EXPERIMENT NO 1:-
Implement Block diagram reduction technique to obtain transfer
function a control system.
1.
s+1 s+1
g1 = ------- g2 = --------- C(S)
500 s^2 s+2
R(S)
PROGRAM :
num1=[1 1];
den1=[500 0 0];
num2=[1 1];
den2=[1 2];
[num,den] = series(num1,den1,num2,den2);
Printsys(num,den)
Output:
s^2 + 2 s + 1
num/den = ----------------------------
500 s^3 + 1000 s^2
02.
s+1
R(S) g1 = ------- C(S)
500 s^2
s+1
g2 = ---------
s+2
PROGRAM :
num1=[1 1];
den1=[500 0 0];
num2=[1 1];
den2=[1 2];
[num,den] = feedback(num1,den1,num2,den2);
Printsys(num,den)
Output:
s^2 + 3 s + 2
num/den = ----------------------------------------
500 s^3 + 1001 s^2 + 2 s + 1
03.
s+1
R(S) g1 = ------- C(S)
500 s^2
s+1
g2 = ---------
s+2
PROGRAM :
num1=[1 1];
den1=[500 0 0];
num2=[1 1];
den2=[1 2];
[num,den] = parallel(num1,den1,num2,den2);
printsys(num,den)
Output:
500 s^3 + 501 s^2 + 3 s + 2
num/den = -----------------------------------------
500 s^3 + 1000 s^2
04.
s+1 s+3 s+5
R(S) g1 = ------- g3 = --------- g4 = ------- C(S)
500 s^2 s+5 700 s^2
s+1 s+7
g2 = --------- g5 = ---------
s+2 s+5
PROGRAM :
num1=[1 1];
den1=[500 0 0];
num2=[1 1];
den2=[1 2];
num3=[1 3];
den3=[1 5];
num4=[1 5];
den4=[700 0 0];
num5=[1 7];
den5=[1 5];
g1=tf(num1,den1);
g2=tf(num2,den2);
g3=tf(num3,den3);
g4=tf(num4,den4);
g5=tf(num5,den5);
h1=parallel(g1,g2);
h2=feedback(g4,g5);
h3=series(h1,g3);
h4=series(h3,h2);
ans=minreal(h4)
Output:
Transfer function:
0.001429 s^4 + 0.005717 s^3 + 0.004303 s^2 + 3.143e-005 s + 1.714e-005
----------------------------------------------------------------------------------------------------
s^5 + 2.001 s^4 + 0.01286 s^3 + 0.02 s^2
EXPERIMENT NO 2:-
Implement Signal Flow graph to obtain transfer function a control
system.
Program
% Define transfer functions
G = tf([1], [1, 1]); % G(s) = 1 / (s + 1)
H = 1; % H(s) = 1
% Compute overall transfer function T(s)
T = G / (1 + G*H);
% Display transfer function T(s)
disp('Transfer Function T(s):');
disp(T);
% Plot the Signal Flow Graph (SFG)
sfg = [0 G; 0 1];
% Visualize the SFG (Optional)
view(sfg)
% Alternatively, you can display the SFG matrix
disp('Signal Flow Graph Matrix:');
disp(sfg);
Output:
EXPERIMENT NO 3:-
Simulation of poles and zeros of a transfer function.
Program:
num=[1 2];
den=[1 7 12];
H=tf(num,den);
Z=zero(H);
P=pole(H);
pzmap(H);
sgrid
Output:
EXPERIMENT NO 4:-
Implement time response specification of a second order Under
damped System, for different damping factors.
Program:
zeta=0.5;
wn=6;
num=[36];
den=[1 6 36];
g=tf(num,den);
wd=wn*sqrt(1-zeta*zeta);
theta=atan(sqrt(1-zeta*zeta)/zeta);
tr=(pi-theta)/wd;
tp=pi/wd;
mp=exp(-zeta*pi/sqrt(1-zeta*zeta))*100;
ts=4/(zeta*wn);
step(g);
xlabel('time (t)');
ylabel('Response c(t)');
title('step response of second order system');
Output:
EXPERIMENT NO 5:-
Implement frequency response of a second order System.
Program
num=[10];
den=[1 6 10];
w=0:0.01:pi;
h=freqz(num,den,w);
mag=abs(h);
phase=angle(h);
figure
subplot(2,1,1);
plot(w,mag);
xlabel('frequency');
ylabel('Magnitude');
title('frequency response of control system');
grid on
subplot(212);
plot(w,phase)
grid on
xlabel('phase');
ylabel('Magnitude');
title('phase response of control system');
Output:
EXPERIMENT NO 6:-
Implement a frequency response of a lead lag Compensator
Lead compensator:
Design a lead compensator for a unity feedback system with open
loop transfer function G(s)= K/(s(s+1)(s+5)) to satisfy the following
specifications (i) velocity error constant Kv=50, (ii) Phase margin =20
degrees.
% Given open-loop transfer function
num = [250];
den = [1 6 5 0];
G = tf(num, den);
% Bode plot of the uncompensated system
figure(1)
bode(G)
grid on
title('Bode plot of uncompensated system')
% Obtain the phase margin of the uncompensated system
[Gm, Pm, Wcg, Wcp] = margin(G);
% Desired phase margin and phase shift
Pmd = 20; % Desired phase margin in degrees
Phi_m = Pmd - Pm + 30; % Required phase shift in degrees
Phi_mr = Phi_m * (pi / 180); % Phase shift in radians
% Calculate alpha and compensator gain
alpha = (1 + sin(Phi_mr)) / (1 - sin(Phi_mr));
Mc = -10 * log10(alpha); % Compensator gain in dB
% Adjust the crossover frequency (wm) as needed
wm = 28.5; % Desired crossover frequency
p = wm * sqrt(alpha); % Pole of the compensator
z = p / alpha; % Zero of the compensator
gain = alpha; % Gain factor
% Define the lead compensator
numc = [1 z];
denc = [1 p];
Gc = tf(numc, denc);
% Implement the lead compensator into the system
Gt = gain * Gc * G;
% Bode plot comparison
figure(2)
bode(G, '--r', Gt, '-')
grid on
legend('Uncompensated system', 'Compensated system')
title('Comparison of compensated and uncompensated bode plots')
% Step response comparison
Gc1u = feedback(G, 1); % Uncompensated closed-loop transfer function
Gclc = feedback(Gt, 1); % Compensated closed-loop transfer function
figure(3)
subplot(2, 1, 1)
step(Gc1u, '--r')
grid on
title('Uncompensated system step response')
subplot(2, 1, 2)
step(Gclc, '-')
grid on
title('Compensated system step response')
Outputs:
Lag compensator:
The open loop transfer function of certain unity feedback control
system is given by G(s)=K/(s(s+4)(s+80)). It is desired to have the
phase margin to be atleast 33 degree and the velocity error
constant =30/sec. Design Lag compensator.
% Given open-loop transfer function
num = [9600];
den = [1 84 320 0];
G = tf(num, den);
% Bode plot of the uncompensated system
figure(1)
bode(G)
grid on
title('Bode plot of uncompensated system')
% Design parameters for the lag compensator
Pmd = 33; % Desired Phase Margin (PM)
Pmn = Pmd + 5; % Phase margin after compensation
Phigcn = Pmn - 180; % Phase angle for the new PM
Wgcn = 4.45; % Desired gain crossover frequency
Agcn = 12.2; % Desired magnitude in dB
% Calculate beta and T for the Lag compensator
beta = 10^(Agcn / 20);
T = 10 / Wgcn; % Time constant for lag compensator
% Define the Lag compensator
numc = [1 1 / T];
denc = [1 1 / (beta * T)];
Gc = tf(numc, denc);
% Compute the overall forward transfer function
Gain = 1 / beta;
Gt = Gain * Gc * G;
% Bode plot comparison of compensated and uncompensated systems
figure(2)
bode(G, '--r', Gt, '-')
grid on
legend('Uncompensated system', 'Compensated system')
title('Comparison of compensated and uncompensated bode plots')
% Closed-loop transfer functions
Gc1u = feedback(G, 1); % Uncompensated closed-loop TF
Gclc = feedback(Gt, 1); % Compensated closed-loop TF
% Step response comparison
figure(3)
step(Gc1u, '--r', Gclc, '-')
grid on
legend('Uncompensated system', 'Compensated system')
title('Comparison of compensated and uncompensated step responses')
Outputs:
EXPERIMENT NO 7:-
Analyze the stability of the given system using Routh stability
criterion.
% define the coeffient of the characteristics equation
coeff=[1,3,2,1,5];
% length of the characteristics eqation
n=length(coeff);
%initialize the routh array
routh=zeros(n,ceil(n/2));
% fill in the first two rows of the routh array
routh(1,:)= coeff(1:2:end);
if n>1
routh(2,1:length(coeff(2:2:end)))= coeff(2:2:end);
end
% fill the rest of the routh array
for i=3:n
for j=1:ceil(n/2)-1
routh(i,j)=-det([routh(i-2,1) routh(i-2,j+1); routh(i-1,1) routh(i-1,j+1)])/ routh(i-
1,1);
end
%specila case when the element in the first column becomes zero
if routh(i,1)==0
routh(i,1)=eps;
end
end
% stability based on the routh array
stable=all(routh (:,1)>0);
% display stability result
disp('Routh array');
disp(routh);
if stable
disp('The system is stable (all elements in the first column are positive ).');
else
disp('The system is unstable ( there are no positive element in the next
column.)');
end
Output:
Routh array
1.0000 2.0000 5.0000
3.0000 1.0000 0
1.6667 5.0000 0
-8.0000 0 0
5.0000 0 0
The system is unstable ( there are no positive element in the next
column.)
EXPERIMENT NO 8:-
Analyze the stability of the given system using Root locus.
Program
num=[1];
den=[1 3 0];
g=tf(num,den);
rlocus(g)
EXPERIMENT NO 9:-
Analyze the stability of the given system using Bode plots.
Program
num=[1 ];
den=[1 2];
g=tf(num,den);
bode(g)
EXPERIMENT NO 10:-
Analyze the stability of the given system using Nyquist plot.
Program
num=[10];
den=[1 6 10];
sys=tf(num,den);
num1=[1 1];
den1=[1 2 4];
sys1=tf(num1,den1);
num2=[3];
den2=[1 5 12];
sys2=tf(num2,den2);
nyquist(sys,'g',sys1,'r--',sys2,'b+')
EXPERIMENT NO 11:-
Obtain the time response from state model of a system.
A = [-0.2516 -0.1684;2.784 0.3549];
B = [0;3];
C = [0 1];
D = 0;
Ts = 0.05;
sys = ss(A,B,C,D,Ts,'StateName',{'Position' 'Velocity'}, 'InputName','Force');
step(sys)
EXPERIMENT NO 12:-
Implement PI and PD Controllers.
Program
num = [1];
den = [1 3 1];
g = tf(num,den);
h = [1];
m = feedback(g,h);
step(m)
hold on
kp = 24;
ki = 0;
kd = 8;
G = pid(kp, ki, kd);
mc = feedback(g*G,h);
step(mc)
grid on
Output:
