Course No: EEE 402 Group No: 02

Course Name: Control System I Laboratory Student No: 1306134

Experiment No: 04

Experiment Name:
a) Effect of input waveform, loop gain, and system type upon steady-state
errors

b) Effect of open-loop poles and zeros upon the shape of the root locus

Date of Performance: 17-10-2017 Name: AZIM UDDIN

Date of Submission : 24-10-2017 Level: 4 Term: 1

Department: EEE

Section: C

Partners’ Student No:

1306135

1306136
Part-A: Effect of input waveform, loop gain, and system
type upon steady-state errors
1. Step Input
Simulink Model

Output

For the value of k=50: For unit step function we have found the steady state error = 4.54
And from plot it’s also 4.54
For the value of k=500: For unit step function we have found the steady state error = 2.51
And from plot it’s also 2.51
For the value of k=1000: For unit step function we have found the steady state error = 1.675
And from plot it’s also 1.676
For the value of k=5000: For unit step function we have found the steady state error = .457
And from plot we can see it’s oscillating. It’s because increasing the value of K has shifted
some poles to right hand side.

Ramp Input
Simulink Model

Output

For the value of k=50,500,1000,5000:

For ramp function we have found the steady state error =infinity.
From the plot it is verified.
Parabolic Input
Simulink Model

Output

For the value of k=50,500,1000,5000:

For parabolic function we have found the steady state error =infinity.
From the plot it is verified.
2. Step Input
Simulink Model

Output

For the value of k=50: For unit step function we have found the steady state error = 2.788
And from plot it’s also 2.788
For the value of k=500: For unit step function we have found the steady state error = .559
And from plot it’s also .559
For the value of k=1000: For unit step function we have found the steady state error = .296
And from plot it’s also .296
For the value of k=5000: For unit step function we have found the steady state error = .062
And from plot it’s also .062
Ramp Input
Simulink Model

Output

For the value of k=50,500,1000,5000:

For ramp function we have found the steady state error =infinity.
From the plot it is verified.
Parabolic Input
Simulink Model

Output

For the value of k=50,500,1000,5000:

For parabolic function we have found the steady state error =infinity.
From the plot it is verified.
3. Step Input
Simulink Model

Output

For the value of k=200: For unit step function we have found the steady state error = 0
And from plot it’s also 0
For the value of k=400: For unit step function we have found the steady state error = 0
And from plot it’s also 0
For the value of k=800: For unit step function we have found the steady state error =0
And from plot it’s also 0
For the value of k=1000: For unit step function we have found the steady state error = 0
And from plot we can see it is oscillating. It’s because increasing the value of K has shifted
some poles to right hand side.
Ramp Input
Simulink Model

Output

For the value of k=200: For ramp function we have found the steady state error = 0
And from plot it’s also 0
For the value of k=400: For ramp function we have found the steady state error = 0
And from plot it’s also 0
For the value of k=800: For ramp function we have found the steady state error =0
And from plot it’s also 0
For the value of k=1000: For ramp function we have found the steady state error = 0
And from plot we can see it is oscillating. It’s because increasing the value of K has shifted
some poles to right hand side.
Parabolic Input
Simulink Model

Output

For the value of k=200: For parabolic function we have found the steady state error = 1.575
And from plot it’s also 1.575
For the value of k=400: For parabolic function we have found the steady state error = .7875
And from plot it’s also 0.7875
For the value of k=800: For parabolic function we have found the steady state error =.39375
And from plot it’s also 0.39375
For the value of k=1000: For parabolic function we have found the steady state error = 0.315
And from plot we can see it is oscillating. It’s because increasing the value of K has shifted
some poles to right hand side.
Part-B: Effect of open-loop poles and zeros upon the shape
of the root locus

Matlab code:
J=3.2284E-6;
b=3.5077E-6;
K=0.0274;
R=4;
L=2.75E-6;
num=K;
den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2) 0];
sys= tf (num,den); % transfer function of the motor.
numcf=conv([1 60],[1 70]);
dencf=[1 0];
controller=tf(numcf,dencf); % transfer function of the PID
controller.
PID_sys=controller*sys;
rlocus(PID_sys,0: .001:1); %plot the root locus of the system
sgrid(.5,0);
axis([-400 100 -200 200])
[k poles]=rlocfind(PID_sys);
feedbk_sys=feedback(k*PID_sys,1);
figure()
step(feedbk_sys,0: .001: .1)
stepinfo(feedbk_sys)% step response of the compensated system.
figure()
dis_sys=feedbk_sys/(k*controller); % transfer function for
disturbance input
step(dis_sys,0: .001: .1);%step response for disturbance input

selected_point = -65.2844 - 1.2384i

 RiseTime: 0.0019
SettlingTime: 0.0198
SettlingMin: 0.9050
SettlingMax: 1.0531
Overshoot: 4.8095
Undershoot: 0
Peak: 1.0531
PeakTime: 0.0059
And zero steady state error.

Step Disturbance is very low.

DISCUSSION:
In this experiment we have learnt about steady state error. We have learnt to
calculate the errors theoretically. And we have compared the theoretical
values with the plots from Simulink and found some discrepancies. We have
also learnt about root locus. Using this we have designed a motor with
particular overshoot, settling time and steady state error.