EEE350: CONTROL SYSTEMS

LABORATORY 2
REPORT
GROUP MEMBERS:
MUHAMMAD IZZAT BIN ROSLAN (121997)
MOHAMAD ASHRAF BIN MUHAIDIN
(121992)
DATE OF SUBMISSION:
6th NOVEMBER 2015

3. Closed-Loop Response with P control.

e) First we declare the function for G( s) and define the suitable time vector and stimulate
the time response of G( s) to a step input as shown in Figure 1 below.

Figure 1

After that, we declare the function for T 1( s) and stimulate the time response to a step
input as shown in Figure 2 below;

Figure 2

Next, we define a controller C( s) with a constant gain

with

equal to 2. Then,

we declare the closed-loop transfer function T 2( s) and define its time response to a unit
step input. Finally we plot the step response of G( s) , T 1( s) and T 2(s) in the same
as Figure 3 below:

Figure 3

The graph of step response of G(s) , T 1( s) and T 2( s) as shown in Graph 1 below:

Graph 1

f) A for loop has been used to find the steady-state errors and time constants for each value
K that have been assign. We varies the value of K from 2 to 10 as shown in Figure
4:

Figure 4

The result of steady-state error and time constant has been simplify into the Table 1 below:
K
2
3
4
5
6
7
8
9
10

Steady-state error
0.1667
0.1176
0.0909
0.0741
0.0625
0.0541
0.0476
0.0426
0.0481

Time constants
0.2083
0.1471
0.1136
0.0926
0.0781
0.0676
0.0595
0.0532
0.0385

Table 1

To conclude the table above, it is clearly shown that when the value of

is higher, the

value of steady state error and time constant will become lower.
g) From the part(d) in calculation part, when the time constant of the closed-loop system is at
most 0.5s, the value of K is greater than 0.6. From the Table 1 above, it is clearly stated
that when the value of

is higher, the value of time constants will become lower than

0.2083. Therefore, it is verified that the value of time constants will not exceed 0.5s.
h) By using hold on command to retain current plot when adding new plots, the graph for
the step response of the closed-loop system when K =0.5, 2, 6 and 10 is plotted as
below.

Graph 2

i) From our observation in Graph 2, when the value of

is increasing, the steady-

state value will approaching 1 and so the steady-state error will approaching 0. So, to
make the steady-state error become zero, the value of K must be higher. But, when
the value of

is keep on increasing, the value of steady state will never become

exactly 0. Although we increase the value of

up to infinity, the steady state error

still didnt become 0. So, we can conclude that the steady state error will still exist no
matter what value of K we are using.

4. Closed-Loop Response with PI control

e) We need to declare the step response of T 3( s) as show in Figure 5 below with the
controller C( s) with a constant gain

of 1:

Figure 5

Then we plot the graph the step response of T 3 with the value of KI is 1. We define a
suitable time vector and simulate the step response of T 3 and obtain the following
graph:

Figure 6

Graph 3

f) By using hold on command to retain current plot when adding new plots, the graph for
the step response of the closed-loop system when KI=1, 1.4, 1.6 and 2 is plotted as below.

Graph 4

i) First, T4(s) has been declare in terms of K and KI. The value of K and KI are get from
calculation part(h) which is 0.55 and 1.805 respectively. T 4 (s) has been shown in Figure
7 below.

Figure 7

Then we plot graph t against yT4.

Graph 5

From the Graph 5 above, the value of peak overshoot obtained is 1.2 while the value of
peak time is equal to 1.6.

5. Discussions and Conclusion

Discussions:
From this experiment, when we do Closed-Loop Response with P control, we notice that there
has steady-state error although we keep increasing the value of K up to infinity. Meanwhile in
Closed-Loop Response with PI control, there is no steady-state error. So, this means that by
adding PI control, it will fix the system to give a zero steady-state error. Therefore, the steady
state error will still exist. The time constants also will decrease as the value of K increase.

Conclusion:
At the end of this experiment, we are learn that Closed-Loop Response with PI control will
eliminate the steady-state error.