An-Najah National

University

Faculty of Engineering
Electrical Engineering
Dept.
Control lab
Exp # 4 :
CONTROL SYSTEM

Prepared by:
Submitted to:
Dr . Jamal Kharosheh
Thursday

26-2-2009
**Objectives:-1) To study the unit step response of first, second, and third order
systems.
2) To study the effect of plant parameters in closed-loop and open-loop
system.
**Introduction:-A control system is a device or set of devices to manage, command, direct or
regulate the behavior of other devices or systems.
There are two common classes of control systems, with many variations and
combinations: logic or sequential controls, and feedback or linear controls. There
is also fuzzy logic, which attempts to combine some of the design simplicity of
logic with the utility of linear control. Some devices or systems are inherently
not controllable.
The term "control system" may be applied to the essentially manual controls
that allow an operator to, for example, close and open a hydraulic press, where
the logic requires that it cannot be moved unless safety guards are in place.
An automatic sequential control system may trigger a series of mechanical
actuators in the correct sequence to perform a task. For example various
electric and pneumatic transducers may fold and glue a cardboard box, fill it
with product and then seal it in an automatic packaging machine.
In the case of linear feedback systems, a control loop, including sensors, control
algorithms and actuators, is arranged in such a fashion as to try to regulate a
variable at a set point or reference value. An example of this may increase the
fuel supply to a furnace when a measured temperature drops. PID controllers
are common and effective in cases such as this. Control systems that include
some sensing of the results they are trying to achieve are making use of
feedback and so can, to some extent, adapt to varying circumstances. Open-loop
control systems do not directly make use of feedback, but run only in prearranged ways.

Open-loop controller: --

An open-loop controller, also called a non-feedback controller, is a type of

controller which computes its input into a system using only the current state
and its model of the system.
A characteristic of the open-loop controller is that it does not use feedback to
determine if its input has achieved the desired goal. This means that the system
does not observe the output of the processes that it is controlling.
Consequently, a true open-loop system can not engage in machine learning and
also cannot correct any errors that it could make. It also may not compensate
for disturbances in the system.
For example, a sprinkler system, programmed to turn on at set times could be an
example of an open-loop system if it does not measure soil moisture as a form of
feedback. Even if rain is pouring down on the lawn, the sprinkler system would
activate on schedule, wasting water.
Open-loop control is useful for well-defined systems where the relationship
between input and the resultant state can be modeled by a mathematical
formula. For example determining the voltage to be fed to an electric motor
that drives a constant load, in order to achieve a desired speed would be a good
application of open-loop control. If the load were not predictable, on the other
hand, the motor's speed might vary as a function of the load as well as of the
voltage, and an open-loop controller would therefore not be sufficient to ensure
repeatable control of the velocity.
An open-loop controller is often used in simple processes because of its
simplicity and low-cost, especially in systems where feedback is not critical. A
typical example would be a conventional washing machine, for which the length of
machine wash time is entirely dependent on the judgment and estimation of the
human operator. Generally, to obtain a more accurate or more adaptive control,
it is necessary to feed the output of the system back to the inputs of the
controller. This type of system is called a closed-loop system.

Closed loop control: -Systems that utilize feedback are called closed-loop control systems. The
feedback is used to make decisions about changes to the control signal that
drives the plant. By contrast, an open-loop control system doesn't have or
doesn't use feedback.

Figure 1. A closed-loop control system

A basic closed-loop control system is shown in Figure 1. This figure can describe
a variety of control systems, including those driving elevators, thermostats, and
cruise control.
Closed-loop control systems typically operate at a fixed frequency. The
frequency of changes to the drive signal is usually the same as the sampling
rate, and certainly not any faster. After reading each new sample from the
sensor, the software reacts to the plant's changed state by recalculating and
adjusting the drive signal. The plant responds to this change, another sample is
taken, and the cycle repeats. Eventually, the plant should reach the desired
state and the software will cease making changes.
If feedback indicates that the temperature in your home is below your desired
set point, the thermostat will turn the heater on until the room is at least that
temperature. Similarly, if your car is going too quickly, the cruise control system
can temporarily reduce the amount of fuel fed to the engine.
**Introduction for experiment: -1. First Order System:
A first order system has the transfer function:
G(s) = Ks / (Ts + 1)
So the output of such system is:
C(s) = Ks R(s) / (Ts + 1)
If R(s) is unit step input, then:
C(t) = Ks (1 - -(t/)) u(t)
2. Second Order System:
It has the following transfer function:
G(s) = K / (S2 + 2nS + n2)
The behavior of the output depends on two parameters (, n), if R(s)
is unit input, the output will be one of the following cases:
1) If =0
2) If 0 < <1
3) If >1

The system will be oscillating.

The system is under damping.
The system is over damping.

For under damping system we must take care of the following parameters:

Experimental Procedure: --

A) Unit step response of first order plant

1) connect the circuit as shown below:

2) Adjust the reference variable generator to give 1 volt, and on the

oscilloscope: time base = 200ms/div and the amplitude 2V/div.
3) Select Ks = 1 & T = 1x 0.1 then we obtained the following table:

Steady State ( V )

1x0.1

1.06

Ks = 1

Draw output to scale

t=0.528 s

1x1.0

1.06

t=2.78 s

1x10

1.06
t=38.1 s

Steady State ( V )

1x0.1

1.54

Ks = 1.5

Draw output to scale

t=0.474 s

1x1.0

1.54

t=4.04 s

1x10

1.54

t=50.7 s

Note: (t) Is the time for system to reach 95% of it's final value.
**Question # 1: -a) Does the steady state time changes as "T" changes, how?
Yes, as T increases the steady state time increases also.
b) Does the change of Ks effect to the steady state time of plant,
how?
When Ks decreases then the steady state time will decrease.

B) Unit step response of second order plant

1) Connect the circuit as shown below:

2) Adjust the damping ratio of second order system as in table below:

T(1/n)

Mp(V)

Tr(sec)

Ts(sec)

1.2

7.48

7.48

5.31

5.31

0.8

0.03

3.38

5.92

Output (draw to scale)

0.6

0.1

2.56

8.94

0.4

0.28

1.94

14.2

0.2

0.553

1.78

23.2

3) Adjust the time constant (T) of second order system as in table below:

T(1/n)

Mp(V)

Tr(sec)

Ts(sec)

0.5

0.03

0.183

0.065

0.388

0.5

0.1

0.215

0.164

0.705

0.5

0.3

0.224

0.488

2.85

Output (draw to scale)

0.5

0.438

1.85

9.65

0.5

0.45

5.68

44.3

0.5

10

0.5

22

93.6

**Question # 2: -How does the change in damping coefficient effect the output of the
system?
As () decreases below 1 and become closer to 0, the number of
oscillation in the output increases (system becomes more oscillated).
**Question # 3: -Calculate decay ratio for case d = 0.1 and "T" = 0.2?
Decay ratio= Mp2 = 1.4v = 0.35
Mp1
4v

**Question # 4: -What is the relation between T of the second order system and
(Wn)?
For a second order system:
G(s) =
K
___
2
(S + 2nS + n2)
And so, 1 (n) But when is constant T will be inversely
T
Proportional with n.

C) Unit impulse response for first order plant:

1) Connect the circuit as shown below:

2) On the function generator unit adjust it to the impulse function; rotate

the frequency knob to minimum, voltage knob to mid.
3) Connect the output of function generator from impulse exit to the input
of first order system.
4) On the oscilloscope we choose:
Time/div = 1 (sec)
Volt/div = 5 V
5) Select Ks = 1 and T = 1 X 0.1
6) Switch the power supply on. Draw to scale the output of first order
plant from
oscilloscope:

D) Unit impulse response for Second order plant:

1) Connect the circuit as shown below:

2) On the function generator unit adjust it to the impulse function; rotate

the frequency knob to minimum, voltage knob to mid.
3) Connect the output of function generator from impulse exit to the
input of second order system.
4) On the oscilloscope we choose:
Time/div = 2 (sec)
Volts/div = 5 V

5) Select d = 0.5 and T = 0.2 X 1

6) Switch the power supply on. Draw to scale the output of second
order plant
from oscilloscope:

**Question # 5:
Discuss how the changes in the value of damping ratio effect the
Output (If the value of d increases and if the value of d decreases)?
It contributes with T to change the behavior of the system, also it
changes oscillations number, as the d increases the system becomes more
oscillate. & as the damping factor increase the output voltage decrease.

**Results & Conclusion:

1) We deduced that the damping ratio represents a main factor to
determine the behavior of the 2nd order systems. (As an example: number of
oscillation, peak overshoots.).
2) Also we deduced the effect of changing some parameters on the circuit
behavior; also we can refer to the equation used to generate the output.
3) We learnt also how to deal with digital oscilloscope & the controller
system.