Lab Manual 6EE7 Cs

ARYA INSTITUTE OF ENGINEERING &
TECHNOLOGY, JAIPUR
DEPARTMENT OF ELECTRICAL ENGINEERING
LAB-MANUAL
VI SEM EE
6EE07
CONTROL SYSTEM LAB
AIET/Deptt. of EE/CS Lab/0
RAJASTHAN TECHNICAL UNIVERSITY SYLLABUS

6EE07
CONTROL SYSTEM LAB-III
1. Defining Systems in TF, ZPK form

2. (a) Plot step response of a given TF and system in state-space. Take different values of
damping ratio and wn natural undamped frequency. (b) Plot ramp response.
3. For a given 2nd order system plot step response and obtain time response specification.
4. To design 1st order R-C circuits and observe its response with the following inputs and trace
the curve. (a) Step
(b) Ramp
(c) Impulse
5. To design 2nd order electrical network and study its trarient response for step input and
following cases. (a) Under damped system (b) Over damped System. (c) Critically damped
system
6. To Study the frequency response of following compensating Networks, plot the graph and
final out corner frequencies. (a) Lag Network (b) Lead Network (c) Log-lead Network.
7. To draw characteristics of a.c servomotor
8. To perform experiment on Potentiometer error detector.
9. Check for the stability of a given closed loop system.
10. Plot bode plot for a 2nd order system and find GM and PM.
ARYA INSTITUTE OF ENGG.& TECH.,JAIPUR

EXPERIMENTS LIST
6EE07
CONTROL SYSTEM LAB-III
ROTOR # 1
1.
To study the comparison of following power electronics devices regarding ratings,

performance characteristics and applications: Power Diode, Power Transistor, Thyristor,
DIAC, TRIAC, GTO, MOSFET, MCT and SIT.
2.
To determine V-I characteristics of SCR and measure forward breakdown voltage,

latching and holding currents.
3.
Find V-I characteristics of TRIAC and DIAC.
4.
Find output & Transfer characteristics of MOSFET and IGBT.
5.
Find UJT static emitter characteristics and study the variation in peak point and valley
point
6.
Study and test firing circuits for SCR-R, RC and UJT firing circuits.
ROTOR # 2
7.
Study and test 3-phase diode bridge rectifier with R and RL loads. Study the effect of
filters.
8.
Study and obtain waveforms of single-phase half wave controlled rectifier with and
without filters. Study the variation of output voltage with respect to firing angle.
9.
Study and obtain waveforms of single-phase half controlled bridge rectifier(Semi

Converter) with R and RL loads. Study and show the effect of freewheeling diode.
10.
Study and obtain waveforms of single-phase full controlled bridge converter with R and
RL loads. Study and show rectification and inversion operations with and without
freewheeling diode.
11.
Control the speed of a dc motor using single-phase half controlled bridge rectifier and
full controlled bridge rectifier. Plot armature voltage versus speed characteristics.
LAB ETHICS
DOs
1. Enter the lab on time and leave at proper time.
2. Keep the bags outside in the racks.
3. Utilize lab hours in the corresponding experiment.
4. Shut down the computers before leaving the lab.
5. Maintain the decorum of the lab.
Donts
1. Dont bring any external material in the lab.
2. Dont make noise in the lab.
3. Dont bring the mobile in the lab. If extremely necessary then keep ringers off.
4. Dont enter in server room without permission of lab incharge.
5. Dont litter in the lab.
6. Dont delete or make any modification in system files.
7. Dont carry any lab equipments outside the lab
We need your full support and cooperation for smooth functioning of the lab.
INSTRUCTIONS
WHEN WORKING AT COMPUTER LAB
BEFORE ENTERING IN THE LAB
1. All the students are supposed to prepare the theory regarding the next program.
2. Students are supposed to bring the practical file and the lab copy.
3. Previous program should be written in the practical file.
4. Algorithm & Program of the current program should be written in the lab copy.
5. Any student not following these instructions will be denied entry in the lab and
Sessional Marks will be affected.
WHILE WORKING IN THE LAB

1. Adhere to experimental schedule as instructed by the faculty.
2. Get the previously executed program signed by the faculty.
3. Get the output of current program checked by the faculty in the lab copy.
4. Each student should work on his assigned computer at each turn of the lab.
5. Take responsibility of valuable accessories.
6. Concentrate on the assigned practical and dont play games.
7. If anyone is caught red-handed carrying any equipment of the lab, then he will
have to face serious consequences.
INSTRUCTIONS
WHEN WORKING AT CONTROL SYSTEM LAB
BEFORE ENTERING IN THE LAB
6. All the students are supposed to prepare the theory regarding the present
Experiment.
7. Students are supposed to bring the practical file and the lab copy.
8. Previous experiment should be written in the practical file.
9. Object, Apparatus Table & Brief Theory of the current practical should be
written in the lab copy.
10. Any student not following these instructions will be denied entry in the lab and
Sessional Marks will be affected.
WHILE WORKING IN THE LAB

8. Adhere to experimental schedule as instructed by the faculty.
9. Record the observations in lab copy & checked by the faculty
10. Each student should work on his assigned table of the lab.
11. Take responsibility of valuable accessories.
12. Concentrate on the assigned practical and be careful.
13. If anyone is caught red-handed carrying any equipment of the lab, then he will
have to face serious consequences.
EXPERIMENT # 1
OBJECT: INTRODUCTION TO MATLAB COMPUTING SOFTWARE.
1.1 What is MATLAB?
MATLAB is a software package for high-performance numerical computation and
visualization. It provides an interactive environment with hundreds of built-in functions for technical
computation, graphics, and animation. Best of all, it also provides easy extensibility with its own
high-level programming language. The name MATLAB stands for MATrix LABoratory. MATLAB is
the product of the Math Works Inc.
1.2 Functions of MATLAB
MAT Labs built-in functions provide excellent tools for linear algebra computations, data analysis,
signal processing, optimization, numerical solutions of ordinary differential equations (ODEs),
quadrature, and many other types of scientific computations. Most of these functions use state-of-the
art algorithms. There are numerous functions for 2-D and 3-D graphics as well as for animation. Also,
for those who cannot do without their FORTRAN or C codes, MATLAB even provides an external
interface to run those programs from within MATLAB. The user, however, is not limited to the builtin functions; he can write his own functions in the MATLAB language. Once written, these functions
behave just like the built-in functions. MAT Labs language is very easy to learn and to use.
There are also several optional Toolboxes available from the developers of MATLAB. These
Toolboxes are collections of functions written for special applications such as Symbolic
Computation, Image Processing, Statistics, Control System Design, Neural Networks, etc.
1.3 General Ideas of MATLAB
Here we discuss some basic feature and commands. To begin, let us look at the general structure of
the MATLAB environment.
1.3.1
MATLAB Windows
On almost all systems, MATLAB works through three basic windows, which are discussed below
1. Command window: This is main window. It is characterized by the MATLAB command prompt
>>. When you launch the application program, MATLAB puts you in this window. All commands,
including those for running user-written programs, are typed in this window at the MATLAB prompt.
In MATLAB 6, this window is a part of the MATLAB window that contains four other smaller
windows.
6
Launch Pad: This sub window lists all MATLAB related applications and toolboxes that are
installed on your machine. You can launch any of the listed applications by double clicking on
them.
Workspace: This sub window lists all variables that you have generated so far and shows
their type and size. You can do various things with these variables, such as plotting, by
clicking on a variable and these variables, such as plotting, by clicking on a variable and then
using the right button on the mouse to select your option.
Command History: All commands typed on the MATLAB prompt in the command window
get recorded, even across multiple sessions (you worked on Monday, then on Thursday, and
then on next Wednesday, and so on), in this window. You can select a command from this
window with the mouse and execute it in the command window by double clicking on it. You
can also select a set of commands from this window and create an M-file with the right click
of the mouse (and selecting the appropriate option from the menu).
Current Directory: This is where all files from the current directory are listed. You can do
file navigation here. You also have several options of what you can do with a file once you
select it (with a mouse click). To see the options, click the right button of the mouse after
selecting a file. You can run M-files, rename them, delete them, etc.
2. Graphics window: The output of all graphics commands typed in the command window are
flushed to the graphics or Figure window, a separate gray window with (default) white background
color. The user can create as many figure windows as the system memory will allow.
3. Edit window: This is where you write, edit, create, and save your own programs in files called
M-files. You can use any text editor to carry out these tasks. On most systems, MATLAB provides
its own built-in editor. However, you can use your own editor by typing standard file-editing
command that you normally use on your system. From within MATLAB, the command is typed at
the MATLAB prompt following the special character !. The exclamation character prompts
MATLAB to return the control temporarily to the local operating system, which executes the
command the following the ! character. After the editing is completed, the control is returned to
MATLAB. For example, on UNIX systems, typing! VI myprogram.m at the MATLAB prompt (and
hitting the return key at the end) invokes the VI editor on the file myprogram.m Typing! Emacs
myprogram.m invokes the emacs editor.
7
1.3.2 Input-Output: - MATLAB supports interactive computation, taking the input from the screen,
and flushing the output to the screen. In addition, it can read input files and write output files. The
following features hold for all forms of input-output:
Data type: The fundamental data type in MATLAB is the array. It encompasses several
distinct data objects-integers, doubles (real numbers), matrices character strings, structures
and cells. In most cases, however, you never have to worry about the data type or the data
object declarations. For example, there is no need to declare variables as real or complex.
When a real number is entered as the value of a variable, MATLAB automatically sets the
variable to be real (double).
Dimensioning: Dimensioning is automatic in MATLAB. No dimension statements are

required for vectors or arrays. You can find the dimension of an existing matrix or a vector
with the size and length commands.
Case sensitivity: MATLAB is case-sensitive; that is, it differentiates betn the lowercase and
uppercase letters. Thus a and A are different variables. Most MATLAB commands and builtin functions calls are typed in lowercase letters. You can turn case sensitivity on and off with
the casesen command. However we do not recommend it.
Output display: The output of every\ command is displayed on the screen unless MATLAB
is directed otherwise. A semicolon at the end of a command suppresses the screen output,
except for graphic and on line help commands.
Command history: MATLAB saves previously typed commands in a buffer. These

commands can be recalled with the up-arrow key (). This helps in editing previous
commands. You can recall previous command by typing the first few characters and then
pressing the key. Alternatively, you can copy and paste commands from the Command
History sub window where all your commands from even previous sessions of MATLAB are
recorded and listed. On most Unix system, MATLABs command-line editor also understands
standard emacs key bindings
1.3.3 File types: - MATLAB has three types of files for storing information:
M-files are standard ASCII text files, with a .m extension to the filename. There are two types
of these files: script files and function files. Most programs you write in MATLAB are saves
as M-files. All built-in functions in MATLAB are M-files, most of which reside on your
8
computer in precompiled format. Some built-in functions are provided with source code in
readable M-files so that can be copied and modified.
Mat-files are binary data files, with a .mat extension to the filename. Mat-files are created by
MATLAB when you save data with the save command. The data is written in a special format
that only MATLAB can read. Mat-files can be loaded into MATLAB with the load command.
Mex-files are MATLAB-callable FORTRAN and C programs, with a .mex extension to the
filename. Use of these files requires some experience with MATLAB and a lot of patience.
1.4 Platform dependence

One of the best features of MATLAB is its platform-independence. Once you are in MATLAB, for
most part, it does not matter which computer you are on. Almost all commands work same way.
MATLAB supports almost every computational platform. In addition to windows, MATLAB
available for AIX, Digital Unix, HP UX, IRIX, IRIX 64, Linux and Solaris operating system. Older
version of MATLAB is available for additional platform such as Mac OS and open VMS.
1.5 General commands of MATLAB
1.5.1 Workspace information
who
lists variables currently in the workspace
whos
lists variables currently in the workspace with their size
what
lists m-, mat-, and mex-files on the disk
clear
clears the workspace, all variables are removed
clear x y z
clears only variables x, y and z
clear all
clears all variables and functions from workspace
clc
clears command window, command history is lost
home
same as clc
clf
clears figure window
1.5.2 Directory information

pwd
shows the current working directory
cd
changes the current working directory
dir
lists contents of the current directory
ls
lists contents of the current directory, same as dir
path
gets or sets MATLAB search path
editpath
modifies MATLAB search path

9
copyfile
copies a file
mkdir
creates a directory
1.5.3 General information

computer
tells you the computer type you are using
clock
gives you wall clock time and date as a vector
date
tells you the date as a string
more
controls the paged output according to the screen size
ver
gives the license and the version information about MATLAB installed on
your computer
bench
benchmarks your computer on running MATLAB compared to other

computer
1.5.4 Termination
control-c
local abort, kills the current command execution
quit
quits MATLAB
exit
same as quit
RESULT:- We have successfully studied the basics of the MATLAB programing Software.
VIVA-VOCA QUESTIONS/ANSWERS:
Q. 1 What is MATLAB?
Ans. MATLAB is a numerical computing environment and programming language.
MATLAB is
a software package for high-performance numerical computation and visualization. MATLAB means
MATrix+LABoratory.
Q.2 Who invented the MATLAB software?
Ans. MATLAB was invented in the late 1970s by Cleve Moler, then the chairman of the computer
science department at the University of New Mexico. He designed it to give it to his students access
to LINPACK and EISPACK without having to learn Fortran. It soon spreads to other universities and
found a strong audience within the applied mathematics community. The MATLAB was rewritten in
C and founded the MathWorks Incorporated in 1984 to continue its development.
10
Q.3 Describe the functions of MATLAB.

Ans. MATLAB allows easy matrix manipulation, plotting of functions and data, implementation of
algorithms, creation of user interfaces, and interfacing with programs in other languages. Although it
is numeric only, an optional toolbox uses the MuPAD symbolic engine, allowing access to computer
algebra capabilities. An additional package, Simulink, adds graphical multidomain simulation and
Model-Based Design for dynamic and embedded systems.
Q.4 Which is the latest version of the MATLAB software?
Ans. The latest version of the MATLAB is in year 2009 R2009a, 7.8. The first version of MATLAB
was in year 1984 R-1.0.
Q.5 Write down application of MATLAB software.
Ans. MATLAB was first adopted by control design engineers, Little's specialty, but quickly spread to
many other domains. It is now also used in education, in particular the teaching of linear algebra and
numerical analysis, and is popular amongst scientists involved with image processing.
EXPERIMENT # 2
11
OBJECT: - To design 1st order R-C circuits and observes its response with the following inputs
and traces the curve.
(a) Step input
(b) Ramp input
(c) Impulse input
APPARATUS REQUIRED: PC with MATLAB 7.0.4 software.
THEORY:First order system:
For a linear variant system, when the power of s in denominator is one then it is called First order
system.
Block diagram representation is shown in fig 2.1:
Fig 3.1 Block Diagram Ist order R-C circuit.

For a R-C series circuit, shown in figure.2.2
Fig 2.2 Series RC network circuit.

By applying KVL in inner loop.
(t ) I (t ) R
1
i (t )d (t )
C
Taking Laplace transform .
( s ) R[ I ( s)]
1
I (s)
Cs
12
( s ) I ( s ) R
Cs
(1)
Apply KVL in outer loop.

1
V 0 ( t ) = C i ( t )d ( t )
1
V0 (s) = Cs I(s)
Divide equation 2 by equation 1.
V0 (s)
V (s)
V
V
1
Cs
R+
(2)
1
Cs
1
1 RCs
1
1 RCs
Or transfer function =
Put RC=T
C ( s)
1
R ( s) Ts 1
We conclude that this is a Ist order transfer function. So R-C circuit is Ist order system. With transfer
function.
C ( s)
1
R ( s) Ts 1
Case (1):
For unit step input response
1
R( s)
s
1
1
C (s)
*
Ts 1 s
1
T
C (s)
s Ts 1
1
1

s s 1
T
Taking inverse Laplace
C (t ) 1 e
e(t ) 1 1 e
e (t ) e
for t 0
T
t
lim e(t ) 0
t
Graph of C(t) V/S t is shown in fig 3.3.
ss
13
Fig 3.3 unit step response curve

Case (2):
For unit ramp input response of 1st order.
R(s) = 1/S2
1 1
C (s)
Ts 1 s 2
C (s)
T
T
S
Ts 1
By taking Laplace transform

Error signal
C (t ) t T T e
for t0
e(t ) r (t ) c(t )
t
e(t ) T 1 e T
e(t ) T
ess tlim
Graph of C(t) V/S t for Ramp input is shown in Fig 3.4.
Fig 3.4 unit ramp response curve

Case (3):
For unit impulse input response of 1st order system. R(s)=1
1
C (s)
Ts 1
14
Taking Laplace transform.

1 t
C (t ) e T ,
for t0
T
The response curve of unit impulse input shown in fig 3.5.
Fig 3.5 unit impulse response curve

SOURCE CODE:
Case (1):
For unit step input response
1) t=0:.01:6
2) T=2
3) c=(1-exp(-t/T))
4) plot(t,c)
5) grid on
Fig 3.6 shows MATLAB output for unit step response
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
Fig.3.6 MATLAB output for unit step response

Case (2):
For unit ramp input response
1) t=0:.01:6
2) T=2
3) c=(t-T+T*exp(-t/T))
4) plot(t,c)
5) grid on
15
fig 3.7 shows MATLAB output for unit ramp response

4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Fig 3.7 MATLAB output for unit ramp response

Case (3):
For unit impulse input response
1) t=0:.01:6
2) T=2
3) c=(exp(-t/T))/T
4) plot(t,c)
5) grid on
fig3.8 shows MATLAB output for unit impulse response
0.5
0.45
0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
Fig.3.8 MATLAB output for unit impulse response

RESULT:We have successfully design 1st order R-C circuits and observe its response with the following
inputs and trace the curve.
(a) Step input
(b) Ramp input
(c) Impulse input
16
DISCUSSION OF THE RESULT:1. A series R-C circuit is a first order system.

2. An important property of a linear-time variant system:
A) For unit step input
C (t ) 1 e
t
e (t ) e
t0
ess= e() = 0.
B) For unit ramp input
C (t ) t T T e
e(t ) T 1 e
es s= T.
t0
C) For unit impulse input

1 t
C (t ) e T ,
T
t0
So we conclude that response of the system varies as we vary the input.

Q.1)Define first order system?

ANS.1) For a linear variant system, when the power of s in denominator is one then it is called First
order system
Q.2)What is the value of r(t) for unit ramp input?

ANS.2) r(t) =t.
17
EXPERIMENT # 3
OBJECT: - DESIGN THE SECOND ORDER ELECTRICAL NETWORK AND STUDY IT
TRANSIENT RESPONSE FOR STEP INPUT UNDER FOLLOWING CASES.
CASE 1: Undamped
(=0)
CASE 2: Underdamped (=0.5)
CASE 3: Critical damped (=1)
CASE 4: Over damped
(=1.5)
APPARATUS REQUIRED: - PC with MATLAB 7.0.4 software.
THEORY:6.1 TIME RESPONSE OF SECOND ORDER SYSTEM: - The block diagram of second order
control system is in fig.6.1.
Fig.3.1
. (3.1)
From equation (3.1)
For unit step input
. (3.2)
18
. (3.3)
Break the equation (6.3) by partial fraction, put
. (3.4)
Multiply equation (3.4) by s and put s=0
Multiply equation (3.4) both side by [(s+n) 2-(n) 2] and put
Equation 3.3 can be written as
. (3.5)
Laplace inverse pf equation (6.5)
. (3.6)
Put
19
Put the values of wn and
. (3.7)
The error signal for the system
. (3.8)
The steady state value of c (t)
Therefore at steady-state there is no error between input and output.

n = natural frequency of oscillation or undamped natural fraquency
n = damped frequency of oscillation
n = damping factor or actual damping or damping coefficient
3.1.1 (A) Underdamped case (0<<1)
20
From the expression (3.7), it is clear that the time constant is 1/ and the response having
damped oscillation with overshoot and undershoot. Such response is known as underdamped
response.
Figure 3.2 Underdamped

3.1.2 (B) When =0, undamped:The equation (6.7) will
(t)=1-sin (nt+/2)
(t)=1-cos n t
. (3.9)
Thus at n the system will oscillate (with =0). The damped frequency always less then the undamped
frequency (n) because of factor . If the system having certain value of then it is not possible to
measure undapmed natural frequency experimentally. The observed frequency is the damped
frequency (d) which is equal to n 1- 2. The response is shown in Fig.
Figure 3.3 Undamped

3.1.3 (C) When =1Critically damped:Put =1 in equation (6.2)
or
. (3.10)
Break the equation (3.10) by partial fraction

21
. (3.11)
Multiply both the sides by (s +n) 2 and put s = - n
. (3.12)
Multiply both the sides bys and put s = 0
Differentiate equation (3.12) and put s = - n
. (3.13)
Inverse Laplace of equation (3.13)
. (3.14)
. (3.15)
Inverse Laplace of
can be obtain by the method of residues.
22
Put all values in equation (6.15)

. (3.16)
From the equation (3.7), it is clear that n is the actual damping for =1, the actual damping = n.
This actual damping when =1 is known as CRITICAL DAMPING. At the value of critical actual
damping to the critical damping is known as damping ratio that is
From equation (3.16), the time constant of the system = 1/ n

The response of the equation (3.18) is shown in fig.
Figure 3.4 Critically Damped

3.1.4 (D) >1 Overdamped:For >1, equation (6.3) can be written as
. (3.17)
. (3.18)
Break the equation (3.18) by partial fraction
Equation (3.18) can be written as
.(3.19)
23
Multiply both the sides bys and put s = 0

A =1
Multiply both the sides of equation (6.19) by s+ n+d and put s- n-d
Put
and simplify for B
Put the values of A, B and C in equation (3.19)
Put the value of d
. (3.20)
Inverse Laplace of equation (3.20)
24
. (3.21)
From equation (3.21) we get two times constant
From equation (3.21) we observe that when is greater than one there are two exponential term, the
first term has a time constant T1 which is smaller than the time constant of other exponential term
(having time constant T2 ), in other word we can say that the first exponential term decaying much
faster than other exponential term. So, for time response we can neglect it, then
.(3.22)
and time constant
.(3.23)
For different values of the curves of C (t) is shown in Fig.3.5
From the curves it is clear that the overdamped systems are sluggish.
Figure 3.5:- Overdamped

3.2 SOURCE CODE:CASE 1:- Undamped
zeta=0
25
n=6
num= [wn*wn]
den= [1 2*zeta*wn wn*wn]
g=tf (num, den)
step (g)
CASE 2:- Underdamped
zeta=0.5
n=6
num= [wn*wn]
g=tf (num, den)
step (g)
CASE 3:- Critical damped
zeta=1
n=6
num= [wn*wn]
g=tf (num, den)
step (g)
CASE 4:- Overdamped
zeta=1.5
n=6
num= [wn*wn]
g=tf (num, den)
step (g)
Case 1:- Output for the undamped case.
zeta = 0
n =6
num =36
den =1 0 36
36
Transfer function= -------s2 + 36
26
Step Response
2
1.8
1.6
A m p litu d e
1.4
1.2
1
0.8
0.6
0.4
0.2
0
10
12
Time (sec)
Fig.3.6:- Undamped
Case 2:- Output for the under damped case.
zeta=0.5000
n = 6
num =36
den =1 6 36
36
Transfer function = -------------s2 + 6 s + 36
Step Response
1.4
1.2
A m p litu d e
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1.2
1.4
1.6
1.8
Time (sec)
Fig.3.7:-Underdamped
Case 3:-Output for the critically damped case.
Zeta =1
n =6
num =36
27
den =1
12
36
36
Transfer function= ----------------s2 + 12 s + 36
Step Response
1
0.9
0.8
A m p litu d e
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Time (sec)
Fig.3.7 Critically damped

Case 4:- Output for the over damped case.
zeta = 1.5000
n = 6
num = 36
den = 1 18 36
36
Transfer function= ----------------S2+ 18 s + 36
Step Response
1
0.9
0.8
A m p litu d e
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0.5
1.5
2.5
Time (sec)
28
Fig. 3.8 Over damped

RESULT: - The response of the second order control system for unit step input in different cases is
shown in fig- 3.5, 3.6, 3.7 & 3.8 respectively.
RESULT ANALYSIS: -To obtain the output of the second order control system by calculation is
difficult& it also takes so much time. By theoretical calculate we cannot get the accurate result while
the use of the MAT LAB we can easily calculate the output response of the second order transfer
function. It is very simple & accurate.
Q.1 What is time response analysis?
Ans: If the input is given to a system, it result in response which generally varies with time or in
other word is function of time. This response is called time response and the study of this response is
known as time response analysis. The time response of any system exhibit two parts.
1) transient response
2) steady state response
Q.2 What is second order system?
Ans: -If the simplest transfer function has two poles i.e. highest power of s is two in denominator
(same or different) then it is called the second order system
Q.3 What is under damped response?
Ans:- In this case output oscillates about its final value. These oscillate consisting of overshoot &
undershoot & finally settle down as tends to infinity.
Q.4 What is over damped response?
Ans: In this case , output dose not overshoot, the value dictated by the input but it take relatively long
time to reach its final value.
Q.5 What is critically damped response?
Ans: In this case, output reaches its final value in the minimum possible time without overshoot.
Q.6 What is undamped response?
Ans: In this case, the output dose not reach its final value but it exhibit the sustained oscillation with
constant amplitude.
Q.7 Consider the following statement for an under damped.
(i)
(ii)
(a)
(b)
(c)
(d)
Ans:
Peak overshoot in step input response reduces as damping is increased from 0.2 to 0.6.
Response peak in frequency response reduces as damping is increased from 0.2 to 0.6.
Non of the above statement is true
Statement (i) is true but statement (ii) is false.
Statement (ii) is true but statement (i) is false.
Both the statement are true.
(d)
Q.8 Undamped natural frequency n and response frequency r of a unity feedback system
with open-loop transfer function.
; < 1/2
are related as
(a) n =r (b) n >r
(c)n <r
(d) None
29
Ans:
(b)
Q.9 For a unity feedback system with open-loop transfer function

; < 0.7
Phase margin is explicitly indicative of damping ratio.
Resonance peak is explicitly indicative of damping ratio.
Which of the following answer is correct?
(a) None of the above statement is true
(b) Statement (i) is true but statement (ii) is false.
(c) Statement (ii) is true but statement (i) is false.
(d) Both the statement is true.
Ans: (d)
(i)
(ii)
Q.10 For the system c(s)/r(s) =16/ s2+8s+16. The nature of the time response will be.
(a)Overdamped
(b)Underdamped
(c) Critically damped
(d)None of the
Ans:
(c)
EXPERIMENT # 4
OBJECT: - TO DRAW THE CHARACTERISTIC OF A.C. SERVO MOTOR.
APPRATUS REQUIRED: - P.C. With MAT LAB 7.0.4 Software, 2-Phase A.C. Servo Motor etc
THEORY: - Servo-Motor is a closed loop control system in which a small input power controls a
larger output power in a strictly proportionate manner. The control variable is mechanical position,
displacement, velocity or torque etc. its used in control system where very high acceleration is
desired.
A.C. Servo-Motor is 2-phase A.C. Induction motor. Its called 2-phase A.C. servo motor as there are
two windings, one winding called fixed or reference winding is supplied with a fixed voltage &
frequency from a constant voltage source. Second winding is called control winding with variable
supply voltage of same frequency.
The stator windings for the fixed and control winding are placed 90
apart in space. So the torque is produced most efficiently on the shaft when the phase winding axes
are in space & volt is in the two phases are in qardrature.
The instantaneous control volt is given by:Ec(t) = Ec(t) Sin wt , for
Ec(t)>0(1)
Ec(t)= |Ec(t)| Sin(180+wt) , for Ec(t)<0 (2)
The change in (-Ec) reverse the direction of rotation of motor. Due to constant reference voltage the
torque (T) & angular speed (0) are also function of the control volts Ec (t).
The Servomotor provides a large torque at zero speed. This torque is necessary for rapid acceleration.
30
(1)TORQUE SPEED CHARACTERISTIC:The Torque speed characteristic of 2-phase induction

motor depends upon the ratio of reactance to resistance. For high resistance and low reactance, The
characteristic for various voltage control are almost linear.
(2)TRANSFER FUNCTION OF 2-PHASE SERVOMOTOR :-> The moment of inertia and the
coefficient of viscous friction at the motor shaft are respectively Jm &Fm.
The angular shift resulting in the motor shaft being 0m and the corresponding angular velocity being
Wm.
Form the torque speed characteristics the dynamic equation relating the motor torque and the speed is
formed below;
Tm = m.Wm + k.Ec
.(6)
(i) When the speed is zero, the torque is (To) and this stalling torque is proportional to the control
voltage Vo.
To=K Vc
(4)
or,
K=To/Vc
(5)
(ii) The slope of the torque speed characteristic is:
m= -To/WO
(7)
.
Then,
Wm=d0m/dt
(8)
The Torque (T) generated is a function of the motor shaft angular speed 0 & the control volt Ec. The
equation can be given as:
T = M.d0m/dt + K.Vc
Kc= positive constant
The Torque balance equation for 2-phase Servomotor is:
Where,
(9)
T = J. d20/dt2 + B.d0/dt(10)
J = moment of inertia of motor & load referred to motor shaft.
B = viscous friction coefficient of the motor & load referred to motor shaft
THE DIAGRAM OF A.C. SERVO-MOTOR:
31
Fig:-4.1
THE ROTORS OF THE SERVO-MOTOR: -
THE TORQUE-SPEED CHARACTERISTIC OF SERVOMOTOR: -
32
Fig 4.3
Where, X/R=Small (linear)
[V4>V3>V2>V1]
X/R=Large (Non-linear)
RESULT: - We have successfully studied to the A.C. servomotor and in that control .voltage
Result in the development of the motor torque (Tm). The servomotor provides a large
Torque at zero speed. This torque is necessary for rapid acceleration.
THE ANALYSIS OF RESULT:
IN THE 2-phase A.C. Servo-motor is also an Induction Motor having drag-up type rotor
construction, The control voltage Ec(t) is applied to the to the control winding & a fixed voltage
having a phase difference of 90 w.r.t. control winding voltage is applied to the reference winding. The
control voltage result in the development of the motor Torque (Tm).
The Servo-motor provides a large at zero speed. This torque is necessary for rapid Acceleration.
SERVO-MOTORS are widely used in Radars, Electro-mechanical, Actuators,
Computers, Machine tools, tracking and Quittance system, process controllers
and ROBOTS.
33
Q:-1 WHATS KIND OF APPLICATION IN USED SERVO-MOTOR?

ANS:- Servo-motors are used in feedback control systems. Servo-motor
Have low rotor inertia & high speed of response. Its also called
Control motors.
Q:-2 WHAT IS THE RELATIONSHIP IN FEEDBACK?
ANS:- Servo-motors are used in feedback control system should have
Linear relationship between electrical control signal and rotor
Speed, torque speed characteristics should be linear.
Q:-3 WHAT IS THE RESPONSE OF A.C. SERVO-MOTOR?
ANS:- The response of Servo-motor should be fast and inertia should be
Low.
Q:-4 WHAT IS THE TYPES OF SERVO-MOTOR?
ANS:- The Servo-motor are classified as :A.C. Servomotor
D.C. Servomotor
Special Servo-motor
Q:-5 WHAT IS THE PARTS USED IN A.C. SERVO-MOTOR?
ANS:- The Servo-motor are two parts namely STATOR & ROTOR
A.C. Servo-motor is two phase induction motor.
Q:-6 What is the displaced angle of distributed winding?
Ans:- The stator has two distributed winding. These winding are
Displaced from each other by 90 electrical .One is called main
Winding & other is called reference winding.
Q:-7 Whats values of depend on the torque-speed characteristics?
Ans:-The torque-speed characteristics of two phase induction motor
Depends upon the ratio of reactance to resistance.
Q:-8 What is the types of torque speed characteristics?
ANS:- For high resistance and low reactance, the characteristics is linear
and for large ratio of X to R, it becomes of Non-linear.
Q:-9 Whats the various control voltage for the torque speed characteristics?
Ans:- The torque speed characteristics for various control voltages are
Almost linear.
[V4>V3>V2>V1]
Q:-10 Whats the types of rotor?
Ans: - Rotor has two types.
Squirrel cage Rotor.
Drag cup type Rotor.
The squirrel cage rotor having large length & Small diameter.
So, its resistance is very high.
34
EXPERIMENT # 5
OBJECT: - TO PERFORM EXPERIMENT ON POTENTIOMETER ERROR DETECTOR.
APPARATUS REQUIRED: 1) Experimental Board of Potentiometer.
2) Power supply (230 V).
3) Connecting leads.
THEORY: INTRODUCTION
A potentiometer is an electromechanical transducer which converts the mechanical energy
(Displacement) into electrical energy (Voltage). It is also called error detecting device.
Potentiometric transducers are relatively inexpensive and easy to apply.
Precision potentiometers are simple rotary devices for obtaining shaft position information. The most
straight forward application is the conversion of mechanical position to a voltage. Basically a
precision potentiometer consists of a resistive element with a movable arm or slider in contact with
the element. As the arm (slider) rotates, resistance varies between the end of the resistive element and
the slider, indicating shaft position. The resistive element can be made of wire, conductive film or
cermet element.
Potentiometers used for servomechanisms are generally above 7/8 to 3 and half inches in diameter.
The early models were mostly of wire wound type. Current technology provides other choices such
as stability, longer life and lower sensitivity to environment. Potentiometer can be excited with
alternating and direct current. Single turn potentiometers have a rotation i.e. usually limited to 350
degrees.
POTENTIOMETER CHARACTERISTICS.
A linear potentiometer produces a resistance change i.e. linearly related to the shaft position. A
position of rotation will produces 50% of maximum resistance and a position of rotations will
produce 75% of maximum resistance. Linearity is specified as the deviation (in percentage of total
resistance) of the actual resistance. This is called normal or independent linearity.
35
Fig. 5.1 Potentiometer

Resolution in a potentiometer is minimum change of resistance output expressed as percentage of its
total resistance. It is dependent of the number of turns of the wire per inch on the winding and the
arch diameter of the slider. Noise in the potentiometer appears as spurious unwanted voltage. For
wire wound potentiometer will cause a ripple voltage to appear at the slider as the shaft is rotated.
From figure No. 9.1 Under balance condition the ratio between output voltage (E out) and input voltage
(Ein) is given by
Where
yi
yt
displacement from zero position

total length of transnational potentiometer.
Fig. 5.2 Plot Between Angular Position & Output Voltage

Similarly for rotational motion, the ratio between output voltage (Eout) and voltage (Ein) is
given by
36
Where
i
t
input angular displacement

total travel of wiper.
Fig. 5.3 Double Ended arrangement of potentiometer

Potentiometer can be used as a error detector to compare the position of two remotely located shafts
in figure 2. This type of arrangement is called the double ended arrangement.
In this arrangement two potentiometers are connected in parallel with their common point earthed.
The output voltage (Eout) is given by
Eo=Kp (1 2)
Where
The applied voltage is normally D.C. and polarity of output voltage describes the relative
position of the shafts. In case of A.C., the phase difference will find the relative position of the two
shafts.
Resolution for Potentiometer: -It is defined as the ratio of change in the output
voltage in
one step to the supply voltage.
OPERATING INSTRUCTIONS
1. Connect the mains cord to the supply line.
2. You can study the potentiometer as transducer by measuring voltage across the output points
of the potentiometer and other the readings in the table.
3. Plot the graph for above readings.
4. Now you can study the system as null detector by keeping left hand potentiometer at zero
degrees and treating it as reference, rotate the right hand potentiometer to read the error
directly on the DPM. Note that these are ten turn potentiometers.
5. You may also plot input position verses output position when meter is indicating null.
SOME MORE IMPORTANT INSTRUCTION.
1. D.P.M. can be connected across the O/P and GND point of either potentiometer or it can be
connected across the variable terminals of both pots for studying error detector function.
37
2. If SW is OFF, you can measure angular displacement V/S resistance characteristics of

potentiometer.
3. By connecting 50K, 100K, 220K & 500K etc. you can also observe the loading error on the
potentiometer sensor. You may connect there load resistances across the O/P terminals and
GND terminal for each potentiometer or across the D.P.M. when error detector operation is
being studied.
4. Operate the potentiometer knobs very carefully.
5. SW should be in on position for study of potentiometer.
6. Cal. pot is adjust for 3.60 v D.C. across terminals 1&3 with SW On.
Fig. 5.4 Study Of Potentiometer
Fig 9.5 Study of Potentiometer
OBESRVATION:SR. NO.
1.
2.
Angular position
Output Voltage
38
3.
4.
5.
6.
7.
8.
9.
10.
RESULT: - After performing this experiment we have obtain the relation between angular
Position and output voltage which can be shown in graphical manner.
ANALYSIS OF RESULT: - we are obtained the graph between angular position and output voltage
and this graph shows that the output voltage varies linearly with the angular position of the shaft.
APPLICATION OF POTENTIOMETER:A. SELF-BALANCING POTENTIOMETER
The merits of dc potentiometer for accurate measurement of dc voltage have prompted the
development of self-balancing (automatic) potentiometer for the measurement of dc voltages. They
are widely used for indication and record of voltage developed by various transducers. The automatic
balancing is provided be an ac servomotor. The servomotor drives the tapping point of the
potentiometer, the writing mechanism, and the pointer for indication. The motor comes to rest when
the unbalance voltage becomes zero. The block diagram is shown in figure No. 9.6. The output
displacement and voltage feedback are related by the calibration constant of the potentiometer wire.
The amplifier is tuned to 50 Hz and has high gain. The unbalance dc voltages are converted into
proportional ac voltage of 50 Hz be means of a synchronous chopper. The forward path consist of the
servomotor and the inertial load of the writing pen. By virtue of the negative feedback, the bandwidth
of the system is increased, and the system is used to record faithfully voltages of frequency range dc
to 5 Hz. The system is considered to function as voltage to displacement converter. The output shaft
can be coupled to a shaft angle encoder it, in addition to analog indication, digital display is desired.
39
Fig. 5.5 Self Balancing Servo Operated Potentiometer
Fig. 5.6 Block Diagram of Servo Operated Potentiometer

PRECAUTION: - when we perform the experiment on the potentiometer follow the following
precautions.
1. Connection should be tight.
2. Connection should be proper.
3. First connect the complete circuit and then switch on power supply.
4. Switch off the power supply after taking readings.
Q.1
Ans.
Q.2
Ans.
Q.3
Ans.
What is the transducer?

Transducer is a device which converts the non electrical input to electrical output.
What is the POT?
A resistive potentiometer used for the purpose of voltage division is called a POT.
In a resistive potentiometer high value of resistive of POT leads to:
High value of sensitivity.
40
Q.4
Ans.
Q.5
Ans.
Q.6
Ans.
Define the potentiometer.

A potentiometer is an instrument designed to measure an unknown voltage by
comparing it with a known voltage.
A potentiometer is basically a :
Null type instrument.
When a potentiometer is used for measurement of voltage of an unknown source,
the power consumed in the circuit of the unknown source under null condition.
Ideally zero.
TYPICAL TEST RESULT FOR POTENTIOMETER AS ERROR DETECTOR (Standard

results as comes with manual):1) ANGULAR POSITION Vs OUTPUT VOLTAGE
SR.NO.
ANGULAR POSITION
IN DEGREE
OUTPUT VOLTAGE
IN MV.
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
10
30
60
90
120
150
180
210
240
270
300
330
360
10
29
59
90
120
150
181
211
240
269
299
329
359
2) ANGULAR POSITION Vs RESISTANCE :SR.NO.
ANGULAR POSITION
IN DEGREE
RESISTANCE IN
K-Ohm
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
00
30
60
90
120
150
180
210
240
270
300
.001
.080
.162
.247
.331
.413
.496
.577
.659
.742
.825
41
12.
13.
330
360
.907
.990
3) ERROR BETWEEN I/P & O/P ANGULAR POSITION:SR.NO.

1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
I/P ANGULAR
POSITION IN
DEGREE
20
60
90
140
180
240
240
320
340
350
O/P ANGULAR
POSITION IN
DEGREE
30
80
120
170
220
265
320
350
360
360
ERROR
IN DEGREE
10
19
28
30
39
27
40
30
20
9
EXPERIMENT # 6
OBJECT: - CHECK FOR THE STABILITY OF A GIVEN CLOSED LOOP SYSTEM.
APPARATUS REQUIRED: - P. C. with MAT LAB 7.0.4 software.
THEORY:CONCEPT OF STABILITY
The concept of stability is very important to analyze and design the system. A system is said to
be stable if its response cannot be made to increase indefinitely by the application of a bounded
input excitation. If the output approaches towards infinite value for sufficiently large time, the
system is said to be unstable.
A linear time invariant (LTI) system is stable if
(1) The system is excited by a bounded input, the output is bounded. (BIBO stability criteria)
(2) In the absence of the input, the output tends to zero(the equilibrium state of the system).
This is known as asymptotic stable.
NECESSARY BUT NOT SUFFICIENT CONDITIONS FOR STABILITY:Consider a system with characteristic equation
a0 sm+a1sm-1+.+am=0
(a)All the coefficients of the equation should have same sign,
(b)there should be no missing term.
If above two conditions are not satisfied the system will be unstable. But if all the coefficients
have same sign and there is no missing term we have no guarantee that the system will be
stable.
There are two methods for check the stability of a given closed loop.
<1>ROUTH-HURWITZ CRITERION:Consider the following characteristics polynomial
a0s n+a1sn-1+.+an=0. ................... (1)
42
Where the coefficients a0, a1.an are all of the same sign and none is zero.
STEP<1>Arrange all the coefficients of above equ. (1) in two rows.
ROW 1
a0
a2
a4
ROW 2
a1
a3
a5
STEP<2> From these two rows form a third row
ROW1
a0
a2
a4
ROW2
a1
a3
a5
ROW3
b1
b3
b5
Where,
b1=-1a1 aoa2a1a3
b3=-1a1 a0a4a1a5
STEP<3>From second and third row, form a fourth row
ROW1
a0
a2
a4
ROW2
a1
a3
a5
ROW3
b1
b3
b5
ROW4
c1
c3
c5
c1=-1b1 a1a3b1b3
c3=-1b1 a1a5b1b5
STEP<4> Continue this procedure of forming a new rows
<1.1>STATEMENT OF ROUTH-HURWITZ CRITERION
Routh-Hurwitz criterion states that the system is stable if and only if all the element in first
column has the same algebraic sign. If all elements are not of the same sign then the number
Of sign changes of the elements in first column equals the number of roots of the characteristic
equation in right half of the s-plane (or equals to the number of roots with positive real
Parts)
INPUT:- A closed loop control systems has the characteristic equation given by
S3+4.5S2+3.5S+1.5=0
Investigate the stability using Routh-Hurwitz criterion.
OUTPUT:S3
1
3.5
2
S
4.5
1.5
S1
3.5
S0
1.5
No. of sign changes in first column=0
No. of roots in right half of S- plane=0
Hence, System is stable.
<2.>ROOT LOCUS METHOD:Root locus method is a graphical method in which roots of the characteristic equation are plotted
in S-plane for the different values of parameter. The locus of the roots of the characteristic
Equation when gain is varied from zero to infinity is called Root-locus.
<2.1>RULES FOR CONSTRUCTION OF ROOT LOCII:Following are the rules to sketch the root locus plot.
Rule1: The root locus is symmetrical about the real axis.
Rule2: The root locii starts from an open loop pole with K=0 e.g. For the system having
G(s) H(s)=K(s+3)/(s+2)..(2)
Find the starting point of root locii.
Solution:-According to the rule the root locii starts from s=-2
43
Rule3: The root locii will terminate either on an open loop zeros or on infinity with K= e.g.,
Find the ending point of the root locii given in equation (2). According to the rule the root locii
will terminate at s=-3
Rule4:-If
N=No. of separate locii
P=No. of finite poles
Z=No. Of finite zeros then
Number of root locii will be equal to the no. Of poles if number of poles are more than number
of zeros i.e.P>Z
N=P if p>z
If z>p, then number of root locii will be equal to the number of zeros.
If p=z, then No. of root locii=poles =zeros.
E.g.find the number of separate root locii for the system given by the equation (2).
Solution:
p=1
Z=1
N=1
Rule5: ROOT LOCII ON THE REAL AXIS.
Any point on the real axis is a part of the root locus if and only if the number of poles and zeros
to its right is odd.
Rule6:ASYMPTOTES
The branches of the root locus tend to infinity along a set of straight line called a asymptotes.
These asymptotes making an angle with real axis and is given by
Q= (2K+1)1800/p-z where K=0,1,2,
The total number of asymptotes=p-z
e.g.
If G(s) H(s)=K/s(s2+6s+10)(3)
p=3
z=0
No. of asymptotes=p-z=3-0=3
K=0 Q1= (2*0+1)*1800/3=600
K=1
Q2= (2*1+1)*1800/3=1800
K=2
Q3= (2*2+1)*1800/3=3000
Rule7: CENTROID OF ASYMPTOTES
The point of intersection of asymptotes with real axis is called centroid of asymptotes (SA)
and is given by
SA= (sum of poles-sum of zeros)/p-z
E.g. Find the centroid of asymptotes of the system given by equation(3)
Solution: There are three poles at s1=0,s2=-3+j1,s3=-3-j1
No. of zeros=0
So, centroid
SA=0-3+J1-3-J1-0/3=-2
Rule8: ANGLE OF DEPARTURE & ANGLE OF ARRIVAL OF THE ROOT LOCII
The angle of departure of the root locus from a complex pole is given by
SD=1800-(sum of the angles of vectors drawn to this pole from other poles) + (sum of angles of
vectors drawn to this pole from the zeros).
The angle of arrival at a complex zero is given by
SA==1800-(sum of angles of vectors drawn to this zero from other zeros) + (sum of angles of
vectors drawn to this zero from poles).
E.g. For
G(s) H(s) =k/s(s+6)(s2+4s+13)
Determine the angle of departure from complex poles.
SD=1800-(P1+P2+P2)
44
=1800-(1230+370+900) =-700
So, angle of departure at (-2+j3) =-700
So, angle of departure at (-2-j3)=700
Rule9: BREAKAWAY POINT ON REAL AXIS
If the root locus lies between two adjacent open loop poles on the real axis then there will be at
least one breakaway point , because the roots move towards each other as K is increased and
meet at a point. At this point K is maximum. If we increase the value of K between two poles the
root locus breaks in two parts.
Similarly if root locus lies between two adjacent zeros on real axis, then there will be at least one
break in point. If the root locus lies between an open loop pole and zero, then there will be no
breakaway or break in point or may be both occur.
The breakaway or break in points can be determined from the roots of
Dk/ds=0
e.g. if
G(s) H(s)=K/s(s2+6s+10)determine the breakaway point.
1+G(s) H(s)=1+k/s(s2+6s+10)
S (s2+6s+10)+k=0
Or, k=-s3-6s2-10s
dk/ds=-32-12s-10=0
s1=-1.1835 & s2=-2.815 are the breakaway points.
Rule10: The intersection of root locus branches with jw-axis can be determined through Routh
Hurwitz criterion.
e.g. If G(s)H(s)=k/s(s2+6s+10).Find the intersection of root
locii with the imaginary axix.
Solution: The characteristics equation s3+6s+10s+k=0
S3
1
10
S2
6
k
1
S
60-k/6
S0
k
Hence, we get a zero row if k=60
The auxiliary equation A(s)=6s2+k
6s2+k=0
6s2+60=0
S=+-j3.16
The root locus branches cross the imaginary axis at s=+-j3.16 for k=60.
INPUT: Plot the root locii for the closed loop control system and check the stalibity with
K
G(s)= ---------------------s(s+1)(s2+4s+5)
, H(s)=1
Solution:Step1:Plot the poles and zeros s2+4s+5

S=-4s (16-20)/2=-2j1
Poles are at s1=0,s2=-1,s3=-2+j1& s4=-2-j1
Step2:The segment between s=0 & s=-1 is the part of root locus on real axis.
Step3:Number of root locii
Number of root loci N=P=4
45
Step4:Centroid of the asymptotes

SA=(sum of poles-sum of zeros )/p-z
= 0-1-2+j1-2-j1-0/4 = -5/4 = -1.25
Step5:Angle of asymptotes
Q=(2k+1)*180/p-z
K=0
Q1=450
K=1
Q2=1350
K=2
Q3=2250
K=3
Q4=3150
Step6: Breakaway point
The characteristic equation
1+G(s) H(s)=0
1+k/s(s+1)(s2+4s+5)=0
S4+5s3+9s2+5s+k=0
K=-(s4+5s3+9s2+5s)
dk/ds=-[4s3+15s2+18s+5]
4s3+15s2+18s+5=0
So, Breakaway point is s=-0.4
Step7: Angle of departure at the upper complex pole
SD=1800-(1540+1360+900)=-2000
Step8:Point of intersection on jw axis
S4+5s3+9s2+5s+k=0
S4
1
9
k
S3
5
5
S2
8
k
1
S
( 40-5K)/8
SO
K
At 40-5k = 0
k = 8(for sustained oscillation)
The auxiliary equation A(s)=8s2+k
8s2+8=0
S=j1
Step9: From Routh table for stability
k>0
( 40-5k)/8>0
(40-5k)=0 or k<8
So, given closed loop system is stable.
The root locus plot is shown in fig 4.1
SOURCE CODE :
for n=1:length(k)
num=k(n)*[1 13];
den= conv([1 0],conv([1 3],[1 7]));
G=tf(num,den);
T=feedback(G,1);
poles=pole(T);
r=real(poles);
if max(r)>=0
poles
k=k(n)
46
break
end
OUTPUT:
poles =
-10.0156
0.0078 + 9.5998i
0.0078 - 9.5998i
k = 71
Fig 6.1 A PLOT OF ROOT LOCUS

RESULT:- We have studied carefully and successfully and apply stability criterion , prove the
stability of given closed loop function.
ANALYSIS OF RESULT:
47
1.I have studied the concept of stability is very important to analyse and design the system .
2.Any system is said to be stable if its response cannot be made to increase indefinitely by the
application of a bounded input excited .
3.A linear time invariant (LTI) sytem is stable if
(a) The system is excited by a bounded input , the output is bounded(BIBO).
(b)In the absence of the input , output tends towards zero.
Some standard criteria must be study to check the stability.i.e.
(a)all the coefficient of the equestion should have same sign.
(b) There should be no missing term.
Otherwise system will be unstable.
Q1 Why concept of stability is nessary?
Ans: Concept of stability is nessary to analyse and design the system.
Q.2 what is the meaning of stability?
Ans: A system is said to be stable if its response cannot be made to increase indefinite by the
application of a bounded input excitation.
Q.3 What is linear time invariant(LTI)system.
Ans: A system which output is not vary with
time called LTI.
Q.4 What is the rule for stability of linear invareiant system?
Ans (a) The system is excitedby a bounded input, the output is bounded.
(b) In the absence of the input, the output tends towards zero.
Q.5 What is an asymptotic stability?
Ans: In the absence of input, the output tends towards zero(the equilibrium state of a system),
is known as asymptotic stable.
Q.6 What are the necessary conditions for stability?
Ans: There are some necessary conditions for stability(a) All the coefficients of the should have same sign.
(b) There should be no missing term.
Q.7 What is the statement of Routh-Hurwitz criterion?
Ans: Routh-Hurwitz criterion states that the system is stable if and only if all the elements in
the first column have the same algebraic sign. If all elements are not of the same sign then the
number of sign changes of the elements in first column equals the characteristics equation in
the right half of the s-plan.
Q.8 What is root locus?
Ans: The locus of the roots of the characteristics equation when gain varied from zero to
infinity is called root locus.
Q.9 What is the meaning of equilibrium state ?
Ans: When input is absence then output tends to zero is called equilibrium state
48
EXPERIMENT # 7
OBJECT: -PLOT BODE PLOT OF GIVEN TRANSFER FUNCTION IN SECOND ORDER
CONTROL SYSTEM.
Gs=25s2+4s+25
APPARATUS REQUIRED : - P C with MAT lab 7.0.4 software
THEORY: Simplified and desirable form but actual solution of the problem must still be accomplished .
solution of the problem may be either in the form of analysis or design for which following
alternatives are possible.
Transformed differential equation keeping all initial condition zero may be obtained after
manipulating the transfer function and the transient solution can also be obtained by inserting
the proper boundary conditions and then using laplace transform inversion.
The transfer function can be graphically represented on the s-plane to evaluate the roots of the
characteristic equation, open loop frequency response or closed loop frequency response
through graphical manipulations.
The transfer function G(j) just by replacing s by j and which can then be used to obtain
open loop and closed loop frequency response curve directly.
Advantages :
One of the advantage of frequency response method of control system analysis and design is
that in this method sinusoidal signal is used as standard test signal which is easily available.
Frequency response test signal is simple and reliable.
Secondly, with the use of experimental data unknown transfer function of complicated
components and system can be determine
Undesirable, noise is minimize
In frequency response method many powerful graphical tools are available such as Bode plot,
magnitude versus phase plot and nyquist plot etc.
FREQUENCY TRANSFER FUNCTION

Frequency response test can be carried out through sinusoidal transfer function. Such a
transfer function is defined to be the complex ratio of the steady state output sine wave to
the input sine wave. So for linear components the frequency function is obtained from the
49
given transfer function just by replacing s by j hence sinusodial transfer function and
frequency transfer function is nothing but transfer function in which s is replaced by j.
For example: s transfer function is given as
Ts=KS+1ss+5s2+2s+1
Replacing s by j, we obtained sinusoidal or frequency transfer function as

Tj=kj+1jj+5j2+2j+1
BODE PLOT
Bode plot developed by H.W BODE can be simplified because they can be approximated
as a sequence of straight line. Straight line approximation simplifies the evaluation of
magnitude and phase frequency response. Bode plot consist of two plots. One is logarithm
of magnitude versus frequency and other is phase angle versus frequency. Both the plots
are drawn on single semi log graph paper. This plot can be sketched from their asymptotic
properties as no detailed plotting is required. Bode plot are also known as asymptotic plots
and bode plot can be sketched by approximating the magnitude and phase width
asymptotic straight line which requires very less time. Some of the important parameters
of frequency response like gain margin, phase margin, gain crossover frequency and phase
crossover frequency can easily be determined from bode plot.
LIMITATION
Bode plot can be used to determined stability of only minimum phase system (minimum
phase system is the system which has all its poles and zeros on the left half of s-plane.
Bode plot in comparison to polar plot can be more easily and quickly constructed.
For example
Gs=25s2+4s+25
Change the transfer function in s+1 form
=1s225+4s25+1
Putting an equation s=j
=11-225+0.15
We determine the values of magnitude in db and phase angles in degrees at different
values of frequency
S.NO
FACTOR
CORNER
MAGNITUDE IN DB
FREQUENCY
1.
11-225+0.15
=5
Straight line of
constant slope
-20db/decade passing
through 0 db line at
50
=5
Calculate the phase angle

=-tan-10.1525-2
Calculate the value of for different values of .
S.NO
1.
0.1
-0.039
2.
0.2
-0.06
3.
0.3
-0.17
4.
-0.355
5.
-0.80
6.
-1.603
7.
-0.000872
8.
9.
4.57
10.
2.50
11.
17.06
51
Bode Diagram
20
10
Magnitude (dB)
0
-10
-20
-30
-40
-50
-60
0
Phase (deg)
-45
-90
-135
-180
-1
10
10
10
Frequency (rad/sec)
Fig 7.1
SOURCE CODE: num=[0 0 25];
den=[1 4 25];
g=tf(num,den)
bode(g)
grid on
[mag,phase,w]=bode(g)
OUTPUT: - The bode plot of the given transfer function is shown in figure.
52
10
bode diagram of G(s)=25/(s 2+4s+25)
Magnitude (dB)
20
0
-20
-40
Phase (deg)
-60
0
-45
-90
-135
-180
-1
10
10
10
10
Frequency (rad/sec)
Fig 7.2
ANALYSIS OF RESULT:
Successfully done the bode plot of given transfer function and successfully plot the
graph.
Q.1 which software is used in MAT LAB?
Ans: MAT LAB 7.0.4 software are used.
Q.2 why bode plot are used?
Ans: Bode plot can be used to determined stability of only minimum phase system (minimum phase
system is the system which has all its poles and zeros on the left half of s-plane.
Q.3 which parameters are used in bode plot?
Ans: Some of the important parameters of frequency response like gain margin, phase margin, gain
crossover frequency and phase crossover frequency can easily be determined from bode plot.
Q.4 what is the unit of frequency?
Ans: Unit of frequency is rad/sec.
Q.5 what is bode plot?
Ans: Bode plot can be simplified because they can be approximated as a sequence of straight lineis
known as bode plot.
Q.6 How much plot consist of bode plote?
Ans: Bode plot consist of two plots. One is logarithm of magnitude versus frequency and other is
phase angle versus frequency. Both the plots are drawn on single semi log graph paper.
Q.7 In transfer function s is replaced in which form?
Ans: In transfer function s is replaced by j.
53
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ARYA INSTITUTE OF ENGINEERING &

DEPARTMENT OF ELECTRICAL ENGINEERING

AIET/Deptt. of EE/CS Lab/0

RAJASTHAN TECHNICAL UNIVERSITY SYLLABUS

CONTROL SYSTEM LAB-III

1. Defining Systems in TF, ZPK form

AIET/Deptt. of EE/CS Lab/1

ARYA INSTITUTE OF ENGG.& TECH.,JAIPUR

CONTROL SYSTEM LAB-III

To study the comparison of following power electronics devices regarding ratings,

To determine V-I characteristics of SCR and measure forward breakdown voltage,

Find V-I characteristics of TRIAC and DIAC.

Find output & Transfer characteristics of MOSFET and IGBT.

Study and obtain waveforms of single-phase half controlled bridge rectifier(Semi

AIET/Deptt. of EE/CS Lab/2

AIET/Deptt. of EE/CS Lab/3

WHILE WORKING IN THE LAB

AIET/Deptt. of EE/CS Lab/4

WHILE WORKING IN THE LAB

AIET/Deptt. of EE/CS Lab/5

AIET/Deptt. of EE/CS Lab/6

AIET/Deptt. of EE/CS Lab/7

Dimensioning: Dimensioning is automatic in MATLAB. No dimension statements are

Command history: MATLAB saves previously typed commands in a buffer. These

AIET/Deptt. of EE/CS Lab/8

1.4 Platform dependence

lists variables currently in the workspace

lists variables currently in the workspace with their size

lists m-, mat-, and mex-files on the disk

clears the workspace, all variables are removed

clears only variables x, y and z

clears all variables and functions from workspace

clears command window, command history is lost

clears figure window

1.5.2 Directory information

shows the current working directory

changes the current working directory

lists contents of the current directory

lists contents of the current directory, same as dir

gets or sets MATLAB search path

modifies MATLAB search path

AIET/Deptt. of EE/CS Lab/9

1.5.3 General information

tells you the computer type you are using

gives you wall clock time and date as a vector

tells you the date as a string

controls the paged output according to the screen size

benchmarks your computer on running MATLAB compared to other

local abort, kills the current command execution

AIET/Deptt. of EE/CS Lab/10

Q.3 Describe the functions of MATLAB.

AIET/Deptt. of EE/CS Lab/11

Fig 3.1 Block Diagram Ist order R-C circuit.

Fig 2.2 Series RC network circuit.

Taking Laplace transform .

AIET/Deptt. of EE/CS Lab/12

Apply KVL in outer loop.

AIET/Deptt. of EE/CS Lab/13

Fig 3.3 unit step response curve

By taking Laplace transform

Graph of C(t) V/S t for Ramp input is shown in Fig 3.4.

Fig 3.4 unit ramp response curve

AIET/Deptt. of EE/CS Lab/14

Taking Laplace transform.