Control System Engineering Lab

Report

Ravi Singh

SID : 17104094

Branch: Electrical Engineering

Submitted to: Dr. Jagdish Kumar

Punjab Engineering College
Experiment 1: To Obtain Time Response of a First Order System for Various Inputs
Experiment 2: To Obtain Time Response of a Second Order System for Various Inputs
Experiment 3: To Simulate the Variation of Time Response of a Second Order System
for Various Values of Damping Ratio and Natural Frequency
Experiment 4: To Simulate P, PI, PD Controller for Second Order Underdamped
System 10
Experiment 5: To Simulate PID Controller for Second Order Underdamped System
Experiment 6: To Draw Root Locus of a Given System using MATLAB
Experiment 7: To Draw Bode Plot of a Given System using MATLAB

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Experiment 1: To Obtain Time Response of a First Order
System for Various Inputs

Theory
The system whose input-output equation is a first order differential equation is called first order system.
The order of the differential equation is the highest degree of derivative present in an equation
Response of a first order system
The degree of differential equation is one.

1. Unit Step Response of First Order System

The Transfer function of input is: R(s)=1/s

Therefore the unit step response is:

Expanding in Partial fraction:

Take the inverse Laplace transform: y (t) = 1 – e-t/T

Simulink Model

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Result of Simulation

Result: Step response for given transfer function is obtained.

Experiment 2: To Obtain Time Response of a Second Order

System for Various Inputs

Theory
The order of a differential equation is the highest degree of derivative present in that equation. A system
whose input-output equation is a second order differential equation is called Second Order System.
There are a number of factors that make second order systems important. They are simple and exhibit
oscillations and overshoot. Higher order systems are based on second order systems. In case of
mechanical second order systems, energy is stored in the form of inertia whereas in case of electrical
systems, energy can be stored in a capacitor or inductor.
Standard form of second order system is given by:

Where:
ωn is the natural frequency
ζ is the damping ratio
If 0< ζ <1, system is named as Damped System
If < ζ =1, system is named as Critically Damped System
If < ζ >1, system is named as Over Damped System

We will use two standard inputs, Unit and Ramp

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Simulink Model

Step Response Of Second Order System

Ramp Response Of Second Order System

Result of Simulation

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Result: Step response and Ramp response of system is obtained for transfer functions.

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Experiment 3: To Simulate the Variation of Time Response of
a Second Order System for Various Values of Damping Ratio
and Natural Frequency

Theory

The damping ratio is a dimensionless measure describing how oscillations in a system decay after a
disturbance. Many systems exhibit oscillatory behaviour when they are disturbed from their position of
static equilibrium. A mass suspended from a spring, for example, might, if pulled and released, bounce
up and down. On each bounce, the system tends to return to its equilibrium position, but overshoots it.
Sometimes losses (e.g. frictional) damp the system and can cause the oscillations to gradually decay in
amplitude towards zero or attenuate. The damping ratio is a measure describing how rapidly the
oscillations decay from one bounce to the next.

Natural frequency is the frequency at which a system tends to oscillate in the absence of any driving or
damping force.
If the oscillating system is driven by an external force at the frequency at which the amplitude of its motion
is greatest (close to a natural frequency of the system), this frequency is called resonant frequency.

Simulink Model

Results and Conclusion

Natural Frequency = 10 rad/sec

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As zeta is changed, the damping of the system is changed.

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Experiment 4: To Simulate P, PI Controller for Second Order
Underdamped System
Software Used
MATLAB R2017a

Theory
PID controller is universally accepted and most commonly used controller in industrial application because
PID controller is simple, provide good stability and rapid response. PID stands for proportional, integral,
derivative. In each application, coefficient of these three actions are varied to get optimal response and
control. Controller input is error signal and output is given to the plant/process. Output signal of controller is
generated, in such a way that, output of plant is try to achieve desired value.

Increasing the proportional gain ( ) has the effect of proportionally increasing the control signal for the
same level of error. The fact that the controller will "push" harder for a given level of error tends to cause
the closed-loop system to react more quickly, but also to overshoot more. Another effect of
increasing is that it tends to reduce, but not eliminate, the steady-state error.

The addition of a derivative term to the controller ( ) adds the ability of the controller to "anticipate"
error. With simple proportional control, if is fixed, the only way that the control will increase is if the
error increases. With derivative control, the control signal can become large if the error begins sloping
upward, even while the magnitude of the error is still relatively small. This anticipation tends to add
damping to the system, thereby decreasing overshoot. The addition of a derivative term, however, has no
effect on the steady-state error.

The addition of an integral term to the controller ( ) tends to help reduce steady-state error. If there is a
persistent, steady error, the integrator builds and builds, thereby increasing the control signal and driving
the error down. A drawback of the integral term, however, is that it can make the system more sluggish
(and oscillatory) since when the error signal changes sign, it may take a while for the integrator to
"unwind."

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Simulink Model

System without Controller

P Controller

PD Controller

PI Controller

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Results

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Experiment 5: To Simulate PID Controller for Second Order
Underdamped System

Theory
PID controller is universally accepted and most commonly used controller in industrial application
because PID controller is simple, provide good stability and rapid response. PID stands for
proportional, integral, derivative. In each application, coefficient of these three actions are varied to
get optimal response and control. Controller input is error signal and output is given to the plant/process.
Output signal of controller is generated, in such a way that, output of plant is try to achieve desired
value. Mathematical equation of PD controller is as shown below.

Applications of PID controller:

Temperature control:

Let us take an example of AC (air-conditioner) of any plant/process. Set point is temperature (20 ͦ C) and
current measured temperature by sensor is 28 ͦ C. Our aim is to run AC at desired temperature (20 ͦ C). Now,
controller of AC, generate signal according to error (8 ͦ C) and this signal is given to the AC. According to
this signal, output of AC is changed and temperature decrease to 25 ͦ C. further same process will repeat until
temperature sensor measure desired temperature. When error is zero, controller will give stop command to
AC and again temperature will increase up to certain value and again error will generate and same process
repeated continuously.

Power electronics converter:

PID controller is most useful in power electronics application like converters. If a converter is connected with
system, according to change in load, output of converter must change. For example, an inverter is connected
with load, if load increase more current will flow from inverter. So, voltage and current parameter is not fix,
it will change according to requirement. In this condition, PID controller is used to generate PWM pulses for
switching of IGBTs of inverter. According to change in load, feedback signal is given to controller and it will
generate error. PWM pulses are generated according to error signal. So, in this condition we can get variable
input and variable output with same inverter.

Simulink Model

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Result

Result: We se that system has reached its value quite within 1 second without any overshoot and
oscillations about steady value.

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Experiment 6: To Draw Root Locus of a Given System using
MATLAB

Theory:

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MATLAB Program

Output

Result: Root Locus of Given transfer Function is obtained.

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Experiment 7: To Draw Bode Plot of a Given System using
MATLAB

Theory
Bode plot is the graphical tool for drawing the frequency response of a system.

It is represented by two separate plots, one is the magnitude vs. frequency and the other one is phase vs.
frequency. The magnitude is expressed in dB and the frequency is generally plotted in log scale.

One of the advantages of the Bode plot in s-domain is that the magnitude curve can be approximated by
straight lines which allows the sketching of the magnitude plot without exact computation.
Consider a system with transfer function H(s). Assume that the system is subject to a sinusoidal input
with frequency ω.
u(t)=sin(ωt)
y(t)=y0sin(ωt)
It can be shown that magnitude of frequency response is, y0=|𝑯(𝒋𝝎)|
and that the phase shift is arg(H(jω))

MATLAB Program

Output

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