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CONTROL SYSTEM LAB MANUAL FOR ELECTRICAL & ELECTRONICS BRANCH FOR 6 SEM RGPV UNIVERSITY

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100%(5)100% au considerat acest document util (5 voturi)

6K vizualizări35 paginiCONTROL SYSTEM LAB MANUAL FOR ELECTRICAL & ELECTRONICS BRANCH FOR 6 SEM RGPV UNIVERSITY

Attribution Non-Commercial (BY-NC)

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BATCH : 2008-2012

PRESTIGE INSTITUTE OF ENGINEERING & SCIENCE

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

Objective:

Study of Error Detectors.

a) Potentiometer Error Detectors.

b) Synchro Error Detectors.

Theory:

a) Potentiometer Error Detector:

All feedback control systems operate from the error signal

which is generated by a comparison of the reference and the output. Error

detectors perform the crucial task of comparing the reference and output

signals. In a purely electrical system where the reference and output are

voltages, the error detector is a simple comparator.

In some other systems with non-electrical outputs, the output signal

is converted into electrical form through a measurement or transducer block,

and then error detection is performed on the electrical signals. A position

control system, with both input and output variables as mechanical positions

(linear or angular), may however consist of two potentiometers - reference

and output, which function as an error detector. Other devices which could

be used in similar applications include synchro sets (for a.c. systems), sine-

cosine potentiometers, hall effect-potentiometers etc.

The Potentiometer Error Detector consists of two identical potentiometers

electrically connected in parallel and supplied by a voltage source as shown

in figure 1a.

Fig.1a Basic Circuit Diagram

The symbolic circuit representation of a potentiometer error detector is

shown in figure 1b below.

The input shaft is coupled to the potentiometer marked A, and is held fixed

at the desired angular position say while the output shaft is coupled to the

potentiometer marked B and the position is indicated as . The potential

difference between the variable points of potentiometers A and B is

proportional to the angular difference ( ). Therefore, the error is given

by,

-------

(1)

Or

The Laplace transform of the above equation is,

---------

(2)

The block diagram relating the output E(s) and the input drawn and

shown in figure 2.

Or

Note:- Students have to derive & write the Transfer Function of the

Synchro Error Detector.

PRESTIGE INSTITUTE OF ENGINEERING & SCIENCE

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

EXPERIMENT No. -- 2

Objective:

Determination of Transfer Function of DC Motor.

c) Armature Controlled DC Motor.

d) Field Controlled DC Motor.

Theory:

Write DC motor description covering following points

1. Construction and principle of working

2. Types and their characteristics, applications.

Derivation of Transfer Function:-

(a) Armature Controlled DC Motor.

The following assumptions are made while deriving the transfer

function.

(1)Air gap flux is proportional to the field current.

(2)Armature reaction is negligibly small.

(3)The back emf is proportional to motor speed.

(4)Field current is constant.

Figure shows armature controlled motor,

La= armature inductance

J= total moment if inertia of the rotor.

Θ=Shaft position

Ia=armature current of viscous firction.

Taking Laplace Transform of both sides,

- - - - - - - (1)

and armature current,

Tm α φ Ia

Tm = Km Ia (φ constant)

Km ) = (Js2 +Fs)θ(s)

i.e. Eb α

Eb = Kb

Eb= s Kb θ(s)

shown Km=Kb) Ra, La, J and F, out of these Ra and La can be found by

bridge methods J is found by retardation test. The only unknowns now are Kb

and Kf.

Controlled DC Motor.

Students have to derive & write the transfer function of Field Controlled

DC Motor.

PRESTIGE INSTITUTE OF ENGINEERING & SCIENCE

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

EXPERIMENT No.--3

Objective:

To determine the Time Response of 1 st and 2nd order system using

MATLAB Simulink.

Theory:-

Whenever any standard known test signal is applied to the systems, it

responds according to design and nature of the system. This response is the

function of time and may be divided into two main parts:

(i) Transient Response: - This occurs just after the switching or after

any abnormal condition (due to fault or sudden change of load).

This is the function of system Transfer Function. This response is

mainly due poles of the system.

(ii) Steady State Response: - When the system becomes settled and

starts its normal working, that response is known as steady state

response and is the function of input. The portion of the response is

mainly due to the poles of the input or Forcing function.

A general expression of a 1st order system is given as,

C ( s) 1

= (3.1)

R( s) sT +1

1

∴ C ( s) = R( s) (3.2)

sT +1

1

For unit step input, R ( s ) = Figure 1 Block Diagram

s

representation

of a 1st order system

1 1

Put R(s) in equation (3.2), C ( s ) =

s sT +1

Take partial fraction,

1 T 1 1

C (s) = − = −

s sT + 1 s s + 1 / T

Take inverse Laplace Transform,

c(t ) =1 − e −t / T (3.3)

Figure 2 Time Response of 1st order system for Unit Step input

Error, e(t ) = r (t ) − c (t ) =1 − (1 − e −t / T )

= e −t / T (3.4)

t →∞

A general expression of a second order system is given as,

C (s) ω n2

= 2 (3.5)

R ( s) s + 2ξ ωn s + ω n2

Figure 3 Block Diagram of 2nd order Control System

For unit step function R(s) =1,

1 ω n2

C (s) =

s s 2 + 2ξ ωn s + ω n2

Take Partial fraction,

1 s + 2ξ ωn

C ( s) = − 2

s s + 2ξ ωn s + ω n2

1 s + 2ξ ωn

Or C ( s) = − (3.6)

s ( s + ξ ω) 2 + ω n2 (1 − ξ 2 )

Put ωd = ωn (1 − ξ 2 ) ,

1 s + 2ξ ωn

C (s) = − (3.7)

s ( s + ξ ω) 2 + ω d2

Rearranging above equation,

1 s + ξ ωn ξ ω ωd

C ( s) = − − n

s ( s + ξ ω) + ω d ω d ( s + ξ ω) 2 + ω d2

2 2

ξ ωn −ξ ωt

c (t ) = 1 − e −ξ ωnt cos ωd t − e sin ωd t

n

(3.8)

ωd

Since, ωd = ωn (1 − ξ 2 )

ξ ωn

c(t ) = 1 − e −ξ ωnt cos ωd t − e −ξ ωnt sin ωd t

ωn (1 − ξ ) 2

e −ξ ωnt

=1− [ (1 − ξ 2 ) cos ωd t + ξ sin ωd t ] (3.9)

(1 − ξ ) 2

e −ξ ωnt

c(t ) = 1 − [sin φ cos ωd t + cos φ sin ωd t ]

(1 − ξ 2 )

e −ξ ωnt

c(t ) = 1 − [sin( ωd t + φ)] (3.10)

(1 − ξ 2 )

Since ωd = ωn (1 − ξ 2 )

e −ξ ωnt (1 − ξ 2 )

c (t ) = 1 − sin( ωn (1 − ξ 2 )t + tan −1 (3.11)

(1 − ξ 2 ) ξ

e −ξ ωn t (1 − ξ 2 )

e(t ) = sin( ωn (1 − ξ 2 )t + tan −1 (3.12)

(1 − ξ 2 ) ξ

−ξ ω t (1 − ξ 2 )

e n sin( ωn (1 − ξ 2 )t + tan −1 = 0

e ss = Lim (3.13)

t →∞ (1 − ξ )

2

ξ

Case-I: ξ <1 ; (Underdamped Response)

e −o×ωnt (1 − 0 2 )

c (t ) = 1 − sin( ωn (1 − 0 2 )t + tan −1

(1 − 0 2 ) 0

= 1 − sin( ωn t + tan −1 ∞)

= 1 − sin( ωn t + π / 2)

c (t ) =1 − cos( ωn t ) (3.14)

From equation (3.10),

e −ξ ωnt

c(t ) = Lim 1 − [sin( ωn (1 − ξ 2 )t ) + φ)]

ξ →1

(1 − ξ 2 )

e −ξ ωn t

c(t ) = Lim 1 − [sin( ωn (1 − ξ 2 )t ) cos φ + cos( ωn (1 − ξ 2 )t ) sin φ)] (3.15)

ξ →1

(1 − ξ 2 )

Now, cos φ = ξ and sin φ = (1 −ξ 2 )

e −ξ ωnt

c(t ) = Lim 1 − [sin( ωn (1 − ξ 2 )t )ξ + cos( ωn (1 − ξ 2 )t ) (1 − ξ 2 ) )] (3.16)

ξ →1

(1 − ξ 2 )

Now,

[ ]

Lim sin( ωn (1 − ξ 2 )t )ξ → ωn (1 − ξ 2 )t

ξ →1

[ ]

Lim cos( ωn (1 − ξ 2 )t ) → 1

ξ →1

e −ξ ωn t

c(t ) = Lim 1 − [ωn (1 − ξ 2 )t + 1 × (1 − ξ 2 ) )]

ξ →1

(1 − ξ 2 )

e −ξ ωn t

= Lim 1 − (1 − ξ 2 ) (ωn t +1)]

ξ →1

(1 − ξ 2 )

c (t ) = 1 − e −ωnt ((ωn t + 1)

MATLAB PROBLEMS:-

1) 1st Order Systems

(i) Plot the Unit Step Response of the systems having Transfer

Function G(s) =

1 1

a) C b) c)

s +2 s +5

(ii) Plot the Unit step response of previous problem in 1 graph.

(iii) Plot the Unit step response of

1 2 5

, ,

s +1 s + 2 s + 5

2) 2nd order systems

Plot the Time response of the system-

1

(i) ; ξ = 0 .5

s + s +1

2

1

(ii) ; ξ =1

s + 2s + 1

2

1

(iii) ; ξ =0

s +12

1 4

(iv) , 2 ; ξ = 0 , ωn = 1,2

s +1 s + 4

2

1 1

; ξ =1 & 2 ; ξ =1.5

s + 2s + 1

2

s + 3s + 1

PRESTIGE INSTITUTE OF ENGINEERING & SCIENCE

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

EXPERIMENT No. 4

Objective:

Draw the Root Locus of a system using MATLAB.

Theory:-

Root locus analysis is a graphical method for examining how the

roots of a system change with variation of a certain system parameter,

commonly the gain of a feedback system. The stability of a control system is

determined from the roots of the characteristic equation 1+G(s)H(s)=0. For a

system to be stable the roots of the characteristic equation should be

located in the left half of the s-plane.

A closed loop control system having forward path gain K is shown

in Figure 1.

The characteristic equation of the system is given by,

1+G(s)H(s)=0 ………..(1)

Any root of equation satisfies following two conditions,

1 +G ( s ) H ( s ) =0 ……. (2)

∠G ( s ) H ( s ) = ( 2k +1)180

………… (3)

Where k=0, 1, 2 …

The root locus method of analysis is a process of determining the points in

the s plane satisfying equation (2) and (3). Usually forward path gain K is

considered as an independent variable and the roots of the equation

1+G(s)H(s)=0 as dependent variables, the roots are plotted in s-plane with K

as variable parameter. Form the location of the roots in s-plane the nature of

the time response and system stability can be ascertained.

The Procedure for plotting Root Locus:-

The stepwise procedure for plotting the root locus for a

given open loop transfer function is given below.

1. Starting Points:- The root locus starts (K=0) from the open loop

poles.

2. Ending Points:- The root locus terminates (K=∞) either on the open

loop zero or infinity.

3. Number of branches:- The number of branches of the root locus are,

N=P, if P>Z

=Z, if Z>P

4. Existence on real axis:- The existence of root locus on a section of

real axis is confirmed if the sum of open loop poles and zeros to the

right of the section is odd.

5. Break away points:- On the root locus between two open loop poles

the roots move towards each other as the gain factor K is increased till

they are coincident. At this point, the value of K is maximum as far as

the portion of root locus between the two open loop poles is

concerned. Any further increase in K, breaks the root locus in two

parts. The breakaway point can be determined by rewriting the

characteristic equation and therefrom solving for the value of s from

the equation below,

dK

=0

ds

6. The angle of asymptotes:- For higher values of K the root locus

branches are approximated by asymptotic lines making an angle with

the real axis given by,

(2k +1) ×180

Where k=0, 1, 2 …upto (P-Z)-1

P −Z

7. Intersection of asymptotes on real axis:- The asymptotes

intersects at point x on the real axis is given by,

x=

∑Poles − ∑Zeros

P −Z

8. Intersection points on the Imaginary axis:- The value of K and the

point at which the root locus branch crosses the imaginary axis is

determined by applying Routh criterion of the characteristic equation.

The roots at the intersection points are imaginary.

9. The angle of departure from the complex pole:- The angle of

departure from the complex pole is given by,

Φ d = 180 − (Φ p − Φ z )

and Φz is the sum of all zeros suspended by zeros.

The angle of departure is tangent to the root locus at complex pole.

10. The angle of arrival at complex zeros:- The angle of arrival at the

complex zero is given by,

Φ a = 180 − (Φ z − Φ p )

and Φp is the sum of all zeros suspended by poles.

The angle of arrival is tangent to the root locus at complex zero.

MATLAB PROBLEMS:-

1. Sketch the root locus for the open loop transfer function of a unity

feedback control system,

(ii) The value of K for ξ =0.5

(iii) Obtain the closed loop transfer function for K=1.66.

2. Sketch the root locus plot for the system when the open loop transfer

function is given by

(ii) The angle of departure from the complex pole.

(iii) The stability condition.

Note:-

• First solve the problem on the paper and attach it with the

Practical.

• Using MATLAB draw the root locus & compare it with your result.

• Take print out of the result and attach it with the practical.

PRESTIGE INSTITUTE OF ENGINEERING & SCIENCE

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

EXPERIMENT No. 5

Objective:

Draw the Nyquist Plot of a system using MATLAB.

Theory:

Nyquist Criterion: - Nyquist criterion is used to identify the presence of

roots of characteristic equation of a control system in a specified region of s

plane. From the stability view point the specified region being the entire right

hand side beyond the imaginary axis of complex s-plane.

Procedure for mapping from s-plane to G(s)H(s)-plane:-

The first step to understand the application of Nyquist criterion in relation

to determination of stability of control systems is mapping from s-plane to

G(s)H(s)-plane. “s” is considered as independent complex variable and the

corresponding value of G(s)H(s) being the dependent variable plotted in

another complex plane called G(s)H(s)-plane.

Thus for every point in s-plane there exists a corresponding point in

G(s)H(s)-plane. During the process of mapping the independent variable “s”

is varied along a specified path in “s” plane and the corresponding points in

G(s)H(s)-plane are joined. This compltes the process of making from s-plane

to G(s)H(s)-plane.

Application of Nyquist Criterion to determine the stability of closed

Loop systems:-

The overall transfer function of a closed loop system is given by,

C (s) G ( s)

=

R( s) 1 + G ( s) H ( s)

(1)

G ( s ) H ( s ) is the open loop transfer function and C is the characteristic

equation. For a system to be stable the zeros of the characteristic equation

should not have positive real part. In order to investigate the presence of any

zero of 1 + G ( s ) H ( s ) = 0 in the right half of the s-plane, let us chose a contour

which completely encloses this right half of the s-plane.

The closed path is ab → bc → cd → da starting at

a ( s = + j 0) through b( s = + j∞) , along a semicircular arc bc of infinite radius,

c ( s = − j∞) , d ( s = − j 0) and finally from d to a semicircular arc of radius r in

anticlockwise direction in such a manner that r → 0 .

On traversing the closed path for independent variable s in

s-plane as above, the corresponding point to point values of G ( s ) H ( s ) are

plotted in G ( s ) H ( s ) plane and change in argument of G ( s ) H ( s ) is noted.

A number indicating the zeros of G ( s ) H ( s ) which are located in right

half of s-plane is calculated by the relation:

∆AugG ( s ) H ( s ) = 2π( P − Z )

a known quantity.

Note that the change in argument of G ( s ) H ( s ) is measured w.r.t.

origin (0, 0) in G ( s ) H ( s ) plane. This procedure calculates the number of

zeros of G ( s ) H ( s ) = 0 and not the zeros of 1 + G ( s ) H ( s ) = 0 .

However, from the plot of G ( s ) H ( s ) the number of zeros of

1 + G ( s ) H ( s ) = 0 which have +ve real part can also be determined if the origin

of G ( s ) H ( s ) plane is shifted to the point (-1+j0) and the change in argument

of G ( s ) H ( s ) plot is measured w.r.t. the point (-1+j0) in G ( s ) H ( s ) plane. The

number of zeros thus calculated is also the number of roots of characteristic

equation 1 + G ( s ) H ( s ) = 0 .

As the s-plane region wherein only poles and zeros of 1 + G ( s ) H ( s ) = 0

with +ve real part is under investigation, the expression relating the number

of poles and zeros present in the R.H.S. of s-plane is written as,

∆AugG ( s ) H ( s ) = 2π ( P+ − Z + )

∆AugG ( s ) H ( s

Or ) = ( P+ − Z + )

2π

Or N = ( P+ − Z + )

Where ,

N = Number of encirclements of the point (-1+j0) by G ( s ) H ( s ) plot. The

positive direction of encirclement being anticlockwise.

P+ = Number of poles of G ( s ) H ( s ) with +ve real part.

Z+ = Number of zeros of 1 + G ( s ) H ( s ) = 0 with +ve real part.

For a stable system Z+ =0, therefore, the condition for a control system to be

stable is

N = ( P+ − 0)

N = P+

For most of the control system P+ = 0 , therefore for such cases the condition

of stability be, N=0

The closing of Nyquist plot from s=-j0 to s=+j0 is given the following table

according to type of G ( s ) H ( s ) :

Angle through which Nyquist

Type of plot Magnitude of

n

G(s)H(s) is to be closed from ω =-0 to G ( jω) H ( jω)

ω =+0

The points ω =-0 &

0 0 0 ω =+0 are

coincident

1 1 -π ∞

2 2 -2π ∞

3 3 -3π ∞

“ ‘ ‘ ‘

“ ‘ ‘ ‘

n N -nπ ∞

Note:-

-nπ = clockwise rotation;

n= type of transfer function;

MATLAB PROBLEMS:-

1. Draw the Nyquist plot for the open loop transfer function given below

and comment on the closed loop stability.

given below

NOTE:-

• First solve the problem on the paper and attach it with the

Practical.

• Using MATLAB draw the Nyquist plot & compare it with your

result.

• Take print out of the result and attach it with the practical.

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

EXPERIMENT No. 6

Objective:

Draw the Bode Plot of a system using MATLAB.

Theory:

Bode Plot:

The Bode plot method gives a graphical procedure for determining the

stability of a control system based on sinusoidal frequency response. The

transfer function of a system for sinusoidal input response can be obtained

by substituting jω in place of Laplace operator “s”. Therefore, if the open

loop transfer function of a system is G ( s ) H ( s ) , the corresponding sinusoidal

open-loop transfer function is G ( jω) H ( jω) which can be expressed in the

form of magnitude and phase angle.

The variation of the magnitude of sinusoidal transfer function

expressed in decibel and the corresponding phase angle in degrees being

plotted w.r.t. frequency on a logarithmic scale (i.e. log10ω ) in rectangular

axes. The plot thus obtained is known as Bode Plot. The logarithmic Bode

Plot has an advantage of being approximated by asymptotic straight lines.

Relative stability of a closed loop control system can be determined by

plotting its open loop transfer function by Bode Plot method. The Gain Margin

and Phase Margin is determined directly from Bode Plot.

The open loop transfer function of a closed loop transfer function can

be expressed as:

K [(1 + sT1 )(1 + sT2 )....]ωn2

G( s) H ( s) =

s N [(1 + sTa )(1 + sTb )......( s 2 + 2ξ ωn s + ωn2 )]

(1)

The sinusoidal form of transfer function (1) is obtained by substituting s = jω ,

therefore

K [(1 + jωT1 )(1 + jωT2 )....]ωn2

G ( jω ) H ( jω ) =

( jω ) N [(1 + jωTa )(1 + jωTb )......(( ωn2 − ω 2 ) + 2ωn ω )]

(2)

In decibel equation (2) can be expressed as:

ωn2 − ω 2 ( j 2ξ ωnω)

..... − 20 N log 10 +

ωn2 ωn2

(3)

And for phase angle,

∠G ( jω) H ( jω) = tan −1 ωT1 + tan −1 ωT2 + ...... − N∠90 − tan −1 ωTa − tan −1 ωTb

(2ξ ωω )

.... − tan −1 2 n 2

(ω n − ω )

(4)

The bode plot is a graph obtained from equation (3) and (4) consisting of two

parts as follows:

I. Magnitude of G ( jω) H ( jω) in decibel

II. Phase angle of ∠G ( jω) H ( jω) versus log10ω

Procedure for drawing Bode Plot:-

1. Identify the corner frequencies.

2. Draw the asymptotic bode plot. The slope will change at each corner

frequency by +20db/dec for zero and -20db/dec for pole. For complex

conjugate pole and zero the slope will change by ± db/decade.

3. (i) For type zero system draw a line upto first (lowest) corner frequency

having 0db/dec slope.

(ii) For type one system draw a line having slope -20db/dec upto ω =K.

Mark first (lowest) corner frequency.

(iii) For type two system draw a line having slope -40db/dec upto

ω = K and so on. Make first corner frequency.

4. Draw a line upto second corner frequency by adding the slope of next

pole or zero to the previous slope and so on.

5. Calculate phase angles for different values of ω and join all points.

6. Obtain Gain Margin and Phase Margin from the Bode Plot.

MATLAB PROBLEMS:-

1. Sketch the bode plot for the transfer function given below:

(a) The phase crossover frequency (b) The gain crossover

frequency

(c) Gain Margin (d) Phase Margin

2. The open loop transfer function of a system is given below

Determine

(a) Gain Margin

(b) Phase Margin

(c) Closed loop stability

3. Draw the Nyquist plot for the open loop transfer function given below

and comment on the closed loop stability.

NOTE:-

• First solve the problem on the paper and attach it with the

Practical.

• Using MATLAB draw the Bode plot & compare it with your result.

• Take print out of the result and attach it with the practical.

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

Remarks if any, Signature of lecturer:

EXPERIMENT No. 7

Objective:

Determination of State Space Model for classical transfer function using

MATLAB.

Theory:

State Space Analysis:-

The procedure for determining the state of the system is called state

variable analysis. The state of a dynamic system is the smallest set of

variables such that the knowledge these variables at t=t0 with the

knowledge of input at t≥ t0 completely determines the behavior of the system

for any time t≥ t0. This set of variables is called as State variables.

Advantages of State Space system:-

1. This approach can be applied to linear or nonlinear, time variant or

time invariant systems.

2. It is easier to apply where the Laplace Transform cannot be applied.

3. nth order differential equations can be expressed as ‘n’ equations of

first order whose solutions are easier.

4. It is a time domain approach.

5. This method is suitable for digital computer computation because this

is a time domain approach.

6. The system can be designed for optimal conditions w.r.t. given

performance indices.

The nth order differential equation is given as,

dny d n −1 y

+ a1 + ..... + a n y = u (t ) (1)

dt n dt n −1

It is noted that the input u(t) and the initial conditions

dy (0) d n −1 y (0)

y (0), ,..... at t=0 are given.

dt dt n −1

The dynamic behavior of differential equation (1) van be determined

.

completely from the knowledge of u(t), y (t ) , y(t).

.

The terms y(t), y (t ) ,……… y n −1 (t ) can be considered as a set of n state

variables.

Let, y = x1

.

y = x2 (2)

:

:

y n −1 = x n

.

x1 = x 2

.

x 2 = x3 (3)

:

:

. n −1

x = xn

.

x n = −a n x1 − a n −1 x 2 − .......... .. − a1 x n −1 + u

A general representation of set of equations (3) can be expressed in the form

of state equation,

.

x = Ax + Bu

Where,

x1 0 1 .. 0 0 0

x 0 0

2 0 .. 1 0

: 0 0 0

x = : ; A = 0 0 0 1 ; B = :

: : : : : :

: : : : : :

x − a − a n −1 0

a1 1

n n

A=Matrix (n× n) B=Matrix (n× 1)

The output equation is given as,

x1

x

2

y = [1 0 0 .. 0] : (4)

:

x n

Or y=Cx

Where C = [1 0 0 .. 0] , y= output (scalar), C=matrix (1× n)

MATLAB Problems:-

Q.1) Obtain the state model for the transfer function given below:

Q.3) Write MATLAB script to determine the state transition matrix for

Note:

• First solve the problem on the paper and attach it with the

Practical.

INDORE (M.P.)

ELECTRICAL AND ELECTRONICS DEPARTMENT

CONTROL SYSTEMS LABORATORY

EXPERIMENT No. 8

Objective:

Study of Lead and Lag Compensator using MATLAB Simulink.

Theory:-

If the performance of the control system is not upto expectations as

per desired specifications, then it is required that some change in the system

is needed to obtain the desired performance. The change can be in the form

of adjustment of the forward path gain or inserting a compensating device in

control systems.

The gain adjustment improves the steady state accuracy of the

system at the cost of driving the system towards instability. However,

improvement in steady state performance of a control system by gain

adjustment is possible in cases where the system is found to be within the

desirable stability limit even after altering forward path gain. In such a cases

a compensation network is introduced in the system.

The compensation network can be introduced in the system as shown

below,

system

The compensation network introduces additional poles/zeros in the original

system thereby altering its original transfer function. The effect of adding

zero to an unstable system results in making the system stable as shown in

root locus plots of Figure 2.

Figure 2 shows the root locus plot of an unstable system for higher-path

gain. Addition of a zero to the system transfer function changes the shape of

root locus as shown below, which indicates the stable system for all values of

forward path gain.

The networks used for cascade compensation are described below.

Figure 3 shows a phase lead network wherein the phase of

output voltage leads the phase of input voltage for sinusoidal input.

The Transfer function of a phase lead network shown above is given by,

E o ( s ) α (1 + sT )

= (8.1)

E i ( s ) (1 + sαT )

Where, α <1

R2

α= and T = R1C

R1 + R2

The transfer function given by equation (8.1) can be expressed in sinusoidal

form as

E o ( jω) α (1 + jωT )

= (8.2)

E i ( jω) (1 + jωαT )

The pole zero configuration and bode plot for transfer function (8.2) is

shown in

Figure 4.

The two corner frequencies are

1

ω= ; Lower corner frequency

T

1

ω= ; Upper corner frequency

αT

The maximum phase-lead φ m occurs at mid frequency ω m between upper

and lower corner frequencies.

1 1 1

∴ log 10 ω m = log 10 + log 10

2 T αT

1

∴ ωm = (8.3)

αT

The phase angle ∠E o ( jω) / E i ( jω) can be calculated as,

E o ( jω)

∠ = tan −1 (ωT ) − tan −1 (ωαT )

E i ( jω)

1

At ω = ωm = the phase angle is φ m,

αT

1

∴ φm = tan −1 T − tan −1 (ωαT )

αT

1

φm = tan −1 − tan −1 ( α )

α

1

− α

∴ φ m = tan −1 α

1

1+ α

α

1 −α

Or tan φm = (8.4)

2 α

1 −α

and sin φm = (8.5)

1 +α

From pole-zero configuration of phase lead network, it is observed that the

zero is nearer to origin as compared to pole, hence the effect of zero is

dominant, therefore, the phase lead network, when introduced in cascade

with forward path transfer function, the phase shift is increased.

The bode plot of phase lead network reveals that the lead

network allows to pass higher frequencies and low frequencies are

attenuated.

Phase-Lag Network:-

Figure 5 shows a phase lag network wherein the phase of output voltage lags

the phase of input voltage for sinusoidal inputs.

The Transfer function of a phase lead network shown above is given by,

Eo (s) 1 + sT

= (8.6)

E i ( s ) 1 + sβT

R1 + R2

Where, β >1 and β = , T = R2 C

R2

The transfer function given by equation (8.6) can be expressed in sinusoidal

form as

E o ( jω) 1 + jωT

= (8.7)

E i ( jω) 1 + jωβT

The pole zero configuration and bode plot for transfer function (8.7) is shown

in Figure 6. The two corner frequencies are

1

ω= ; Upper corner frequency

T

1

ω= ; Lower corner frequency

βT

The maximum phase-lag φ m occurs at mid frequency ω m between upper and

lower corner frequencies.

1 1 1

∴ log 10 ωm = log 10 + log 10

2 βT

T

1

∴ ωm = (8.8)

αT

The phase angle ∠E o ( jω) / E i ( jω) can be calculated as,

E o ( jω)

∠ = tan −1 (ωT ) − tan −1 (ωβT )

E i ( jω)

1

At ω = ωm = the phase angle is φ m,

βT

1−β

tan φm = (8.9)

2 β

1−β

and sin φm = (8.10)

1+β

means that the phase angle is lagging.

Phase Lead-Lag Compensation:-

Introduction to phase-lead network in a control system shifts the

gain crossover point to a higher value and, therefore, the bandwidth is

increased thus improving the speed of response and overshoot is reduced

but the steady state error does not show much improvement.

The use of phase lag compensation network in a control system shifts

the gain crossover frequency point to a lower value thus decreasing the

bandwidth and improvement in steady state error is noted but speed of

response is reduced.

The speed of response and, steady state error can be

simultaneously improved, if both phase-lag and phase-lead compensation is

used. However instead of using two separate lag and lead network, a single

network known as phase-lag-lead network shown in Figure is used which

combines the effect of both lag and lead networks.

E o (s) (1 + sT1 ) (1 + sT 2 )

= (8.11)

E i ( s) (1 + sαT1 ) (1 + sβT2 )

Lead Lag

Where, T1 = R1C1 , T2 = R 2 C 2 , α <1, β >1 and α β =1.

E o ( jω) (1 + jωT1 ) (1 + jωT2 )

= (8.12)

E i ( jω) (1 + jωαT1 ) (1 + jωβT2 )

The pole zero plot and bode plot for the transfer function (8.12) is shown in

Figure 8.

Figure 8 Pole-zero configuration and Bode Plot for phase-lag-lead network

MATLAB PROBLEMS:-

given by,

Design a suitable compensator such that the system will have Kv=10

and P.M.=50°.

2. The open loop transfer function of a unity feedback control system is

given by,

It is desired that,

a) For a unit ramp input the steady state error of the output

position be less than 0.125 degrees/(degree/second).

b) The Phase margin P.M. .

c) The Gain margin G.M. .

NOTE:-

• First solve the problem on the paper and attach it with the

Practical.

• Using MATLAB draw the Bode plot & compare it with your result.

• Take print out of the result and attach it with the practical.

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