Feedback Control Systems

EL304
LABORATORY MANUAL
Spring 2016

LAB 05
System Modeling Diagrams in MATLAB, Effect of
Pole locations
Engr. Iqra Akram
Engr.Warda shafiq

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STUDENT NAME ROLL NO SEC

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LAB ENGINEER SIGNATURE & DATE

MARKS AWARDED: /10

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NATIONAL UNIVERSITY OF COMPUTER AND EMERGING SCIENCES (NUCES), ISLAMABAD

Prepared by: Engr. Jawad Ul Haq Version: 1.01

Last Edited by: Engr. Iqra Akram Date: 11 Feb, 2017
Verified by: Dr. Jamshed Iqbal Date: 11 Feb, 2017
System Modeling Diagrams and Effect of Pole Locations LAB: 05
LAB: 05 System Modeling Diagrams and Effect of Pole Locations

5.1 Learning Objectives:

a. Reduction of system modeling diagrams using MATLAB.
b. Effect of poles location.

5.2 Equipment Required:

a. PC
b. MATLAB software

5.3 Introduction
To obtain the tranfer function we need to find the laplace transform of the equations of
motion and solve the resulting algebric equations of motions for relationship between input
and output. In many control systems the system equations can be written so that their
components do not interact except by having the input of one part be the output of another
part. In these cases it is easier to draw block diagram that represent the mathematical
relationship in a manner similar to that used for the component block diagram.

5.4 System Modeling Diagrams

Single block:

U(s) Y(s)
G(s) Y(s) = G(s)U(s)

U(s) is the input to the block, Y(s) is the output of the block and G(s) is the transfer function
of the block.

Series connection:

U(s) X(s) Y(s)

G1(s) G2(s) Y(s) = G1(s)G2(s)U(s)
Parallel connection (feed forward):

G1(s)

U(s) + Y(s)
Y(s) = [G1(s) + G2(s)]U(s)
+
G2(s)

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System Modeling Diagrams and Effect of Pole Locations LAB: 05
Negative feedback system (closed-loop system):

R(s) E(s) Y(s)

G(s)
+
_

The closed loop transfer function: Y(s) G(s)

R(s) 1 G(s)

Once the various transfer functions have been entered, you can combine them together using
arithmetic operations such as addition and multiplication to evaluate the transfer function of a
cascaded system. The following table lists the most common systems connections and the
corresponding MATLAB commands to implement them. In the following, SYS refers to the
transfer function of a system, i.e. SYS = Y(s)/R(s).

System MATLAB command

Series connection:
R(s) Y(s) SYS = G1*G2
G1 G2 or SYS = series(G1,G2)

Parallel connection:
G1
SYS = G1 G2
R(s) + Y(s)
or SYS = parallel(G1,G2)

G2

Negative feedback connection:

R(s) Y(s)
G(s)
SYS = feedback(G,H)
+ _-
or

SYS = feedback(G,1),for unity

feedback
H(s)

5.5 Method to plot the response of the system:

By simple connecting the block using SYS = series(G1,G2),SYS = parallel(G1,G2),

SYS = feedback(G,H).
By using simulink.
By simulating the system in MATLAB.(in case of complex system we use that
method).

In last method you just use the following commands:

Blocks definitions
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System Modeling Diagrams and Effect of Pole Locations LAB: 05
Simple assign the blocks transfer function to some variables.
Labeling inputs/outputs of blocks
G1.inputname=g1
Label each block input and output.by using G1.inputname=g1.

Defining summers
Sumblk()
Count down the number of summer and define every summer, by using Sumblk().

Connecting everything together

connect()
Connect each summer together by using connect() command.

5.6 Effect of Pole Locations

pzmap command:
In MATLAB pzmap command is used to plot pole-zero of dynamic system

Syntax pzmap(sys)
Where, sys is system transfer function
Task 1
Given the two transfer functions
1)

2s + 1
() =
4s2 + 3s + 2
2)
s+1
() =
4s2 + 5

a) Manually on paper using simple block diagram reduction rules

Series connection

Parallel connection

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System Modeling Diagrams and Effect of Pole Locations LAB: 05
Feedback connection

b) Reduce the series, parallel and feedback connections by using SYS =

series(G1,G2),SYS = parallel(G1,G2), SYS = feedback(G,H) and plot its step response
and attached the graphs of each response.

Series connection( paste MATLAB code and attach response plot)

Parallel connection( paste MATLAB code and attach response plot)

Feedback connection( paste MATLAB code and attach response plot)

c) Implement same transfer functions on simulink and attached its response graph
for each combination series, parallel and feedback.

Simulink block diagram for and its response plot:

Series connection( paste MATLAB simulink diagram and attach response plot)

Parallel connection(paste MATLAB simulink diagram and attach response plot)

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System Modeling Diagrams and Effect of Pole Locations LAB: 05

Feedback connection(paste MATLAB simulink diagram and attach response

plot)

Task 2:

= , = , = , =

a) Manually on paper using simple block diagram reduction rules

b) Reduse the block diagram connections by using SYS = series(G1,G2),SYS =

parallel(G1,G2), SYS = feedback(G,H) and plot its step response and attached the
graph of response.
MATLAB code

Response plot

c) Implement same block diagram on simulink and attached its response graph.
MATLAB simulink block diagram

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System Modeling Diagrams and Effect of Pole Locations LAB: 05

Response plot

d) Plot the response of the system by simulating the system on MATLAB.

MATLAB code

Response plot

Task 3:

= = = = = = =
( + )

a) Manually on paper using simple block diagram reduction rules

b) Implement same block diagram on simulink and attached its response graph.
MATLAB simulink block diagram

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System Modeling Diagrams and Effect of Pole Locations LAB: 05

Response plot

c) Plot the response of the system by simulating the system on MATLAB.

MATLAB code

Response plot

Task 4:

For the given systems

1 1
H(s) = G(s) =
s+2 s2

a) Plot the poles and zeroes using pzmap attach its plot.

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System Modeling Diagrams and Effect of Pole Locations LAB: 05

b) Is any of given system is stable? Yes or No? Give reasons in both cases

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c) Find the impluse response of H(s), attach its plot

d) Convert the H(s) in time domain and plot attach its plot

e) Are the plots obtained in part c and d same? Yes or No ? Give reasons
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System Modeling Diagrams and Effect of Pole Locations LAB: 05
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Task 5

For the given systems

s+3 s+1
H(s) = G(s) =
(s + 2)(s + 1) (s + 5)(s + 6)

a) Show which system will decay or rise faster using MATLAB? Give reason

Reason:

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System Modeling Diagrams and Effect of Pole Locations LAB: 05
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Task 6

For the given systems

3s + 12 s+6
H(s) = G(s) =
s2+ 2s + 5 s2 2s + 5

a) Show which system is stable and unstable using MATLAB? Give reason

Reason:

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b) Predict the response of the system ? Whether its oscillatory, decaying, rising etc give
reasons and attch its response .
MATLAB justification would be preferred

Reason:

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System Modeling Diagrams and Effect of Pole Locations LAB: 05
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In submitting this lab write-up to the Lab Engineer/Instructor, I hereby declare that:
I have performed all the practical work myself
I have noted down actual measurements in this writeup from my own working
I have written un-plagarised answers to various questions
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Reasons of not obtaining objectoves (if applicable): _________________________________
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It must be signed by the student with date on it.
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System Modeling Diagrams and Effect of Pole Locations LAB: 05
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