Control Lab Manual

EED/NITW/EE 355 Control System Lab
EXP NO: 1
Speed-Torque Characteristics of Ac Servo-Motor
Aim: To obtaining the speed-torque characteristics of A. C. servo motor.
Equipment required:
1. A.C. servo motor module.

2. Digital multimeter.
Theory:
An A.C. servo motor is basically a two phase induction motor (IM) except for certain
design features. The rotor construction is usually squirrel-cage or drag-cup type. The diameter of
the rotor is kept small in order to reduce inertia and to obtain good accelerating characteristics. A
servo motor is used for applications such as position control.
A two phase servomotor differs in 2 ways from a normal induction motor.
Construction:
The A.C. servo motor construction is similar to normal induction motor having 2 stator
windings have phase difference of 90o but for the voltages applied to the 2 stator windings are
seldom balanced. One of the phases is excited by a constant voltage (reference phase) and the
other phase is energized by a voltage which is 90o out of phase with respect to reference phase
(control phase). The control phase voltage is supplied from a servo amplifier and it has a variable
magnitude and polarity with respect with to reference phase. The direction of rotation of the
motor reverses as the polarity of control phase signal changes.
Characteristics:
Rotor of servo motor is built with high resistance which implies (X/R) ratio is small & the
speed torque characteristics are nearly linear (negative slope characteristics) which is quite
applicable to servo applications contract to non-linear speed-torque characteristics (high X/R) of
normal induction motor. Using such a motor for servo applications becomes unstable because of
positive slope servo characteristics for some region.
The torque is calculated using the following expression

*60 gm-cm
Department of Electrical Engineering, NITW Page 1

Circuit Diagram:
Model Graph:
Fig. Model graph of speed versus torque
Procedure: The experiment can be divided into 3 parts.
Part-I:
1. In this part, supply is given to A.C. servo motor which acts like a prime motor to the D.C.
machine and D.C. machine acts like a generator.
2. Varying the control voltage of the A.C. servo motor, D.C. generator will runs at different
speeds.
3. Generated emf is noted at various speeds using digital multimeter (2 V range) at
terminals TP1.
4. A graph is drawn between generated emf and speed. This graph is used for knowing the
back-emf when the same-machine is operated as motor.

Part-II:
1. In this part, D.C. motor is given supply and A.C. motor is switched off.
2. Armature current (Ia) is noted at various speeds of D.C. motor.
3. With this data and earlier data, no-load torque (TNL) is calculated.
Part-III:
1. In this part, supply is given to both the machine and operated as motor. The coupling of
the two motor is such that torque produced by one is in opposition to that of the other.
2. D.C. motor acts like a load on the A.C. servo-motor.
3. Control winding voltage of A.C. servo motor is fixed at some value and load is varied
with help of D.C. motor. With the values of Ia and speed, load torque is calculated.
4. Total torque is sum of no load torque and load torque.
5. Third part of the experiment is done for their control voltages 40V, 60V, and 80V. A
graph is drawn for total torque versus speed for the 3 control winding voltages.
Observations:
Part I: A.C. servomotor acts as prime mover and D.C m/c as generator.
N (rpm)
Eg (V)
Part II: A.C servo motor is switched off and supply is given to D.C motor.
N (rpm)
Ia (A)
Part III: Supply is given to both D.C m/c as well as A.C. m/c.
a) Control voltage of A.C. servo motor is 40V A.C.
N (rpm)
Ia (A)
b) Control voltage of A.C. servo motor is 60V A.C.
N (rpm)
Ia (A)

c) Control voltage of A.C. servo motor is 80V A.C.
N (rpm)
Ia (A)
Calculation of No-load torque (TNL): Since
Calculation of load torque (TL) and total torque:
a) When control voltage winding = 40V
b) When control voltage winding = 60V
c) When control voltage winding = 80V
Tabular Column:
S.No
N (rpm)
Eb (V)
Ia (A)
Tnl (gm-cm)
Tl (Vc=40V)
Tl (Vc=60V)
Tl (Vc=80V)
Ttotal (40V)
Ttotal (60V)
Ttotal (80V)
Results and Conclusions:

EXP NO: 2
Time-Response of First and Second Order Systems
Aim:
To Study the time response of first order and second order systems for step response.
Verification of steady state error of a first order system for different gains and compare the
theoretical and practical results. Also, verification of percentage peak overshoot, rise time and
settling time of a second order system and compare the theoretical and practical results.
Equipments required:
1. Control system trainer,

2. Function generator,
3. C.R.O and probes
4. Patch chord.
Theory:
For the above-mentioned objectives, step response of first and second order systems is
studied. The relevant mathematical expressions are given along with block diagrams.
First order systems:
R(s) Error C(s)=Output

+ K 1/(1+sτ1)
_
Feedback
C ( s) K

R ( s ) 1  K  s 1
τ =0.01 sec, and K=gain, it is varied
Steady state error:

R( s) 1
lim ess (t )  lim S  E ( s)  lim S  
t  s 0 s 0 1  G ( s) H ( s) 1  K

Second order system:-

+ K 1/S 1/(1+Sτ1)
_
Feedback
K
C (s) 1

R( s) K
S
S2   
1  1 
Where τ1 is a time constant of lag transfer function, K is gain.
On comparing to second order transfer function
C ( s) n2

R( s) S 2  2n S  n2
We get,
1 1  
2
K 1 1
n  ; ;   tan ; d  n 1   2
1 2 K1 

  
1 2
RiseTime (tr )  % Peakovershoot (M p )  e
d
 4
PeakTime (t p )  SettlingTime (t s ) 
d n
Procedure:
1. The above shown block diagrams for first order and second order system with unity
feedback are built on the control system trainer.
2. A square wave with suitable pulse width and frequency is used as an input signal.
3. The magnitude may be taken as 2VP-P. The time periods are adjusted such that the output
comes to the steady state in every pulse width.

Observations:
First order system:

C (s) K
Input= Step, TransferFunction  
R( s) 1  0.01S
Practical Computed ess = 1/(1+k)

K=
K=
K=
C ( s) K
Second order system: Input= Step, TransferFunction  
R(s) S 1  0.01S 
td tr tp ts % overshoot ess
S.
No K  ωn
Theo Prac Theo Prac Theo Prac Theo Prac Theo Prac Theo Prac
Precautions:
1. Frequency and time-period of square wave should be properly selected so that response comes
to steady state.
2. Settings for values of K and measurements on C.R.O should be properly done for accuracy in
the results.
Results and conclusion:

EXP NO: 3
Frequency-Response of Second Order System
Aim: To determine the frequency response of a given second order system and to evaluate its
frequency domain specifications.
Equipment required:
1. Frequency response module

2. Disturbance generator
3. Patch Cords
4. DSO
5. Digital Multi-meter
Formulae used:
1. Gain in dB = 20 log (Vo /Vi )

2. Phase angle φ = sin −1 (Y1/Y2) deg for the Lissajous curve shown in fig (a)
Phase angle φ = 180- sin −1 (Y1/Y2) deg for the Lissajous curve shown in fig (b)
Block Diagram:
Input
Output
K 1/S 1/(1+Sτ1)

Procedure:
1. Connections are made as per the circuit diagram.
2. Connect the output port of the signal generator to the input port of the circuit as shown.
3. Set the signal generator output to sine wave.
4. Switch on the signal generator and set the amplitude of sine wave signal output to 2 V (peak
to peak).
5. Now observe the output of the circuit in CRO using Lissajous figures.
6. Vary the input frequency of the sine wave from 100 Hz to 100 kHz in steps and tabulate the
corresponding output voltage and phase angles.
7. Compute the gain and phase angles for all the input frequencies using the formulae listed
above.
8. Plot the graphs of gain in dB Vs frequency and phase angle Vs frequency in semi log sheet.
9. Compute the frequency domain specifications, like undamped natural frequency ωn,
damping ratio ζ and damped frequency ωd using the formulae as listed above and comment
on the system.
Tabular Column:
Frequency Output voltage (Vo) Gain in Phase angle (φ)

S.NO Y1 Y2
Hz Volts dB=20log(Vo/Vin) degrees
Model response plots

EXP NO: 4
Study of P, PI & PID Controllers
Aim: To study the performance of P, PI, PD and PID controllers.
Equipment required:
1. PID controller module,

2. patch cords,
3. DSO
Theory: The time-domain characteristics of a control system are represented by the transient and
steady-state responses of the system. When certain test signals are applied, to satisfy
performance specifications use some controller along with system. The control system may be
placed either in series with the process or it may placed in feedback resulting in series or cascade
compensation and feed-back compensation respectively. If the controller is in parallel to the
feedback path it is known as feed-forward compensation. Feed-forward compensation is not in
the loop of the system and does not affect the roots of the characteristics equation. Series or
cascade compensation is commonly used. Its block diagram is shown below:

+ GC(S) System
_
Feedback
KI
Where, GC (s)  K P  K D * S 
S
Controller is a device that may contain components such as adder, amplifier, attenuator,
differentiators and integrator. Best known controller used in practice is PID controller is shown
below
KP
+ PID Output
KI/S +
Error
+
KD*S

Proportional controller:
Proportional controller is mainly an amplifier with a controllable gain K. The output and input of
the controller are related by K. The effects of this controller are:
a) Increase in K reduced the speed of response.
b) Increase in K increase the settling time.
c) Increases overshoots and affects the stability of the system.
d) Increase in K decrease the steady state error.
Derivative controller:
It differentiates the error signal and produces the actuating signal.
a) Derivative control is an anticipatory control

b) As it differentiates the error signal, it has influence only on transient response but not on
steady state response.
c) As it increases the damping of the system, overshoot reduces.
d) When the derivative control along with proportional controller. It is known as PD controller
with suitable of values KP and KD; it gives fast response and little overshoot.
Integral Controller:
a) It is a low pass filter and increase rise time.

b) It increases the order and type of the system by one.
c) It can reduce the steady state error by one order.
d) As order increases stability reduces.
e) When type I system is converted into type II system by PI controller. The proportional
controller KP no longer fixes the steady state error and the later is always zero for a ramp
function input. Then the problem is to choose the problem compensation of KP and KI so that the
transient response is satisfactory.
Procedure:
1. Make the connections for a second order with unity feedback using the PID controller
training kit.
2. Add one of the controllers at a time like P, PI, PD and PID and study the effects
mentioned above and comment on the results.
Results: Tabulate the results for each controller with controller constants vs time domain
performance indices.

Calculations:
Open loop transfer function used in
2000
G (s) 
S ( S  100)
a) Time response specifications of system without controller
1) MP =
2) Ts=
3) Tr=
b) Time response specifications with proportional controller KP=2
1) MP =
2) Ts=
3) Tr=
c) PI controller with KP=2 and KI=100
1) MP =
2) Ts=
3) Tr=
d) PD controller KP=2, KD=0.0345
1) MP =
2) Ts=
3) Tr=
e) PID controller KP=2, KI=100 and KD=0.035
1) MP =
2) Ts=
3) Tr=
Results:
SI. Proportional Proportional Proportional
Specifications P.I.D
No Derivative (PD) Integral (PI) (P)
1
Results and Conclusions:

EXP NO: 5
Design of Lag and Lead Compensator Networks
A) To design a passive RC lag compensating network for the given specifications, like the
maximum phase lead and the frequency at which it occurs.
Aim: Obtain the frequency response of RC lag network.
Apparatus required:
S. No. NAME OF THE APPARATUS RANGE QUANTITY

1 Resistors and capacitors as required as required
2 Signal Generator 1 MHz 1
3 C.R.O. with probes 30 MHz 1
4 Connecting wires as required
Formulae used:
1  S
1. The transfer function of a lag compensator is given by, G ( s)  ,  1
1  S 
R1  R2
2. Constant factor   , which is always greater than unity.
R1
1  sin m
3. Also, the constant factor   , where Φm is the maximum phase angle in deg.
1  sin m
4. The maximum frequency at which maximum phase lag occurs, is, ωm = 2 ∗ π ∗ f rad/sec.
where, f is the maximum frequency in Hz at which maximum phase lag occurs.
1
5. The maximum frequency at which maximum phase lag occurs is, m  rad/sec.
 
6. The time constant  = R2∗ C sec.
Y 
7. Phase angle   sin 1  1  deg for the Lissajous fig (a) shown below.
 Y2 
Y 
8. Phase angle   1800  sin 1  1  deg for the Lissajous fig (b) shown below.
 Y2 

Procedure:
1. A passive RC lag compensating network is designed and for the given specifications.
3. The output voltage of sine generator is set to 10 V (peak to peak) and is supplied as input
to the RC lag compensator.
4. A CRO is connected at the output of the lag compensator.
5. The input frequency of the circuit is varied in steps and the corresponding output voltage
is tabulated using CRO in every steps.
6. In addition to this, the phase angle is calculated using Lissajous figure in CRO.
7. The voltage gain is calculated using the formula as given in the table.
8. The plots of gain in dB Vs frequency and phase angle Vs frequency are plotted in semi
log sheet.
Circuit Diagram:
R1
R2
Vin Vo
C
Design:
Step 1: With the help of given specifications, compute the maximum frequency at which
maximum phase lag occurs using the formula ωm = 2 ∗ π ∗ f
1  sin m
Step 2: Compute the constant factor β using the formula   ,
1  sin m
1
Step 3: Compute the time constant  using the formula m 
 
Step 4: Assume the value of C as like 0.1 µF, then compute the value of R 2 using the time
constant formula T = R2 ∗ C
R  R2
Step 5: Using the formula of constant factor   1 , compute the value of R1.
R1

Tabular column:
Input Voltage (Vin) =________
S.NO Y1 Y2
Lag Compensator:
1
R2 
Vo ( s) SC 1  R2 CS
G(s)   
Vin ( s) 1  R  R2 
R1  R2  R2 CS  1  1
SC  R2 
R1  R2
R2 C   and 
R2
1
S
1  S 
G( s)  
S  1  1 
 S  
  
Design:
Specifications: Maximum phase lag of -74o at the frequency of 22 KHz

Consider given data,
Max phase angle = φm = |-74o| and Max frequency = 22 KHz
R  R2 1  sin m
1. Constant factor   1   51.6 (Consider β=51)
R1 1  sin m
2. Maximum frequency at which maximum phase lag occurs is, ωm = 2*π*f rad/s = 138230.07
rad/s
1
3. Max frequency m  (Re calculate for time constant  = 1/ ωm * = 1.01 µsec)
 
4. Time constant  = R2 * C sec. (For design select C=0.5 µF). Hence R2 = 2.02 (Choose R2
= 2 Ω)

R1  R2
5.    51 implies R1 = 100 Ω.
R1
S  9.901e5
6. Transfer function G( s) 
51  S  9.901e5
7. Matlab code for bode plot
s=tf('s');
S  9.901e5
G
51  S  9.901e5
bode(G)
Bode Plot:
Bode Diagram
0
-10
Magnitude (dB)
-20
-30
-40
0
Phase (deg)
-30
-60
-90
3 4 5 6 7 8
10 10 10 10 10 10
Frequency (rad/s)

B) To design a passive RC lead compensating network for the given specifications, like the
maximum phase lead and the frequency at which it occurs.
Aim: To obtain frequency response of lead network.
Apparatus required:
S. No. NAME OF THE APPARATUS RANGE QUANTITY

1 Resistors and capacitors as required as required
2 Signal Generator 1 MHz 1
3 C.R.O. with probes 30 MHz 1
4 Connecting wires as required
Formulae used:
 1  S 
1. The transfer function of a lead compensator is given by, G ( s )  ,  1
1  S
R2
2. Constant factor   , which is always less than unity.
R1  R2
1  sin m
3. Also, the constant factor   , where Φm is the maximum phase angle in lead deg.
1  sin m
4. The maximum frequency at which maximum phase lead occurs, is, ωm = 2 ∗ π ∗ f rad/sec.
where, f is the maximum frequency in Hz at which maximum phase lag occurs.
1
5. The maximum frequency at which maximum phase lead occurs is m  rad/sec.
 
6. The time constant  = R1∗ C sec.
Y 
7. Phase angle   sin 1  1  deg for the Lissajous fig (a) shown below.
 Y2 
Y 
8. Phase angle   1800  sin 1  1  deg for the Lissajous fig (b) shown below.
 Y2 

Procedure:
1. A passive RC lead compensating network is designed for the given specifications.

3. The output voltage of sine generator is set to 10 V (peak to peak) and is supplied as input to
the RC lead compensator.
4. A CRO is connected at the output of the lead compensator.
5. The input frequency of the circuit is varied in steps and the corresponding output voltage is
tabulated from CRO in every steps.
6. In addition to this, the phase angle is calculated in every step using Lissajous figures in
CRO.
7. The voltage gain is calculated using the formula as given in the table.
8. The plots of gain in dB Vs frequency and phase angle Vs frequency are plotted in semi log
sheet.
Circuit Diagram:
R1
Vin R2 Vo
Design:
Step 1: With the help of given specifications, compute the maximum frequency at which
maximum phase lead occurs using the formula ωm = 2 ∗ π ∗ f
1  sin m
Step 2: Compute the constant factor  using the formula   ,
1  sin m
1
Step 3: Compute the time constant  using the formula  
m 
Step 4: Assume the value of C as like 0.1 µF, then compute the value of R 1 using the time
constant formula  = R1 ∗ C
R2
Step 5: Using the formula of constant factor   , compute the value of R2.
R1  R2

Tabular column:
S.NO Y1 Y2
Sample calculations:
Results and conclusion:
Lead Compensator:
Vo ( s) R2 R2 1  R1CS
G(s)    
Vin ( s)  R1   R1   R2 
 SC  R2    1  R1CS 
R2     1  R1CS   R1  R2 
 1  R1CS 
 CS 
R1
R1C   and 
R1  R2
1
S
G ( s)  
 1 
 S  
  

Design:
Specifications: Maximum phase lead of 74o at the frequency of 22 KHz
Consider given data,
Max phase angle = φm = |74o| and Max frequency = 22 KHz
R1 1  sin m
1. Constant factor     0.0197
R1  R2 1  sin m
2. Maximum frequency at which maximum phase lead occurs is, ωm = 2*π*f rad/s = 138230.07
rad/s
1 1
3. Max frequency m  (Re calculate for time constant    1.01 sec
  m 
4. Time constant  = R1 * C sec. (For design select C=0.5 µF). Hence R1 = 103 (Choose R1 =
100 Ω)
R1
5.   implies R2 = 2 Ω.
R1  R
S  19402.4
6. Transfer function G (s) 
S  984893
7. Matlab code for bode plot
s=tf('s');
S  19402.4
G
S  984893
bode(G)
Bode Plot:
Bode Diagram
0
-10
Magnitude (dB)
-20
-30
-40
90
Phase (deg)
60
30
0
3 4 5 6 7 8
10 10 10 10 10 10
Frequency (rad/s)

EXP NO: 6
Time Domain Analysis of LTI Systems
1. To enter a transfer function
2 s 3  5 s 2  3s  6
G ( s) 
s 3  6 s 2  11s  6
Matlab Code:
num1= [2 5 3 6];
den1= [1 6 11 6];
% To display the system description as a rational function of 's'
printsys(num1,den1,'s')
sys1=tf(num1,den1)
% To display the factored form of the transfer function
sys2= zpk(sys1);
2. Transfer function to zero-pole conversion (tf2zp)
Matlab Code : [z,p,k]=tf2zp(num1,den1)
%To obtain the pole-zero map: pzmap(num1,den1);

Try the reverse transformation zp2tf : [num2,den2] = zp2tf(z,p,k)
3. To find the Partial Fractions of the Transfer function
Matlab Code : [r,p,k]=residue (num1, den1)

%Try the reverse transformation: [num2,den2]=residue(r,p,k)
4. Transfer-function to state-space conversion (tf2ss)
Matlab Code : [A,B,C,D]=tf2ss (num1, den1)

Try the reverse transformation ss2tf: [num3,den3] = ss2tf (A,B,C,D)
5. To find the overall Transfer-function of systems connected in cascade/parallel

Let G1(s) = 3/(s+4) and G2(s) = (2s+4)/(s2+2s+3)
Overall TF of the systems connected in cascade
For series
Matlab Code : n_g1 = 3; d_g1 = [1 4]; n_g2 = [2 4]; d_g2 = [1 2 3];
[n_gc,d_gc] = series (n_g1,d_g1,n_g2,d_g2)

6. To find the overall Transfer-function of feedback connected systems
Let G1(s) = (s+1)/(s^2+2s+5) and H1(s) = s/(s+1)
To find the overall TF of the negative feedback system described above

Matlab Code :
n_g1 = [1 1]; d_g1 = [1 2 5];
n_h1 = [1 0]; d_h1 = [1 1];
sys1=tf(n_g1,d_g1);
sys2=tf(n_h1,d_h1);
systf = feedback (sys1,sys2)
7. Obtain the overall transfer function of the block diagram given.
R(s) C(s)
+ + 4 1 1
1 0.5
- - - s4 s2 s3
1 2 3 4 5
2
6
5
7
Matlab Code :
% To find the transfer function of the block diagram given.
clear; clc;
n1 = 1; d1 = 1;
n2 = 0.5; d2 = 1;
n3 = 4; d3 = [1 4];
n4 = 1; d4 = [1 2];
n5 = 1; d5 = [1 3];
n6 = 2; d6 = 1;
n7 = 5; d7 = 1;
n8 = 1; d8 = 1;
nblocks = 8;
blkbuild
% Connection matrix
q=[1 0 0 0 0
2 1 -6 -7 -8
3 2 0 0 0
4 3 0 0 0
5 4 0 0 0
6 3 0 0 0
7 4 0 0 0
8 5 0 0 0];
iu = [1]; % input vector
iy = [8]; % output vector

% State space model

[A B C D] = connect(a,b,c,d,q,iu,iy);
% TF model
[num,den] = ss2tf(A,B,C,D) ;
% Overall system transfer function
sys1 = tf(num,den)
8. Obtain the overall transfer function of the block diagram given.
R(s) + C(s)
+ 1 10
_ s2 _ s( s  1)
1
0. 5 s
Fig. Ex-8
9. Obtain the unit step response and the time domain specifications for the system whose
closed loop TF is given by
C (s)  n2
a)  where   0.4 and  n  5
R( s) s 2  2 n s   n2
C ( s) 25(1  0.4s)
b) 
R( s ) (1  0.16s)( s 2  6s  25)
10. Obtain the unit step response curves of the system whose system matrices are
A = [-1 -1;6.5 0], B = [1 1; 1 0], C = [1 0; 0 1], and D = [0 0; 0 0].
11. Obtain the unit impulse response of the system whose TF is given
1
as G ( s )  where  is varied from 0.2 to 1.0 in steps of 0.2. Plot all the
s  2s  1
2
response curves in single figure window.

Hint: impulse (sys): Impulse response of LTI systems

EXP NO: 7
Stability Analysis of Unity Feedback Control Systems
1. Plot the time domain responses of the step, ramp, & parabolic functions for the unity
feedback control systems with following open-loop transfer functions.
5( s  4)
a) G ( s) 
s( s  1)( s  2)( s  5)
10
b) G ( s )  2
s  14s  50
For Case a)
MATLAB CODE:
num=[5 20];
den=[conv(conv([1 0],[1 1]),conv([1 2],[1 5]))];
sys=tf(num,den);
sys1=feedback(sys,1);
figure(1)
step(sys1);% STEP
s=tf([1],[1 0]) % 's' term
sys2=sys1*s;
figure(2)
step(sys2);% RAMP
sys3=sys2*s;
figure(3)
step(sys3);% PARABOLIC
K
2. Check the stability of a unity feedback control system with G ( s )  for
s ( s  s  1)( s  2)
2
K=1 & K=3 by plotting the pole-zero map.
3. Plot Zero-pole map and hence, check the stability of the system whose system matrices
are
A=[0 1 0; 0 0 1; -160 -56 -14], B=[0; 1; -14], C=[ 1 0 0], and D=[0]
4. Check the stability of the system with characteristic equation

s  10s  36s  60s  59s  50s  24  0 by finding its roots.
6 5 4 3 2 2

5. Obtain the Bode plot, gain and phase margins for the unity feedback control systems
with the open loop transfer function
320( s  2) 1300
(a) G ( s )  (b) G ( s) 
s ( s  1)( s 2  8s  24) s( s  2)( s  50)
For Case a) MATLAB CODE :
clear;clc;clf;
num=[320 640];
den=[conv([1 0],conv([1 1],[1 8 24]))];
sys=tf(num,den);
figure(1); margin(sys); [Gm,Pm,Wcg,Wcp] = margin(sys)

EXP NO: 8
Stability Analysis and SIMULINK Modelling
1. Obtain the root locus for K >0 for the system with open loop transfer function.
K ( s  5) K
(a) G ( s ) H ( s )  (b) G ( s) H ( s) 
s ( s  1) s( s  1)( s  5)
K
(c) G ( s ) H ( s ) 
( s  1)( s  6 s  13)
2
Find the range of K for which the systems are stable. Compare with the theoretical results.
For Case a) MATLAB CODE :
clear;clc;clf;
sysGS=tf([1 5],conv([1 0],[1 1]));
rlocus(sysGS);
2. An RLC series circuit with R = 1, L = 1H, & C = 10mF is connected to a dc source of
10V through a switch. Plot the inductor current and the capacitor voltage for time, 0  t 
10s, if the switch is closed at t = 1s & the circuit elements are initially relaxed.
0.01s
1/s -K- Mux y
0.01s2 +0.01s+1
Step Input Integrator Gain To Workspace
Transfer Fcn Mux
Scope1

3. Compare the step responses of the system given in figure with and without Proportional
Controller. Also, study the effect of PI, PD and PID controller on step response of feedback
control system.
With Proportional Controller
R(s) C(s)
s  50
Kp = 61.4
-
s ( s  10)
1
s  20

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EED/NITW/EE 355 Control System Lab

Speed-Torque Characteristics of Ac Servo-Motor

Aim: To obtaining the speed-torque characteristics of A. C. servo motor.

1. A.C. servo motor module.

The torque is calculated using the following expression

Department of Electrical Engineering, NITW Page 1

Fig. Model graph of speed versus torque

Procedure: The experiment can be divided into 3 parts.

Department of Electrical Engineering, NITW Page 2

a) Control voltage of A.C. servo motor is 40V A.C.

b) Control voltage of A.C. servo motor is 60V A.C.

Department of Electrical Engineering, NITW Page 3

c) Control voltage of A.C. servo motor is 80V A.C.

Calculation of No-load torque (TNL): Since

Calculation of load torque (TL) and total torque:

a) When control voltage winding = 40V

b) When control voltage winding = 60V

c) When control voltage winding = 80V

Results and Conclusions:

Department of Electrical Engineering, NITW Page 4

Time-Response of First and Second Order Systems

1. Control system trainer,

First order systems:

R(s) Error C(s)=Output

τ =0.01 sec, and K=gain, it is varied

Steady state error:

Department of Electrical Engineering, NITW Page 5

Second order system:-

R(s) Error C(s)=Output

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First order system:

Practical Computed ess = 1/(1+k)

Results and conclusion:

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Frequency-Response of Second Order System

1. Frequency response module

1. Gain in dB = 20 log (Vo /Vi )

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Frequency Output voltage (Vo) Gain in Phase angle (φ)

Model response plots

Department of Electrical Engineering, NITW Page 9

Study of P, PI & PID Controllers

Aim: To study the performance of P, PI, PD and PID controllers.

1. PID controller module,

R(s) Error C(s)=Output

Department of Electrical Engineering, NITW Page 10

It differentiates the error signal and produces the actuating signal.

a) Derivative control is an anticipatory control

a) It is a low pass filter and increase rise time.

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Open loop transfer function used in

a) Time response specifications of system without controller

Results and Conclusions:

Department of Electrical Engineering, NITW Page 12

Design of Lag and Lead Compensator Networks

Aim: Obtain the frequency response of RC lag network.

S. No. NAME OF THE APPARATUS RANGE QUANTITY

Department of Electrical Engineering, NITW Page 13

Department of Electrical Engineering, NITW Page 14

Specifications: Maximum phase lag of -74o at the frequency of 22 KHz

Department of Electrical Engineering, NITW Page 15

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Aim: To obtain frequency response of lead network.

S. No. NAME OF THE APPARATUS RANGE QUANTITY