IC 1252 CONTROL SYSTEMS LABORATORY 0 0 3 100

AIM
To provide a platform for understanding the basic concepts of linear control theory and
its application to practical systems.
List of Experiments

1. Determination of transfer function parameters of a DC servo motor.

2. Determination of transfer function parameters of AC servo motor.

3. Analog simulation of type-0 and type-1 system.

4. Digital simulation of linear systems.

5. Digital simulation of non-linear systems.

6. Design and implementation of compensators.

7. Design of P, PI and PID controllers.

8. Stability analysis of linear systems.

9. Closed loop control system.

10. Study of synchros.
P = 45 Total = 45
Detailed Syllabus

1. Determination of Transfer Function Parameters of A DC Servo Motor

Aim
To derive the transfer function of the given D.C Servomotor and
experimentally determine the transfer function parameters
Exercise
1. Derive the transfer function from basic principles for a separately excited
DC motor.
2. Determine the armature and field parameters by conducting suitable
experiments.
3. Determine the mechanical parameter by conducting suitable experiments.
4. Plot the frequency response.

Equipment
1. DC servo motor : minimum of 100w field
separately excited loading facility
variable voltage source - 1 No

2. Tachometer : 1 No
3. Multimeter : 2 Nos
4. Stop watch : 1 No

2. Determination Of Transfer Function Parameters Of Ac Servo Motor

Aim
To derive the transfer function of the given A.C Servo Motor and experimentally
determine the transfer function parameters
Exercise
1. Derive the transfer function of the AC Servo Motor from basic
Principles.
2. Obtain the D.C gain by operating at rated speed.
3. Determine the time constant (mechanical)
4. Plot the frequency response
Equipment
1. AC Servo Motor : Minimum of 100w necessary
sources for main winding and
control winding 1 No
2. Tachometer : 1 No
3. Stopwatch : 1 No
4. Voltmeter : 1 No

3. Analog Simulation Of Type-0 And Type-1 System

Aim
To simulate the time response characteristics of I order and II order, type 0 and
type-1 systems.
Exercise
1. Obtain the time response characteristics of type 0 and type-1, I order
and II order systems mathematically.
2. Simulate practically the time response characteristics using analog rigged
up modules.
3. Identify the real time system with similar characteristics.
Equipment
1. Rigged up models of type-0 and type-1 system using analog components.
3. Variable frequency square wave generator and a normal CRO - 1 No
(or)
DC source and storage Oscilloscope - 1 No

4. Digital Simulation Of Linear Systems

Aim
To digitally simulate the time response characteristics of higher-order MIMO
linear systems using state variable formulation

Exercise
1. Obtain the state variable formulation of the given higherorder MIMO
systems.
2. Write a program or build the block diagram model using the given
software.
3. Obtain the impulse, step and sinusoidal response characteristics.
4. Identify real time systems with similar characteristics.
Equipment
1. System with MATLAB / MATHCAD (or) equivalent software -
minimum 3 user license.

5. Digital Simulation Of Non-Linear Systems

Aim
To digitally simulate the time response characteristics of a linear system with
simple non-linearities like saturation and dead zone.
Exercise
1. Obtain the time response characteristics of some simple linear systems
without non - linearity for step and sinusoidal inputs.
2. Repeat the time response characteristics in the presence of non-linearity
3. Discuss the effect of non-linearity
Equipment
1. System with MATLAB / MATHCAD (or) other equivalent software - 3
user license.
6. Design And Implementation Of Compensators
Aim
To design and implement suitable compensator for a given linear system to
improve the performance.
Exercise
1. Study the time response characteristics of the given linear system without
compensator.
2. Design a suitable compensator to improve the performance.
3. Implement the compensator using variable R,L and C boxes to the linear
system and visually observe the performance improvement.
Equipment
1. Analog Rigged up modules of a linear system (For closed loop operation)
2. Variable R, L and C boxes each - 2 Nos
3. Square wave generator and a CRO - 1 No
(or)
DC voltage source and storage oscilloscope - 1 No

7. Design Of P, Pi And Pid Controllers
Aim
To design P, PI and PID controllers for first order systems and implement
them practically.
Exercise
1. Study the time response behaviour of first order system without controller
2. Design a P/PI/PID controller to improve the performance
3. Implement the controller using variable R,L and C boxes to linear system
and visually observe the performance improvement.
Equipment
1. Rigged up module of P, PI and PID controller using analog components
Rigged up module of I order system (with loop closing facility)
Variable R, L and C boxes 2 each
(or)
Process control trainer with all the above features

2. CRO and a square wave generator 1 No
(or)
DC source and a storage oscilloscope 1 No

8. Stability Analysis Of Linear Systems

Aim
To analyse the stability of linear systems using Bode / Root locus /
Nyquist plot
Exercise
1. Write a program to obtain the Bode plot / Root locus / Nyquist plot for the given
system
2. Access the stability of the given system using the plots obtained
3. Compare the usage of various plots in assessing stability
Equipment
1. System with MATLAB / MATHCAD / equivalent software - 3 user
license

9. CLOSED LOOP CONTROL SYSTEM
Aim
To study the behaviour of closed loop control system through practical
experimentation.
Exercise

1. Obtain the block diagram representation of the given closed loop control
system.
2. Conduct experiments to study the open loop time response behaviour for
various set points.
3. Conduct experiments to study the closed loop time response behaviour
for various set points.
4. Repeat 3 with a second type of controller and discuss the results.


Equipment

1. A complete closed loop position / speed / Temperature or equivalent
system with two detachable controller units.
2. CRO
10. Study of Synchros
Aim
To study the characteristics of synchros as error detector
Exercise

1. Obtain the input-output characteristics of synchro transmitter by giving
excitation to the rotor winding and measuring the output voltages across
S1 S2, S2-S3 and S3-S1 of stator windings for different rotor positions
2. Obtain the characteristics of synchro as angular displacement sensor and
plot voltage Vs angle characteristics
3. Obtain the characteristic of synchro used as remote angle displacement of
receiver tracks that of transmitter

Equipment

1. Synchronous (transmitter and Receiver) : 1 set
2. Rheostat : 1 No
3. Multimeter : 1 No






MANUAL

Expt. No: 1 DETERMINATION OF TRANSFER FUNCTION
PARAMETERS OF FIELD CONTROLLED DC SERVO
MOTOR

AIM: To determine the transfer function of field controlled DC servo motor

APPRATUS REQUIRED:

1. DC servo motor trainer kit
2. DC Servo motor
3.Digital Multi meter

FORMULE USED:
1.Field resistance,R
f
in = V
f1
/ I
f1

2.Armature resistance,R
a
in = V
a
/ I
a
3.Field Inductance,L
f
in H= X
Lf
/ 2f
where X
Lf
in = (Z
f
2
R
f
2
)
Z
f
in = V
f2
/ I
f2
4.Power absorbed, W in watts = V
a
I
a

5.Stray loss, W in watts = W x [ t2 / (t1-t2) ]
where W is Power absorbed in watts
t2 is time taken on load in secs
t1 is time taken on no load in secs
6.Moment of inertia J in Kg m
2
/ rad = W x (60 / 2)
2
x dt/dN
N
Where W is stray loss in watts
dt is change in time on no load in secs
dN is change in speed on no load is rpm
N is rated speed in rpm
7.Frictional co-efficient, B in N-m / (rad / sec ) = W / (2N / 60 )
2

where W is stray loss in watts
N is rated speed in rpm
8.Transfer function (s) / V
f
(s) = K
m
/ s (1+sT
f
) (1+sT
m
)
where Motor gain constant K
m
= K
tf
/ R
f
B
Torque constant K
tf
in N-m / A = T / I
f

Torque T in N-m = 9.55 E
b
I
a
/ N
Back EMF E
b
in volts = V I
a
R
a

V = Excitation voltage in volts

Field time constant T
f
= L
f
/ R
f

Mechanical time constant T
m
= J / B
THEORY:
DC Servo motor is basically a torque transducer which converts electrical energy into
mechanical energy It is basically a separately excited type DC motor. The torque developed on
the motor shaft is directly proportional to the field flux and armature current,T
m
= K
m
I
a
. The
back emf developed by the motor is E
b
= K
b

m

In a field controlled DC Servo motor, the electrical signal is externally applied to the field
winding. Hence current through field winding is controlled in turn controlling the flux. In a
control system, a controller generates the error signal by comparing the actual o/p with the
reference i/p. Such an error signal is no enough to drive the DC motor. Hence it is amplified by
the servo amplifier and applied to the field winding. With the help of constant current source,
the armature current is maintained constant.

When there is change in voltage applied to the field winding, the current through the field
winding changes. This changes the flux produced by field winding. This motor has large L
f
/ R
f

ratio, so time constant of this motor is high and it cant give rapid responses to the quick
changing control signals.








CIRCUIT DIAGRAM
1. For finding field resistance R
f


2.For finding armature resistance R
a



3. For finding field inductance L
f


4.For field controlled motor

PROCEDURE:
1.To find Field Resistance, R
f

1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Put the selector button in field mode.
4.Block the rotor with full load.
5.Leave the armature terminal in open.
6.Check the position of the potentiometer in minimum point.
7.Switch on the MCB, vary the pot and take voltage V
f1
and current I
f1
readings.
8.Calculate field resistance R
f
= V
f1
/ I
f1

2. To find Armature Resistance, R
a

1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Put the selector button in armature mode.
4.Block the rotor with full load.
5.Leave the field terminal in open.
6.Check the position of the potentiometer in minimum point.
7.Switch on the MCB, vary the pot and take voltage V
a
and current I
a
readings.
8.Calculate armature resistance R
a
= V
a
/ I
a

3. To find Field Inductance, L
f

1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Block the rotor with full load.
4.Switch on the MCB and take voltage V
f2
and current I
f2
readings.
5. Calculate field inductance L
f.
4.To find moment of inertia, and frictional co-efficient, B
1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Put the selector button in armature mode and DPDT switch in power circuit
position.
4.Check the position of the potentiometer in minimum point.
5.Switch ON the MCB and vary the pot from min to max and adjust the motor to
run at rated speed.
6.Change the DPDT switch from power circuit side to load side.
7.Note down the time taken by the motor to come to rest. This value is t
1
and set
the pot to min position.
8.Chang the DPDT switch in power circuit position.
9.Connect 500 / 1A load in load position.
10. Vary the pot to run the motor at rated speed and change the DPDT switch
position from power circuit side to load side and note down the voltage V
a
and
current I
a
at the instant of changing the switch. Also note down the time ast
2

and from V
a
and I
a
find average voltage and current.
5.To find the transfer function parameters
1. 1.Check the MCB position in OFF condition.
2.Press the reset button to reset the over speed.
3.Patch the circuit as per the patching diagram.
4.Put the selection button in the field control mode.
5.Check the position of the potentiometer in minimum point.
6.Connect the armature of DC servo motor to fixed DC source.
7.Connect the field of DC servo motor across the voltmeter.
8.Switch on the MCB.
9.Vary the pot and in turn vary the speed.
10.Apply rated voltage of 220 V to armature and 150 V to field.
11.Note down the field current ,field voltage and speed.
12.Find the transfer function (s) / V
f
(s) = K
m
/ s (1+sT
f
) (1+sT
m
).
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters of
respective range can be connected in that place.
TABULAR COLUMN:
1.For field resistance R
f






2.For armature resistance R
a

S.No V
a
(V) I
a
(A) R
a
()


3.For field inductance
S.No V
f2
(V) I
f2
(A) Z
f
()




4.For transfer function parameters

S.No V
f1
(V) I
f1
(A) R
f
()

S.No V
f

(V)
I
f

(A)
I
a

(A)
N
(rpm)
T
(N-m)
T
f
T
m
K
tf



MODEL CALCULATION :








VIVA QUESTIONS:
1.What are the main parts of an DC servo motor?
2.What are the two types of servo motor?
3. What are the advantages and disadvantages of an DC servo motor?
4.Give the applications of DC servomotor?
5.What do you mean by servo mechanism?
6. What do you mean by field controlled DC servo motor?


REFERENCE:
1.NAGRATH & GOPAL, Control Systems.

RESULT:
The Transfer function of field controlled DC servomotor is determined as









Expt. No: 2 DETERMINATION OF TRANSFER FUNCTION
PARAMETERS OF ARMATURE CONTROLLED DC SERVO
MOTOR

AIM: To determine the transfer function of armature controlled DC servo motor

APPRATUS REQUIRED:

1. DC servo motor trainer kit
2. DC Servo motor
3.Digital Multi meter


FORMULA:
1.Armature resistance,R
a
in = V
a1
/ I
a1
2.Armature Inductance,L
a
in H= X
La
/ 2f
where X
La
in = (Z
a
2
Ra
2
)
Z
a
in =
Va2
/ I
a2
4.Power absorbed, W in watts = V
a
I
a

5.Stray loss, W in watts = W x [ t2 / (t1-t2) ]
where W is Power absorbed in watts
t2 is time taken on load in secs
t1 is time taken on no load in secs
6.Moment of inertia J in Kg m
2
/ rad = W x (60 / 2 )
2
x dt/dN
N
Where W is stray loss in watts
dt is change in time on no load in secs
dN is change in speed on no load is rpm
N is rated speed in rpm
7.Frictional co-efficient, B in N-m / (rad / sec ) = W / (2N / 60 )
2

where W is stray loss in watts
N is rated speed in rpm
8.Transfer function (s) / V
a
(s) = K
t
R
a
B / s{ (1+sT
a
)(1+sT
m
) +K
b
K
t
/R
a
B
where Torque consant K
t
= T / I
a


Torque T in N-m = 9.55 E
b
I
a
/ N
Back EMF E
b
in volts = V I
a
R
a

V = Excitation voltage in volts (220 V)
Back emf constant K
b
= V
a
/
Angular velocity in rad/ sec = 2N / 60


THEORY:
DC Servo motor is basically a torque transducer which converts electrical energy into
mechanical energy It is basically a separately excited type DC motor. The torque developed on
the motor shaft is directly proportional to the field flux and armature current,T
m
= K
m
I
a
. The
back emf developed by the motor is E
b
= K
b

m.

In an armature controlled DC Servo motor, the control signal available from the servo amplifier
is applied to the armature of the motor.This signal is based on the feedback information ,
supplied to the controller.Due to this armature current changes which in turn changes the torque
produced. The field winding is supplied with constant current hence the flux remains constant.
Therefore these motors are called as constant magnetic flux motors.

CIRCUIT DIAGRAM

1.For finding armature resistance R
a



2.For finding armature inductance L
a

3.For armature controlled DC Servomotor

PROCEDURE:
1.To find Armature Resistance, R
a

1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Put the selector button in armature mode.
4.Block the rotor with full load.
5.Leave the field terminal in open.
6.Check the position of the potentiometer in minimum point.
7.Switch on the MCB, vary the pot and take voltage V
a
and current I
a
readings.
8.Calculate armature resistance R
a
= V
a
/ I
a


2. To find armature inductance, L
a

1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Block the rotor with full load.
4.Switch on the MCB and take voltage V
a2
and current I
a2
readings.
5. Calculate armature inductance L
a.
3.To find moment of inertia, and frictional co-efficient, B
1.Check the MCB position in OFF condition.
2.Patch the circuit as per the patching diagram
3.Put the selector button in armature mode and DPDT switch in power circuit
position.
4.Check the position of the potentiometer in minimum point.
5.Switch ON the MCB and vary the pot from min to max and adjust the motor to
run at rated speed.
6.Change the DPDT switch from power circuit side to load side.
7.Note down the time taken by the motor to come to rest. This value is t
1
and set
the pot to min position.
8.Chang the DPDT switch in power circuit position.
9.Connect 500 / 1A load in load position.
10. Vary the pot to run the motor at rated speed and change the DPDT switch
position from power circuit side to load side and note down the voltage V
a
and
current I
a
at the instant of changing the switch. Also note down the time ast
2

and from V
a
and I
a
find average voltage and current.
4.To find the transfer function parameters
1.Check the MCB position in OFF condition.
2.Press the reset button to reset the over speed.
3.Patch the circuit as per the patching diagram.
4.Put the selection button in the armature control mode.
5.Check the position of the potentiometer in minimum point.
6.Connect the field of DC servomotor to fixed DC source.
7.Connect the armature of DC servomotor across the voltmeter.
8.Switch on the MCB.
9.Vary the pot and in turn vary the speed.
10.Apply rated voltage of 220 V to armature.
11.Note down the armature current, armature voltage and speed.
12.Find the transfer function (s) / V
a
(s) = K
t
R
a
B/ s{(1+sT
a
)(1+sT
m
) +K
b
K
t
/R
a
B
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters of
respective range can be connected in that place.
TABULAR COLUMN:
1.For armature resistance R
a

S.No V
a
(V) I
a
(A) R
a
()


2.For armature inductance L
a

S.No V
f2
(V) I
f2
(A) Z
f
()


3.For transfer function parameters

S.No V
a
(V)
I
a

(A)
E
b

(V)
N
(rpm)
T
(N-m)

rad/sec
K
b
K
t





MODEL CALCULATION :






VIVA QUESTIONS:
1. Define transfer function?
2. What is DC servo motor? What are the main parts?
3. What is servo mechanism?
4. Is this a closed loop or open loop system .Explain?
5. What is back EMF?




REFERENCE:
1.NAGRATH & GOPAL, Control Systems.






RESULT:
The Transfer function of armature controlled DC servomotor is determined as








Expt. No: 3 DETERMINATION OF TRANSFER FUNCTION
PARAMETERS OF AC SERVO MOTOR
AIM:
To derive the transfer function of the given A.C Servo Motor and experimentally
determine the transfer function parameters
From
a. Torque Speed Characteristics
b. Control Voltage characteristics

APPRATUS REQUIRED:
1. 2 AC servomotor speed control and transfer function trainer
2. Speed sensor.

FORMULAE USED:
1. Motor transfer function , G
m
(s) = K
m
/ (1+ s
m
)

Where Motor gain constant, K
m
= K / F
O
+ F
Where K is T / C
F
O
is T / N
Torque ,T is 9.81 X r (S1 S2)
R is radius of the rotor in m
Frictional co-efficient, F = W / (2N / 60)
2

Frictional loss, W is 30 % of constant loss in watts
Constant loss in watts = No load i/p Copper loss
No load i/p = V (I
R
+I
C
)
V is supply voltage, V
I
R
is current through reference winding, A
I
C
is current through control winding, A
Copper loss in watts = I
C
2
R
C

R
C
= 174
N is rated speed in rpm
Where Motor time constant,
m
= J / F
O
+ F
Where moment of inertia J is d
4
l
R
/ 32
d is diameter of the rotor in m
l
R
is length of the rotor in m
is density = 7.8 X 10
2
gm / m

THEORY

CONSTRUCTIONAL DETAILS
The AC servo motor is basically a two phase induction motor with some special
design features. The stator consists of two pole pairs (A-B and C-D) mounted on the inner
periphery of the stator, such that their axes are at angle of 90
o
in space. Each pole pair carries a
winding, One winding is called reference winding and other is called a control winding. The
exciting current in the winding should have a phase displacement of 90
o
. The supply used to
drive the motor is single phase and so a phase advancing capacitor is connected to one of the
phase to produce a phase difference of 90
o
. The stator constructional features of AC servo motor
are shown in fig.1.
The rotor construction is usually squirrel cage or drag-cup type. Rotor
construction of AC servomotor is shown in fig.2. The squirrel cage rotor is made of laminations.
The rotor bars are placed on the slots and short-circuited at both ends by end rings. The diameter
of the rotor is kept small in order to reduce inertia and to obtain good accelerating
characteristics. The drag cup construction is employed for very low inertia applications. In this
type of construction the rotor will be in the form of hollow cylinder made of aluminium. The
aluminium cylinder itself acts as short-circuited rotor conductors. Electrically both the types of
rotor are identical.

WORKING PRINCIPLE AS AN ORDINARY INDUCTION MOTOR
The stator windings are excited by voltages of equal rms magnitude and 90
o
phase
difference. This results in exciting currents i
1
and i
2
that are phase displaced by 90
o
and have
equal rms values. These currents give rise to a rotating magnetic field of constant magnitude.
The direction of rotation depends on the phase relationship of the two currents (or voltages).
The exciting current shown in fig.3. Produces a clockwise rotating magnetic field and phase
shift of 180
o
in i
1
will produce an anticlockwise rotating magnetic field. This rotating magnetic
field sweeps over the rotor conductors. The rotor conductor experience a change in flux and so
voltages are induced rotor conductors. This voltage circulates currents in the short-circuited
rotor conductors and currents create rotor flux. Due to the interaction of stator & rotor flux, a
mechanical force (or Torque) is developed on the rotor and so the rotor starts moving in the
same direction as that of rotating magnetic field.

ADVANTAGES OF AC SERVOMOTOR
1 Control of AC servomotor is so easier than induction motor, because of controlling only
the control phase winding voltage of magnitude 12V or 24V and not main winding
voltage of 230V.
2 Direction of motor reversal is also obtained by interchanging the control phase winding
voltage.

DISADVANTAGES OF AC SERVOMOTOR
1 The characteristics are quite non-linear and are more difficult to control especially
for servomechanism
APPLICATIONS
2 AC servomotors are best suited for low power application such as instrument servo
(e.g. control of pen in x-y records) and computer related equipment (Disk, tape
drives, printers etc.)











BLOCK DIAGRAM OF SERVOMOTOR
PROCEDURE:
1. DETERMINATION OF FRICTIONAL CO_EFFICIENT, F

1. Check the MCB position in OFF condition and patch the circuit using the
patching diagram.
2. Measure the control winding current, reference winding current and supply
voltage.
3. Find the frictional co-efficient, F = W / (2N / 60)
2

2 DETERMINATION OF TORQUE SPEED CHARACTERISTICS AND F
O

1. Check the MCB position in OFF condition and patch the circuit using the patching
diagram.
2. Set the speed control pot in minimum position and load in free condition
3. Apply rated voltage to the reference phase winding and control phase winding.
4. Note down the no load speed.
5. Apply load in steps. For each step note down speed and load applied and calculate the
Torque as T = 9.81 X r X (S1 S2).
6. Reduce the load fully and allow the motor to run at rated speed.
7. Repeat steps 4,5 for 75 % and 50 % of control winding voltage levels and tabulate
reading.
8. Draw the graph between speed and torque and from the graph find T and N and
calculate F
O
as T / N

3. DETERMINATION OF TORQUE CONTROL VOLTAGE CHARACTERISTICS & K
1. Check the MCB position in OFF condition and patch the circuit using the patching
diagram.
2. Apply rated Voltage to Reference phase winding. Apply a certain voltage to the
Control phase winding and make the motor run at rated speed.
3. Load the motor gradually and the speed of the motor will decrease. Increase the
Control winding voltage till the speed obtained at no load is reached. Note down
control voltage and load readings.
4. Repeat the above procedure for various speeds and tabulate.
5. Calculate the Torque as T = 9.81 X r X(S1 S2) and plot the graph between
torque and control winding voltage. Find T and C and then find K.

TORQUE SPEED CHARACTERISTICS

V
c1
= V
c2
= V
c3
=
N
Rpm
S1
Kg
S2
Kg
T
N-m
N
Rpm
S1
Kg
S2
Kg
T
N-m
N
Rpm
S1
Kg
S2
Kg
T
N-m


MODEL GRAPH



TORQUE
N-m










SPEED (RPM)
TORQUE CONTROL VOLTAGE CHARACETERISTICS

N
1
= N
2
= N
3
=
S1
Kg
S2
Kg
V
c

V
T
N-m
S1
Kg
S2
Kg
V
c

V
T
N-m
S1
Kg
S2
Kg
V
c

V
T
N-m

MODEL GRAPH




TORQUE
N-m








Control voltage (Volts)

Given , B = 0.01875 X 10
-3
N-m / Rpm

J = 0.052 X 10
-3
Kg m
2

VIVA QUESTIONS
1.What are the main parts of an ac servo motor?
2. what are the advantages and disadvantages of an AC servo motor?
3.Give the applications of Ac servomotor?
4.What do you mean by servo mechanism?

REFERENCE

1. NAGRATH & GOPAL, Control Systems.
2. Lab Manual Transfer Function Derivation of AC Servo motor System

RESULT:
From the Torque-Speed characteristics and Control-voltage Characteristics the Transfer
function of AC servomotor is determined as















Expt No. 4 ANALOG SIMULATION OF TYPE 0 and TYPE 1 SYSTEMS

AIM:
To study the time response of first and second order type 0 and type- 1
systems.

APPARATUS REQUIRED:
1.Linear system simulator kit
2.CRO
FORMULAE USED:
1.Steady state error e
ss
(V) = R
e
/K K1
where R
e
= 2R
where R is the slope.
K is the gain
K1 is the gain of integrator block
From the waveform
2.Damping ratio, = (ln M
P
)
2
/ (
2
+(ln M
P
)
2
)
Where M
P
is peak percent overshoot obtained from the waveform
3. Undamped natural frequency,
n
= / t
p
(1 -
2
)

Theoretical Values of
n
and can be obtained by comparing the co-efficients of
the denominator of the closed loop transfer function of the second order system
with the standard format of the second order system
Closed loop transfer function of the type 1-second order system is
G(s) = K K1 K2 / s (1 + sT1)
K is the gain
K1 is the gain of Integartor = 9.6
K2 is the gain of the time constant 1 block =10
T1 is the time constant of time constant 1 block = 1 ms
Closed loop transfer function of the type 0 second order system is
G(s) = K K2 K3 / (1+sT1) (1 + sT2)
K is the gain
K2 is the gain of the time constant 1 block =10
K3 is the gain of the time constant 2 block =10
T1 is the time constant time constant 1 block = 1 ms
T2 is the time constant time constant 2 block = 1 ms

THEORY:

The type number of the system is obtained from the number of poles located at
origin in a given system. Type 0 system means there is no pole at origin. Type 1
system means there is one pole located at the origin.
The order of the system is obtained from the highest power of s in the
denominator of closed loop transfer function of the system
The first order system is characterized by one pole or a zero. Examples of first
order systems are a pure integrator and a single time constant having transfer function
of the form K/s and K/ (sT+1). The second order system is characterized by two poles
and upto two zeros. The standard form of a second order system is
G(s) =
n
2

/ (s
2
+ 2
n
s +
n
2
) where is damping ratio and
n
is undamped natural
frequency.

BLOCK DIAGRAM:

1.Type- 1 First order system

2.Type-0 first order system


3.To find steady state error of type- 1 system





4.Type-1 second order system




5.Type-0 second order system


PROCEDURE:

1.To find the steady state error of type 1 first order system

1.The blocks are Connected using the patch chords in the simulator kit.
2.The input triangular wave is set to 1 V peak to peak in the CRO and this applied
to the REF terminal of error detector block. The input is also connected to the X-
channel of CRO.
3.The output from the system is connected to the Y- channel of CRO.
4. The experiment should be conducted at the lowest frequency to allow enough
time for the step response to reach near steady state.
5.The CRO is kept in X-Y mode and the steady state error is obtained as the
vertical
displacement between the two curves.
6.The gain K is varied and different values of steady state errors are noted.
7. The steady state error is also calculated theoretically and the two values are
compared.

2.To find the steady state error of type 0 first order system

1.The blocks are connected using the patch chords in the simulator kit.
2.The input square wave is set to 1 V peak to peak in the CRO and this applied
to the REF terminal of error detector block. The input is also connected to the X-
channel of CRO.
3.The output from the system is connected to the Y- channel of CRO.
4.The CRO is kept in X-Y mode and the steady state error is obtained as the
vertical
displacement between the two curves.
5.The gain K is varied and different values of steady state errors are noted.


3.To find the closed loop response of type 0 and type- 1 second order system

1.The blocks are connected using the patch chords in the simulator kit.
2.The input square wave is set to 1 V peak to peak in the CRO and this applied
to the REF terminal of error detector block. The input is also connected to the X-
channel of CRO.
3.The output from the system is connected to the Y- channel of CRO.
4.The output waveform is obtained in the CRO and it is traced on a graph
sheet. From the waveform the peak percent overshoot, settling time,rise time,
peak time are measured. Using these values
n
and are calculated.
5.The above procedure is repeated for different values of gain K and the values
are
compared with the theoretical values.


TABULAR COLUMN:

1.To find the steady state error of type 1 first order system

S.No. K R (V/sec) e
ss
*
(V) e
ss
#
(V)


2.To find the steady state error of type 0 first order system

S.No. K e
ss
(V)


3.To find the closed loop response of type 0 second order system

S.No. K %M
P
t
r
(sec) t
p
(sec) t
s

(sec)

*

n
*

(rad/sec)

n
#
(rad/sec)


4.To find the closed loop response of type 1 second order system

S.No. K %M
P
t
r
(sec) t
p
(sec) t
s
(sec)
*

n
*

(rad/sec)

n
#
(rad/sec)


MODEL GRAPH:














MODEL CALCULATION:









RESULT:
Thus the time response of first and second order type- 0 and type- 1 systems
are studied.


Expt. No:12 STUDY OF BASIC MATLAB COMMANDS

AIM:
To study the basic MATLAB commands which are used for analysis of control
system.
APPARATUS REQUIRED:
A PC with MATLAB package.

THEORY:
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 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 non-interactive language such as C or
Fortran.
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. Areas in which toolboxes are available include SIGNAL PROCESSING,
CONTROL SYSTEMS, NEURAL NETWORKS, FUZZY LOGIC, WAVELETS,
SIMULATION, AND MANY OTHERS.



PROCEDURE:

Find the commands for the following using MATLAB Help Command:
1. To obtain the frequency response
2. To obtain the time response
3. To obtain step response using LTI viewer
4. Convert Transfer Function to State Space
5. Convert State Space to Transfer Function
6. Convert Transfer Function to Zero pole gain format
7. Convert Zero pole gain to Transfer Function
8. Convert Zero pole gain to State Space
9. Convert State Space to Zero Pole Gain
10. To Draw Bode Plot
11. To Draw Nyquist Plot
12. To Obtain Phase margin and Gain Margin
13. To Draw Nichols Plot
14. Convert Continuous to Discrete domain
15. Convert Discrete to Continuous domain.


VIVA QUESTIONS:
1. What is MATLAB?
2. What is the use of MATLAB Package?
3. What are the toolboxes available in MATALB?
4. What is the use of a simulation.
5. Differentiate real time systems and simulated systems.


REFERENCE
1. NAGRATH & GOPAL, Control Systems.
2. Ogata, Control Systems
3. MATLAB User Manual .





RESULT:
Thus the Basic commands for the analysis and design of control system has been
studied using MATLAB.





Expt. No:5 DIGITAL SIMULATION OF LINEAR SYSTEMS

AIM
To digitally simulate the time response characteristics of a linear system without
non linearities and to verify it manually.

APPARATUS REQUIRED

Mat lab Software

THEORY

The time characteristics of control systems are specified in terms of time domain
specifications. Systems with energy storage elements cannot respond instantaneously
and will exhibit transient responses, whenever they are subjected to inputs or
disturbances.
The desired performance characteristics of a system of any order may be
specified in terms of transient response to a unit step input signal. The transient
response characteristics of a control system to a unit step input is specified in terms of
the following time domain specifications
Delay time t
d

Rise time tr
Peak time t
p

Maximum overshoot M
p

Settling time t
s


ALGORITHM
i) Declare the numerator and the denominator separately
ii) Assign values for y,x and t using step function
iii) Plot y versus t using plot function
iv) Calculate rise time, peak time, peak overshoot, and settling time using the formulae
PROGRAM

%This is a MATLAB program to find the rise time, peak time, maximum
%overshoot, and settling time of the second order system and higher order
%system
% in this example assume zeta=0.6 and wn =5
num=[0 0 25];
den=[1 6 25];
t=0:0.005:5;
[y,x,t]=step(num,den,t)
r=1;
while y(r)<1.000;
r=r+1;
end;
rise_time=(r-1)*0.005
[ymax,tp]=max(y);
peak_time=(tp-1) * 0.005
max_overshoot= ymax - 1
s=1001;
while y(s)>0.98 & y(s)<1.02;
s=s-1;
end;
settling_time=(s-1)*0.005

OUTPUT

rise_time =
0.5550
peak_time =
0.7850
max_overshoot =
0.0948
settling_time =
1.1850

MANUAL CALCULATIONS

Damped frequency of oscillation=
d
=
n
sqrt(1-
2
)=5sqrt(1-0.6
2
)=4 rad/sec
Rise time tr=

d

= tan -1(sqrt(1-
2
)) = tan -1(sqrt(1-0.6
2
) = 53.13 degrees
0.6
in radians = 53.13 * /180 = 0.9268 rad
tr= = 0.9268 = 0.5533 seconds

d
4
Peak time t
p
= = 3.14 = 0.785 seconds

d
4
Maximum overshoot M
p
=e
- / sqrt(1- 2)
= e
-0.6(3.14)/0.8
= 0.0949
Settling time t
s
= 3T = 3_ = __3__ = 1.2 seconds

n
4(0.6)



PLOT











RESULT

The time response characteristics of a linear system without non linearities is simulated
digitally and verified manually.





Expt. No: 6 DIGITAL SIMULATION OF NON-LINEAR
SYSTEMS

AIM:
To digitally simulate the time response characteristics of Linear system with simple
non-linearities like saturation and dead zone.

APPARATU REQUIRED:
A PC with MATLAB package.

THEORY:
When a mathematical model of a physical system is solved for various
input conditions, the result represents the dynamic response of the system. The
mathematical model of a system is Linear, it obeys the principle of superposition
and Homogeneity. This principle implies that if a system model has responses y1(t)
and y2(t) to any two inputs x1(t) and x2(t) respectively, then the system responses to
the linear combination of these inputs

1
x
1
(t) +
2
x
2
(t) is given by the linear combination of the individual outputs, i.e.,

1
y
1
(t) +
2
y
2
(t) where
1
and
2
are constants.
Mathematical models of most physical systems are characterized by differential
equation. A mathematical model is linear, if differential equation describing it has
coefficients, which are either functions only of the independent variable or constants. If
the coefficients of the describing differential equations are functions of time (the
independent variable), then the mathematical model is Linear TimeVarying. On the
other hand, if the coefficients of the describing differential equations are constants, the
model is Linear Time-Invariant.
The differential equation describing a linear time-invariant system can reshape into
different forms for the convenience of analysis. For the transient response or Frequency
response analysis of Single-Input Single-Output Linear systems the transfer function
representation is used as a powerful tool.
It is on account of the principle of superposition, it is guaranteed that a linear system
designed to perform satisfactorily when excited by a standard test signal, will exhibit
satisfactory behaviour under any circumstances. Furthermore, the amplitude of the test
signal is unimportant since any change in input signal amplitude results simply in
change of response scale with no change in the basic characteristics. In contrast to the
linear systems, the response of Non-Linear systems to a particular test signals is no
guide to their behaviour to other inputs, since the principle of superposition no longer
holds. Also the Non-Linear systems are highly sensitive to change in input amplitude.
When a linear system is excited by a sinusoidal input of frequency , the steady- state
output is always sinusoidal of the same frequency. This is not the case in nonlinear
systems, where if the input is a sine wave, the output in general is non-sinusoidal
containing frequencies (harmonics) which are multiples of the forcing frequency .
The Non-Linear systems are constructed using the combination of Linear systems and
simple Non-Linearities. In control systems, Non-linearities can be classified as
incidental and intentional. Incidental non-linearities are those which are inherently
present in the system. Common examples of Incidental non-linearities are Saturation,
Dead-Zone, Coulomb friction, Stiction, backlash, etc. The intentional non-linearities,
on the other hand, are those which are deliberately inserted in the system to modify
system characteristics. The most common example of this type is a Relay.
SATURATION:
The most common of all Non-linearities. All practical system, when driven by
sufficiently large signals, exhibit the phenomenon of saturation due to limitations of
physical capabilities of their components. Many components such as amplifiers have
output proportional to input in a limited range of input signals. When the input
exceeds this range , the output tends to become nearly constant Though the change
over from one range to another is gradual, it is sufficiently accurate in most cases to
approximate the saturation phenomenon by straight line segments as shown here.
DEAD-ZONE:

PROCEDURE:
1. For the given simple Linear systems obtain the time response characteristics for
step input and sinusoidal input.
2. Add a non-linear element saturation to the linear systems and get the time
response characteristics for step and sinusoidal inputs.
3. Discuss the effect of added non-linearity to the linear systems.
4. Repeat the step 3 by adding Dead-Zone non-linearity the linear systems.
5. Discuss the effect of added non-linearity.
6. Give the inference.

VIVA QUESTIONS:
1. Define Linear systems.
2. What is the principle of superposition and homogeneity?
3. What is meant by Non-Linearities?
4. Define Dead-Zone.
5. Define Saturation.
6. Define Backlash.
7. Define Relay.
8. What is the behaviour of Non-Linear systems?

RESULT: Thus the time response characteristics of linear systems with simple non-
linearities like saturation and dead-zone using digital simulation has been obtained.
Expt. No: 7 DESIGN AND IMPLEMENTATION OF COMPENSATORS

AIM

To design a lag compensator in Bode plot (frequency domain) for the system whose
transfer function is
G(s) = K
s(s+4)(s+80)

APPARATUS REQUIRED

Mathlab software

PROGRAM:

%BODE PLOT OF THE SYSTEM UNCOMPENSATED AND COMPENSATED(LAG)%
%Enter the numerator and denominator of the transfer function
num=[0 0 0 9600];
den=[1 84 320 0];
sys=tf(num,den)
bode(sys)
[Gm,Pm,Wcp,Wcg]=margin(sys)
margin(sys)
hold
%Enter the numerator and denominator of the transfer function
num=[0 0 0 63.9 30]
den=[0.042 3.52 13.68 1 0];
sys=tf(num,den)
bode(sys)
[Gm,Pm,Wcp,Wcg]=margin(sys)
margin(sys)

MANUAL CALCULATIONS
i)Calculation of gain
Given Kv = 30 sec
-1
Kv = Lt sG(s)H(s)
s 0
Since the system is unity feedback system H(s) = 1
Therefore Kv = Lt sG(s) = Lt K = K
s 0 s 0 s(s+4)(s+80) 4*80
K = 9600
ii)Bode plot of uncompensated system
Let s= j
G(j) = 9600 = 30
s(s+4)(s+80) j(1+0.25 j)(1+0.0125 j)

Magnitude plot
The corner frequencies are
c1
=4rad/sec and
c2
= 80 rad/sec
Choose a low frequency
l
such that
l
<
c1
and choose a high frequency
h>

c3.
Let
l
=1 rad/sec and
h
=100 rad/sec

Term Corner
Frequency
rad/sec
Slope
db/dec
Change in slope
db/dec
30
j
__ -20 __
1
(1+0.25j)
4 -20 -20-20= - 40
1
( 1+0.0125 j)
80 -20 -40-20 = -60

Calculate A at
l
,
c1
,
c2,
and
h

Let A= | G(j)| in db
At =
l
A= 20 log(30/1)=29.5db
=
c1 ,
A=20log(30/4)=18db
=
c2
A= -40log(80/4)+18= -34 db
=
h
A = -60log(100/80)+(-34) = - 40 db
These values are plotted in the semilog graph sheet taking frequency along the
logarithmic scale and magnitude in db along the linear scale

The phase angle of G(j) as a function of is given by
= G(j) = - tan
-1
0.25 -90 tan
-1
0.0125


Rad/sec
1 4 10 50 80 100

degrees
-104 -138 -164 -208 -222 -230

These values are plotted in the semi log graph sheet taking the same frequency as
before along the logarithmic scale and phase angle in degrees along the linear scale.

iii)Determination of phase margin of compensated system
Let,
gc
= Phase margin of G(j) at gain cross over frequency (
gc
)
And = Phase margin of compensated system.
From the bode plot of uncompensated system we found that
gc
= -168deg
Now = 180 +
gc
= 180-168=12 deg
The system requires a phse marginof atleast 33 degrees but the available phase margin
is 12 degrees and so lag compensation should be employed to improve the phase
margin.

iv)Choose a suitable value for the phase margin of compensated system.
The desired phase margin, o = 33 deg
Phase margin of compensated system, o = d +
Let initial choice of = 5 deg
o = d + = 33 + 5 =38 degrees

v)Determine the new gain crossover frequency
Let
gc
= New gain cross over frequency and
gc
= phase of G(j) at
gc

Now o = 180 +
gcn

gcn
= o 180 = 38 180 = -142 deg
From the bode plot the frequency corresponding to a phase of -142deg is 4.7 rad/sec
New gain crossover frequency
gcn
= 4.7 rad/sec
vi)Determine the parameter
From the bode plot, the db magnitude at
gcn
is 16 db
Therefore Mag of G(j) = 16 db
Also A
gcn
= 20 log
= 10
Agcn
=6.3
vii)Determine the transfer function of lag ocmpensator.
The zero of the compensator is placed at a frequency one-tenth of
gcn

Zero of the lag compensator, z
c
= 1/T
T = 10/
gcn
= 2.13
Pole of the lag compensator p
c
= 1/ T
p
c
=

(6.3*2.13) = 1/13.419
Transfer function of lag compensator Gc(s) = (s+1/T)/(s+1/ T)
= 6.3(1+2.13s)/(1+13.419s)
viii)Determine the open loop transfer function of the compensated system



The gain of the compensator is nullified by introducing an attenuator in series with the
compensator, as shown in the diagram

Open loop transfer function of compensated system
Gc(s) = 1 * 6.3(1+2.13s) * 30_____
1/6.3 6.3(1+2.13s)
(1+13.419s)
30_____
s(1+0.25s)(1+0.0125s
)
6.3 (1+13.419s) s(1+0.25s)(1+0.0125s)
= ________30(1+2.13s)____________
s(1+13.419s)(1+0.25s)(1+0.0125s)
ix) Determine the actual phase margin of compensated system.
Gc(s)= ___30(1+2.13j)____________________
j (1+13.419 j)(1+0.25 j)(1+0.0125 j)
Let
0
= Phase of G(j) and
gc0
= phase of Gc(j) at =
gcn

gc0
= tan
-1
(2.13 * 4.7) - 90 tan
-1
(13.419*4.7)


tan
-1
(0.25 * 4.7)

- tan
-1
(0.0125 * 4.7) = -147degrees
Actual phase margin of compensated system o = 180 +
gcn
= 180 147 =33 degree


OUTPUT:

Transfer function:
9600
--------------------
s^3 + 84 s^2 + 320 s

Gm =
2.8000
Pm =
13.2591
Wcp =
17.8885
Wcg =
10.5470
Current plot held
num =

0 0 0 63.9000 30.0000
Transfer function:
63.9 s + 30
------------------------------------
0.042 s^4 + 3.52 s^3 + 13.68 s^2 + s
Gm =
15.7613
Pm =
39.3844
Wcp =
16.9235
Wcg =
3.5782


PLOT



Result

The actual phase margin of the compensated system satisfies the requirement. Hence
the design is acceptable.






Expt No.8 DESIGN OF P, PI & PID CONTROLLERS
1.DESIGN OF P CONTROLLER
AIM:
To design an electronic Proportional Controller.
APPARATUS REQUIRED:
1.PID designing unit
2.Patch chords
3.Resistors
FORMULA USED:
1.V
out
= K
P
V
e
+ V
b

where K
P
is proportional gain
V
e
is error voltage
V
b
is bias voltage
2.Gain = Output/Input
3.K
P
= R
2
/ R
1

PROCEDURE:
1.Obtain the design of values of the resistors for the given input and output
voltage ranges.
2.Connect the circuit as per the patching diagram.
3.Apply the specified input voltages V
e
&V
b
to the terminals T
2
and T
1

respectively of the P Controller.
4.Note down the output voltage.
TABULAR COLUMN:
S.No. V
e
(V) V
b
(V) V
out
(V)


MODEL CALCULATION:

RESULT:
Thus the design of electronic P controller for the given requirements has been
done.
2.DESIGN OF PI CONTROLLER
AIM:
To design an electronic PI Controller and to study the time response of the
given system.
APPARATUS REQUIRED:
1.PID designing unit
2.Patch chords
3.Resistors
4.Capacitors
5.CRO and Probes
FORMULAE USED:
1.V
out
= K
P
V
e
+ K
I
V
e
dt
Where K
P
(due to Proportional band) is V
out
/ V
e
= R
2
/ R
1

Proportional band is 100/gain where gain is Output / Input
V
out
is proportional band % of change in output
V
e
is proportional band % of change in input
K
I
(due to Integral action) isV
out
/V
e
sec
-1
=1 / T
I

V
out
is 0.1% of change in output
V
e
is 1% of change in input
2. T
I
= R
2
C
1
assume C
1
= 100F find R
2

3. R
1
= R
2
/ K
P

PROCEDURE:
1.Obtain the design of values of the resistors for the given input and output
voltage ranges.
2.Connect the circuit as per the patching diagram.
3.Apply the specified input voltages V
e
&V
b
to the terminals T
2
and T
1

respectively of the P Controller.
4.Note down the output voltage.


PROCEDURE FOR TIME RESPONSE CHARACTERISTICS:
1.Patch the circuit as per the patching diagram.
2.Set IV
PP
of square wave .
3.Observe the input & output voltage waveforms in the CRO.
4.Note the time response characteristics ts , tr , tp.



MODEL CALCULATION:









RESULT:
Thus the design of electronic PI controller for the given requirements has been
done.










3.DESIGN OF PID CONTROLLER
AIM:
To design an electronic PID Controller and to study the time response of the
given system.
APPARATUS REQUIRED:
1.PID designing unit
2.Patch chords
3.Resistors
4.Capacitors
5.CRO and Probes
FORMULAE USED:
1.V
out
= K
P
V
e
+ K
I
V
e
dt
Where K
P
(due to Proportional band) is V
out
/ V
e
= R
2
/ R
1

Proportional band is 100/gain where gain is Output / Input
V
out
is proportional band % of change in output
V
e
is proportional band % of change in input
K
I
(due to Integral action) isV
out
/V
e
sec
-1
=1 / T
I

V
out
is 0.1% of change in output
V
e
is 1% of change in input
2. T
I
= R
2
C
1
assume C
1
= 100F find R
2

3. R
1
= R
2
/ K
P

PROCEDURE:
1.Obtain the design of values of the resistors for the given input and output
voltage ranges.
2.Connect the circuit as per the patching diagram.
3.Apply the specified input voltages V
e
&V
b
to the terminals T
2
and T
1

respectively of the P Controller.
4.Note down the output voltage.


PROCEDURE FOR TIME RESPONSE CHARACTERISTICS:
1.Patch the circuit as per the patching diagram.
2.Set IV
PP
of square wave.
3.Observe the input & output voltage waveforms.
4.Note the time response characteristics ts , tr , tp.



MODEL CALCULATION:









RESULT:
Thus the design of electronic PID controller for the given requirements has
been done.
















Expt. No: 9 a) STABILITY ANALYSIS OF LINEAR SYSTEMS(Bode Plot)

AIM
To obtain the bode plot for the given system whose transfer function is given as

G(S)= 242(s+5)
s(s+1)(s
2
+5s+121)
and to find out whether the system is stable or not.

APPARATUS REQUIRED

Mat lab Software
THEORY

A Linear Time-Invariant Systems is stable if the following two notions of
system stability are satisfied
When the system is excited by Bounded input, the output is also a
Bounded output.
In the absence of the input, the output tends towards zero, irrespective of
the initial conditions.
The following observations are general considerations regarding system stability
and are
If all the roots of the characteristic equation have negative real parts, then the
impulse response is bounded and eventually decreases to zero, then system is
stable.
If any root of the characteristic equation has a positive real part, then
system is unstable.
If the characteristic equation has repeated roots on the j-axis, then
system is unstable.
If one are more non-repeated roots of the characteristic equation on the
j-axis, then system is unstable.

BODE PLOT :
Consider a Single-Input Single-Output system with transfer function

C(s) b
0
s
m
+ b
1
s
m-1
+ + b
m

=
R(s) a
0
s
n
+ a
1
s
n-1
+ +a
n


Where m < n. In majority of the practical systems, the following statements
on stability are quite useful.
If all the roots of characteristic equation have negative real parts, the
system is stable.
If any root of characteristic equation has a positive real part or if there is a
repeated root on the j-axis, the system is unstable.
If the first condition is satisfied except for the presence of one are more
non-repeated roots on the j-axis, the system is limitedly stable.

The most basic characteristic in defining system quality is that it provides
stable regulation of the dynamic variable. Stable regulation means that the
dynamic variable does not grow without limit. The two types of unstable
responses are

A disturbance causes the dynamic variable to simply increase without
limit.
The variable begins to execute growing oscillations, where the amplitude
is increasing without limit.
In both cases, some nonlinear break down eventually terminates the
increase. Any change in load may change the period of oscillation, but the
amplitude swing remains essentially the same, and hence the system is under
stable control.
The dynamic transfer function of an element tells how the output is
determined from the input when the input varies in time. For the study of
stability, response of dynamic transfer function with input is oscillating at some
frequency is taken, which is the frequency response of the system. The stability
criteria from frequency response is

Rule 1 A system is stable if the phase lag is less than 180 at the
frequency for which the gain is unity (one).
Rule 2 A system is stable if the gain is less than one (unity) at the
frequency for which the phase lag is 180.
The application of these rules to an actual process requires evaluation of the gain
and phase shift of the system for all frequencies to see if rules 1 and 2 are
satisfied. This is obtained by plotting the gain and phase versus frequency. This
plot is called BODE PLOT. The gain obtained here is open loop gain.

The stability criteria given above represent Limits of Stability. It is well to
design a system with a margin of safety from such limits to allow for variation
in components and other unknown factors. This consideration leads to the
revised stability criteria, or more properly, a Margin Of Safety provided to each
condition. The exact terminology is in terms of a Gain Margin and Phase
Margin from the limiting values quoted.
If the phase lag is less than 140 at the unity gain frequency, the system is
stable. This then, is a 40 Phase Margin from the limiting values of 180.
If the gain is 5dB below unity (or a gain of about 0.56) when the phase lag
is 180, the system is stable. This is 5dB Gain Margin.

ALGORITHM
1. Write a Program to (or using SIMULINK) obtain the Bode plot for the given
system.
2. Access the stability of given system using the plots obtained.

PROGRAM

%BODE PLOT OF THE SYSTEM%
%Enter the numerator and denominator of the transfer function
num=[0 0 0 242 1210];
den=[1 6 126 121 0];
sys=tf(num,den)
%Specify the frequency range and enter the command
w=logspace(-2,4,1000);
bode(sys,w)
xlabel('Frequency')
ylabel( ' Phase angle in degrees Magnitude of G(s)')
title('Bode Plot of the system 242(s+5)/s(s+1)(s^2+5*s+121)')
%To determine the Gain Margin,Phase Margin, Gain crossover frequency and
%Phase cross over frequency
[ Gm, Pm, Wcp, Wcg ]= margin (sys)

PROCEDURE TO OBTAIN BODE PLOT

1. Rewrite the sinusoidal transfer function in the time constant form by replacing
s by j
2. Identify the corner frequencies associated with each factor of the transfer
function.
3. Knowing the corner frequencies draw the asymptotic magnitude plot. This
plot consists of straight line segments with line slope changing at each corner
frequency by +20db/decade for a zero and -20db/decade for a pole. For a complex
conjugate zero or pole the slope changes by + 40db/decade.
4. Draw a smooth curve through the corrected points such that it is asymptotic
to the line segments. This gives the actual log-magnitude plot.
5. Draw phase angle curve for each factor and add them algebraically to get the
phase plot.
MANUAL CALCULATIONS

i)The sinusoidal transfer function G (j) is obtained by replacing s by j in the given s
domain transfer function

G(j)= 242(j +5)
j (j +1)( j
2
+5 j +121)
On comparing the quadratic factor of G(s) with standard form of quadratic
factor , and
n
can be evaluated.

s
2
+5s+121 = s2+2
n
s +
n
2
On comparison

n
2
= 121 2
n
= 5

n
=11 rad/sec = 0.227

G(j)= 10(1+0.2j)
j (1+j)( 1+0.4 j -0.0083
2
)

ii)CORNER FREQUENCIES
The corner frequencies are
c1
=1rad/sec
c2
= 5 rad/sec and
c3
=11rad/sec
Choose a low frequency
l
such that
l
<
c1
and choose a high frequency
h>

c3.
Let
l
=0.5 rad/sec and
h
=100 rad/sec

Term Corner
Frequency
rad/sec
Slope
db/dec
Change in slope
db/dec
10
j
__ -20 __
1
(1+j)
1 -20 -20-20= - 40
(1+0.2j) 5 20 -40-20 = -20
1
( 1+0.4 j -0.0083
2
)
11 -40 -40-20 = -60



iii)MAGNITUDE PLOTS

Calculate A at
l
,
c1
,
c2,

c3
, and
h

Let A= | G(j)| in db
At =
l
A= 20 log(10/0.5)=26.03db
=
c1 ,
A=20log(10/1)=20db
=
c2
A= -40log(5/1)+20=-7.96 db
=
c3
A = -20log(11/5) - 7.96 = -14.80 db
=
h
A = -60log(100/11)-14.80 = - 72.3 db
These values are plotted in the semilog graph sheet taking frequency along the
logarithmic scale and magnitude in db along the linear scale

iv)PHASE PLOT
The phase angle of G(j) as a function of is given by
= G(j) = tan
-1
0.2 -90 tan
-1
tan
-1
0.04/(1 0.0083
2
)
tan
-1
0.2 tan
-1
tan
-1
{0.04/
(1 0.0083
2
)}
= G(j)
0.5 507 26.56 1.15 -112
1 11.3 45 2.31 -126.01
5 45 78.96 14.04 -138
10 63.43 84.29 63.44 -174.3
11 65.5 84.8 85.8 -195.4
20 75.96 87.14 180-19.98=160 -261.18
50 84.3 88.85 180-6=174 -268.55
100 87014 89.43 180-2.9=177.1 -269.3

These values are plotted in the semilog graph sheet taking the same frequency as
before along the logarithmic scale and phase angle in degrees along the linear scale.

OUTPUT (from simulation)

242 s + 1210
-----------------------------
s^4 + 6 s^3 + 126 s^2 + 121 s

Gm = 2.0273

Pm = 41.8270

Wcp = 10.0961

Wcg = 3.6322


OUTPUT (from graph)

gc
=
gc
=3.1rad/sec
Phase margin =180+
gc
= 180-134 = 46 degrees

Gain Margin = 12 db

pc
= 10.1 rad/sec

BODE PLOT


VIVA QUESTIONS:

1. Define stability of Linear Time Invariant System.
2. Give the stability conditions of system using Pole-Zero plot.
3. Define Bode Plot.
4. What is the use of Bode Plot?
5. What are the conditions of stability in bode plot?
6. Define Stability criteria.
7. Define Limits of stability.
8. Define safe regions in stability criteria.
9. Define Phase margin and Gain margin.




REFERENCE

1. NAGRATH & GOPAL, Control Systems.
2. MATLAB User Manual .
3. Control Systems by Nagoor gani
4. Control system Engineering by S .P .Eugene Xavier and J.Joseph Cyril babu.
5. Control system Engineering by R.Ananda Natarajan and P.Ramesh babu.


















RESULT:
i)The Bode plot is drawn for the given transfer function using matlab and verified
manually
ii) The system is stable
Expt. No:9 b) STABILITY ANALYSIS OF LINEAR SYSTEMS
(Root Locus Plot)

AIM

To obtain the Root locus plot for the given system whose transfer function is
given as

G(S)= K
s(s+3)(s
2
+3s+11.25)

APPARATUS REQUIRED
Mat lab Software

THEORY

ROOT LOCUS PLOT :
The characteristic of the transient response of a closed-loop system is related to
the location of the closed loop poles. If the system has a variable loop gain, then
the location of the closed-loop poles depend on the value of the loop gain chosen.
A simple technique known as Root Locus Technique used for studying linear
control systems in the investigation of the trajectories of the roots of the
characteristic equation.
This technique provides a graphical method of plotting the locus of the roots in
the s-plane as a given system parameter is varied over the complete range of
values(may be from zero to infinity). The roots corresponding to a particular
value of the system parameter can then be located on the locus or the value of the
parameter for a desired root location can be determined form the locus. The root
locus is a powerful technique as it brings into focus the complete dynamic
response of the system . The root locus also provides a measure of sensitivity of
roots to the variation in the parameter being considered. This technique is
applicable to both single as well as multiple-loop systems.


PROCEDURE:
1. Write a Program to (or using SIMULINK) obtain the Root locus plot for
the given system.
2. Access the stability of given system using the plots obtained.





PROGRAM

%ROOT LOCUS OF THE SYSTEM%
num=[0 0 0 0 1]
den=[1 6 20.25 33.75 0]
sys=tf(num,den)
rlocus(sys)
v=[-10,10,-8,8];
axis(v)
xlabel('Real Axis')
ylabel('Imaginary Axis')
title('Root Locus of the sytem ')
title('Root Locus Plot of the system K/s(s+3)(s^2+3s+11.25))')

MANUAL CALCULATIONS

1. Number of poles =4, zeros = 0, number of root locus branches =4. Starting
points s=0, -3 & 1.5+ j3.
2. Pole zero plot is as follows
Section between 0 and -3 is part of root locus. One breakway point is
between s=0 and s=-3.
3. Angle of asymptotes are 45,135,225 and 315 degrees
4. Centroid = -1.5
5. Three Breakway points are -1.5,-1.5 + j 1.8371
6. Intersection with imaginary axis s= + j2.37.
7. Angle of departure -90, +90.
8. Root locus is plotted.
9. Stability for 0< K<82.26 system is stable.
K=82.26 system is marginally stable.
K>82.26 system is unstable
OUTPUT
num =
0 0 0 0 1
den =
1.0000 6.0000 20.2500 33.7500 0
Transfer function:
1
---------------------------------
s^4 + 6 s^3 + 20.25 s^2 + 33.75 s

GRAPH(from Simulation)



VIVA QUESTIONS

1. Define root locus technique.
2. What are the conditions of stability in root locus criteria.
3. What is the advantage of root locus technique.
4. Which method of stability analysis is more advantageous?
5. How the stability of unstable is improved?
6. What are the methods to improve the stability.
7. What is the use of compensators.
8. What do you mean by Root-Loci?
9. What is complementary Root Loci?
10. What are contours?
11. State the basic properties of Root Locus.
12. How would you find the number of branches of Root Loci?
13. How are the break away points of the root locus determined?
14. How is the point of intersection of the asymptotes with real axis found
out.



REFERENCE

1. NAGRATH & GOPAL, Control Systems.
2. MATLAB User Manual .
3. Control Systems by Nagoor gani
4. Control system Engineering by S .P .Eugene Xavier and J.Joseph
Cyril babu.
5. Control system Engineering by R.Ananda Natarajan and P.Ramesh
babu.










RESULT:

Thus the Root Locus plot is drawn for the given transfer function using matlab
and verified manually.

Expt. No:9 c) STABILITY ANALYSIS OF LINEAR SYSTEMS
(Nyquist Plot)

AIM

To obtain the Nyquist plot for the given system whose transfer function is
given as
G(S)= 50
(s+4)(s
2
+3s+3)
and to find out whether the system is stable or not.

APPARATUS REQUIRED

Mat lab Software

THEORY

POLAR PLOTS OR NYQUIST PLOTS:
The sinusoidal transfer function G(j) is a complex function is given by
G(j) = Re[ G(j)] + j Im[G(j)] or
G(j) = G(j) G(j) = M -----------(1)
From equation (1), it is seen that G(j) may be represented as a phasor
of magnitude M and phase angle . As the input frequency varies from 0 to ,
the magnitude M and phase angle changes and hence the tip of the phasor
G(j) traces a locus in the complex plane. The locus thus obtained is known as
POLAR PLOT.

Consider a simple RC filter having the transfer function
Eo(s) 1 / Cs
= G(s) =
Ei(s) R + 1 / Cs
Where T = RC , Therefore the sinusoidal transfer function is
1 1
G(j) = = tan
-1
T
1 + j T 1 +
2
T
2


= M
When = 0, M = 1 and = 0.
But as increases , M decreases and increases.
When = 1/T , M = 1/2 and = - 45.
As increases towards , M becomes 0 and is -90.
The major advantage of the polar plot lies in stability study of systems. Nyquist
related the stability of a system to the form of these plots. Polar plots are referred
as NYQUIST PLOTS.
NYQUIST stability criterion of determining the stability of a closed loop system
by investigating the properties of the frequency domain plot of the loop transfer
function G(s) H(s).
Nyquist stability criterion provides the information on the absolute stability of a
control system as similar to Routh- Hurwitz criterion. Not only giving the absolute
stability, but indicates Degree of Stability i.e Relative Stability of a stable
system and the degree of instability of an unstable system and indicates how the
system stability can be improved. The Nyquist stability citerion is based on a
Cauchys Residue Theorem of complex variables which is referred to as the
principle of argument .
Let Q(s) be a single valued function that has a finite number of poles in the s-
plane. Suppose that an arbitrary closed path q is chosen in the s-plane so that
the path does not go through any one of the poles or zeros of Q(s); the
corresponding q locus mapped in the Q(s) plane will encircle the origin as many
times as the difference between the number of the zeros and the number of
poles of Q(s) that are encircled by the s-plane locus q.
The principle of argument is given by
N= Z - P
Where N number of encirclemnts of the origin made by the Q(s) plane locus
q.
Z number of zeros of Q(s) encircled by the s-plane locus q in the s-plane.
P - number of poles of Q(s) encircled by the s-plane locus q in the s-plane.

ALGORITHM
1. Write a Program to (or using SIMULINK) obtain the Nyquist plot for the
given system.
2. Access the stability of given system using the plots obtained.

PROGRAM

%NYQUIST PLOT
%Enter the numerator and denominator of the transfer function
num=[0 0 0 50]
den=[1 7 12 12]
sys=tf(num,den)
%Specify the frequency range and enter the command
nyquist(sys)
v=[-3 5 -7 7]
axis(v)
xlabel('Real Axis');
ylabel('Imaginary Axis');
title('Nyquist Plot of the sytem 50/(s+4)(s^2+3s+3)')
%To determine the Gain Margin,Phase Margin, Gain crossover frequency and
%phase cross over frequency
[Gm,Pm,Wcp,Wcg]=margin(sys)
OUTPUT
v =
-3 5 -7 7
Gm =
1.4402
Pm =
11.1642
Wcp =
3.4643
Wcg =
2.9533

MANUAL CALCULATIONS:


NYQUIST
PLOT
VIVA QUESTIONS
1. What is polar plot?
2. What is Nyquist plot?
3. Define the conditions of stability in polar plot.
4. What is the use and advantage of polar plot.

REFERENCE
1. NAGRATH & GOPAL, Control Systems.
2. MATLAB User Manual .
3. Control Systems by Nagoor gani
RESULT:

Thus the Nyquist plot is drawn for the given transfer function using matlab and
verified manually

Expt. No: 10 CLOSED LOOP CONTROL SYSTEMS.
AIM:
To study the characteristics of a dc position control system.
APPARATUS REQUIRED:
i) DC position control kit and Motor unit
ii) Multimeter
THEORY:
A pair of potentiometers acts as error-measuring device. They
convert the input and output positions into proportional electric signals. The desired
position is set on the input potentiometer and the actual position is fed to feedback
potentiometer. The difference between the two angular positions generates an error
signal, which is amplified and fed to armature circuit of the DC motor. If an error exists ,
the motor develops a torque to rotate the output in such a way as to reduce the error to
zero. The rotation of the motor steps when the error signal is zero, i.e., when the desired
position is reached.





PROCEDURE:
1. The input or ref potentiometer is adjusted nearer to zero initially.
2. The command switch is kept in continuous mode and some value of forward gain
K
a
is selected.
3. For various positions of input potentiometer (
r
) the positions of the response
potentiometer (
0
) is noted. Simultaneously the reference voltage measured
between V
r
& E and the output voltage measured between V
O
& E are noted.
4. A graph is plotted with
0
along y-axis and
r
along x-axis.

TABULAR COLUMN

S.`No r
degree

O
degree
Vr in Volts V
O
in Volts









MODEL GRAPH:



Output
Position
(Deg)






Input Position (Deg)



VIVA QUESTIONS:

1. What is the difference between regulator & servomechanism?
2. What are the basic components of control system?
3. What are the Open loop and closed loop control systems?
4. Give the advantages of closed loop control systems.
5. What is tacho generator?
6. What do you mean by feedback and what are the types of feedback?
7. In this experiment what type of feedback is used? Why?


RESULT

Thus the dc position control system characteristics are studied and corresponding graphs
are drawn.

Expt:No:11 STUDY OF SYNCHROS

AIM:
A. To study the characteristics of synchros as an error detector.
B. To study the synchro transmitter and receiver pair.
APPARATUS REQUIRED:
Synchro transmitter and receiver kit.
THEORY
A Synchro is an electro magnetic transducer that is used to convert an angular
step position into an electrical signal. The basic element of a synchro is a synchro
transmitter whose construction is very similar to that of a 3 phase Alternator. The stator
which is of concentric coil type in which three identical coil are placed in the stator with
their axis 120 apart and is delta connected. The rotor is of dumb bell shaped
construction and is wound with a concentric coil AC voltage is applied to the rotor
winding.
The constructional feature and schematic diagram of an synchro transmitter and
receiver shown. Let an AC voltage V
c
(t) = V
r
Sin t to be applied to the rotor of the
synchro transmitter as shown in fig. The applied voltage causes a flow of a magnetizing
current in the rotor coil which produces a sinusoidal time varying flux direction along its
axis and distributed nearly sinusoidal in the air gap along the stator periphery. Because of
transformer action, voltage are induced in each of stator coil. As the air gap flux is
sinusoidally distributed the flux linking any stator coil is proportional to the cosine of the
angle between the rotor and stator coil axis and so is the voltage induced in the stator
coil. Thus we see that synchro transmitter act like a single phase transformer in which the
rotor coil is primary and stator coil forms the secondary.
Let Vs
1
, Vs
2
& Vs
3
be the voltage induced to the stator coils S
1
,S
2
,S
3
with
respect to the neutral. Then for the position of the synchro transmitter shown where the
rotor axis makes an angle with the axis of the stator coil S
2
.
Vs
1
= K V
r
Sint Cos ( + 120 ) ---------------------------- (1)
Vs
2
= K V
r
Sint Cos ( ) ----------------------------------(2)
Vs
3
=K V
r
Sint Cos ( + 240 ) ----------------------------(3)
The three terminal voltage of stator are
Vs
1
- Vs
2
=3 KV
r
( + 240 ) Sin t -----------------------(4)
Vs
2
- Vs
3
= 3 KV
r
( + 120 ) Sin t ----------------------(5)
Vs
1
- Vs
3
=3 KV
r
( + 120 ) Sin t -----------------------(6)
When = 0 from (1) and (2),
It is seen that the most voltage is induced in the stator coil so , while it follows from the
equation (5) from that the terminal voltage Vs
3
is zero . This position of the rotor is
defined as electrical zero of the transmitter. The angular position of the rotor and the
output is a set of 3 phase voltage given by equations (4) and (6) . The magnitude of these
voltages are function of the a shaft position.
The output of the synchro transmitter is applied to the stator winding of a synchro
control technique. The control transformer is made cylindrical in shape so that the air
gap is practically known. The system act as an error detector circulating current of the
same phase but of difficult magnitude slow, through the two sets of statements. The
results in the establishment of an identical flux partial in the gap at the control
transformer as the voltage drop in resistance and leakage reactance of the two set of
stator coils are usually small. The voltage induced in the control transformer rotor is
proportional to the cosine of the angle between the two rotors .

CONSTRUCTIONAL FEATURES, SCHEMATIC CIRCUIT OF A SYNCHRO
TRANSMITTER



PROCEDURE:

Tabulation 1:
1. Give connections as given in the circuit diagram.
2. Vary the input position by adjusting the synchro transmittr rotor and note
down the output position.
3. Also note down the input and output voltage using Multimeter.
4. Plot the variation in output position with respect to the input position.

Tabulation 2:
1. Give excitation to the rotor winding.
2. Measure the output voltage across S1-S2, S2-S3 and S3- S1 of stator
winding for different rotor positions.
3. Plot the voltage Vs. angle characteristics.


SERVOLOOP USING SYNCHRO ERROR DETECTOR





Tabular column I

Error (%)
I/P
position
P
I

O/P
position
P
O


I/P
Voltage
V
I

O/P
Voltage
V
O

(P
I
- P
O
) X 100
/ P
O

(V
I
- V
O
) X100
/ V
O



Tabular Column II

S.No Iuput angle() Vs
1
s
2
(volts) Vs
2
s
3
(volts) Vs
3
s
1
(volts)


MODEL GRAPH :




Output
Position
(Deg)





Input position (Deg)







VIVA QUESTIONS:
1. What is synchro pair?
2. What are the applications of Synchros?
3. What are the difference between synchro transmitter and control transformer?
4. What are the trade names of Synchros?
5. What is potentiometer?
6. Define synchro.
7. Define Electrical zero and null position in synchro.
8. What is synchro control transformer.

REFERENCE:
1. Nagarath & Gopal - Control system
2. Lab Manual Synchros.


RESULT:
Thus the synchro transmitter and synchro receiver characteristics are
studied and graphs are drawn.