Submitted To: PROF.

JAGDISH
KUMAR
[Draw your reader in with an
engaging abstract. It is typically a
short summary of the document.
When youre ready to add your
content, just click here and start
typing.]

MODERN
CONTROL
SYSTEM LAB
Submitted By: Tanuj Kumar
12104025
Electrical 4Th year

EXPERIMENT -1
AIM TO STUDY THE POLE PLACEMENT DESIGN

clc
clear all
close all
s=tf('s')
g=((0.3158^2)/(s*s+2*3.166*0.3158*s+0.3158^2))
pole(g)
A = [-0.313 56.7 0; -0.0139 -0.426 0; 0 56.7 0];
B = [0.232; 0.0203; 0];
C = [0 0 1];
D = [0];
sys = ss(A,B,C,D);
% t = 0:0.1:10;
% u = 500*ones(size(t));
p1 = -1.9485;
p2= -0.0512;
p3= -2
K = place(A,B,[p1,p2,p3])
sys_cl = ss(A-B*K,B,C,D);
figure(1);
step(sys*10,200);
hold on;
figure(2);
step(sys_cl*10,200);
axis([0 200 0 10])

EXPERIMENT -2
AIM TO STUDY THE LINEAR QUADRATIC REGULATOR (LQR)
clc
clear all
close all
s=tf('s')
g=((0.3158^2)/(s*s+2*3.166*0.3158*s+0.3158^2))
pole(g)
A = [-0.313 56.7 0; -0.0139 -0.426 0; 0 56.7 0];
B = [0.232; 0.0203; 0];
C = [0 0 1];
D = [0];
sys = ss(A,B,C,D);
% t = 0:0.1:10;
% u = 500*ones(size(t));
p = 2;
Q = p*C'*C
R = 1;
[K] = lqr(A,B,Q,R)
sys_cl = ss(A-B*K, B, C, D);
figure(1);
step(sys*10,200);
ylabel('pitch angle (rad)');
title('Step Response of aircraft ');
hold on
figure(2);
step(10*sys_cl)
ylabel('pitch angle (rad)');
title('Closed-Loop Step Response of aircraft: LQR');
axis([0 200 0 10])

EXPERIMENT NO -3
AIM DESIGN OF DISCRETE PID CONTROLLER
sys=tf([2,3],[5,4])
Kp= 5
s=tf('s')
for Ki = 1:10:100
K=Kp+(Ki/s)
sys_cl= feedback((sys*K),1)
step(sys_cl)
hold on
end
Fuzzy PID
[System]
Name='PID_FUZZY'
Type='mamdani'
Version=2.0
NumInputs=2
NumOutputs=3
NumRules=75
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'
[Input1]
Name='e'
Range=[-20 160]
NumMFs=5
MF1='NL':'trimf',[-65 -20 25]
MF2='NS':'trimf',[-20 25 70]
MF3='ZE':'trimf',[25 70 115]
MF4='PS':'trimf',[70 115 160]
MF5='PL':'trimf',[115 160 205]
[Input2]
Name='edot'
Range=[-20 160]
NumMFs=5
MF1='NL':'trimf',[-65 -20 25]
MF2='NS':'trimf',[-20 25 70]
MF3='ZE':'trimf',[25 70 115]
MF4='PS':'trimf',[70 115 160]
MF5='PL':'trimf',[115 160 205]
[Output1]

Name='kp'
Range=[0 30]
NumMFs=7
MF1='PVL':'trimf',[-5 -5.551e-017 5]
MF2='PL':'trimf',[0 5 10]
MF3='PML':'trimf',[5 10 15]
MF4='PM':'trimf',[10 15 20]
MF5='PMS':'trimf',[15 20 25]
MF6='PS':'trimf',[20 25 30]
MF7='PVS':'trimf',[25 30 35]
[Output2]
Name='ki'
Range=[0 60]
NumMFs=7
MF1='PVL':'trimf',[-10 0 10]
MF2='PL':'trimf',[0 10 20]
MF3='PML':'trimf',[10 20 30]
MF4='PM':'trimf',[20 30 40]
MF5='PMS':'trimf',[30 40 50]
MF6='PS':'trimf',[40 50 60]
MF7='PVS':'trimf',[50 60 70.02]
[Output3]
Name='kd'
Range=[0 6]
NumMFs=7
MF1='PVL':'trimf',[-1 0 1]
MF2='PL':'trimf',[0 1 2]
MF3='PML':'trimf',[1 2 3]
MF4='PM':'trimf',[2 3 4]
MF5='PMS':'trimf',[3 4 5]
MF6='PS':'trimf',[4 5 6]
MF7='PVS':'trimf',[5 6 7.002]
[Rules]
1 1, 1 0 0 (1) : 1
1 2, 1 0 0 (1) : 1
1 3, 1 0 0 (1) : 1
1 4, 1 0 0 (1) : 1
1 5, 1 0 0 (1) : 1
2 1, 3 0 0 (1) : 1
2 2, 3 0 0 (1) : 1
2 3, 3 0 0 (1) : 1
2 4, 2 0 0 (1) : 1
2 5, 1 0 0 (1) : 1
3 1, 7 0 0 (1) : 1
3 2, 7 0 0 (1) : 1
3 3, 6 0 0 (1) : 1
3 4, 5 0 0 (1) : 1
3 5, 5 0 0 (1) : 1

4 1, 3 0 0 (1) : 1
4 2, 3 0 0 (1) : 1
4 3, 3 0 0 (1) : 1
4 4, 2 0 0 (1) : 1
4 5, 1 0 0 (1) : 1
5 1, 1 0 0 (1) : 1
5 2, 1 0 0 (1) : 1
5 3, 1 0 0 (1) : 1
5 4, 1 0 0 (1) : 1
5 5, 1 0 0 (1) : 1
1 1, 0 4 0 (1) : 1
1 2, 0 4 0 (1) : 1
1 3, 0 4 0 (1) : 1
1 4, 0 4 0 (1) : 1
1 5, 0 4 0 (1) : 1
2 1, 0 5 0 (1) : 1
2 2, 0 5 0 (1) : 1
2 3, 0 5 0 (1) : 1
2 4, 0 5 0 (1) : 1
2 5, 0 5 0 (1) : 1
3 1, 0 6 0 (1) : 1
3 2, 0 6 0 (1) : 1
3 3, 0 7 0 (1) : 1
3 4, 0 6 0 (1) : 1
3 5, 0 6 0 (1) : 1
4 1, 0 5 0 (1) : 1
4 2, 0 5 0 (1) : 1
4 3, 0 5 0 (1) : 1
4 4, 0 5 0 (1) : 1
4 5, 0 5 0 (1) : 1
5 1, 0 4 0 (1) : 1
5 2, 0 4 0 (1) : 1
5 3, 0 4 0 (1) : 1
5 4, 0 4 0 (1) : 1
5 5, 0 4 0 (1) : 1
1 1, 0 0 7 (1) : 1
1 2, 0 0 5 (1) : 1
1 3, 0 0 4 (1) : 1
1 4, 0 0 2 (1) : 1
1 5, 0 0 1 (1) : 1
2 1, 0 0 5 (1) : 1
2 2, 0 0 3 (1) : 1
2 3, 0 0 2 (1) : 1
2 4, 0 0 1 (1) : 1
2 5, 0 0 1 (1) : 1
3 1, 0 0 4 (1) : 1
3 2, 0 0 2 (1) : 1
3 3, 0 0 2 (1) : 1
3 4, 0 0 1 (1) : 1
3 5, 0 0 1 (1) : 1
4 1, 0 0 3 (1) : 1

4 2, 0 0 1 (1) : 1
4 3, 0 0 1 (1) : 1
4 4, 0 0 1 (1) : 1
4 5, 0 0 1 (1) : 1
5 1, 0 0 1 (1) : 1
5 2, 0 0 1 (1) : 1
5 3, 0 0 1 (1) : 1
5 4, 0 0 1 (1) : 1
5 5, 0 0 1 (1) : 1

[System]
Name='PRI'
Type='mamdani'
Version=2.0
NumInputs=2
NumOutputs=3
NumRules=75
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'
[Input1]
Name='e'
Range=[-20 160]
NumMFs=5
MF1='NL':'trimf',[-65 -20 25]
MF2='NS':'trimf',[-20 25 70]
MF3='ZE':'trimf',[25 70 115]
MF4='PS':'trimf',[70 115 160]
MF5='PL':'trimf',[115 160 205]
[Input2]
Name='edot'
Range=[-20 160]
NumMFs=5
MF1='NL':'trimf',[-65 -20 25]
MF2='NS':'trimf',[-20 25 70]
MF3='ZE':'trimf',[25 70 115]
MF4='PS':'trimf',[70 115 160]
MF5='PL':'trimf',[115 160 205]
[Output1]

Name='kp'
Range=[0 30]
NumMFs=7
MF1='PVL':'trimf',[-5 -5.551e-017 5]
MF2='PL':'trimf',[0 5 10]
MF3='PML':'trimf',[5 10 15]
MF4='PM':'trimf',[10 15 20]
MF5='PMS':'trimf',[15 20 25]
MF6='PS':'trimf',[20 25 30]
MF7='PVS':'trimf',[25 30 35]
[Output2]
Name='ki'
Range=[0 60]
NumMFs=7
MF1='PVL':'trimf',[-10 0 10]
MF2='PL':'trimf',[0 10 20]
MF3='PML':'trimf',[10 20 30]
MF4='PM':'trimf',[20 30 40]
MF5='PMS':'trimf',[30 40 50]
MF6='PS':'trimf',[40 50 60]
MF7='PVS':'trimf',[50 60 70.02]
[Output3]
Name='kd'
Range=[0 6]
NumMFs=7
MF1='PVL':'trimf',[-1 0 1]
MF2='PL':'trimf',[0 1 2]
MF3='PML':'trimf',[1 2 3]
MF4='PM':'trimf',[2 3 4]
MF5='PMS':'trimf',[3 4 5]
MF6='PS':'trimf',[4 5 6]
MF7='PVS':'trimf',[5 6 7.002]
[Rules]
1 1, 1 0 0 (1) : 1
1 2, 1 0 0 (1) : 1
1 3, 1 0 0 (1) : 1
1 4, 1 0 0 (1) : 1
1 5, 1 0 0 (1) : 1
2 1, 3 0 0 (1) : 1
2 2, 3 0 0 (1) : 1
2 3, 3 0 0 (1) : 1
2 4, 2 0 0 (1) : 1
2 5, 1 0 0 (1) : 1
3 1, 7 0 0 (1) : 1
3 2, 7 0 0 (1) : 1
3 3, 6 0 0 (1) : 1
3 4, 5 0 0 (1) : 1
3 5, 5 0 0 (1) : 1

4 1, 3 0 0 (1) : 1
4 2, 3 0 0 (1) : 1
4 3, 3 0 0 (1) : 1
4 4, 2 0 0 (1) : 1
4 5, 1 0 0 (1) : 1
5 1, 1 0 0 (1) : 1
5 2, 1 0 0 (1) : 1
5 3, 1 0 0 (1) : 1
5 4, 1 0 0 (1) : 1
5 5, 1 0 0 (1) : 1
1 1, 0 4 0 (1) : 1
1 2, 0 4 0 (1) : 1
1 3, 0 4 0 (1) : 1
1 4, 0 4 0 (1) : 1
1 5, 0 4 0 (1) : 1
2 1, 0 5 0 (1) : 1
2 2, 0 5 0 (1) : 1
2 3, 0 5 0 (1) : 1
2 4, 0 5 0 (1) : 1
2 5, 0 5 0 (1) : 1
3 1, 0 6 0 (1) : 1
3 2, 0 6 0 (1) : 1
3 3, 0 7 0 (1) : 1
3 4, 0 6 0 (1) : 1
3 5, 0 6 0 (1) : 1
4 1, 0 5 0 (1) : 1
4 2, 0 5 0 (1) : 1
4 3, 0 5 0 (1) : 1
4 4, 0 5 0 (1) : 1
4 5, 0 5 0 (1) : 1
5 1, 0 4 0 (1) : 1
5 2, 0 4 0 (1) : 1
5 3, 0 4 0 (1) : 1
5 4, 0 4 0 (1) : 1
5 5, 0 4 0 (1) : 1
1 1, 0 0 7 (1) : 1
1 2, 0 0 5 (1) : 1
1 3, 0 0 4 (1) : 1
1 4, 0 0 2 (1) : 1
1 5, 0 0 1 (1) : 1
2 1, 0 0 5 (1) : 1
2 2, 0 0 3 (1) : 1
2 3, 0 0 2 (1) : 1
2 4, 0 0 1 (1) : 1
2 5, 0 0 1 (1) : 1
3 1, 0 0 4 (1) : 1
3 2, 0 0 2 (1) : 1
3 3, 0 0 2 (1) : 1
3 4, 0 0 1 (1) : 1
3 5, 0 0 1 (1) : 1
4 1, 0 0 3 (1) : 1

4 2, 0 0 1 (1) : 1
4 3, 0 0 1 (1) : 1
4 4, 0 0 1 (1) : 1
4 5, 0 0 1 (1) : 1
5 1, 0 0 1 (1) : 1
5 2, 0 0 1 (1) : 1
5 3, 0 0 1 (1) : 1
5 4, 0 0 1 (1) : 1
5 5, 0 0 1 (1) : 1

EXPERIMENT - 4
AIM TO STUDY THE PHASE PLANE ANALYSIS
[x1,x2]=meshgrid(-1.5:.05:-.5,0:0.05:1);
x1dot= x1+2*x2;
x2dot=x1*x1-2*x2;
quiver(x1,x2,x1dot,x2dot);

[x1,x2]=meshgrid(-2:.2:2,-2:0.2:2);
x1dot= x1+2*x2;
x2dot=x1.*x1-2*x2;
quiver(x1,x2,x1dot,x2dot);

Phase Plane pendulum

L=1;
g=9.81;
[x1,x2]=meshgrid(-5:.2:5,-3:0.2:3);
x1dot= x2;
x2dot=-g/L*sin(x1);
quiver(x1,x2,x1dot,x2dot);