Control and Instrumentation: Assignment

CONTROL AND
INSTRUMENTATION
Assignment
Syed Zain Ali Hashmi (eau0113020)
Mohammad Ammar
Sagar Manzoor(EAU0910297)
Mohammad Nour
[DATE]
Contents
Acknowledgment .......................................................................................................................................... 2
Introduction .................................................................................................................................................. 3
Task 1:1......................................................................................................................................................... 4
Task 1: 2 – Routh-Hurwitz Stability Criterion............................................................................................ 10
Task 1:3 PID Controller .............................................................................................................................. 14
PID controller.......................................................................................................................................... 14
Proportional control ................................................................................................................................ 15
Integral control:....................................................................................................................................... 16
Derivative control ................................................................................................................................... 16
Overall signal: ......................................................................................................................................... 17
Task 2:1 Differential equation method ....................................................................................................... 18
Task 2:2 Direct method ............................................................................................................................... 20
Task 2:3 Matlab output response ................................................................................................................ 23
Task 3:1 Differential equation .................................................................................................................... 24
Task 3:2 Transfer function .......................................................................................................................... 25
Task 3:3 Simulink......................................................................................................................................... 26
Task 4:1 Experiment readings .................................................................................................................... 27
Rise time ................................................................................................................................................. 28
Peak time................................................................................................................................................. 28
Overshoot ................................................................................................................................................ 29
Settling time (2%) ................................................................................................................................... 29
Steady state output voltage ..................................................................................................................... 30
Figure1M: Experiment readings shows the Steady state output voltage ................................................. 30
Task 4:2 Differential equation .................................................................................................................... 30
Table of Figures ........................................................................................................................................... 34
References .................................................................................................................................................. 35
Controls and Instrumentation Assignment#1-Group -10 1|Page

Acknowledgment
We would like to take this opportunity to acknowledge the aid offered to us by the Emirates
Aviation University faculty members, library and my instructor Miss Rita for cooperating and
guiding us to achieve our goal. We humbly thank Miss Rita for his utmost help in this Assignment.
Our family has been helping us tremendously in this project to achieve our best. However we are
also thankful and all group members who helped us to gain more or less information regarding
this idea which made this assignment very successful providing us with the most important data
regarding this assignment and my friends.

Introduction
The new era of 21st century is globalized and very advanced due to the education which
introduces technology and these technologies are consumed by everyone as individual and
globally.
The Assignment has vital topics concerning the root locus analysis method is used to examine
control systems stability. One of the greatest innovations of mankind; A 21th century industrial
revolution that has completely transformed the way we live today. A creation that has taken
the aviation industry to a whole new level, the knowledge used to make aircraft air worthy is
aided through engineering design and control systems. A stable system is a dynamic system
with a bounded response to a bounded input. The Routh-Hurwitz Stability Criterion, It was
discovered that all coefficients of the characteristic polynomial must have the same sign and
non-zero if all the roots are in the left-hand plane. We used two software’s Matlab and
multisum to fiulfil the requirement of the assignment. We used PID controller and explained it
briefly about its importance. We used the differential equation method. 2. The Laplace
transform method (the direct method).Last but the the least we used differential equation of
the mechanical system.

Task 1:1
The Concept of Stability
The concept of stability can be illustrated by a cone placed on a
plane horizontal surface.
An essential and adequate condition for a feedback system to be

stable is that all the posts of the system transfer function have
negative genuine parts. A system is considered imperceptibly
stable if certain limited inputs will bring about a limited yield.
THE ROOT LOCUS ANALYSIS
The root locus analysis is a type of analysis that is put to use in order Figure#1:The concept of Stability
to scrutinize a system’s stability. The outcome of this analysis is a

graph. The graph exhibits information in regard of a control system’s behavior that is when the
controller is present. The outcome graph of the root locus analysis helps one in determining and
attaining both the transient response and the stability of the system undergoing the analysis.
Types of root locus analysis
There are two types of root locus analysis, they are categorized as follows:
1. Root locus analysis for a open loop system
In the case that the transfer function of an open loop system was previously determined, then it is
possible to attain the root locus for that specific system. The poles in a open loop system could
be identified. The identification of the poles is possible by scrutinizing the open loop system.The
poles in the open loop system have a somewhat neutral reaction to the change of gain.
2. And another analysis for a closed loop system
Assuming that the root locus of a specific system was previously

attained. Due to the information from the root locus, it becomes easy to
foretell the characteristics of that closed loop system, such as the system’s
behavior or even the response speed.
Block diagram 1 closed loop control system

The root locus of a control system can be determined by examining the system first.To attain the
root locus of a system, it is a nesseccity to scrutinize the system as a first step, to give an
example, take the block diagram in BLOCK DIAGRAM 1, it is a closed loop system, where the
circuit consists of
i. controller ‘’k’’
1
ii. proportional controller 𝑠+𝑎
iii. a simple feedback to control the first order system

iv. and a alterable gain ‘’k’’
In this system, we can determine the poles easily due to the fact that this system is a first order
system. To determine the poles of the system we equate the denominator of the proportional
controller to ZERO. As in  s+a=0. Taking ‘’a’’ to the other side the equation then becomes 
s=-a. From there, we get the understanding that there is only one single pole in this closed loop
control system.
As we know, the transfer function of a system, is the output of the system over the input of the
system, therefore, the transfer function of the example is:
𝜃𝑜𝑢𝑡 𝐾
=
𝜃𝑖𝑛 𝑠+𝑎+𝐾
The goal is to determine the behavior or the reaction of the system. It is also important to note
that the pole of the closed loop system, is the key element that points out the behaviour of the
closed loop behavior or reaction.
Since we have acquired the transfer function of the

system, we can determine the pole of the system by
equating the denominator to zero as follows:
S+A+K=0
S=-A-K
Figure 2 the root locus analysis - poles of the closed loop system

As a result of changing the gain of the system, the pole of the closed loop system, changes place,
meaning there is a displacement. In the example, we can see from FIGURE 1 that “A” is equal to
1. When the gain starts changing and when it starts to move away from zero, it reaches a limit
where the pole of the system just does not appear on the graph anymore. It is very simple to
skecth the root locus graph given that we possess the features of the root locus, where the is
accomplishable without even doing any sort of factorizing on the denominator, given that the
system is a closed loop system.
The transfer function of a closed loop system is as a follows:
𝐾𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐾𝐺(𝑠)𝐻(𝑠)
It is only when the denominator approaches the value ZERO, the pole of the system starts
appearing. From the transfer function of the closed loop system, if we equate the denominator to
ZERO, we get the following:
𝐾𝐺(𝑠)𝐻(𝑆) = −1
1⌊(2𝑘 + 1)180o. 𝑘 = 0 ± 1, ±2, …
1 1 𝑝𝑜𝑙𝑒 𝑙𝑒𝑛𝑔𝑡ℎ
Similarly, 𝐾 = |𝐺(𝑠)𝐻(𝑠)| = 𝑀 = 𝑧𝑒𝑟𝑜 𝑙𝑒𝑛𝑔𝑡ℎ
In terms of the open loop system, assuming we have already figured out both the poles and zeros
of the open loop transfer function G(s)H(s), on the graph of the root locus, there is a point on the
s-plane, which is specified for a specific value of gain, upon meeting the condition that the sum
of the angles of the zeros and the poles (angle of zeros – angle of poles= (sk+1)180o ) where the
angles have been drawn up to the selected point on the s-plane, they sum up to (sk+1) 180o ).
There are some systems, that have a unity feedback. Such systems have a forward path transfer
function. The transfer function is presented as follows:
𝐾(𝑠 + 2)
𝐺(𝑠) =
(𝑆ᶺ2 + 4𝑠 + 13)

Root locus – rules of sketching
There are some rules that we have to oblige to when drawing the graph of the root locus analysis
of any system. The rules are as follows:
1. Number of Branches - A
2. Symmetry - B
3. Real Axis Segment - C
4. Starting and Ending Points - D
5. Behavior at Infinity - E
6. Real Axis Breakaway and Break-in Points - F
7. Finding jѠ axis crossing - G
8. Angle of Departure and arrival from complex poles and zeros - H
Further explanation of each rule is in the following paragraph.
A. In a closed system, the number of poles is equal to the number of

branches of the root locus.
Figure 3 the figure shows that the

number of poles is equal to the number of
branches of the root locus
B. It is a must that the root locus has to be symmetrical. The symmetry is about the real axis.
The symmetry is about the real axis
Figure 4 shows the

symmetry of the root
locus about the real axis

C. If K is greater than ZERO, then root locus appears on the left side of an odd number on
the real axis.
a. An example system 
b. The graph 
c. The zeros and the poles 
Figure 5 the finite open loop pole or sometimes zeros appear to the left of an odd number (root locus)
D.
It is at the poles G(s)H(s) where the root locus starts.
And it is at the zeros G(s)H(s) where the root locus ends.
It is possible that the zeros and the poles be finite or even infinite, however that is entirely
dependent on the system undergoing the analysis.
When both the function and the “s” are reaching infinity, when this happens, then the pole of the
function is identified as infinity.
When the function is approaching zero when on the other hand the “s” approaches infinity, when
this happens, then the zero of the function is identified as infinite zero.

End
Start Figure 6 the start and

end points of the root
locus
E. Both the asymptotes start to approach zero, in the same time the function starts
approaching a straight line.
F. The point where the root locus departs from the real axis σ1 is known as the break away
point. Where on the other hand the point where the root locus enters or arrives at a real
axis is known as the break in point.
Break away
Break in
Figure 7 shows the break away point
and the break in point on the root
locus graph
G. The point that parts the stable and unstable operations of the system from each other is
known as the jѠ axis crossing, where this point is on the root locus graph. The term Ѡ
illustrates that the axis crossing possess the oscillation frequency. On the other hand the
system illustrates the optimum positive gain of stability at jѠ axis crossing gain.
H. The angle of departure is defined as the angle which is created, once the root locus leaves
from either a complex pole/zero, or even leaves both of them together. On the other hand,
the angle of arrival is defined as the angle created upon the arrival of the root locus from
the complex poles and zeros.

The pros of the Root Locus analysis:
The list bellow shows the pros of the root locus analysis:
 The root locus analysis is much easier to conduct in comparison with other analyses.
 Upon conduction of the root locus analysis, it becomes simple to foretell the performance
of the system, and some of its other characteristics.
 This type of analysis shows the parameters of the system in a much easier and better
approach
Task 1: 2 – Routh-Hurwitz Stability Criterion

The stability of linear control systems is determined by knowing the location of the roots of the
characteristic equation, the denominator of the system’s
transfer function. In order for a system to be stable, all the
characteristic equation roots should lie in the left half
plane (LHP). This means that it should have negative real
components only. For a control system which has a
transfer function as shown below,
𝑁(𝑠) Figure 8
H(s) = 𝐷(𝑠)
D(s) is the characteristic equation.
The roots of the characteristic equation are exactly same as the poles of the transfer function. For
example:
1
H(s) = 𝑠+𝑎
 This is a transfer function with one single pole

 “a” is a variable that can be positive or negative (a > 0 or a < 0)
 The characteristic equation is (s + a)
In order to find the poles of the transfer function, we need to find the roots of the characteristic
equation by equating it to zero
Controls and Instrumentation Assignment#1-Group -10 10 | P a g e

s+a=0
s=-a
 It can be seen that “s” and “a” have opposite sings
By taking the inverse Laplace of H(s), we obtain:
ℒ -1[H(s)] = 𝑒 −𝑎𝑡 = 𝑒 𝑠𝑡
 The roots of the characteristic equation in this example are (- a) and (s)
The signal in this case tends to approach the zero line as time approaches infinity. This indicates
that the system is stable since any signal into this transfer function will ultimately die out.
If the root in a different system lies in the right half plane (RHP), the system will be considered
unstable. In case of several roots of the characteristic equation, a single root would make the
system unstable if it lies in the RHP.
Ultimately, the stability of a control system is determined by solving for the roots of its
characteristic equation. However, this method is not practical and considered time-consuming in
case the characteristic polynomial is of high power like 4 and higher (e.g. 12s5+14s3+3s+11).
Therefore, there are different methods that can be used to determine a control system’s stability
without solving for the characteristic equation roots directly. One of these methods is using the
“Routh-Hurwitz” criterion.
The Routh-Hurwitz criterion states that all roots of a polynomial lie in the LHP, if and only if a
certain set of algebraic combinations of the coefficients have the same sign. This means that we
do not have to solve for the roots any more. The stability of a system can be determined by only
looking at the signs of the polynomial coefficients.

Below, we will be demonstrating how to use this test in determining the system stability with the
aid of some examples to make it easier to understand.
Let’s take an example of a system with transfer function of
1
G(s) = 𝑆4 + 3𝑆3 − 5𝑆2 + 𝑆+2
This system is unstable due to the negative sign of the term (5S2) which is different compared to
the signs of the other terms. Hence, we can conclude that a whole entire system is said to be
unstable if any coefficient has a negative sign. The negative coefficient must come from a root in
the RHP, therefore the system is unstable. However, a system can still be possibly unstable while
having only positive coefficients.
Another thing that should be pointed is that there is no difference between having all negative
values or positive values of coefficients. That’s basically because if all the coefficients are
negative, (-1) can be taken as a common factor from all the terms. This makes all of them
positive and then later on, this factor will be eliminated by division when we equate the
characteristic equation to zero in order to solve it.
-S4-S3-S2-S-1 = (-1)(S4+S3+S2+S+1) = 0
S4+S3+S2+S+1 = 0
Another example is a system with a transfer function of
1 1 1
G(s) = 𝑆2 − 𝑆+4 × 𝑆+2 × 𝑆+1
The roots are: 0.5±𝑗√3.75 , -2 , -1
But, by multiplying the three poles, we get
1
G(s) = 𝑆4 + 2𝑆3 + 3𝑆2 + 10𝑆+8
This shows that even though the coefficients are all positive, the system is unstable.
In the previous example, using the Routh-Hurwitz criterion did not give us the right answer. It
did not help us in determining the stability of the system. Therefore, for such cases, the “Routh

Array” was developed. The Routh array is a table which can be populated with the coefficients
of the polynomial with few simple rules.
The first step is to set up the table structure. The number of rows depends on the order of the
polynomial, the highest power in the characteristic equation. We put the powers in a descending
order. For example, for a polynomial of nth order, the first row will have Sn and the second row
will have Sn-1, and so on. If any of the lower powers is missing, we still write it in the first
column, but we write zero where we should write its coefficient. Coefficients with an odd order
should be written in the top row, whereas the ones with an even order should be written in the
second row.
After filling out the first two rows, specific mathematical operations are then used and applied to
fill out the bottom rows. However, the easier way to do that is to use a pattern which relates the
top rows with the bottom ones. This pattern is shown below for a general polynomial.
Polynomial = AS6 + BS5 + CS4 + DS3 + ES2 + FS + G
S6 A C E G
S5 B D F 0
S4 ☼ ♣ ∆
S3 ☻ □
S2
S1
S0
(𝐵×𝐶) − (𝐴×𝐷)
☼= 𝐵
(𝐵×𝐸) − (𝐴×𝐹)
♣= 𝐵
(𝐵×𝐺) − (𝐴×0)
∆= 𝐵
(☼×𝐷) − (𝐵×♣)
☻= ☼
(☼×𝐹) − (𝐵×∆)
□= ☼

After filling out all of the table and calculating the other values, we count the number of roots in
the right half plane (RHP) be seeing how many times the values in the first column change the
sign. If the sign is changed one time or more, the system is said to be unstable then.
An example is shown below for a better understanding of the Routh array.
S4+2S3+3S2+10S+8
S4 1 3 8
S3 2 10 0
S2 -2 8 0
S1 18 0
S0 8
 Answer: the system is unstable

 Reason: the sign of the coefficients in the first column changed twice, between (2) and (-
2), and (-2) and (18). This indicates that there are two roots in the RHP
Task 1:3 PID Controller

PID controller
Proportional-integral-derivative controller or PID controller are widely used in the control system. The
basic purpose of a PID controller is to calculate the error value difference between the actual process and
the desired point. The PID controller tries to minimize the error by adjusting the variable of the process.
The PID consists of three individual component a proportional, an integral and a derivative each of these
component manipulate the signal to minimize the error value. The proportional depends on the present
error, the integral depends on the accumulation of the past error while the derivative depends on the
prediction of the future error. The term tuning is used to describe the process of selecting the best controller
setting. The three components of the PID can be tuned to provide a control action which is designed for a
specific process requirement. These responses of the controller can be to decrease the degree of overshoot
to the required point or reduce oscillation in a system and to decrease error. The PID are usually used as
control valve or damper. The selection of the three variable enables the location of the poles and the zeros
introduced by the controller to be determined and hence affect the stability of the control system.

Proportional control
In a proportional controller the output is proportional to the input, which the error signal. The output from
the controller depends on the size of the error at instant of time concerned. The controller is just an amplifier
with a constant gain. In the below circuit there is a use of an inverting amplifier. The proportional amplifier
is simple to apply in a system, it is essentially an amplifier which might be electronic or mechanical. The
proportional manipulates the error signal by a factor of Kp. The main disadvantage of a proportional system
is that the controller does not introduce a 1/s or integrator in a forward path, which mean that the system
was a type 0 system then the controller would not change this and it would remain type 0
𝑂𝑢𝑡𝑝𝑢𝑡 = 𝐾𝑝 𝑒
Multisium#1A: In a proportional controller the output is proportional to the input

Integral control:
The integral controller sums the instant error over the time and provides the accumulation of
compensation that should have been corrected previously. In the integral control Ki is a constant which is
called as an integral gain. The integral accelerates the process towards the desired point and reduces the
steady-state error.
𝑡
𝑂𝑢𝑡𝑝𝑢𝑡 = 𝐾𝑖 ∫ 𝑒𝑑𝑡
0
Figure 1B: The integral controller sums the instant error over the time
Derivative control
The derivative control predicts the behavior of the system which than improve the stability of the system
and the setting time of the system. The derivative of the error is determined by the slope of the error over
time. In the derivative control system Kd is the known as the derivative gain constant. As in the derivative
control system the output is proportional to the rate of change of error, thus large a correction action can
be initiated before a large error occurs.
𝑑𝑒
𝑂𝑢𝑡𝑝𝑢𝑡 = 𝐾𝑑
𝑑𝑡

Figure 1C: The derivative control predicts the behavior of the system
Overall signal:
The combination of the three components proportional, integral and the derivative has reduced the
oscillation of the signal but the transient time of the signal is more than the original signal, the error of the
channel B signal is reduce by the decreasing the resistor and tuning the PID. The transient time of the
system is also made more close to the original signal by only tuning the PID through the variable
potentiometer. The overshoot is also reduce due to the PID controller. A PID does not guarantee an optimum
control system with prefect stability.
𝑡
𝑑𝑒
𝑂𝑢𝑡𝑝𝑢𝑡 = 𝐾𝑝 𝑒 + 𝐾𝑖 ∫ 𝑒𝑑𝑡 + 𝐾𝑑
0 𝑑𝑡
Figure 1D: The combination of the three components proportional

Task 2:1 Differential equation method
Figure 1E:RLC block diagram of circuit
KCL:
𝐼 = 𝐼1 + 𝐼2
Voltage across the resistors are:
𝑣 = 𝐼1 𝑅1
𝑣 = 𝐼2 𝑅2
We know that R2 and C1 are in parallel to each other thus the V is same across these components.
𝑣𝑜 = 𝐼2 𝑅2
The current across the capacitor is:
𝑑 𝑣0
𝐼2 = 𝐶
𝑑𝑡
KVL:
As the voltage across C1 and R2 is same and R1 has a different voltage across it.
𝑣 = 𝑣𝑅 + 𝑣𝑜
𝑣 = 𝑖𝑅 + 𝑣𝑜
𝑣 = (𝐼1 + 𝐼2 )𝑅1 + 𝑣𝑜
As the I1 and I2 are going through R2 and C1 thus from previous equation we can substitute the values.
𝑣𝑜 𝑑𝑣𝑜
𝑣 =( +𝐶 ) 𝑅1 + 𝑣𝑜
𝑅2 𝑑𝑡

𝑅1 𝑑𝑣𝑜
𝑣=( ∗ 𝑣𝑜 + 𝑅1 𝐶1 ) + 𝑣𝑜
𝑅2 𝑑𝑡
𝑅1 𝑑𝑣𝑜 (𝑡)
𝑣(𝑡) = ( ∗ 𝑣𝑜 (𝑡) + 𝑅1 𝐶1 ) + 𝑣𝑜 (𝑡)
𝑅2 𝑑𝑡
Applying Laplace transform to get time domain into s domain.
We know that
𝑑(𝑡 𝑛 )
𝐿[ 𝑑𝑡 𝑛
= 𝑠 𝑛 𝐹(𝑠) − 𝑠 𝑛−1 𝑓(0) − 𝑠 𝑛−2 𝑓 ′ (0) − ⋯ and vo(0) = 0
Thus,
𝑅1
𝑉(𝑠) = ∗ 𝑉 (𝑠) + 𝑅1 𝐶1 [𝑠𝑉𝑜 (𝑠) − 𝑣𝑜 (0)] + 𝑉𝑜 (𝑠)
𝑅2 𝑜
𝑅1
𝑉(𝑠) = ∗ 𝑉 (𝑠) + 𝑅1 𝐶1 [𝑠𝑉𝑜 (𝑠)] + 𝑉𝑜 (𝑠)
𝑅2 𝑜
𝑅1
𝑉(𝑠) = 𝑉𝑜 (𝑠)[ + 𝑅1 𝐶1 𝑠 + 1]
𝑅2
𝑉(𝑠) 𝑅1
= [ + 𝑅1 𝐶1 𝑠 + 1]
𝑉𝑜 (𝑠) 𝑅2
𝑉𝑜 (𝑠) 1
𝑇. 𝐹 = =
𝑅
𝑉1 (𝑠) [ 1 + 𝑅 𝐶 𝑠 + 1]
𝑅2 1 1
We know that the V is a step input so it is written in s domain as V/s.
1 𝑉
𝑉𝑜 (𝑠) = ∗
𝑅
[ 1 + 𝑅1 𝐶1 𝑠 + 1] 𝑠
𝑅2
𝑉
𝑉(𝑠) 𝑅1 𝐶1
𝑉𝑜 (𝑠) = =
𝑅1 𝑅1 𝑅 𝐶𝑠 1
𝑠 ∗ [𝑅 + 𝑅1 𝐶1 𝑠 + 1] 𝑠 ∗ [
𝑅 𝑅 𝐶 + 𝑅1 𝐶1 + 𝑅 𝐶 ]
2 2 1 1 1 1 1 1
𝑉(𝑠)
𝑅1 𝐶1
𝑉𝑜 (𝑠) =
1 1
𝑠 ∗ [𝑠 + + ]
𝑅2 𝐶1 𝑅1 𝐶1
1
𝑉𝑜 (𝑠) = ∗
𝑠 1 1
[𝑠 + 𝑅 𝐶 + 𝑅 𝐶 ]
2 1 1 1

Placing the values in the equation above.
1
12 10 ∗ 103 ∗ 10 ∗ 10−6
𝑉𝑜 (𝑠) = ∗
𝑠 𝑠+ 1 1
+
20 ∗ 103 ∗ 10 ∗ 10−6 10 ∗ 103 ∗ 10 ∗ 10−6
1 1
12 10 12 10
𝑉𝑜 (𝑠) = ∗ = ∗
𝑠 𝑠+1+ 1 𝑠 𝑠+ 3
5 10 10
3
12 10
𝑉𝑜 (𝑠) = ∗
3𝑠 𝑠 + 3
10
Taking Laplace inverse on both side to get s domain into time domain.
1 𝑎
We know that 𝐿−1 [𝑠 ] = 1& 𝐿−1 [𝑠+𝑎] = 1 − 𝑒 −𝑎𝑡
12 −3𝑡 −3𝑡
𝑉𝑜 (𝑠) = ∗ (1 − 𝑒 10 ) = 4 (1 − 𝑒 10 )
3
Task 2:2 Direct method
Z1=R1
Z2=R3
Z3=1/C1s

As Z2 and Z3 are parallel to each other.
1 1 1
= +
𝑍 𝑍2 𝑍3
1 𝑍3 + 𝑍2
=
𝑍 𝑍3 + 𝑍2
𝑍3 𝑍2
𝑍=
𝑍3 + 𝑍2
Voltage across the circuit is:
𝑉𝑜 (𝑠) = 𝐼(𝑠) ∗ 𝑍
The current across the circuit is:
𝑉(𝑠)
𝐼(𝑠) =
𝑍 + 𝑍1
Substituting the value of Z:
𝑉(𝑠)
𝐼(𝑠) =
𝑍3 𝑍2
+ 𝑍1
𝑍3 + 𝑍2
Now replace the value of I(s) in the following equation:
𝑉𝑜 (𝑠) = 𝐼(𝑠) ∗ 𝑍
𝑉𝑜 (𝑠) 𝑍
=
𝑉(𝑠) 𝑍3 𝑍2
+ 𝑍1
𝑍3 + 𝑍2
Again replacing the value of Z:
𝑍3 𝑍2
𝑉𝑜 (𝑠) 𝑍3 + 𝑍2
=
𝑉(𝑠) 𝑍3 𝑍2
𝑍3 + 𝑍2 + 𝑍1
Replacing the valve of Z1, Z2 and Z3 with R1, R2 and 1/C1s
𝑅2 𝑅2
𝑉𝑜 (𝑠) 𝐶1 𝑠 1 + 𝑅2 𝐶1 𝑠
= =
𝑉(𝑠) 1 𝑅2
𝐶1 𝑠 + 𝑅2 1 + 𝑅2 𝐶1 𝑠 + 𝑅1
𝑅2
𝐶1 𝑆
1 + 𝑅1
𝐶𝑠 + 𝑅2
1

𝑉𝑜 (𝑠) 𝑅2
=
𝑉(𝑠) 𝑅2 + 𝑅1 + 𝑅1 𝑅2 𝐶1 𝑠
𝑅2
𝑉𝑜 (𝑠) 𝑅1 𝑅2 𝐶1
=
𝑉(𝑠) 𝑅2 𝑅1 𝑅1 𝑅2 𝐶1 𝑠
𝑅1 𝑅2 𝐶1 + 𝑅1 𝑅2 𝐶1 + 𝑅1 𝑅2 𝐶1
1
𝑉𝑜 (𝑠) 𝑅1 𝐶1
=
𝑉(𝑠) 1 1
𝑅1 𝐶1 + 𝑅2 𝐶1 + 𝑠
We know that the V is a step input so it is written in s domain as V/s.
𝑉(𝑠)
𝑅1 𝐶1
𝑉𝑜 (𝑠) =
1 1
𝑠 ∗ [𝑠 + 𝑅 𝐶 + 𝑅 𝐶 ]
2 1 1 1
1
𝑉𝑜 (𝑠) = ∗
𝑠 1 1
[𝑠 + 𝑅 𝐶 + 𝑅 𝐶 ]
2 1 1 1
Placing the values in the equation above.
1
12 10 ∗ 103 ∗ 10 ∗ 10−6
𝑉𝑜 (𝑠) = ∗
𝑠 𝑠+ 1 1
+
20 ∗ 103 ∗ 10 ∗ 10−6 10 ∗ 103 ∗ 10 ∗ 10−6
1 1
12 10 12 10
𝑉𝑜 (𝑠) = ∗ = ∗
𝑠 𝑠+1+ 1 𝑠 𝑠+ 3
5 10 10
3
12 10
𝑉𝑜 (𝑠) = ∗
3𝑠 𝑠 + 3
10
Taking Laplace inverse on both side to get s domain into time domain.
1 𝑎
We know that 𝐿−1 [𝑠 ] = 1& 𝐿−1 [𝑠+𝑎] = 1 − 𝑒 −𝑎𝑡
12 −3𝑡 −3𝑡
𝑉𝑜 (𝑠) = ∗ (1 − 𝑒 10 ) = 4 (1 − 𝑒 10 )
3

Task 2:3 Matlab output response
𝑅2
𝑉𝑜 (𝑠) 1 + 𝑅2 𝐶1 𝑠
=
𝑉(𝑠) 𝑅2
1 + 𝑅2 𝐶1 𝑠 + 𝑅1
Let us take:
𝑅2
𝑍1 = 𝑎𝑛𝑑 𝑍2 = 𝑅1
1 + 𝑅2 𝐶1 𝑠
Figure 1F: Matlab output response

Task 3:1 Differential equation
𝐹𝑛𝑒𝑡 (𝑡) = 𝑓(𝑡) − 𝑓𝐾1 (𝑡) − 𝑓𝐾2 (𝑡) − 𝑓𝑐 (𝑡)
𝑓𝑚 (𝑡) = 𝑓(𝑡) − 𝑓𝐾1 (𝑡) − 𝑓𝐾2 (𝑡) − 𝑓𝑐 (𝑡)
𝑓(𝑡) = 𝑓𝑚 (𝑡) + 𝑓𝐾1 (𝑡) + 𝑓𝐾2 (𝑡) + 𝑓𝑐 (𝑡)
𝑓(𝑡) = 𝑚𝑥̈ (𝑡) + 𝐾1 𝑥(𝑡) + 𝐾2 𝑥(𝑡) + 𝑐𝑥̇ (𝑡)
𝑓(𝑡) = 𝑚𝑥̈ (𝑡) + [𝐾1 + 𝐾2 ]𝑥(𝑡) + 𝑐𝑥̇ (𝑡)
𝑑2 𝑥 𝑑𝑥
𝑓(𝑡) = 𝑚 2
+ [[𝐾1 + 𝐾2 ]𝑥 + 𝑐
𝑑𝑡 𝑑𝑡
Substituting the values of m, K1, K2 and c
𝑑2 𝑥 𝑑𝑥
12 = 44 2 + [7 + 12]𝑥 + 5
𝑑𝑡 𝑑𝑡
𝑑2 𝑥 𝑑𝑥
44 2
+5 + 19𝑥 = 12
𝑑𝑡 𝑑𝑡

Task 3:2 Transfer function
The differential equation of the mechanical system.
𝑓(𝑡) = 𝑚𝑥̈ (𝑡) + [𝐾1 + 𝐾2 ]𝑥(𝑡) + 𝑐𝑥̇ (𝑡)
We know that:
𝑑(𝑡 𝑛 )
𝐿[ 𝑛 = 𝑠 𝑛 𝐹(𝑠) − 𝑠 𝑛−1 𝑓(0) − 𝑠 𝑛−2 𝑓 ′ (0) − ⋯
𝑑𝑡
Taking Laplace on both sides of the equation.
𝐿[𝑓(𝑡)] = 𝐿[𝑚𝑥̈ (𝑡) + [𝐾1 + 𝐾2 ]𝑥(𝑡) + 𝑐𝑥̇ (𝑡)]
𝐹(𝑠) = 𝑚[𝑠 2 𝑋(𝑠) − 𝑠𝑥(0) − 𝑥 ′ (0)] + [𝐾1 + 𝐾2 ]𝑥(𝑠) + 𝑐[𝑠𝑋(𝑠) − 𝑥(0)]
We know that x(0) = 0 and x’(0)= 0
𝐹(𝑠) = 𝑚[𝑠 2 𝑋(𝑠)] + [𝐾1 + 𝐾2 ]𝑥(𝑠) + 𝑐[𝑠𝑋(𝑠)]
𝐹(𝑠) = 𝑋(𝑠){[𝑚 ∗ 𝑠 2 ] + [[𝐾1 + 𝐾2 ] + [𝑐 ∗ 𝑠]}
𝐹(𝑠)
= [𝑚 ∗ 𝑠 2 ] + [[𝐾1 + 𝐾2 ] + [𝑐 ∗ 𝑠]
𝑋(𝑠)
𝑋(𝑠) 1
𝑇. 𝐹 = = 2
𝐹(𝑠) [𝑚 ∗ 𝑠 ] + [[𝐾1 + 𝐾2 ] + [𝑐 ∗ 𝑠]
𝑋(𝑠) 1
𝑇. 𝐹 = = 2
𝐹(𝑠) [44𝑠 + 5𝑠 + 19]

Task 3:3 Simulink
𝑑2 𝑥 𝑑𝑥
44 2
+5 + 19𝑥 = 12
𝑑𝑡 𝑑𝑡
𝑑2 𝑥 5 𝑑𝑥 19 1
2
+ + 𝑥 = 12 ∗ ( )
𝑑𝑡 44 𝑑𝑡 44 44
Figure 1
Figure 1`G: Simulink Scope

Task 4:1 Experiment readings
Rise time Peak time Overshoot Periodic Steady state Settling

time output time (2%)
voltage
50µs 90µs 440mV - 1.72V 290µs
As there was only one peak the periodic time of the wave could not be found, the signal wave
didn’t have two consecutive ways. The peak voltage was 1.28V, 90% of the peak voltage was
1.152V and 10% of the peak voltage was 0.128.
Input
Figure 1H: Experiment readings shows the input

Rise time
Figure1I : Experiment readings shows the Rise Time
Peak time
Figure1J: Experiment readings shows the Peak Time

Overshoot
Figure1J: Experiment readings shows the Peak Time
Figure1K: Experiment readings shows the Overshoot
Settling time (2%)
Figure1L: Experiment readings shows the Settling time 2%

Steady state output voltage
Figure1M: Experiment readings shows the Steady state output voltage
Task 4:2 Differential equation
Figure 2
Internal resistance of inductor = 183.83Ω, R= 2KΩ, L= 100 mH, C= 10nF
𝑑𝑖 2 𝑅 𝑑𝑖 1 𝑉
+ + ∗ 𝑖 =
𝑑𝑡 2 𝐿 𝑑𝑡 𝐿𝐶 𝐿𝐶
𝑑𝑖 2 𝑑𝑖
+ 21838.3 + 1 ∗ 109 ∗ 𝑖 = 1 ∗ 109 ∗ 𝑉
𝑑𝑡 2 𝑑𝑡
𝑑2 𝜃 𝑑𝜃
2
+ 2 n +  n2 𝜃𝑜 = 𝑏1  n2 𝜃𝑜
𝑑𝑡 𝑑𝑡

Comparing both equation we can get:
n2 = 1 ∗ 109
 n = 31622.7766 Hz
2 n = 21838.3
 = 0.34529
2
𝑤𝑑 =  n √1 − (  ) = 31622.7766√1 − (0.34529)2 = 29677.85059 𝐻𝑧
9
b1n2 𝑏1 ∗ 1 ∗ 10
𝑇. 𝐹 = 2 = 2
s  2 ns  n
2
𝑠 + 21838.3𝑠 + 1 ∗ 109

Conclusion
The new time of 21st century is globalized and exceptionally propelled because of
the training which presents innovation and these advances are devoured by
everybody as individual and internationally.
The Assignment has basic points concerning the root locus examination strategy is
utilized to inspect control systems soundness. One of the best developments of
humankind; A 21th century modern upset that has totally changed the way we live
today. A creation that has taken the aeronautics business to an entire new level, the
information used to make air ship airworthy is supported through building outline
and control systems. A stable system is a dynamic system with a limited reaction to
a limited information. The Routh-Hurwitz Stability Criterion, It was found that all
coefficients of the trademark polynomial must have the same sign and non-zero if
all the roots are in the left-hand plane. We utilized two product's Matlab and
multisum to fiulfil the necessity of the task. We utilized PID controller and clarified
it quickly about its significance. We utilized the differential comparison strategy. 2.
The Laplace change system (the direct method).Last yet the slightest we utilized
differential comparison of the mechanical system.

Table of Figures
Figure#1:The concept of Stability
Block diagram 1 closed loop control system
Figure 2 the root locus analysis - poles of the closed loop system
Figure 3 the figure shows that the number of poles is equal to the number of branches of the root locus
Figure 4 shows the symmetry of the root locus about the real axis
Figure 6 the start and end points of the root locus
Figure 7 shows the break away point and the break in point on the root locus graph
Multisium#1A: In a proportional controller the output is proportional to the input
Figure 1B: The integral controller sums the instant error over the time
Figure 1C: The derivative control predicts the behavior of the system
Figure 1D: The combination of the three components proportional
Figure 1E:RLC block diagram of circuit
Figure 1F: Matlab output response
Figure 1`G: Simulink Scope
Figure 1H: Experiment readings shows the input
Figure1I : Experiment readings shows the Rise Time
Figure1K: Experiment readings shows the Overshoot
Figure1L: Experiment readings shows the Settling time 2%
Figure1M: Experiment readings shows the Steady state output voltage Figure 5 the finite open
loop pole or sometimes zeros appear to the left of an odd number (root locus)

References
D-rych.com,. 'Instrumentation And Control'. N.p., 2015. Web. 1 June 2015.
En.wikibooks.org,. 'Control Systems/Stability - Wikibooks, Open Books For An Open World'.

N.p., 2015. Web. 1 June 2015.
Facstaff.bucknell.edu,. 'An Introduction To Root Locus Techniques'. N.p., 2015. Web. 2 June
2015.
Facstaff.bucknell.edu,. 'Proportional Control'. N.p., 2015. Web. 2 June 2015.
Ni.com,. 'NI Multisim: Powerful Circuit Design And Teaching Software - National Instruments'.
N.p., 2015. Web. 3 June 2015.
Mathworks.com,. 'Bode Response Of Simulink Model - MATLAB & Simulink'. N.p., 2015.
Web. 2 June 2015.
Ni.com,. 'NI Multisim: Powerful Circuit Design And Teaching Software - National Instruments'.
N.p., 2015. Web. 3 June 2015.
Tutorial.math.lamar.edu,. 'Pauls Online Notes : Differential Equations - Mechanical Vibrations'.

N.p., 2015. Web. 3 June 2015.

Control and Instrumentation: Assignment

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CONTROL AND

Syed Zain Ali Hashmi (eau0113020)

Controls and Instrumentation Assignment#1-Group -10 1|Page

Controls and Instrumentation Assignment#1-Group -10 2|Page

Controls and Instrumentation Assignment#1-Group -10 3|Page

An essential and adequate condition for a feedback system to be

THE ROOT LOCUS ANALYSIS

to scrutinize a system’s stability. The outcome of this analysis is a

Types of root locus analysis

1. Root locus analysis for a open loop system

2. And another analysis for a closed loop system

Assuming that the root locus of a specific system was previously

Controls and Instrumentation Assignment#1-Group -10 4|Page

iii. a simple feedback to control the first order system

Since we have acquired the transfer function of the

Controls and Instrumentation Assignment#1-Group -10 5|Page

The transfer function of a closed loop system is as a follows:

1⌊(2𝑘 + 1)180o. 𝑘 = 0 ± 1, ±2, …

Controls and Instrumentation Assignment#1-Group -10 6|Page

A. In a closed system, the number of poles is equal to the number of

Figure 3 the figure shows that the

The symmetry is about the real axis

Figure 4 shows the

Controls and Instrumentation Assignment#1-Group -10 7|Page

c. The zeros and the poles 

Controls and Instrumentation Assignment#1-Group -10 8|Page

Start Figure 6 the start and

Controls and Instrumentation Assignment#1-Group -10 9|Page

Task 1: 2 – Routh-Hurwitz Stability Criterion

D(s) is the characteristic equation.

 This is a transfer function with one single pole

Controls and Instrumentation Assignment#1-Group -10 10 | P a g e

 It can be seen that “s” and “a” have opposite sings

By taking the inverse Laplace of H(s), we obtain:

Controls and Instrumentation Assignment#1-Group -10 11 | P a g e

Let’s take an example of a system with transfer function of

Another example is a system with a transfer function of

The roots are: 0.5±𝑗√3.75 , -2 , -1

But, by multiplying the three poles, we get

Controls and Instrumentation Assignment#1-Group -10 12 | P a g e

Polynomial = AS6 + BS5 + CS4 + DS3 + ES2 + FS + G

Controls and Instrumentation Assignment#1-Group -10 13 | P a g e

An example is shown below for a better understanding of the Routh array.

 Answer: the system is unstable

Task 1:3 PID Controller

Controls and Instrumentation Assignment#1-Group -10 14 | P a g e

Multisium#1A: In a proportional controller the output is proportional to the input

Controls and Instrumentation Assignment#1-Group -10 15 | P a g e

Controls and Instrumentation Assignment#1-Group -10 16 | P a g e

Figure 1D: The combination of the three components proportional

Controls and Instrumentation Assignment#1-Group -10 17 | P a g e

Figure 1E:RLC block diagram of circuit

Voltage across the resistors are:

The current across the capacitor is:

Controls and Instrumentation Assignment#1-Group -10 18 | P a g e

Applying Laplace transform to get time domain into s domain.

We know that the V is a step input so it is written in s domain as V/s.

Controls and Instrumentation Assignment#1-Group -10 19 | P a g e

Task 2:2 Direct method

Controls and Instrumentation Assignment#1-Group -10 20 | P a g e

Voltage across the circuit is:

The current across the circuit is: