer function of
G(s) = 1
𝑠(1+𝑠)(𝑠+2)

Page | 22
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Matlab Code :
num = [1]
a=[1 0]
b= [1 2 2]
den =conv(a,b)
g = tf(num,den)
nyquist(g)

Output :

Assignment:
Obtain Nyquist Plot of the following transfer function. Also verify your result theoretically.
(𝑠+8)
G(s) =
𝑠(3+𝑠)(𝑠+6)

DISCUSSION:
1. What is nyquist contour?
2. What is polar plot? How it differs from Nyquist plot?

Page | 23
 CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS- I/8

TILLE : STUDY THE EFFECT OF PI & PD CONTROLLER ON SYSTEM PERFORMANCE
OBJECTIVE : To determine
I. Effect of PI controller on system performance
II. Effect of PD controller on system performance
THEORY :
PID controllers use a 3 basic behavior types or modes: P - proportional, I - integrative and D - derivative.
While proportional and integrative modes are also used as single control modes, a derivative mode is
rarely used on it’ s own in control systems. Combinations such as PI and PD control are very often in
practical systems.
P Controller: In general it can be said that P controller cannot stabilize higher order processes. For the 1st
order processes, meaning the processes with one energy storage, a large increase in gain can be tolerated.
Proportional controller can stabilize only 1st order unstable process. Changing controller gain K can
change closed loop dynamics. A large controller gain will result in control system with: a) smaller steady
state error, i.e. better reference following b) faster dynamics, i.e. broader signal frequency band of the
closed loop system and larger sensitivity with respect to measuring noise c) smaller amplitude and phase
margin When P controller is used, large gain is needed to improve steady state error. Stable systems do
not have problems when large gain is used. Such systems are systems with one energy storage (1st order
capacitive systems). If constant steady state error can be accepted with such processes, than P controller
can be used. Small steady state errors can be accepted if sensor will give measured value with error or if
importance of measured value is not too great anyway.
PD Controller: D mode is used when prediction of the error can improve control or when it necessary to
stabilize the system. From the frequency characteristic of D element it can be seen that it has phase lead
of 90°.
Often derivative is not taken from the error signal but from the system output variable. This is done to
avoid effects of the sudden change of the reference input that will cause sudden change in the value of
error signal. Sudden change in error signal will cause sudden change in control output. To avoid that it is
suitable to design D mode to be proportional to the change of the output variable. PD controller is often
used in control of moving objects such are flying and underwater vehicles, ships, rockets etc. One of the
reason is in stabilizing effect of PD controller on sudden changes in heading variable y(t). Often a "rate
gyro" for velocity measurement is used as sensor of heading change of moving object.

PI Controller: PI controller will eliminate forced oscillations and steady state error resulting in operation
of on-off controller and P controller respectively. However, introducing integral mode has a negative
effect on speed of the response and overall stability of the system. Thus, PI controller will not increase
the speed of response. It can be expected since PI controller does not have means to predict what will
happen with the error in near future. This problem can be solved by introducing derivative mode which
has ability to predict what will happen with the error in near future and thus to decrease a reaction time of
the controller. PI controllers are very often used in industry, especially when speed of the response is not
an issue. A control without D mode is used when: a) fast response of the system is not required b) large
disturbances and noise are present during operation of the process c) there is only one energy storage in
process (capacitive or inductive) d) there are large transport delays in the system.

Page | 24
 EE 593 CONTROL SYSTEM I LAB. MANUAL

PID Controller: PID controller has all the necessary dynamics: fast reaction on change of the controller
input (D mode), increase in control signal to lead error towards zero (I mode) and suitable action inside
control error area to eliminate oscillations (P mode). Derivative mode improves stability of the system
and enables increase in gain K and decrease in integral time constant Ti, which increases speed of the
controller response. PID controller is used when dealing with higher order capacitive processes
(processes with more than one energy storage) when their dynamic is not similar to the dynamics of an
integrator (like in many thermal processes). PID controller is often used in industry, but also in the
control of mobile objects (course and trajectory following included) when stability and precise reference
following are required. Conventional autopilot is for the most part PID type controllers.
Effects of Coefficients:

1. Example 1: Consider a unity feedback system with forward path transfer function G(s) = 1 .
𝑠2 +10𝑠+20
Show the effect of addition of a PD controller on the system performance.

Matlab Code:

num=1;
den=[1 10 20];
g1=tf (num,den)
t1=feedback(g1,1)
step(t1,'g')
hold on
num1=10;
den1=[1 10 20];
g2=tf (num1,den1)
t2=feedback(g2,1)
step(t2,'m')
hold on
Kp=500;
Kd=10;
numc=[Kd Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t3=feedback(g3,1)
step(t3,'b')
hold on
Kp=500;
Kd=5;
numc=[Kd Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)
t4=feedback(g3,1)
step(t4,'y')
hold on
Kp=500;
Kd=.01;
numc=[Kd Kp];
numo=conv(numc,num)
deno=den
g3=tf(numo,deno)

Page | 25
 CONTROL SYSTEM I LAB. MANUAL EE 593

t5=feedback(g3,1)
step(t5,'r')
hold on
Output:

2. Consider a unity feedback system with forward path transfer function G(s) = 1
. Show the effect
𝑠2 +10𝑠+20
of addition of a PI controller on the system performance.

Matlab Code:

num=1;
den=[1 10 20];
g1=tf (num,den)
t1=feedback(g1,1)
step(t1,'g')
hold on
num1=10;
den1=[1 10 20];
g2=tf (num1,den1)
t2=feedback(g2,1)
step(t2,'m')
hold on
Kp=500;
Ki = 1
numc=[Kp Ki];
denc= [1 0]
numo=conv(numc,num)
deno=conv(den,denc)
g3=tf(numo,deno)
t3=feedback(g3,1)
step(t3,'b')
hold on
Kp=500;
Ki = 100
numc=[Kp Ki];
denc= [1 0]
numo=conv(numc,num)

Page | 26
EE 593 CONTROL SYSTEM I LAB. MANUAL

deno=conv(den,denc)
g3=tf(numo,deno)
t4=feedback(g3,1)
step(t4,'r')
hold on
Kp=500;
Ki = 500
numc=[Kp Ki];
denc= [1 0]
numo=conv(numc,num)
deno=conv(den,denc)
g3=tf(numo,deno)
t5=feedback(g3,1)
step(t5,'g')
hold on

Output:

Assignments:

1. Consider a unity feedback system with forward path transfer function G(s) = 1
. Show the
𝑠(𝑠+1.6)
effect of addition of a PD controller on the system performance.
2. Consider a unity feedback system with forward path transfer function G(s) = 1
. Show the
𝑠(𝑠+1.6)
effect of addition of a PI controller on the system performance.
3. Consider a unity feedback system with forward path transfer function G(s) = 1
. Show the
𝑠(𝑠+1.6)
effect of addition of a PID controller on the system performance.

Page | 27
 CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS -I/9
TILLE : STUDY THE EFFECT OF ADDITION OF ZEROS TO THE FORWARD PATH TRANSFER
FUNCTION OF A CLOSED LOOP SYSTEM
OBJECTIVE : To study
I. Effect of addition of zeros to forward path of a open loop system.
II. Effect of addition of zeros to forward path of a closed loop system.
THEORY: The forward path transfer function of general second order system is given by,

Addition of zero to forward path transfer function:

When we add a zero the forward path transfer function becomes,

Example 1. Consider a open loop system having forward path transfer function of G(S)=1/S*(S+1).
Write a MATLAB code to show the effect of addition of zeros at -2, -1, -0.5.

MATLAB CODE:
n1=1
d1=[1 1 0]
g1=tf(n1,d1)
t1=feedback(g1,1)
step(t1,'r')
hold on
Tz=0.5
Z1=[Tz 1]

Page | 28
EE 593 CONTROL SYSTEM I LAB. MANUAL

n2=conv(n1,Z1)
g2=tf(n2,d1)
t2=feedback(g2,1)
step(t2,'b')
hold on
Tz=1
Z2=[Tz 1]
n3=conv(n1,Z2)
g3=tf(n3,d1)
t3=feedback(g3,1)
step(t3,'y')
hold on
Tz=2
Z3=[Tz 1]
n4=conv(n1,Z3)
g4=tf(n4,d1)
t4=feedback(g4,1)
step(t4,'g')
hold on
Tz=3
Z4=[Tz 1]
n5=conv(n1,Z4)
g5=tf(n5,d1)
t5=feedback(g5,1)
step(t5,'m')

Page | 29
 CONTROL SYSTEM I LAB. MANUAL EE 593

Observation Table:

Tz Tr Tp Ts %Mp
0.5
1
2
3

Example 2. Consider a closed loop system having overall transfer function of T(S)=1/(S 2+S+1).
Write a MATLAB code to show the effect of addition of zeros at -2, -1, -0.5.

MATLAB CODE:
n1=[1]
d1=[1 1 1]
t1=tf(n1,d1)
step(t1,'r')
hold on
Tz=0.5
Z1=[Tz 1]
n2=conv(n1,Z1)
t2=tf(n2,d1)
step(t2,'b')
hold on
Tz=1
Z2=[Tz 1]
n3=conv(n1,Z2)
t3=tf(n3,d1)
step(t3,'y')
hold on
Tz=2
Z3=[Tz 1]
n4=conv(n1,Z3)
t4=tf(n4,d1)
step(t4,'g')
hold on
Tz=3
Z4=[Tz 1]
n5=conv(n1,Z4)
t5=tf(n5,d1)
step(t5,'m')

Page | 30
EE 593 CONTROL SYSTEM I LAB. MANUAL

Observation Table:

Tz tr Tp Ts %Mp
0.5
1
2
3
DISCUSSION:
1. Discuss the effect of adding zeros to overall transfer function on system response
curve.

Page | 31
 CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS- I/10

TILLE : STUDY THE EFFECT OF ADDITION OF POLES TO THE FORWARD PATH TRANSFER
FUNCTION OF A CLOSED LOOP SYSTEM
OBJECTIVE : To study
I. Effect of addition of poles to forward path of a open loop system.
II. Effect of addition of poles to forward path of a closed loop system.

The forward path transfer function of general second order system is given by,

Addition of pole to forward path transfer function:

When we add a pole, the transfer function becomes,

Page | 32
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Example 1. Consider a open loop system having forward path transfer function of G(S)=1/S*(S+2).
Write a MATLAB code to show the effect of addition of poles at -1, -0.5, -0.25.

Gnew(S)=[1/S*(S+2)]*[1/(TpS+1)]
MATLAB CODE :
n1=1
d1=[1 2 0]
g1=tf(n1,d1)
t1=feedback(g1,1)
step(t1,'r')
hold on
Tp=1
P1=[Tp 1]
d2=conv(d1,P1)
g2=tf(n1,d2)
t2=feedback(g2,1)
step(t2,'g')
hold on
Tp=2
P2=[Tp 1]
d3=conv(d1,P2)
g3=tf(n1,d3)
t3=feedback(g3,1)
step(t3,'b')
hold on
Tp=4
P3=[Tp 1]
d4=conv(d1,P3)
g4=tf(n1,d4)
t4=feedback(g4,1)
step(t4,'m')

Page | 33
 CONTROL SYSTEM I LAB. MANUAL EE 593

Observation Table:

Tp tr Tp Ts %Mp
1
2
4

Example 2. Consider a closed loop system having overall transfer function of T(S)=1/(S 2+ 0.6S+1).
Write a MATLAB code to show the effect of addition of zeros at -2, -1, -0.5.

MATLAB CODE:

n1=1
d1=[1 0.6 1]
t1=tf(n1,d1)
step(t1,'r')
hold on
Tp=1
P1=[Tp 1]
d2=conv(d1,P1)
t2=tf(n1,d2)
step(t2,'g')
hold on
Tp=2
P2=[Tp 1]
d3=conv(d1,P2)
t3=tf(n1,d3)
step(t3,'b')
hold on
Tp=4

Page | 34
EE 593 CONTROL SYSTEM I LAB. MANUAL

P3=[Tp 1]
d4=conv(d
1,P3)
t4=tf(n1,d4
)
step(t4,'m')

Observation Table:

Tp tr Tp ts %Mp
1
2
4

DISCUSSION:
1. Discuss the effect of adding poles to overall transfer function on system response curve.

Page | 35
 CONTROL SYSTEM I LAB. MANUAL EE 593

EXPERIMENT NO : CS -I/111

TITLE: STUDY OF POTENTIOMETER AS ERROR DETECTOR

Objectives: To study the Performance Characteristics of an angular Position Error Detector Using
Two potentiometer

Apparatus required:

Sl Apparatus Name Apparatus

Range
No Type

1 Potentiometer trainer
kit
2 DVM
3 Multmeter

Theory:
All feedback control systems operate from the error signal which is generated by
a comparison of the reference and the output. Error detectors perform the crucial
task of comparing the reference and output signals. In a purely electrical system
where the reference and output are voltages, the error detector is a simple comparator. In
some other systems with non-electrical outputs, the output signals converted into electrical
form through a measurement or transducer block, and then error detection is performed
on the electrical signals. A position control system, with both input and output variables
as mechanical positions (linear or angular), may however consist of two
potentiometers – reference and output, which function as an error detector. Other
devices which could be used in similar applications include Synchro sets (for
a.c. systems), sine-cosine potentiometers, hall effect-potentiometers etc. The
Potentiometer Error Detector consists of two identical potentiometers electrically
connected in parallel and supplied by a voltage source.
The symbolic circuit representation of a potentiometer error detector is shown in figure:

Circuit Diagram of Potentiometer Error Detector

Page | 36
EE 593 CONTROL SYSTEM I LAB. MANUAL

Panel Diagram Of potentiometer as error detector

Page | 37
 CONTROL SYSTEM I LAB. MANUAL EE 593

Procedure:
The critical features of potentiometer type error detector are the linearity & range of the potentiometer
used & the gain 𝑲𝒆 of the error detector.

Given below are the steps for their determination.

Linearity & Range of the potentiometer

The Linearity of potentiometer may be defined as the maximum percentage deviation

of the output voltage from its ideal. This may be better appreciated from a graph between the
potentiometer output & shaft position. Again the range of the potentiometer indicates the angle though
which proportional output available in the potentiometer.

Step By step – ( Error detector with DC Excitation )

Set the excitation switch to DC

Keep POT 2 fixed at any position & do not disturb its position.

TURN pot 1 IN STEPS OF 𝟐𝟎𝟎 (at 𝟏𝟎 interval when there is a sudden change in voltage record angular
position 01 & the output𝒗𝟎 .

Plot 𝒗𝟎 .vs. 𝜽𝟏 linearity & Range

Sl.No POT 1 𝜃 =𝜃 -𝜃 O/p voltage

1 10

2 30
3 50
4 70
5 90
6 110
7 130
8 150
9 170
10 180
11 190
12 210
13 230
14 250
15 270
16 290
17 310

Repeat for another position of POT 2

Page | 38
 EE 593 CONTROL SYSTEM I LAB. MANUAL

Observation table 1 ( Error detector with DC Excitation ) POT 2 Fixed at 𝟏𝟖𝟎𝟎 = 𝟎𝟐

Calculation: From the Graph between 𝒗𝟎 & 𝜽𝟏

∆𝑽𝟎
𝒌𝒆 = degree
∆𝜽𝒆

Page | 39