Control System Lab Manual EC Branch (KEC-652)

RAJ KUMAR GOEL INSTITUTE OF
TECHNOLOGY
5th Km Stone, Delhi-Meerut Road, Ghaziabad, Uttar Pradesh 201003
CONTROL SYSTM LABORATORY MANUAL
CONTROL SYSTEM LAB

KEC-652
SUGGESTIVE LIST OF EXPERIMENTS
1. Introduction to MATLAB Control System Toolbox.
2. Determine transpose, inverse values of given matrix.
3. Plot the pole-zero configuration in s-plane for the given transfer function.
4. Determine the transfer function for given closed loop system in block diagram
representation.
5. Create the state space model of a linear continuous system.
6. Determine the State Space representations of the given transfer function.
7. Determine the time response of the given system subjected to any arbitrary input.
8. Plot unit step response of given transfer function and find delay time, rise time, peak
time, peak overshoot and settling time.
9. Determine the steady state errors of a given transfer function.
10. Plot root locus of given transfer function, locate closed loop poles for different
values of k.
11. Plot bode plot of given transfer function. Also determine gain and phase margins.
12. Plot Nyquist plot for given transfer function. Also determine the relative stability
by measuring gain and phase margin.
DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

TECHNOLOGY
Course Outcomes
At the end of this course students will demonstrate the ability to:
1. Classify different tools in MATLAB along with the basic matrix operations used in
MATLAB.
2. Evaluate the poles and zeros on s-plane along with transfer function of a given
system.
3. Construct state space model of a linear continuous system.
4. Evaluate the various specifications of time domain response of a given system.
5. Appraise the steady state error of a given transfer function.
6. Examine the relative stability of a given transfer function using various methods
such as root locus, Bode plot and Nyquist plot.

TECHNOLOGY
EXPERIMENT NO: 1
Object:- Introduction to MATLAB Control System Toolbox
MATLAB is a high-performance language for technical computing. It integrates

computation, visualization, and programming in an easy-to-use environment where
problems and solutions are expressed in familiar mathematical notation. Typical uses
include
• Math and computation

• Algorithm development
• Data acquisition
• Modeling, simulation, and prototyping
• Data analysis, exploration, and visualization
• Scientific and engineering graphics
• Application development, including graphical user interface building
MATLAB is an interactive system whose basic data element is an array that does not
require dimensioning. This allows you to solve many technical computing problems,
especially those with matrix and vector formulations, in a fraction of the time it would
take to write a program in a scalar no interactive language such as C or Fortran.
The name MATLAB stands for matrix laboratory. MATLAB was originally written to
provide easy access to matrix software developed by the LINPACK and EISPACK
projects. Today, MATLAB engines incorporate the LAPACK and BLAS libraries,
embedding the state of the art in software for matrix computation.
MATLAB has evolved over a period of years with input from many users. In university
environments, it is the standard instructional tool for introductory and advanced courses
in mathematics, engineering, and science. In industry, MATLAB is the tool of choice for
high-productivity research, development, and analysis.
MATLAB features a family of add-on application-specific solutions called toolboxes.

Very important to most users of MATLAB, toolboxes allow you to learn and apply
specialized technology. Toolboxes are comprehensive collections of MATLAB functions
(M-files) that extend the MATLAB environment to solve particular classes of problems.

TECHNOLOGY
Areas in which toolboxes are available include signal processing, control systems, neural
networks, fuzzy logic, wavelets, simulation, and many others.
The MATLAB System: The MATLAB system consists of these main parts:
Desktop Tools and Development Environment: This is the set of tools and facilities that
help you use MATLAB functions and files. Many of these tools are graphical user
interfaces. It includes the MATLAB desktop and Command Window, a command history,
an editor and debugger, a code analyzer and other reports, and browsers for viewing help,
the workspace, files, and the search path.
The MATLAB Mathematical Function Library: This is a vast collection of
computational algorithms ranging from elementary functions, like sum, sine, cosine, and
complex arithmetic, to more sophisticated functions like matrix inverse, matrix
eigenvalues, Bessel functions, and fast Fourier transforms.
The MATLAB Language: This is a high-level matrix/array language with control flow
statements, functions, data structures, input/output, and object-oriented programming
features. It allows both "programming in the small" to rapidly create quick and dirty
throw-away programs, and "programming in the large" to create large and complex
application programs.
Graphics: MATLAB has extensive facilities for displaying vectors and matrices as
graphs, as well as annotating and printing these graphs. It includes high-level functions
for two-dimensional and three-dimensional data visualization, image processing,
animation, and presentation graphics. It also includes low-level functions that allow you
to fully customize the appearance of graphics as well as to build complete graphical user
interfaces on your MATLAB applications.
MATLAB External Interfaces: This is a library that allows you to write C and Fortran
programs that interact with MATLAB. It includes facilities for calling routines from
MATLAB (dynamic linking), calling MATLAB as a computational engine, and for
reading and writing MAT-files.
Different Toolboxes in MATLAB: Toolboxes are specialized collections of M-files
(MATLAB language programs) built for solving particular classes of problems.
Toolboxes represent the efforts of some of the world's top researchers in fields such as
controls, signal processing, system identification, and others. Some of the main toolboxes
are as follows:
• Aerospace Toolbox

TECHNOLOGY
• Bioinformatics Toolbox
• Communications Toolbox
• Control System Toolbox
• Curve Fitting Toolbox
• Data Acquisition Toolbox
• Database Toolbox
• Distributed Computing Toolbox
• Filter Design Toolbox
• Financial Toolbox
• Fuzzy Logic Toolbox
• Genetic Algorithm and Direct Search Toolbox
• Image Processing Toolbox
• Instrument Control Toolbox
• Mapping Toolbox
• Model Predictive Control Toolbox
• Neural Network Toolbox
• Partial Differential Equation Toolbox
• Signal Processing Toolbox
• Statistics Toolbox
• Wavelet Toolbox
Control System Toolbox: Control System Toolbox provides tools for systematically
analyzing, designing, and tuning linear control systems. You can specify a linear model
of your system, plot its time and frequency responses to understand how the system
behaves, tune the controller parameters using automated and interactive techniques, and
verify performance requirements, such as rise time and gain/phase margins. Workflow-
based graphical user interfaces (GUIs) guide you through each step of the analysis and
design process.It includes m-file programs for following functions:
➢ Creating Continuous-Time Models
• Creating Discrete-Time Models
• Specifying Time Delays
• Accessing and Modifying the Model Data
• Switching Model Representation
• Connecting ModelsPlotting System Responses
• Analyzing the Response of an RLC Circuit

TECHNOLOGY
• Assessing Gain and Phase Margins

• Analyzing Control Systems with Delays
• Discretizing and Resampling Models
• DC Motor Control
• Temperature Control in a Heat Exchanger etc.
XXX-----XXX-----XXX-----XXX

TECHNOLOGY
Experiment-2
Objective:- Determine transpose, inverse values, of given matrix.

1 0 2
−2 0 5
1 3 4
Software Used:- MATLAB R2014a
Commands Used:-
1. transpose() – to obtain transpose of matrix
Syntax:- transpose(matrix)
2. inverse() – to obtain inverse of matrix.
Syntax:- inv(matrix)
3. [eig_value,eig_vector]=eig()– to obtain eigen value and eigen vector.
Syntax:- [eig_value,eig vector]=eig(matrix)
Program:-
clc;
clear all;
close all;
a=[1,0,2;-2,0,5;1,3,4]
trans_a=transpose(a)
inverse_a=inv(a)

TECHNOLOGY
[eig_val,eig_vec]=eig(a)
Output:-
a= 1 0 2
-2 0 5
1 3 4
Trans a = 1 -2 1
0 0 3
2 5 4
Inverse a= 0.5556 -0.2222 0
-0.4815 -0.0741 0.3333
0.2222 0.1111 0
eig_val = -0.2165 -0.8622 0.2956
-0.8824 0.4619 0.5304
0.4176 -0.2079 0.7945
eig_vec = -2.8572 0 0
0 1.4823 0

TECHNOLOGY
0 0 6.3749

TECHNOLOGY
Experiment-3
Objective:- Plot the pole-zero configuration in s-plane for the given transfer function
3𝑠 2 +4𝑠+5
.
𝑠 2 +2𝑠+3
Theory:- In general the transfer function of a process is the ratio of two polynomials
𝑍(𝑠)
G(s) = 𝑃(𝑠). The roots of the denominator polynomial, P(s), are called poles and
roots of the numerator polynomial, Z(s), are called zeros . The frequencies for which the
values of denominator and numerator become zero in a transfer function are called Poles
and Zeros. Poles and Zeros analyze the performance of a system and check the stability.
The values of Poles and Zeros control the working of a system. Poles in a transfer function
explain that the output has reached to infinity Whereas, the zeros in a transfer function
indicate that the output has reached to zero.
Effect of Additional Poles and Zeros In first order systems:
• Additional Poles delay the response of a system.

• Left half-plane zeros speed up the response of a system and the right half-plane cause
the response to go in the opposite direction.
Effect of Additional Poles and Zeros in Second order systems:
• Additional Poles in a dominantly second order system decrease the number of

oscillations.
• Additional Zeros in a dominantly second order system increases the number of
oscillations.
Commands Used:-
1. tf():-To obtain the transfer function use this command.

TECHNOLOGY
Syntax:-tf(num,den)
2. pzmap():-To mapping the poles and zeros use this command.
Syntax:-pzmap(transfer_function)
3. pole():-To obtain the poles of transfer function use this command.
Syntax:-pole(transfer_function)
4. zero():-To obtain the zeros of transfer function use command.
Syntax:-zero(transfer_function)
5. clc:-To clear the command window use this command.
Syntax:-clc;
6. clear all:- To clear the workspace use this command.
Systax:-clear all;
Program:-
clc;
clear all;
a=[3,4,5]
b=[1,2,3]
transfer_function=tf(a,b)
pzmap(transfer_function)
pole_of_transfer_function=pole(transfer_function)
zero_of_transfer_function=zero(transfer_function)
Output:-
a = 3 4 5
b = 1 2 3

TECHNOLOGY
Transfer function: 3 s^2 + 4 s + 5

---------------
s^2 + 2 s + 3
pole_of_transfer_function = -1.0000 + 1.4142i
-1.0000 - 1.4142i
zero_of_transfer_function = -0.6667 + 1.1055i
-0.6667 - 1.1055i
Pole Zero Plot-

TECHNOLOGY

TECHNOLOGY
EXPERIMENT - 4
Object:- To determine the transfer function of closed loop system in block diagram
representation.
Software used:- MATLAB R2014a

Theory:- 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).
Commands used:-
1. tf- creates a continuous-time transfer function with numerator(s) and
denominator(s) specified by num and den. It is used to obtain transfer function
of a control system.
Syntax- tf(num,den)
2. Parallel- parallel connects two model objects in parallel. This function accepts
any type of model. The two systems must be either both continuous or
both discrete with identical sample time.
Syntax –parallel(sys1,sys2).
3. Series- series connects two model objects in series. This function accepts any

TECHNOLOGY
type of model. The two systems must be either both continuous or both
discrete with identical sample time.
Syntax- series(sys1,sys2).
4. Feedback- feedback returns a model object sys for the negative feedback
interconnection of model objects sys1 and sys2.
Syntax- feedback(sys1,sys2)
5. clc- This command clear the command window.
6. clear all- This command clear the workspace window.
Program:-
clc;
clear all;
h1=tf([1,0],[1])
h2=tf([4],[1])
h3=tf([0.5],[1])
h4=tf([1],[1,2,0])
sys1=parallel(h1,h2);
sys2=series(sys1,h4);
sys3=feedback(sys2,h3);
sys4=feedback(sys3,1)
Output:-
h1 = s h3 = 0.5
1
h2 = 4 h4 = ---------
s^2 + 2 s
s+4
sys1 = s+4 sys2 = ----------
s^2 + 2 s
s+4 s+4
sys3 = --------------- sys4 = ---------------

TECHNOLOGY
s^2 + 2.5 s + 2 s^2 + 3.5 s + 6

TECHNOLOGY
EXPERIMENT-5
2𝑠 2 +5𝑠+3
Objective: - To plot unit step response of a given transfer function G(s) = 2 and
5𝑠 +9𝑠+6
find
a) Peak overshoot
b) Peak time
c) Rise time
d) Delay time
Software used: - MATLAB R2014a
Theory: - The unit step function is a highly important function, not only in control systems
engineering, but also in signal processing, systems analysis, and all branches of
engineering. If the unit step function is input to a system, the output of the system is known
as the step response.
Commands used:-
1. step: Step response of LTI systems
Syntax: step(sys)
2. stepinfo: Compute step response characteristic

TECHNOLOGY
Syntax: s = stepinfo(sys)
Program:-
clc;
clear all;
a=[2,5,3];
b=[5,9,6] ;
e= tf (a,b)
step(e)
stepinfo(e)
Output:-
Transfer function:
2 s^2 + 5 s + 3
---------------
5 s^2 + 9 s + 6
RiseTime: 0.3983
SettlingTime: 4.7773
SettlingMin: 0.4951
SettlingMax: 0.5481
Overshoot: 9.6248

TECHNOLOGY
Undershoot: 0
Peak: 0.5481
PeakTime: 1.5306
Step Response
0.56
0.54
0.52
0.5
Amplitude
0.48
0.46
0.44
0.42
0.4
0 1 2 3 4 5 6 7
Time (sec)
Output response of second order system

TECHNOLOGY
EXPERIMENT-6
Objective:- Determine the response of the given system subjected to any arbitrary input.
Software used:- MATLAB R2014a
Theory:- The dynamic behavior of a system is manipulated and judged under the
application and working of standard and typical test signals. The characteristics
of an input signal are constant acceleration, constant velocity, a sudden change or a sudden
shock. There are four types of typical test signals: Impulse Step, Ramp, Parabolic and
another important signal is sinusoidal signal.
1. step signal
.
2. Ramp Signal
The ramp signal tells you the constant velocity attribute of actual input signal. It is
being used to determine the behaviour of system with the velocity factor.

TECHNOLOGY
When A=1, ramp signal is called unit ramp signal.

3. Impulse Signal:- Impulse response in control system imitates sudden shock
quality of actual input signal. Impulse is the output of system
when given by small input. Impulse response emphasis on change in the system in
reaction to some external change. It is the reply of the system to the direct delta
input.
When A=1 then the impulse signal is called Unit impulse signal.
Commands used:
Program:
Output:

TECHNOLOGY
Experiment-7
2𝑠 2 +5𝑠+3
Objective:-plot rootlocus of the given transfer function as G(s) = 2 .Locate
𝑠 +2𝑠+3
closed loop poles for different values of K. also find out ω d and ωnat for a
given root.
Theory:- Root locus analysis is a graphical method for examining how the roots of a
system change with variation of a certain system parameter, commonly
a gain within a feedback system. This is a technique used as a stability criterion in the
field of classical control theory to determine stability of the system.
Root locus is the locus of the roots of the characteristics of the closed loop system as K is
varied from 0 to infinity. This method is particularly suited to obtaining approximate
results very quickly.
Commands used:-
1. rlocus: It gives root-locus plot of LTI models.
Syntax: rlocus(sys)
Program:
clc;
clear all;
h = tf([2 5 1],[1 2 3]);
rlocus(h)

TECHNOLOGY
Output:-

TECHNOLOGY
Experiment-9
Objective:-Determine the state space representation of given transfer function
21𝑠+5
.
𝑠 3 +4𝑠 2 +21𝑠+5
Software Used: - MATLAB R2014a
Theory:-
Commands used:
1. tf:-To obtain the transfer function use this command
Syntax:-tf(num, den)
2. tf2ss:-To convert the transfer function into the state space representation.
Syntax:-tf2ss(num,den)
3. ctrb():- To determine the controllability matrix of the given transfer function.
Syntax:-ctrb(A,B)
4. obsv():-To determine the observability matrix of the given transfer function.
Syntax:-obsv(A,C)
5. disp():-To print the message on the command window.
Syntax:-disp("message")

TECHNOLOGY
Program:-
clc;
clear all;
num=[21 5];
den=[1 4 21 5];
h1=tf(num,den)
[A,B,C,D]=tf2ss(num,den)
co=ctrb(A,B);
if(length(A)-rank(co)==0)
disp('system is controllable');
else
disp('system is not controllable');

end
ob=obsv(A,C);
if(rank(ob)==rank(A))
disp('system is observable');
else
disp('system is unobservable');

TECHNOLOGY
end
Output:
21 s + 5
h1 = ----------------------
s^3 + 4 s^2 + 21 s + 5
Continuous-time transfer function.
-4 -21 -5
A = 1 0 0
0 1 0
B = 0
C = 0 21 5
D = 0
1 -4 -5
co = 0 1 -4

TECHNOLOGY
0 0 1
system is controllable
0 21 5
ob = 21 5 0
-79 -441 -105

system is observable
Experiment-10
Objective:- plot bode plot of a given transfer function. Also determine the relative
stability by measuring gain and phase margins.
Theory:- When a sinusoidal input is given to a stable LTI system it produces a

sinusoidal output of same frequency but with different magnitude and
phase. The variation of output magnitude and phase with input frequency is known as
frequency response of the system. Frequency domain analysis provides a good design in
presence of uncertainty in plant model. Experimental results can be used to construct
frequency response even if the plant model is unknown.
Two most popular graphical representations in frequency domain are Nyquist
plot and Bode diagram .
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 allow the sketching of the magnitude plot without
exact computation.
Commands used:

TECHNOLOGY
1. bode: bode creates a Bode plot of the frequency response of a dynamic system
model . The plot displays the magnitude (in dB) and phase (in degrees) of
the system response as a function of frequency. bode automatically determines
frequencies to plot based on system dynamics.
Syntax: bode(sys)
Program:-
clc;
clear all;
H = tf([1 0.1 7.5],[1 0.12 9 0 0]);
bode(H)
Output:-

TECHNOLOGY

TECHNOLOGY
Experiment-11
Objective:- Determine the steady state error of given transfer function
Software Used: - MATLAB R2014a
Theory: - Steady-state error is defined as the difference between the input (command)
and the output of a system in the limit as time goes to infinity (i.e. when the
response has reached steady state). The steady-state error will depend on the type of input
(step, ramp, etc.) as well as the system type (0, I, or II). Steady-state error analysis is only
useful for stable systems. Now, the Laplace transforms for some standard inputs and
equations to calculate steady-state error from the open-loop transfer function in each case
is given below:
Step Input (R(s) = 1 / s):-
Ramp Input (R(s) = 1 / s^2):-
Parabolic Input (R(s) = 1 / s^3):-
Commands used:-
Program:-
Output:-

TECHNOLOGY

TECHNOLOGY
Experiment-12
Objective:-Plot nyquist plot for given transfer function and to discuss closed loop
stability. Also determine the relative stability by measuring gain and phase
margin.
Theory:- The Nyquist plot of a transfer function, usually the loop transfer function GH(z),
is a mapping of Nyquist contour in z-plane onto GH(z) plane which is in polar
coordinates. Thus it is sometimes known as polar plot.
Absolute and relative stabilities can be determined from the Nyquist plot using Nyquist
stability criterion. Given the loop transfer function GH(z) of a digital control system, the
polar plot of GH(z) is obtained by setting z = e jωT and varying ω from 0 to ∞.
Nyquist stability criterion: The closed loop transfer function of single input single
output digital control system is described by
𝐺(𝑧)
M(z) =
1+𝐺𝐻(𝑧)
Characteristic equation: 1 + GH(z) = 0

The stability of the system depends on the roots of the characteristic equation or poles of
the system. All the roots of the characteristic equation must lie inside the unit circle for
the system to be stable.
Commands used:-
1. nyquist: Nyquist creates a Nyquist plot of the frequency response of a dynamic

system model. Nyquist plots are used to analyze system properties
including gain margin, phase margin, and stability.
Syntax: nyquist(sys)

TECHNOLOGY
Program:-
Output:-

Control System Lab Manual EC Branch (KEC-652)

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Control System Lab Manual EC Branch (KEC-652)

Uploaded by

Copyright:

Available Formats

RAJ KUMAR GOEL INSTITUTE OF

CONTROL SYSTEM LAB

SUGGESTIVE LIST OF EXPERIMENTS

1. Introduction to MATLAB Control System Toolbox.

2. Determine transpose, inverse values of given matrix.

5. Create the state space model of a linear continuous system.

6. Determine the State Space representations of the given transfer function.

9. Determine the steady state errors of a given transfer function.

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

3. Construct state space model of a linear continuous system.

4. Evaluate the various specifications of time domain response of a given system.

5. Appraise the steady state error of a given transfer function.

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Object:- Introduction to MATLAB Control System Toolbox

MATLAB is a high-performance language for technical computing. It integrates

• Math and computation

MATLAB features a family of add-on application-specific solutions called toolboxes.

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

• Assessing Gain and Phase Margins

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Objective:- Determine transpose, inverse values, of given matrix.

Software Used:- MATLAB R2014a

1. transpose() – to obtain transpose of matrix

2. inverse() – to obtain inverse of matrix.

3. [eig_value,eig_vector]=eig()– to obtain eigen value and eigen vector.

Syntax:- [eig_value,eig vector]=eig(matrix)

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Inverse a= 0.5556 -0.2222 0

-0.4815 -0.0741 0.3333

eig_val = -0.2165 -0.8622 0.2956

-0.8824 0.4619 0.5304

0.4176 -0.2079 0.7945

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Effect of Additional Poles and Zeros In first order systems:

• Additional Poles delay the response of a system.

Effect of Additional Poles and Zeros in Second order systems:

• Additional Poles in a dominantly second order system decrease the number of

1. tf():-To obtain the transfer function use this command.

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

2. pzmap():-To mapping the poles and zeros use this command.

3. pole():-To obtain the poles of transfer function use this command.

4. zero():-To obtain the zeros of transfer function use command.

5. clc:-To clear the command window use this command.

6. clear all:- To clear the workspace use this command.

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Transfer function: 3 s^2 + 4 s + 5

pole_of_transfer_function = -1.0000 + 1.4142i

zero_of_transfer_function = -0.6667 + 1.1055i

Pole Zero Plot-

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Software used:- MATLAB R2014a

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

s^2 + 2.5 s + 2 s^2 + 3.5 s + 6

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

Software used: - MATLAB R2014a

1. step: Step response of LTI systems

2. stepinfo: Compute step response characteristic

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING