Experiment

No: 01

Experiment Name: Introduc on of MATLAB so ware and determining the roots of a polynomial
equa on.

Required So ware: MATLAB 2014a or Later

MATLAB:

Polynomial Equa on:

i. Express the following equa on into the MATLAB so ware and hence nd out the roots of this
equa on

P(s) = s 4 + 6s 3 + 5s 2 + 8s + 20

Result:
clc -5.1906 + 0.0000i
clear -1.6881 + 0.0000i
P=[1 6 5 8 20]; 0.4394 + 1.4455i
rootsP=roots(P) 0.4394 - 1.4455i
pause

ii. Express the following equa on into the MATLAB so ware and hence nd out the roots of this
equa on

P(s) = (s5 + 6s 3 + 5s 2 + 8s + 20)(s4 + 26s 3 + 7s 2 + 8s + 20)

Result:
clc
clear -25.7389 + 0.0000i -0.9031 + 0.0000i
P=conv([1 0 6 5 8 20],[1 26 7 8 20]);
rootsP=roots(P) -0.0000 + 2.0000i 0.3210 + 0.8703i
pause
-0.0000 - 2.0000i 0.3210 - 0.8703i

0.6641 + 1.8230i

0.6641 - 1.8230i

-1.3283 + 0.0000i

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 Experiment No: 02

Experiment Name: Consider the following transfer function, determine partial fraction expansion using
MATLAB software.

C(s) 2s 3 + 5s 2 + 3s + 6
= 3
R(s) s + 6s 2 + 11s + 6
Result:

clc r =
clear p =
num=[2 5 3 5]; -6.5000
den=[1 6 11 6]; -3.0000
[r,p,k]=residue(num,den) -3.0000
-2.0000
2.5000
C(s) 2s3 + 5s 2 + 3s + 6 -1.0000
= 3 k =
R(s) s + 6s 2 + 11s + 6
2
−6.5 −3 2.5
= + + +2
s+3 s+2 s+1

Experiment No: 03 a

Experiment Name: Demonstrate the rational expression in frequency domain using MATLAB software
where given
Numerator = [1 2 7]
Denominator = [1 5 4 0]
Program:
clc
Result:
clear
T =
num=[1 2 7];
den=[1 5 4 0]; s^2 + 2 s + 7
-----------------
T=tf(num,den) s^3 + 5 s^2 + 4 s

Experiment No: 03 b

Experiment Name: Demonstrate the state space expression using MATLAB software where given

0 1 0 0
[10]
ẋ = 0 0 1 x+ 0 r
−3 −2 −5

y = [1 0 0]x + 0 r

 Result:

StaeSpace =
Program:
a =
clc b =
clear x1 x2 x3
A=[0 1 0;0 0 1;-3 -2 -5]; u1
B=[0;0;10]; x1 0 1 0
C=[1 0 0]; x1 0
D=[0]; x2 0 0 1
StaeSpace=ss(A,B,C,D) x2 0
x3 -3 -2 -5
x3 10

c =

x1 x2 x3
d =
y1 1 0 0
u1

y1 0

Experiment No: 04 a

Experiment Name: Represent the following transfer function in state space

C(s) 25
= 3 Result:
R(s) s + 13s 2 + 36s + 25 B = C =
A =
1 0 0 25
-13 -36 -25
Program: 0
1 0 0
0
clc 0 1 0 D =
clear
num=[25]; 0
den=[1 13 36 25];
[A,B,C,D]=tf2ss(num,den)

% StateSpace=ss(A,B,C,D)

Experiment No: 04 b

Experiment Name: Convert the following state space equation into transfer function, G(s)=Y(s)/
R(s)

0 1 0 0
[10]
ẋ = 0 0 1 x+ 0 r
−3 −2 −5

 y = [1 0 0]x + 0.r Result:

Program: num =
clc 0 0 0 10
clear
A=[0 1 0;0 0 1;-3 -2 -5]; den =
B=[0;0;10];
C=[1 0 0]; 1.0000 5.0000 2.0000 3.0000
D=[0];
[num,den]=ss2tf(A,B,C,D)
T=tf(num,den) T =

10
---------------------
s^3 + 5 s^2 + 2 s + 3

Experiment No: 05

Experiment Name: Simulink model of DC motor transfer function

Software: MATLAB

Theory: A common actuator in control systems is the DC motor. It directly provides rotary
motion and, coupled with wheels or drums and cables, can provide translational motion. The
electric circuit of the armature and the free-body diagram of the rotor are shown in the following
figure
we will assume that the input of the system is the
voltage source (V) applied to the motor's
armature, while the output is the rotational speed
·
of the shaft θ. The rotor and shaft are assumed to
be rigid. We further assume a viscous friction
model, that is, the friction torque is proportional
to shaft angular velocity.
The physical parameters for our example are:
(J) moment of inertia of the rotor 0.01 kg.m^2
(b) motor viscous friction constant 0.1 N.m.s
(Ke) electromotive force constant 0.01 V/rad/sec
(Kt) motor torque constant 0.01 N.m/Amp
(R) electric resistance 1 Ohm
(L) electric inductance 0.5 H

In general, the torque generated by a DC motor is propor onal to the armature current and the strength
of the magne c eld. In this example we will assume that the magne c eld is constant and, therefore,
that the motor torque is propor onal to only the armature current i by a constant factor Kt as shown in
the equa on below. This is referred to as an armature controlled motor.

T = Kt i

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 The back emf e, is propor onal to the angular velocity of the sha by a constant factor Ke.
·
e = Ke θ
In SI units, the motor torque and back emf constants are equal, that is Kt = Ke ; therefore, we
will use K to represent both the motor torque constant and the back emf constant.
Applying Newton's law and Kirchoff's law to the motor system to generate the following
equations:

Simulink Model:

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 Experiment No: 06

Experiment Name: Observation of unit step response of overdamped, undamped, underdamped

and critically damped of second order systems.

Software: MATLAB

Theory:

Overdamped responses:
Poles: Two real at σ1; σ2
Natural response: Two exponentials with time constants equal to the reciprocal of the
pole locations, or
c
K1eσ1t K2eσ2t

Underdamped responses:
Poles: Two complex at σd jωd
Natural response: Damped sinusoid with an exponential envelope whose time
constant is equal to the reciprocal of the pole’s real part. The radian frequency of
the sinusoid, the damped frequency of oscillation, is equal to the imaginary part of the
poles, or
c
Aeσdt cos
ωdt

Undamped responses
Poles: Two imaginary at jω1
Natural response: Undamped sinusoid with radian frequency equal to the imaginary part
of the poles, or
c
A cos
ω1t

Critically damped responses

Poles: Two real at σ1
Natural response: One term is an exponential whose time constant is equal to the
reciprocal of the pole location. Another term is the product of time, t, and an exponential
with time constant equal to the reciprocal of the pole location, or
c
K1eσ1t K2teσ1t

The step responses for the four cases of damping has been determined by MATLAB simulation
software as follows
t†
t†
t†
t†
ˆ
ˆ
ˆ
ˆ
…
…
…
…
ϕ†
ϕ†

…



‡
‡
…




































 The general second order equation can be written as
b
s 2 + as + b

MATLAB Simulation:

1. Overdamped:

2. Undamped:

 Underdamped:

3. Critically Damped

 Four of this conditions are in one diagram

 Discussion:
Math program:
Overdamped:

G= ([9],[1 9])

G =

9
-----
s + 9

Con nuous- me transfer func on.

Undamped:

>> G= ([9],[1 0 9])

G =

9
-------
s^2 + 9

Con nuous- me transfer func on.
>> step(G);

tf

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 Overdamped:

>> G= ([9],[1 2 9])

G =

9
-------------
s^2 + 2 s + 9

Con nuous- me transfer func on.

Cri cally Damped:

>> G= ([9],[1 6 9])

G =

9
-------------
s^2 + 6 s + 9

Con nuous- me transfer func on.

>> step(G)
Experiment No: 07

Experiment Name: Calculate characteristics of

a second-order system, such as damping ratio, ζ;
natural frequency, ωn; percent overshoot, %OS
(pos); settling time, Ts; and peak time, Tp from
the following diagram using MATLAB software

Theory:

Software: MATLAB

Program:

clc
clear
p1=[1 3+7*i]; % Define polynomial containing first pole.

p2=[1 3-7*i]; % Define polynomial containing second pole.

deng=conv(p1,p2); % Multiply the two polynomials to

% find the 2nd order polynomial, % as^2+bs+c.

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 omegan=sqrt(deng(3)/deng(1)) % Calculate the natural frequency,% sqrt(c/a).

zeta=(deng(2)/deng(1))/(2*omegan)
% Calculate damping ratio, % ((b/a)/2*wn).

Ts=4/(zeta*omegan) % Calculate settling time,% (4/z*wn).

Tp=pi/(omegan*sqrt(1 -zeta^2)) % Calculate peak time, % pi/wn*sqrt(1 -z^2).

pos=100*exp(-zeta* pi/sqrt(1 -zeta^2))

% Calculate percent overshoot % (100*e^(-z*pi/sqrt(1-z^2)).

pause

Result:

omegan =

7.6158

zeta =

0.3939

Ts =

1.3333

Tp =

0.4488

pos =

26.0176

Discussion:
Experiment No: 08

Experiment Name: For the system shown in the following figure, find the peak time, percent
overshoot, and settling time by using MATLAB software.

Theory: We know for the unity feedback system

 closed loop transfer function T(s)=G(s)/1+G(s)

Peak time, Percent overshoot, Settling time

Software: MATLAB
Program:

clc
clear
numg=[25]; % Define numerator of G(s).

deng=poly([0 -5]); % Define denominator of G(s).

' G(s)' % Display label.

G=tf(numg,deng) % Create and display G(s).

' T(s)' % Display label.

T=feedback(G,1) % Find T(s).

[numt,dent]=tfdata(T,'v'); % Extract numerator & denominator % of T(s).

wn=sqrt(dent(3)) % Find natural frequency.

z=dent(2)/(2*wn) % Find damping ratio.

Ts=4/(z*wn) % Find settling time.

Tp=pi/(wn*sqrt(1-z^2)) % Find peak time.

pos=exp(-z*pi/sqrt(1-z^2))*100 % Find percent overshoot.

step(T) % Generate step response.

pause

Result:
Step Response
1.4
T=
1.2
25
System: T
-------------- Peak amplitude: 1.16
1
s^2 + 5 s + 25 Overshoot (%): 16.3
At time (seconds): 0.718

Continuous-time transfer 0.8

Amplitude

function.
0.6
wn = 5
0.4
z =0.5000
0.2
Ts =1.6000

Tp = 0.7255 0
0 0.5 1 1.5 2 2.5
Time (seconds)

 pos =16.3034

Discussion:

Experiment No: 08

Experiment Name: Find the range of gain, K, for the system of Figure 6.10 that will cause the
system to be stable, unstable, and marginally stable. Assume K > 0 by using MATLAB software.

Theory: Routh-Hurwitz Criterion

Software: MATLAB

Program:

clc
clear
K=[1:1:2000];
for n=1:length(K);
dent=[1 18 77 K(n)];
poles=roots(dent);
r=real(poles);
if max(r)>=0,
poles
K=K(n)
break
end
end
pause

Result:

poles =

-18.0025 + 0.0000i
0.0012 + 8.7775i
0.0012 - 8.7775i

K=

1387

Discussion:

 Experiment No: 09
Experiment Name: For the system of the following figure, evaluate the static error constants
and find the expected error for the standard step, ramp, and parabolic inputs.

Theory:

Software:

Program:
clc
clear
numg=500*poly([-2 -5 -6]);
deng=poly([0 -8 -10 -12]);
G=tf(numg,deng);
' Check Stability'
T=feedback(G,1);
poles=pole(T)
' Step Input'
Kp=dcgain(G)
ess=1/(1+Kp)
' Ramp Input'
numsg=conv([1 0],numg);
densg=poly([0 -8 -10 -12]);
sG=tf(numsg,densg);
sG=minreal(sG);%if any s or higher order of s is common between numerator and
denominator
Kv=dcgain(sG)
ess=1/Kv
' Parabolic Input'
nums2g=conv([1 0 0],numg);
dens2g=poly([0 -8 -10-12]);
s2G=tf(nums2g,dens2g);
s2G=minreal(s2G);
Ka=dcgain(s2G)
ess=1/Ka
pause

Result:

Check Stability

poles =

-516.9544
-5.7623
-5.4278
-1.8554

ans =

Step Input

 Kp =

Inf

ess =

ans =

Ramp Input

Kv =

31.2500

ess =

0.0320

ans =

Parabolic Input

Ka =

ess =

Inf

Discussion:
Exp No: 10

Experiment Name: Sketch root locus by using

MATLAB script and find out the limit of the
Gain (K) for remaining stable. Assume the
following system

Theory:
Program:
clc
clear
numgh=[1 -4 20];
dengh=poly([-4 -6]);
'G(s)H(s)'
GH=tf(numgh,dengh)

 rlocus(GH)

Output:

Result: From the figure it is cleared that for the stability gain K≤2.5
Discussion:

Exp No: 11

Experiment Name: Sketch the root locus for the

system shown in the following figure

find the following:

a. The exact point and gain where the locus crosses the 0.45 damping ratio line
b. The exact point and gain where the locus crosses the jω-axis
c. The breakaway point on the real axis
d. The range of K within which the system is stable

Theory:

Program:

clc
clear
numgh=[1 -4 20];
dengh=poly([-2 -4]);
'G(s)H(s)'
GH=tf(numgh,dengh)

rlocus(GH)
z=0.2:0.05:0.5;
wn=0:1:5;






 sgrid(z,wn)
% axis([-6 3 -5 5])
title('Root Locus')
pause

rlocus(GH)
axis([-3 1 -4 4])
title('Close Up')
z=0.45;
wn=0;
sgrid(z,wn)
for k=1:3
[K,p]=rlocfind(GH)
end
pause

selected_point = -1.5241 + 3.0190i

K=
0.4153

p=
-1.5327 + 3.0286i
-1.5327 - 3.0286i

 Selected point 0.00 + 3.8991i

K = 1.5017
p=
0.00 + 3.8991i
0.00 - 3.8991i

selected_point = -2.8792 - 0.000i

K = 0.0248
p = -2.8792 + 0.000i
-2.8792 - 0.000i

 Result:
Discussion:

Exp No: 12
Experiment Name: Study of an Ideal PI Controller/Compensator and compare the following
system before and after compensate.

Theory:

Program: Fig. : Closed-loop system for Example 9.1: a. before compensa on; b. a er ideal
clc integral compensa on
clear
num=[0 1];
numt=conv([1 .1],[0 0 1]);
den=conv([1 1],[1 2]);
dent=conv(den,[1 10]);
rlocus(num,dent); % Before Compensation
v=[-15 1 -6 6];
axis(v);
axis('square');
sgrid(0.174,[])
[K,r]=rlocfind(num,dent)
pause

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 dentt=conv(dent,[1 0]);
rlocus(numt,dentt); % After Compensation
v=[-15 1 -6 6];
axis(v);
axis('square');
sgrid(0.174,[])
[K,r]=rlocfind(numt,dentt)
pause

Output:
Brfore Compensation:
selected_point = -0.6891 + 3.8943i

K = 162.0131
r=
-11.5940 + 0.0000i
-0.7030 + 3.8993i
-0.7030 - 3.8993i

After Compensation:
selected_point =-0.6673 + 3.8455i
K = 159.2149
r=
-11.5626 + 0.0000i
-0.6736 + 3.8477i
-0.6736 - 3.8477i
-0.0902 + 0.0000i

Discussion:

 Step Input Response (Exp 12) Observation Using MATLAB Simulink:

Discussion:

 Exp No 13: Lag Compensator :

Exp No 14: PD Controller (Ideal)

Exp No 15: PD Controller (Lead)

Exp No 16: PID Controller

Exp No 17: Nyquest

Exp No: 18

Bode Plot

Exp No 19:

PLC

 Experiment No: 03 b

Experiment Name: Demonstrate the state space expression using MATLAB software where given

0 1 0 0 Result:

[10]
ẋ = 0 0 1 x + 0 r
StaeSpace =
−3 −2 −5
a =
b =
x1 x2 x3
y = [1 0 0]x + 0 r u1
x1 0 1 0
x1 0
x2 0 0 1
x2 0
A=[0 1 0;0 0 1;-3 -2 -5]; x3 -3 -2 -5
B=[0;0;10]; x3 10
C=[1 0 0];
D=[0];
c =
StaeSpace=ss(A,B,C,D)
x1 x2 x3
d =
StaeSpace.a y1 1 0 0
x1 x2 x u1
x1 0 1 y1 0
x2 0 0
x3 -3 -2 -

StaeSpace.b
u
x1
x2
x3 1

StaeSpace.c
x1 x2 x
y1 1 0

StaeSpace.d
u
y1

[ b , a ] = ss2tf( A , B , C , D
b = 10.000
a

 1.0000 5.0000 2.0000 3.000

K=tf(b,a

Transfer function 'K' from input 'u1' to output ..

10
y1: --------------------
s^3 + 5 s^2 + 2 s +

P=[1 5 2 3

P= 1 5 2

octave:10> roots(P
ans

-4.7106 + 0
-0.1447 + 0.7848
-0.1447 - 0.7848
=