Name: Muhammad Usama Roll No: 20013122-032

Experiment No
Title:
Stability Analysis of Control System

Objectives:

i. Observing the occurrence of positive feedback in a negative feedback system

ii. Gain Margin and Phase Margin
iii. Show that transport lag adds phase and destabilizes a system

Apparatus Required:
 MS-15 DC Motor Module
 AS-3 Command Potentiometer
 CLIO Interface Module with PC connection leads
 System Power supply
 4mm Connection Leads
 PC running VCL (Visual Control Laboratory) Software

Procedure:
Positive Feedback
 If the output is added to the input, then the error is increased, not decreased, and
the system runs away.
 The block diagram of a system with positive feedback is shown in Fig 1.

System with positive feedback (Fig # 1)

1. I started VCL and Loaded CA06PE10.

2. Then, Iest the Gain K to 0.6. The system did not run well with these settings.
3. Then, change to positive feedback by clicking the summing circle. The – was
change to + giving positive feedback.

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

4. I observed that the output speed, Increased the gain to 0.7 then to 0.8 observing
that, as the gain is increased. To keep the drive within the screen limits, reduced
the step level to 15% then increase the gain to 0.9.
5. Then, increase the gain to 1.0. The system was then unstable. Increased the gain to 1.1
and the instability was more obvious.

Stability
 A negative feedback system was stable if, when the open loop phase lagwas 180°, the
open loop amplitude ratio (or gain) was less than 1.
 From this, it was obvious that plant with only one or two lags cannot be unstable,
as the phase lag never exceeds 180°.
 There were a number of ways of assessing the stability of a plant, some
mathematical and some graphical. The most useful for our purposes is the Bode
Diagram.
 Gain Margin and Phase Margin
 Figure opposite was the Bode Diagram of a third order plant.
 From the graph, when the phase is -180°, the gain is -8 dB. The Gain Margin was
thus 8 dB - the amount by which the gain can be increased before the closed loop
system was go unstable.
Bode Diagram showing Gain and Phase Margin (Fig # 2)
 Gain Margin was the amount by which the gain is less
than 1 When the phase is -180°
 When the gain is 1 (0 dB), the phase is -
122°. The Phase Margin is then -122°-
(-180°) = 58°.
 Phase Margin is the amount by which the phase is greater than -

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

180° When the gain is 1 (0 dB).

 The gain of a system was under control so it was useful to know the Gain Margin.
The use of the Phase Margin was not so obvious.


Transport Lag
 If I consider that a delay of 1 period is the equivalent of a phase shift of 360° then
the delay 0 can be written in terms of radian frequency as:

 Change Controller | PID, Plant | Process, Level = 25% and Rate = 10 msec. Set the
controller settings to the Ziegler-Nichols values which were determined in
Chapter 9 to give a reasonable response.

 In the Plant area, the Sample Delay control adds transport lag. Increase the delay
and observe the effect on the step response. At what delay does the system
become unstable owing to the extra phase lag introduced by the transport delay?
System becomes unstable with transport lag delay = 9
 Set the delay to 7 and vary the controller settings to give good control of this
plant. To start with, reduce the gain a bit (increase PB).
 Note the controller settings.
PB= 90% Itc= 0.50s Dtc= 0.09s

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Name: Muhammad Usama Roll No: 20013122-032

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar