Control System Manual

IPS ACADEMY, INSTITUTE OF ENGINEERING AND SCIENCE- INDORE
CONTENTS
1. Vision Mission of the Institute
2. Vision Mission of the Department
3. PEOs
4. POs
5. COs
6. Content beyond Syllabus. ( if any)
7. Laboratory Regulations and Safety Rules
8. Index
9. Experiments
6th SEM SUBJECT: CS 20___-__

Vision of the Institute

To be the fountainhead of novel ideas & innovations in science &
technology & persist to be a foundation of pride for all Indians.
Mission of the Institute

To provide value based broad Engineering, Technology and Science where
education in students is urged to develop their professional skills.
To inculcate dedication, hard work, sincerity, integrity and ethics in building up

overall professional personality of our student and faculty.
To inculcate a spirit of entrepreneurship and innovation in passing out students.
To instigate sponsored research and provide consultancy services in technical,

educational and industrial areas.

Vision of the Department

The vision of the Electrical and Electronics Engineering is to prepare students to
compete globally in their profession, in order to reach the highest level of
intellectual attainment and making significant contribution to society.
Mission of the Department

1. To become an internationally leading Electrical and Electronics engineering
department for higher learning and be self reliant.
2. To build upon the culture and values of universal science and contemporary
education through understanding of Electrical and Electronics engineering.
3. To be a center of research and education generating knowledge and
technologies, which lay groundwork in shaping the future in the fields of
Electrical and Electronics engineering?
4. To develop partnership with industrial, R&D and government agencies and
actively participate in conferences, technical and community activities.

Program Education Objectives (PEOs)

PEO 1: Education in the fundamental sciences and mathematics that underlie Electrical and
electronics engineering with a general breadth and depth in Electrical and electronics
engineering analysis and design.
PEO 2: Awareness of current technology and the fundamental background to be able to stay
informed and adept at new technologies in Electrical and electronics engineering and to
pursue higher studies.
PEO 3: The ability to put ideas into practice through effective analysis & problem solving for
various Electrical and electronics engineering applications.
PEO 4: A broad awareness of the world around them through general education so they are
prepared to achieve their potential and make contributions in their Electrical and
electronics engineering fields.
PEO 5: The foundation of communications and teamwork skills and professional attitudes and
ethics.
Program Outcomes (POs)

a) Ability to apply knowledge of mathematics, physics, chemistry and mechanics in
electrical and electronics engineering.
b) Ability to design and conduct experiments, as well as to analyze and interpret data in
electrical and electronics engineering.
c) Ability to design a system, component, or process to meet desired needs within realistic
constraints such as economic, health and safety, manufacturability, and sustainability.
d) An ability to visualize on laboratory of electrical and electronics engineering &
multidisciplinary tasks.
e) Ability to identify, formulates, and solves electrical and electronics engineering problems
f) Understanding of professional and ethical responsibility.
g) Ability to communicate effectively.
h) Broad education necessary to understand the impact of engineering solutions in a global,
economic, environmental, and societal context.
i) Recognition of the need for, and an ability to engage in life-long learning.

j) Broadly educated and will have understanding of the impact of electrical & electronics
engineering on society and demonstrate awareness of contemporary issues.
k) Ability to utilize experimental, statistical and computational methods and tools necessary
for electrical & electronics engineering practice.
l) Graduates will demonstrate an ability to design electrical and electronic circuits, power
electronics, power systems; electrical machines analyze and interpret data and also an
ability to design digital and analog systems and programming them.
Course Outcomes (COs)

CO1 Ability to develop block diagrams and obtain model of a given physical systems, such as,
voltage control, speed control of motor, etc. and obtain input-output relationship through
block diagram reduction/SFG techniques.
CO2 Ability to analyse control systems in time domain by applications of classical control and
modern control theory (State Space Technique).
CO3 Ability to investigate stability of control system using root loci.
CO4 Ability to obtain frequency response and investigate stability using Bode/Nyquist plots.
CO5 Ability to design lag/lead/lag-lead compensator in frequency domain for improvement in

system performance.

Laboratory Regulations and Safety Rules
(1) Do not wear loose clothes; girls must tie up Dupatta on back side.
(2) Always wear shoes while working on electrical equipment.
(3) Make circuit properly as per given in circuit diagram of experiment and
connection should be tight.
(4) Use proper range of instrument for measuring electrical quantity.
(5) Get circuit connection checked by staff members before switching on the
circuit
(6) Do not touch any open electric wire or open contacts when power supply is
on.
(7) Take instrument reading carefully.
(8) Always connect the switch in phase line.
(9) Get experiment reading checked by staff member after performing
experiments.
(10) Bring your practical journals for performing lab experiments.

INDEX
S.N. Experiment Name Date Grade Signature
(A) To study the operation of Synchro
transmitter & receiver connected together
1.
(B) To study and plot the characteristic of a
Synchro Transmitter.
Determination of transfer function of A.C.

2.
servomotor.
To perform load test on 2-phase A.C.

3.
Servomotor for torque speed characteristics.
To study the time response of a variety of

4. simulated linear systems and to correlate the
studies with theoretical results.
(A) Objective of this exercise is get to know the

basic commands of Control System Toolbox
used in MATLAB.
5. (B) To analyze the stability of the linear systems

using bode plot by using of MATLAB
Software tool for the given system whose
transfer function is given as
(A) To analyze the stability of the linear

systems using root locus plot by using of
MATLAB Software tool for the given
system whose transfer function is given as
6.
(B) To analyze the stability of the linear systems

using root locus plot by using of MATLAB
Software tool for the given system whose
transfer function is given as

To Study the performance characteristics of an

7.
analogue PID controller.
(A) Study of lead and lag compensating

network.
8. (B) To design, implement and study the effects
of different cascade compensation networks
or a given system.
To study the stepper motor and to verify the

9.
truth table.
To study the performance characteristics of an

10. angular position error detector using two
potentiometers.

EXPERIMENT NO. 1
Synchro Transmitter & Receiver
Part: A
Aim: To study the operation of Synchro transmitter & receiver connected together.
Apparatus Required:
S.N. Apparatus Specification Quantity
Theory: A synchro is, in effect, a transformer whose primary-to-secondary coupling may be

varied by physically changing the relative orientation of the two windings. Synchros are often
used for measuring the angle of a rotating machine such as an antenna platform. In its general
physical construction, it is much like an electric motor. The primary winding of the transformer,
fixed to the rotor, is excited by an alternating current, which by electromagnetic induction,
causes currents to flow in three Y-connected secondary windings fixed at 120 degrees to each
other on the stator. The relative magnitudes of secondary currents are measured and used to
determine the angle of the rotor relative to the stator, or the currents can be used to directly drive
a receiver synchro that will rotate in unison with the synchro transmitter.
A Synchro receiver is a unit whose rotor assumes an angular position detection

determined by the electrical input supplied to the stator from a Synchro transmitter or a
differential transmitter.
For a proper operation, the rotor must be connected in parallel with the rotor of the associated
Synchro transmitter and both Synchros energized from the same power source. Synchro receiver,

usually called Receivers is electrically identical Synchro transmitter of the same size. A
Synchro receiver, CR, is zeroed if, when electrical zero voltage exists, the device actuated by the
receiver assumes its mechanical reference position. In the receiver or other unit having a
rotatable stator, the zero position is same, with added provision that the unit it which the stator
geared is set to its reference position.
Circuit Diagram:
Figure 1: Operation of Synchro Transmitter & Receiver
Procedure:
Observation Table:
S.N. Angular Angular Synchro Status
Position (Tx) Position (Rx)

Part:B
Characteristic of A Synchro Transmitter
Aim: To study and plot the characteristic of a Synchro Transmitter.
Apparatus Required:
1.
2.
3.
4.
5.
Theory: A Synchro is an electromagnetic transducer commonly used to convert an angular

position of shaft into an electric signal. It is commercially known as selsyn or an autosyn. The
basic unit is usually called a Synchro transmitter. Its construction is similar to that the three
phase alternator. The stator is of laminated silicon steel and is slotted to accommodate a balanced
three phase winding which is usually of concentric coil type and is Y connected. The rotor is of
dumb-bell construction and is wound with a concentric coil. An A.C. voltage is applied to the
rotor winding through slip ring. If the input is A.C. voltage
V (t) = Vr sinct
Let Vs1n, V s2n, vs3n, respectively be the voltages included in the stator coil S1, S2 and S3 with
respect to the neutral.
Vs1n = KVrsin ct cos (+120)
Vs2n = KVr sinctcos
Vs3n = KVrsinctcos (+240)
The three terminal voltage of stator are:

Vs1s2 = Vs1n - Vs2n = KVrsin (+240) sinct
Vs2s3 = Vs2n Vs3n = KVrsin (+120) sinct
Vs3s1 = Vs3n Vs1n = KVrsinsinct
Circuit Diagram:
Figure 2: Circuit diagram of synchro transmitter
Figure 3: Output waveform of synchro transmitter

Procedure:
Observation Table:
Voltage across phases
Angle ( 0 )
S1-S2 S2-S3 S1-S3
Result & Discussion:
Questions:
1. What is Synchro?
2. What is the use of Synchro transmitter & receiver?
3. What are the advantages of Synchros?
4. What is the phase displacement of three phase windings of Synchros?

EXPERIMENT No. 2
Transfer Function of A.C. Servomotor
Aim: Determination of transfer function of A.C. servomotor.
Apparatus Required:
Equipment Description
. The different components of the unit are explained below:
AC Servomotor a 15W servomotor with identical reference and control phases operating at
12V/ 50Hz. Necessary phase shifting capacitor is pre-wired to the reference phase.
Electrical load in the form of a coupled dc generator and the required resistive
load is provided.
Time Constant a special circuit to display the time-constant directly in millisecond.
Metering of all ac and dc voltage/currents is through built-in digital panel meters.
Power supply for conducting all experiments are available in the unit, which operates from
a 220V/ 50Hz mains.
Theory:
A.C. Servo Motors are basically two-phase, reversible, induction motors modified for servo
operation. A schematic diagram of the motor is shown in figure . The two windings, reference
and control, may or may not have identical ratings. In the present unit both are rated at 12 volts

r.m.s. at 50Hz. A phase shifting capacitor of appropriate value must be connected in series with
one of the windings to produce a 90 degree phase shift.
These servo motors are used in applications requiring rapid and accurate response
characteristics. The motors small diameter provides low inertia for fast starts, stops, and
reversals. An induction motor designed for servo use is wound with two phases physically at
right angles or in space quadrature. A fixed or reference winding is excited by a fixed voltage
source, while the control winding is exited by an adjustable or variable control voltage, usually
from a servo-amplifier. The servo motor windings are often designed with the same voltage/turns
ratio, so that power inputs at maximum fixed phases excitation, and at maximum control phase
signal, are in balance. In the present unit the input to the control winding is adjustable (3-steps)
and the motor can be switched ON through a switch.
The block diagram of an a.c. servomotor system is presented in figure. This is a highly simplified
and linearized version of the actual behaviour of the motor and is valid at low speed of operation
only. Detailed description of the working and derivation of the block diagram may be seen in any
of the text books listed at the end of this document. Here Ec is the voltage applied at the control
phase which results in a proportional torque which however is reduced by a factor related to the
motor torque efficiency to generate the actual motor torque as
Tm (s) = K1 Ec(s) - K2 (s), where is the shaft speed.
This torque, further reduced by the mechanical load torque (TL), drives the moment of inertia (J)
and the coefficient of viscous friction (B) of the motor to result in the speed, () and
subsequently the angular position, () of the motor shaft.
From the block diagram of figure the transfer function of the motor may be written as
Km & m are the motor gain constant and motor time constant. Our interest is to evaluate the
transfer function and the parameters of the a.c. servomotor.

Again for Ec(s) = 0 ,

Combining the above two transfer functions (under assumption of linearity),
The computation of Km and Kn can be done by using the final value theorem, i.e.,
Where,
Ec = Constant voltage applied to the control winding
TL = Constant Load torque

Ec is measured by the a.c. voltmeter on the panel and TL is calculated from the loading of the
coupled d.c. generator as,
The calculation assumes that the generator mechanical parameters are negligible compared to
that of the servomotor. All the above results are strictly valid if the system is perfectly linear.
This is true to a great extent, especially at low speeds, and will form the basis of conducting the
present experiment. Another option, though cumbersome, is to determine experimentally the
torque speed and torque-control phase voltage characteristics and then to linearize these
graphically to evaluate the motor parameters, K1 and K2, and then to calculate Km, m, J and B.

Procedure:
Steady State Operation:
Determination of Generator Constant
The generator constant, KG, in volts/rpm, may be computed from the no load generator voltage
data at various speeds. This would enable one to calculate the generated voltage under loaded
condition, which is needed for torque computation in the next section. The readings for the
present experiment may be tabulated as below:
Determination of Motor Parameters

The motor is operated at various combination of control phase voltage, Ec, and external loading,
TL, and the data is recorded as in Table-2. Ec is measured with the help of the A.C. voltmeter on
the panel in three steps while no load generator voltage, Eo and load currents, IL are measured by
a switchable D.C. panel meter provided.
Circuit Diagram:
Figure : Loading Circuit arrangement

Figure 1: 2-Phase A.C. Servomotor
Figure 2: Torque-speed characteristics
Figure 3: Block diagram of an A.C. Servomotor
The time constant, m is the time taken by the motor to reach 63.2% of the steady state speed
when a step voltage is switched on the control winding while the reference winding is already
excited at the rated voltage. In the present unit this is achieved through a special circuit which
displays the time constant in milli-seconds. The steps for operating this circuit are given below:-

Step. 1: Switch the motor ON at input step.3 (rated voltage). A constant speed will be indicated
almost immediately.
Step .2: Read V0 at Load step-1. Set REFERENCE potentiometer in the TIME CONSTANT
SECTION to 63.2% of the E0 value read above. Use the D.C. voltmeter in the SET REF
position.
Step. 3: Switch the motor OFF, wait for 30 seconds and then switch it to ON position. The
time constant will be displayed in msec. The time constant obtained above may have error due to
non-linear friction present. It is therefore desirable to conduct the experiment a number of times
and average the result.
Observation Table:
Average Generator Constant, KG = Volts/rpm

Calculation:

Results & Discussions:
Questions:
1. What is a servomotor?
2. What is the difference between A.C. servomotor and two phase induction motors?
3. Some Applications where Servo motors are used?
4. What is the difference between control winding & reference winding in a .c. servomotor?
5. Draw to signal flow of a.c. servomotor from block diagram of a.c. servomotor.

EXPERIMENT NO. 3
Torque-Speed Characteristics of A.C. Servomotor
Aim:- To perform load test on 2-phase A.C. Servomotor for torque speed characteristics.
Apparatus Required:
Theory:- An A.C. servomotor is basically a 2-phase induction motor except for certain
special design feature. The 2-phase induction motor consists of two stator winding oriented
electrically apart in space and excited by A.C. voltage, which differ in time-phase by 900. Figure
shown the schematic diagram for balanced operation of motor, that is, voltage of equal rms stator
phases, thus making their respective field 900 apart in both time and space, resulting in a
magnetic field of constant magnitude rotating at synchronous speed. Torque (Te) direction of
rotation depends upon phase relationship of voltage V1, V2. As the field sweep over the rotor,
voltage are induced in it producing current in short circuited rotor. The rotating magnetic field
interacts with three phase current producing a torque on rotor in the direction of rotation. The
general shape of torque-speed characteristics of 2-phase induction motor is shown in figure .
It is seen from this figure that the shape of the characteristic depends upon the ration of the
rotor reactance X to the rotor resistance R. In normal induction motor, X/R ration is generally
kept high so as to obtain the maximum torque close to the operating region which is usually
around 5% slip.
Torque on Pully:
(W1-W2) X D/2 kg-meter
W1=Weight of spring balance W1

W2= Weight of spring balance W2

D= Diameter of pully
Torque (T) = (W1-W2) X D X 9.81

OUTPUT POWER (WATTS) = 2NT
N=speed in RPM
T=Torque
D=0.05Meter
D/2= 0.025 Meter
Procedure:-
1. Plug in 4 pin black plug of the two -phase servomotor to the socket provided on the
control panel.
2. Adjust the spring balances so that their reading are 0 kg each i.e. there is no friction.
Record the RPM meter provided on control panel.
No Load Rpm:
3. Now repeat above procedure for different position of spring balances (i.e. different loads)
and calculate Torque
T = (W1-W2) X 0.025 X 9.81 Newton meters.
(W1-W2) = 0.1kg, 0.2kg, 0.3kg, 0.4kg, 0.5kg, 0.6kg, 0.7kg, 0.8kg respectively.
POWER IN WATT= 2NT
N= RPM for different loads.
4. Plot a curve between speeds versus output power.
Observation Table:
S.N. W1 W2 W1-W2 T(TORQUE) N(SPEED)
1.
2.
3.
4.

5.
6.
7.
Calculation:
Questions:
1. What is the difference between the characteristics of two phase induction machine and
a.c. servomotor?
2. What is the importance of a.c. servomotor in real life application?
3. How to torque is calculated in this experiment?

EXPERIMENT NO. 4
Time Response of A Linear Systems
Aim: To study the time response of a variety of simulated linear systems and to correlate the
studies with theoretical results.
Apparatus Required:
Equipment Description:
Signal Sources
There are three built-in sources in the unit with the following nominal specifications.
Actual values may vary somewhat from unit to unit without causing any limitations to the
scopeof the experiment.
(a) Square Wave : Frequency 20 - 80 Hz. (variable)
: p-p amplitude 0-2 Volt (variable)
(b) Triangular : Frequency 20 - 80 Hz. (variable)

: p-p amplitude 0 -2 Volt (variable)
(c) Trigger : Frequency 20 - 80 Hz. (variable)

: Amplitude 5 Volt (approx.)
Error Detector-Cum-Gain: The block has three inputs (e1, e2, e3) and one output (e0)
which are related by the expression
where K is the gain. The value of K may be varied from 0 to 10 by a ten-turn potentiometer
having a calibrated dial. This block may be used as a simple error detector (with one signal
inverted) in a multiple loop system or simply as an adder.

Integrator: The integrator block has an approximate transfer function of the form -K1/s and is
used in simulating type-1 systems having a pole at the origin. Nominal value of K1 is 10.
Time Constant: The two time constant blocks in the system have transfer functions of the
form -K2/(sT+1) each. The second block has an x5 option which results in a higher gain if
necessary. Nominal values of gains are K2 = K3 =10 and of time constants are T1 = T2 =10
msec.
Disturbance Adder: This is a two input (e1, e2), one output (e0) block having a defining
equation of the form e0 = -( e1+e2,). The block can have applications similar to the error
detector.
Uncommitted Amplifier: While completing the feedback path, one might need to invert the
signal so that the resulting system is a negative feedback system. The uncommitted amplifier is
used specifically for this purpose.
Power Supply
The set-up has an internal 12V IC regulated power supply, which is permanently connected to
all the circuits.
Theory:
First Order System:
These are characterized by one pole and/or a zero. A pure integrator and a single time constant,
having transfer function of the form K/s and K/(sT+1), are the two commonly studied
representatives of this class of systems. Many thermal systems and electrical systems with RC/
L-R element are the examples of first order systems. Unit step response of the systems is
computed as follows and is shown in Fig. .
Time constant of the system is defined from Eq. (2) as t = T which gives c(T)
This is an important characteristics of the system which is also defined in terms of the slope of
the response curve at t = 0.

For a proper viewing on a CRO, the step input needs to be replaced by a square wave of
sufficiently low frequency (to allow c(t) in Eq. (2) to reach up to 99% of its final value). This is
shown in the second sketch of Fig. 2(b). However in the first sketch of Fig. 2(b) a triangular
wave output results since a pure integration block does not saturate. It may further be seen that if
the square wave is of frequency f and peak-to-peak input amplitude is 1V, the peak-to-peak
amplitude of the triangular wave at the output of the pure integrator is given as K/4f.
Second Order Systems:
These systems are characterized by two poles and up to two zeros. For the purpose of transient
response studies, zeros are usually not considered primarily because of simplicity in calculations
and also because the zeros do not affect the internal modes of the systems. A great deal of
analytical results regarding second order systems is available in the textbooks. This forms the
basis of studying higher order systems many of which can be approximated to second order. A
second order system is represented in the standard form as
where is called the damping ratio and n the undamped natural frequency. Depending upon the
value of , the poles of the system may be real, repeated or complex conjugate, which is reflected
in the nature of its step response. Results obtained for various cases are :
(a) Underdamped case (0 < < 1)
Where is termed the damped natural frequency. A sketch of the unit step
response for various values of is available in the textbooks
(b) Critically damped case ( = 1)

(c) Overdamped case ( > 1)
concept of performance characteristics as defined on the step response of an underdamped

second order system in Fig. 4. It must be noted that these specifications are not restricted to
second order systems, although the mathematical expressions/definitions given below are valid
and computationally practicable for second order systems only.
(i) Delay time, td, is defined as the time needed for the response to reach 50% of the final value.
(ii) Rise time, tr, is the time taken for the response to reach 100% of the final value for the first
time. This is given by
(iii) Peak time, tp, is the time taken for the response to reach the first peak of the overshoot and
is given by
(iv) Maximum Overshoot, MP, is defined by
Its value indicates the relative stability of the system.

(v) Settling time, ts, is the time required by the system response to reach and stay within a
prescribed tolerance band, which is usually taken as 2% or 5%. An approximate calculation
based on the envelops of the response for a low damping ratio system yields, ts ( 5% tolerance
band) = 3/ n ts ( 2% tolerance band) = 4/ n

(vi) Steady state error, ess

Another important characteristic of a closed loop system is the steady state error, ess. For unity
feedback systems, ess is defined as
A simpler way to calculate steady state error without actually computing the time response is
available in the complex frequency domain. Application of the final value theorem of Laplace
Transform to unity feedback system gives
Steady state error may be obtained for various inputs (step, ramp, parabolic) and systems of
various type numbers (number of poles at origin). A summary of the results of the above
calculations is given in the Table 1 below.
To facilitate the calculations, error coefficients are defined as
The steady state errors may be obtained in terms of these error coefficients.

Procedure:
Open Loop Response
As a first step, the open loop transfer function of all the blocks viz. integrator, time constant,
uncommitted amplifier and error detector/adders are to be determined experimentally. All
measurements are carried out with the help of a measuring oscilloscope and the signal source is
the built-in-square wave generator in each case. Further, to get a properly synchronized
waveform, especially for small values of signal, it will be convenient to use the built-in trigger
source while keeping the CRO in external triggering mode. A double beam CRO for the
simultaneous viewing of input and output is recommended. Note that the value of K1, K2, K3
and T1, T2 obtained experimentally may differ somewhat from their nominal values indicated in
Section 2.2 due to component tolerances and experimental errors.
(a) Error Detector cum Variable Gain

Apply a 100 mV square wave signal to any of the three inputs.
Set the gain setting potentiometer to 10.0.
Measure the p-p output voltage and note its sign. Calculate the gain. This is the maximum value
of gain possible for this block.
Repeat for the other two inputs one by one.
Write the equation of this block and verify by connecting the signal to all three inputs.
(b) Disturbance Adder
This section may be tested exactly in the same manner as (a) except that there are only two
inputs and there is no gain setting potentiometer.
(c) Uncommitted Amplifier
Apply a 1 volt p-p square wave input.
Measure the p-p output voltage and note its sign.
Record the equation of this block for later use.
(d) Integrator
Apply a 1 volt p-p square wave input of known frequency (frequency measured by the CRO).
Measure the p-p output voltage of the integrator block, which is a triangular wave and also note
ts phase.
Calculate the gain constant K of the integrator as discussed, and write the transfer function of
this block.

(e) Time Constant

Apply a 100 mV p-p square wave of known frequency (measured by the CRO). For this
experiment, the frequency should be selected towards the lower end to ensure that steady state is
nearly reached.
The waveform on the CRO be traced on a tracing paper for this analysis. From the trace
calculate the time t = T at which the response reaches 63.2%. This is
the time constant.
From the trace determine the steady state value of the response. The value of K is given by the
ratio of p-p steady-state output to the p-p input amplitude.
Write transfer function of the block as discussed. Appendix 2 shows the actual output
waveforms of different open loop system as obtained through a Digital Storage CRO.
Closed Loop Response - First Order System
Two forms of first order closed loop system, as shown in Fig. are possible. Make proper
connections for the configuration chosen.
Apply a 1 volt p-p square wave input and trace the output waveform on a tracing paper for K =
0.5, 1.0, 1.5..... Calculate the time constant in each case and compare with theoretical results of
section 3.3.
Also calculate the steady state errors for the above cases and compare with theoretical results.
If the open loop transfer function in the chosen configuration was of type-1, the steady state
error above would be zero for a step input. To find steady state error for ramp input, apply a 1
volt p-p triangular wave input. Keeping the CRO in X-Y mode, connect system input to the X
input and the system output to the Y input. A trace as shown in Fig.6 will be seen on the CRO in
which the vertical displacement between the two curves is the steady state error.
Repeat the measurement for steady state error for different values of K and compare the result
with theoretical calculations.
Closed Loop Response - Second Order System
Choose and wire a suitable second order system configuration from Fig. .
Apply a 1 volt p-p square wave input and trace the output waveform on a tracing paper for
different values of K. Obtain peak percent overshoot, settling time, rise time and steady state
errors from the tracing, and calculate and n.. Compare with theoretical results.
In the case of a type-1 system, obtain steady-state error to ramp input as suggested in section

Circuit Diagram:
Figure 1: Unit Step Response of First order system
Figure 2: Square wave response of First order system
Figure 3: Closed loop for second order system

Figure 4: Block diagram of a closed loop system
Figure 5: Step response of an underdamped system
Figure 6: Closed loop for first order system

Observation Table:
Result& Discussion:

Questions:
1. What is the difference between type and order of a system?
2. How to define time response of the control system?
3. Explain test signals and their significance?
4. Define to peak overshoot & settling time for standard second order transfer function.

EXPERIMENT NO. 5
Part: A
Basic Commands of Control System Toolbox
Aim : Objective of this exercise is get to know the basic commands of Control System
Toolbox used in MATLAB.
Apparatus Required: MATLAB Software
Theory:
You will be mainly using the MATLAB Control System Toolbox. A great way to et started
with the toolbox is to run the demo. This is done by typing demo ('toolbox', 'control') at the
MATLAB prompt.
Presented here are the most useful MATLAB commands for this class, grouped by topic. For
further details, make good use of the help command in MATLAB. In general, other than the
necessary MATLAB lab tasks, MATLAB should be used as a tool to verify your work, not
substitute for it. The exception, of course, is for computationally intensive problems, in which
case make sure to note on your assignment that you used MATLAB.
Basic commands of Control System Toolbox used in MATLAB:
>>k=linspace(k1,k2) Returns a vector of 100 (or, if specified, n) points equally

>> k=linspace(k1,k2,n) spaced between x1 and x2.
>> max(y) Returns the largest element in the vector y.
>> inv(A) Returns the inverse of the square, nonsingular matrix A.
>> det(A) Calculates the determinant of the matrix A.
>>eig(A) Returns the eigenvalues of A, or sets V to a matrix

>> [V,D] = eig(A) containing the eigenvectors of A and sets D to a diagonal
matrix containing the corresponding eigenvalues.

>> rank(A) Returns the rank of any matrix A.
>> roots(f) Returns the roots of a polynomial, where f is a vector

containing the coefficients of the polynomial.
>> conv(P1,P2) Multiplies two polynomials (P1 and P2 are vectors

containing the coeffiecients of the polynomials) and
returns the resulting coefficients. This is actually a
convolution of the two vectors, which also works as
coefficient multiplication.
>>sys1=tf(num,den) Creates a system, as a transfer function or state-space

>> sys2=ss(A,B,C,D) representation. Also converts between two different
representations of a system. The zpk (zero/pole/gain)
>> sys1=tf(sys2) command works similarly.
>> sys2=ss(sys1)
>> [R,P,K]=residue(num,den) Finds the partial fraction expansion of a function H(s),

where num is a vector containing the coefficients of the
numerator, and den of the denominator, of H(s). Returns
the numerators (R) and poles (P) of the partial fractions
and the remaining polynomial (K):
H(s) = R1/(s-P1) + R2/(s-P2) + ... + Rn/(s-Pn) + K(s).
>> sys3=series(sys1,sys2) Finds the result of putting Systems 1 and 2 in series, and
returns either the resulting transfer function numerator
and denominator or the resulting state space matrices.
Mixing system descriptions will work.
>>sys3=feedback(sys1,sys2) Finds the result of adding System 2 as a feedback loop to

>> sys2=feedback(sys1,tf(1,1)) System 1, assuming a negative feedback, and returns
either the resulting transfer function numerator and
denominator or the resulting state space matrices.
>>impulse(sys) Plots the impulse response or step response of the given

>> step(sys) system. Useful trick: if you have a Laplace transform

F(s) of a time function f(t), plotting the impulse response
of F(s) is the same as plotting f(t).
>>[y,t,x]=impulse(sys) Giving impusle and step output variables returns the

>> [y,t,x]=step(sys) output (y), time (t), and states(x) (if state space) vectors,
which you can then plot or manipulate.
>> initial(sys,x0) Plots the behavior of the given state-space system with
initial condition x0 and no input.
>> lsim(sys,u,t,x0) Plots the response of the given system to the input signal
u(t). The initial condition x0 can be added for state-space
systems.
>>bode(sys1,sys2,...) Plots the Bode or Nyquist diagram for the given

>> [mag.phase,w]=bode(sys,w) system(s). A plot is drawn if no return arguments. The
>>nyquist(sys) frequency points may be specified in the vector w .
>> {re,im,w]=nyquist(sys,w)
>>margin(sys) Finds the gain margin and phase margin, and the
>> frequencies at which they occur, of the given system. If
[gm,pm,wcg,wcp]=margin(sys) run with no output arguments, margin also displays the
Bode plot, with the margins marked on it and their
values displayed in the figure title.
>> rlocus(sys,k) Plots the root locus for the given system, i.e. where den(s)
+ k*num(s) = 0 (or equivalent for the state space form).
The vector of values for k is optional.
>>rlocfind(sys) Lets you select a pole location from a root locus plot
>> [k,poles]=rlocfind(sys) using the mouse, and returns the value of k needed to
give such a pole, as well as all the resulting pole locations
in the vector poles (if present). rlocfind picks the point
on the locus closest to the crosshairs; note that you must

already have the root locus graphed to be able to see

points you might want to pick.
>> sys2=canon(sys1,'form') Finds a canonical form of the given system; the

argument "form" can be either "modal" or
"companion" (in single quotes).
Opens a tool for designing controllers using the root

>> rltool
locus plots.
Matrix and vector manipulation commands:
>>k=linspace(k1,k2) Returns a vector of 100 (or, if specified, n) points

>> k=linspace(k1,k2,n) equally spaced between x1 and x2.
>> max(y) Returns the largest element in the vector y.
>> inv(A) Returns the inverse of the square, nonsingular matrix

A.
>> det(A) Calculates the determinant of the matrix A.
>> eig(A) Returns the eigenvalues of A, or sets V to a matrix

>> [V,D] = eig(A) containing the eigenvectors of A and sets D to a
diagonal matrix containing the corresponding
eigenvalues.
>> rank(A) Returns the rank of any matrix A.

Commands useful in system analysis:
>> roots(f) Returns the roots of a polynomial, where f is a vector

containing the coefficients of the polynomial.
>> conv(P1,P2) Multiplies two polynomials (P1 and P2 are vectors

containing the coeffiecients of the polynomials) and
returns the resulting coefficients. This is actually a
convolution of the two vectors, which also works as
coefficient multiplication.
>>sys1=tf(num,den) Creates a system, as a transfer function or state-space

>> sys2=ss(A,B,C,D) representation. Also converts between two different
representations of a system. The zpk (zero/pole/gain)
>> sys1=tf(sys2) command works similarly.
>> sys2=ss(sys1)
>> [R,P,K]=residue(num,den) Finds the partial fraction expansion of a function

H(s), where num is a vector containing the
coefficients of the numerator, and den of the
denominator, of H(s). Returns the numerators (R)
and poles (P) of the partial fractions and the
remaining polynomial (K):
H(s) = R1/(s-P1) + R2/(s-P2) + ... + Rn/(s-Pn) + K(s).
>> sys3=series(sys1,sys2) Finds the result of putting Systems 1 and 2 in series,

and returns either the resulting transfer function
numerator and denominator or the resulting state
space matrices. Mixing system descriptions will work.
>>sys3=feedback(sys1,sys2) Finds the result of adding System 2 as a feedback

>> sys2=feedback(sys1,tf(1,1)) loop to System 1, assuming a negative feedback, and
returns either the resulting transfer function
numerator and denominator or the resulting state
space matrices.

>>impulse(sys) Plots the impulse response or step response of the

>> step(sys) given system. Useful trick: if you have a Laplace
transform F(s) of a time function f(t), plotting the
impulse response of F(s) is the same as plotting f(t).
>>[y,t,x]=impulse(sys) Giving impusle and step output variables returns the

>> [y,t,x]=step(sys) output (y), time (t), and states(x) (if state space)
vectors, which you can then plot or manipulate.
>> initial(sys,x0) Plots the behavior of the given state-space system

with initial condition x0 and no input.
>> lsim(sys,u,t,x0) Plots the response of the given system to the input
signal u(t). The initial condition x0 can be added for
state-space systems.
>>bode(sys1,sys2,...) Plots the Bode or Nyquist diagram for the given

>> [mag.phase,w]=bode(sys,w) system(s). A plot is drawn if no return arguments.
>>nyquist(sys) The frequency points may be specified in the vector
>> {re,im,w]=nyquist(sys,w) w.
>>margin(sys) Finds the gain margin and phase margin, and the
>> frequencies at which they occur, of the given system.
[gm,pm,wcg,wcp]=margin(sys) If run with no output arguments, margin also
displays the Bode plot, with the margins marked on it
and their values displayed in the figure title.
>> rlocus(sys,k) Plots the root locus for the given system, i.e. where
den(s) + k*num(s) = 0 (or equivalent for the state
space form). The vector of values for k is optional.
>>rlocfind(sys) Lets you select a pole location from a root locus plot
>> [k,poles]=rlocfind(sys) using the mouse, and returns the value of k needed to
give such a pole, as well as all the resulting pole
locations in the vector poles (if present). rlocfind

picks the point on the locus closest to the crosshairs;

note that you must already have the root locus
graphed to be able to see points you might want to
pick.
>> sys2=canon(sys1,'form') Finds a canonical form of the given system; the

argument "form" can be either "modal" or
"companion" (in single quotes).
Opens a tool for designing controllers using the root

>> rltool
locus plots.

Part: B
Bode plot of Linear System
Aim : To analyze the stability of the linear systems using bode plot by using of MATLAB
Software tool for the given system whose transfer function is given as
G(S) =

Theory : A Linear Time-Invariant Systems is stable if the following two notions of system
stability are satisfied
When the system is excited by Bounded input, the output is also a Bounded
output.
In the absence of the input, the output tends towards zero, irrespective of the
initial conditions.
The following observations are general considerations regarding system stability and are
If all the roots of the characteristic equation have negative real parts, then the impulse
response is bounded and eventually decreases to zero, then system is stable.
If any root of the characteristic equation has a positive real part, then system is unstable.
If the characteristic equation has repeated roots on the j-axis, then system is unstable.
If one are more non-repeated roots of the characteristic equation on the j-axis, then
system is unstable.
Bode Plot :
Consider a Single-Input Single-Output system with transfer function
Where m < n.
Rule 1 A system is stable if the phase lag is less than 180 at the frequency for which the gain is
unity (one).

Rule 2 A system is stable if the gain is less than one (unity) at the frequency for which the phase
lag is 180.
The application of these rules to an actual process requires evaluation of the gain and phase shift
of the system for all frequencies to see if rules 1 and 2 are satisfied. This is obtained by plotting
the gain and phase versus frequency. This plot is called BODE PLOT. The gain obtained here is
open loop gain.
The stability criteria given above represent Limits of Stability. It is well to design a system with
a margin of safety from such limits to allow for variation in components and other unknown
factors. This consideration leads to the revised stability criteria, or more properly, a Margin of
Safety provided to each condition. The exact terminology is in terms of a Gain Margin and Phase
Margin from the limiting values quoted.
If the phase lag is less than 140 at the unity gain frequency, the system is stable. This
then, is a 40 Phase Margin from the limiting values of 180.
If the gain is 5dB below unity (or a gain of about 0.56) when the phase lag is
180, the system is stable. This is 5dB Gain Margin.
Algorithm
1. Write a Program to (or using SIMULINK) obtain the Bode plot for the given system.
2. Access the stability of given system using the plots obtained.
Program
%BODE PLOT OF THE SYSTEM%
%Enter the numerator and denominator of the transfer function
num=[ ];
den=[ ];
sys=tf(num,den)
%Specify the frequency range and enter the command
w=logspace( );
bode(sys,w)
xlabel('Frequency')
ylabel( ' Phase angle in degrees Magnitude of G(s)')
title('Bode Plot of the system )')
%To determine the Gain Margin, Phase Margin, Gain crossover frequency and
%Phase cross over frequency
[ Gm, Pm, Wcp, Wcg ]= margin (sys)

Procedure :
1. Rewrite the sinusoidal transfer function in the time constant form by replacing s by j
2. Identify the corner frequencies associated with each factor of the transfer function.
3. Knowing the corner frequencies draw the asymptotic magnitude plot. This plot consists of
straight line segments with line slope changing at each corner frequency by +20db/decade for
a zero and -20db/decade for a pole. For a complex conjugate zero or pole the slope changes by
+ 40db/decade.
4. Draw a smooth curve through the corrected points such that it is asymptotic to the line
segments. This gives the actual log-magnitude plot.
5. Draw phase angle curve for each factor and add them algebraically to get the
phase plot.

Output (from simulation)
Output (from graph)

Questions:
1. Define Cut-off rate?
2. Define Gain Margin?
3. Define Phase cross over?
4. What is phase margin?
5. Define Gain cross over

EXPERIMENT NO. 6
Part: A
Stability of The Linear Systems Using Root Locus
Aim : To analyze the stability of the linear systems using root locus plot by using of
MATLAB Software tool for the given system whose transfer function is given as
G(s)=
Theory: The characteristic of the transient response of a closed-loop system is related to the
location of the closed loop poles. If the system has a variable loop gain, then the location of the
closed-loop poles depend on the value of the loop gain chosen. A simple technique known as
Root Locus Technique used for studying linear control systems in the investigation of the
trajectories of the roots of the characteristic equation. This technique provides a graphical
method of plotting the locus of the roots in the s-plane as a given system parameter is varied over
the complete range of values (may be from zero to infinity). The roots corresponding to a
particular value of the system parameter can then be located on the locus or the value of the
parameter for a desired root location can be determined form the locus. The root locus is a
powerful technique as it brings into focus the complete dynamic response of the system . The
root locus also provides a measure of sensitivity of roots to the variation in the parameter being
considered. This technique is applicable to both single as well as multiple-loop systems.
Procedure:
1. Write a Program to (or using SIMULINK) obtain the Root locus plot for the given system.
Program
%ROOT LOCUS OF THE SYSTEM%
num=[ ]
den=[ ]
sys=tf(num,den)
rlocus(sys)
v=[-10,10,-8,8];

axis(v)
xlabel('Real Axis')
ylabel('Imaginary Axis')
title ('Root Locus of the system')
title ('Root Locus Plot of the system ))')
Calculations:

Results & Discussion:

OUTPUT
GRAPH(from Simulation)
Questions:
1. Define root locus technique.
2. What do you mean by Root-Loci?
3. Write the condition for magnitude & angle criterion?
4. define the break way point ?
5. Define Resonant frequency?
6. What is bandwidth?

Part :B
Stability of The Linear Systems Using Nyquist plot
Aim:To analyze the stability of the linear systems using root locus plot by using of MATLAB
Software tool for the given system whose transfer function is given as
G(S)=
Theory: The sinusoidal transfer function G(j) is a complex function is given by

G(j) = Re[ G(j)] + j Im[G(j)] or
G(j) = G(j) G(j) = M -----------(1)
From equation (1), it is seen that G(j) may be represented as a phasor of magnitude M and
phase angle . As the input frequency varies from 0 to , the magnitude M and phase angle
changes and hence the tip of the phasor G(j) traces a locus in the complex plane. The locus thus
obtained is known as Polar Plot.
The major advantage of the polar plot lies in stability study of systems. Nyquist related the
stability of a system to the form of these plots. Polar plots are referred as NYQUIST PLOTS.
NYQUIST stability criterion of determining the stability of a closed loop system by investigating
the properties of the frequency domain plot of the loop transfer function G(s) H(s). Nyquist
stability criterion provides the information on the absolute stability of a control system as similar
to Routh- Hurwitz criterion. Not only giving the absolute stability, but indicates Degree of
Stability i.e
Relative Stability of a stable system and the degree of instability of an unstable system and
indicates how the system stability can be improved. The Nyquist stability criterion is based on a
Cauchys Residue Theorem of complex variables which is referred to as the principle of
argument.
Let Q(s) be a single valued function that has a finite number of poles in the s-plane. Suppose
that an arbitrary closed path q is chosen in the s-plane so that the path does not go through any
one of the poles or zeros of Q(s); the corresponding q locus mapped in the Q(s) plane will
encircle the origin as many times as the difference between the number of the zeros and the

number of poles of Q(s) that are encircled by the s-plane locus q. The principle of argument is
given by
N= Z - P
Where N number of encirclemnts of the origin made by the Q(s) plane locus q.
Z number of zeros of Q(s) encircled by the s-plane locus q in the s-plane.
P - number of poles of Q(s) encircled by the s-plane locus q in the s-plane.
Algorithm
1. Write a Program to (or using SIMULINK) obtain the Nyquist plot for the given system.
Program
%NYQUIST PLOT
%Enter the numerator and denominator of the transfer function
num=[ ]
den=[ ]
sys=tf(num,den)
%Specify the frequency range and enter the command
nyquist(sys)
v=[-3 5 -7 7]
axis(v)
xlabel('Real Axis');
ylabel('Imaginary Axis');
title('Nyquist Plot of the sytem )')
%To determine the Gain Margin,Phase Margin, Gain crossover frequency and
%phase cross over frequency
[Gm,Pm,Wcp,Wcg]=margin (sys)
v=
Gm =
Pm =
Wcp =
Wcg =

Results & Discussions:

Nyquist Plot:
Questions:
1. What is polar plot?
2. What is Nyquist contour?
3. What is frequency response?
4. List out the different frequency domain specifications?
5. Define resonant Peak?

EXPERIMENT NO.7
The Performance Characteristics of PID Controller
Aim: To Study the performance characteristics of an analogue PID controller.
Apparatus Required: Trainer Kit, connecting lead, CRO, & multimeter.

(1) In a practical situation the process of plant is that part of the system which produces the
desired response under the influence of command signal. Usual processes are higher order,
nonlinear functions having inherent dead time or pure time delay. In process control studies
such plants are commonly modelled by transfer functions of the form.
where is the time delay in sec., is the effective time constant and K is the d.c. gain. In the
present system, the process is an analogue simulation through a few basic building blocks which
may be connected suitably to form a variety of processes or plants. These blocks are,
(a) Integrator - having an approximate transfer function of 10/s
(b) Simple pole - two identical units, each having a transfer function of 1/(1+ 0.0155s)
(c) Pure time delay - a time delay of about 5.64 msec. generated by a high order multiple pole
approximation of the delay function.
(2)Controller: The controller for the process is an analogue Proportional Integral Derivative
(PID). Circuit in which PID parameters are adjustable. The values may be set within the
following range through 10 turns calibrated potentiometers:
Proportional Gain, Ke 0 to 20
Integral Time Constant, Ti 5 to 100 msec.
Derivative Time Constant, Td 0 to 20 msec.
It may be mentioned that although in an industrial PID controller it is common to adjust the
above parameters directly.
(3)Error Detector: The error detector is an unity gain inverting adder, which adds command
signal with the feedback signal. To ensure negative feedback it would therefore be necessary to
have (2n+1) phase shift in the forward path, for n = 0,1,2,3, --------

(4)Uncommitted Amplifier: It is a unity gain inverting amplifier. This amplifier may be

inserted in the loop, if required, to ensure a proper phase angle.
(5)Signal Sources: The signal source comprises of a low frequency square and triangular
wave generator having adjustable adjustable amplitude and frequency. The square wave is used
as command input to the system, while the triangular wave is used for external x-deflection in
the CRO.
(6)Power Supply and DVM: An IC regulated circuit power the complete unit. A 3
digital DVM of 1V available on the panel may be used as a DC input or set point for the
system.
Theory: The Performance of a physical is not always good enough for a given application. In
such a situation the characteristics of the system need to be modified Approach towards
improving the performance of system has been through elementary control action called control
terms inserted in the forward path of an existing control system. The block diagram of figure
shown the location of such a controller in a unity feedback system. The controller work comprise
of two or three of the following control terms:
(a) Proportional, P
(b) Integral, I
(c) Derivative, D
The resulting controller may then turn out to be a PI, PD or PID controller.
The equation of PID controller is given by:

() = () + () + ()

Where,
e(t) = Error signal

m(t) = PID output or plant input
Kc = Proportion gain
Ki = Integral gain
Kd = Derivative gain
In the present unit, the three gains are adjustable in the following range with the help of
calibrated 10-turn potentiometers.

Kc : 0 to 20
Ki : 0 to 1000
Kd : 0 to 0.01
Circuit Diagram:
Figure 1: Schematic diagram of demonstration kit

Figure 2: Block Diagram of the System
Figure 3: Block Diagram of PID Controller
Figure 4: Bode plot of PID Controller

Figure 5: Connection diagram for P-controller
Figure 4: CRO Display of step response using triangular time base
Procedure:
This experiment will demonstrate the improvement in transient performance by the introduction
of derivative control. The following steps are suggested:
1. Make connections as shown in Fig. with proportional, integral and derivative blocks
connected.
2. Set input amplitude to 1V(p-p), frequency a low value Kc = 0.6, Ki = 54.85 (scale setting
of 0.06) and Kd = 0.
3. The system shows a fairly large overshoot. Record the peak overshoot and steady state
error.
4. Repeat the above step for a few non-zero values of Kd.
5. For Kc = 0.6, adjust Ki and Kd by trial and error to obtain the best overall response.
Record the values of Kc, Ti and Td. Repeat for Kc = 0.4, 0.2 etc.
Input = 1V (p-p) square wave of low frequency
Kc = 0.6

Ki = 0.06 x 914.2 = 54.85/sec.

System = type -0 with time delay
Observation Table:
Scale Kd X = 2 x Steady Y = 2 x Peak Steady State
% overshoot
Reading (sec.) State Value Response Error
Calculation:
Result& Discussion:

Questions:
1. What is the effect of controller in a control system?
2. How many types of controller are used in a control system?
3. What is the PID controller and how is verified in this experiment?

EXPERIMENT NO. 8
Part: A
Compensating Network
Aim: Study of lead and lag compensating network.
Apparatus Required:
Theory: Setting the gain is the first step in adjusting the system for satisfactory performance.
In many practical cases, however the adjustment of the gain alone may not provide sufficient
alteration of the system behaviour to meet the given specification. As is frequently the case,
increasing the gain value. Will improve the steady state behaviour but will result in poor stability
or even instability. It is then necessary to redesign the system (by modifying the structure or by
incorporating additional devoirs) so that system will behave as desire. An additional device
inserted into the system for such purpose is called compensator. This device compensates for
deficient performance of the original system. If the compensator is placed insert in series with
unalterable transfer function, then compensation is called series compensation.
Among many compensators, the widely employed series compensator is the so called
lead compensator, lag compensator and lead lag compensators. They are usually electrical,
mechanical, pneumatic, or hydraulic, or combinations therefore and consist RC network is an
integral part of amplifier.
Basic Characteristic of Lag, Lead, and Lag- Lead Compensation:
Lead compensation essentially yields an appreciable improvement in transient response and
small improvement in steady state. Lag compensation in other hand, yields an appreciable
improvement in steady rate accuracy at the expense of increasing the transient- response time.
Lead lag compensation combines the characteristics of both lead and lag compensation.
Lead Network: The A schematic diagram of an electrical lead network is shown in fig. name
lead network comes from the fact that for a sinusoidal input, the output of the network is also

sinusoidal with phase lead angle is a function of the input frequency. The lead network is
basically a high pass filter.
Passed but low frequency are attenuated).therefore an additional gain elsewhere is needed to
increase the low frequency gain
Figure 1: Circuit diagram of lag network
Figure 25: Plot the gain vs frequency for lag network

Lag Network:
Lag network is an electrical network. The name lag network comes from the fact that when
the input voltage Vi, is sinusoidal, the output voltage Vo is sinusoidal but lags the input by an
angle which is a function of the frequency of the input signal.
Lead-Lag network:
Lead compensation increases the band-width, which improves the speed of response, and also
reduces the about of overshoot. However, improvement in steady state performance results in
slower response due to reduced bandwidth. If improvement in both transient and steady state

response (namely, large increase in the gain and bandwidth) are desired then a lead network and
a lag network may be used simultaneously. The lead-lag network combines the advantages of the
lead and lag networks.
The lead lag network is shown in fig. below. For a sinusoidal input, the output is sinusoidal with
s phase which is a function of input frequency. This phase angle various from lead to lag as the
frequency increases from zero to infinity.
Figure 56: Circuit diagram for lag-lead network
Figure 6: Plot the gain vs frequency for lead -lag network

(The phase angle of both the lead and lag network is adjusted such that there is no phase
difference between input and output signal)

Comparison of Lead, Lag and Lead-Lag network:

1. Lead compensation achieves the desired result through the merit of its phase lead
contribution; whereas lag compensation accomplishes the result through the merits of its
attenuation property at high frequencies.
2. In the s domain, lead compensation enables us to reshape the root locus and thus provide
the desired closed loop poles. In the frequency domain, lead compensation increases the
phase margin and bandwidth. Large bandwidth means reduction in compensation is
always greater than lag compensation. Therefore, if a large bandwidth or fast response is
desired, lead compensation should be employed. If, however, noise signal is present, then
a large bandwidth may not be desirable since it makes the system more susceptible to
noise signals because of increased in the high-frequency gain. In such a case, lag
compensation should be used.
Procedure:
1. Set the sine wave oscillator frequency 100Hz and adjust its amplitude to 1 Vp-p.
2. Connect C.R.O. at the output terminals. Observe that the phase of output signal is
leading the phase of input signal.
3. Vary the frequency and tabulate your result as below.
Input (Vi ) = 1Vpp

Gain = 20 log(Vo/Vi)in DB
4. Plot a graph between frequency and gain in db in semi log graph paper Find the cut-off
frequency at which gain is maximum.
5. Repeat the above procedure for Lag network and Lead- lag network.
Observation Table:
Phase
S.N. Frequency Output Gain In Db
Difference

Calculation:
Questions:
1. When is the Phase lead network used in control system?
2. Which one of the compensators is used to increase the damping of a pair of complex
roots that are severely under damped.
3. How the performance of an op-amp circuit can be improved?

Part: B
Compensation Design
Aim To design, implement and study the effects of different cascade compensation networks or
a given system.
Apparatus Required: Trainer board, connecting lead, CRO multimeter.

Equipment Description
1. Signal Sources:
There are three built-in sources in the unit having the following specifications :
(a) Sine wave: Smoothly adjustable frequency from 25 Hz to 800 Hz in a single range.
Amplitude: 0-1 Volt p-p (variable)
(b) Square wave: Smoothly adjustable frequency from 25 Hz to 800 Hz in a single range.
Amplitude 0-1 Volt p-p (variable)
(c) Trigger: At the frequencies set above.

The frequency is displayed on a 4-digit frequency meter on the panel All the above sources are
derived from the same basic circuit and are therefore synchronized. They are calibrated in
frequency but uncalibrated in amplitude, are zero balanced, and have a common ground.
2. Uncompensated System:
A simulated system of unknown dynamics forms the uncompensated system. The circuits are
pre-wired except for terminals in the open loop where a compensation network may be inserted.
The two sections of this system are :
(a) Plant: It is an active network simulation of a second order dynamic system. Its transfer
function is given by
The values of K1 and T are not explicitly given but are determined through experimentation.
(b) Error detector-cum-gain: This block has two inputs (e1, e2) and an output (eo) related by
the expression, eo = K (e1 + e2), where K is a variable gain. The value of K may be varied from 1
to 11 and may be read on the dial.
3. Compensation Circuit:
This circuit consists of a pre-wired variable gain amplifier where-in the gain may be varied from
1 to 11 and read on a dial. The circuit has provision for connecting a few passive components in
accordance with the design of compensator.

4. Power Supply:
The set up has an internal 12V IC regulated supply which is permanently connected to all the
circuits. A separate internal 5 Volt supply powers the frequency meter. The power supply and all
circuits are short circuit protected and will not get damaged even if wrongly connected. No
external DC supply should, however, be connected to the unit. The above set up can be used to
study the improvements caused by a variety of compensation networks. Constraints on time
available would however limit such study to only one network in a normal laboratory period of 3
hours.
Theory:
Compensation network is designed at this stage to modify the system characteristics and to
force it to meet the specifications. Although compensation elements are used at the output (load
compensation) and in the feedback path (feedback compensation), the most common form of
compensation is the cascade compensation where the compensation acts on the error signal. The
design of compensation network may be carried out either in the s-plane, through root locus
diagram, or in the frequency domain, using the Bode plot, Nyquist diagram and Nichol's chart.
(a) Time-domain performance criterion: These are indicative of the performance of the close
loop system in terms of its time response, most commonly the unit step response. Since a control
system is almost always required to function in real time, time-domain performance criterion is a
direct way of evaluating the system. Due to one-to-one correlation between s-plane pole location
and the resulting step response, the time-domain performance criterion finds application in the
root locus method of analysis and design. Referring to the unit step response shown in Fig. 2, the
various time domain performance criterion are :
(i) Delay time td, defined as the time needed for the response to reach 50% of the final value.
(ii) Rise time tr, the time needed for the response to reach 100% of the final value for the first
time.
(iii) Peak time tp, the time taken for the response to reach the first peak of the overshoot.
(iv) Maximum Overshoot MP, given by
(Its value indicates the relative stability of the system)
(v) Settling time ts, the time required by the system step response to reach and stay within a
specified tolerance band which is usually taken as 2% or 5%
(vi) Steady state error ess defined as

(b) Frequency-domain performance criterion: These are specifications indicated on the open
loop frequency response curves of the system i.e. Bode plot, Nyquist diagram or Gain magnitude
phase shift plot or the closed loop frequency response of the system. Unlike the time-domain
specification, a number of the frequency-domain criterion are defined on the closed loop
characteristics. Frequency-domain approach to design is easily applicable to systems with
unknown dynamics by experimentally determining the frequency response. However, the
correlation between time and frequency response is not direct. Referring to Fig. 3(a) (open loop
Bode plot) and Fig. 3(b) (closed-loop frequency response), the various performance criterion in
the frequency-domain are given below:
(i) Gain Margin, is the amount by which the open loop gain may be increased at the phase cross
over frequency, p, to bring it to 0 dB.
(ii) Phase Margin, is the amount by which the phase of the open loop transfer function at the
gain cross over frequency, g, may be increased in the negative direction to bring it to -180
degree.
(iii) Mr, Peak value of closed loop frequency response.
(iv) r, Frequency at which the peak occurs.
(v) Bandwidth of the closed loop frequency response.
(vi) Cut-off rate of the closed loop frequency response at the high frequency end.
Design Philosophy
The most common form of compensation network is an R-C passive network having a pole and a
zero. This gives rise to lag' and 'lead' network depending upon the relative locations of the pole
and the zero.
Lag network: The lag network is shown in Figure . Its transfer function may be expressed as
Substituting R2C = T, and (R1+ R2)/ R2 = (>1), Gc(s) may be written in two alternative forms
Lead network: The lead network is shown in Figure . Its transfer function may be expressed
as

Substituting R1C = T, and R2/(R1+R2) = (<1), Gc(s) may be written in two alternative forms:
Circuit Diagram:
Figure 7: Block Diagram of the demonstration kit
Figure 8: Time domain performance criterion

Figure 9: Frequency domain performance criterion
Figure 10: Lag network Characteristics

Figure 11: Lead Network Characteristics

Figure 127: Phase & Gain margin measurement on CRO
Procedure:
In the following experiment procedure for frequency domain design is presented.
Bode Plot of the Plant
As a first step the magnitude-frequency and phase-frequency plots are to be sketched from
experimental data.
Disconnect the COMPENSATION terminals and apply an input, say 1 Vp-p, to the plant
from the built in sine wave source. Vary the frequency in steps and calculate plant gain in dB
and phase angle in degrees at each frequency. Sketch the Bode diagram on a semilog graph
paper.
From the low frequency end of the magnitude plot, obtain the error coefficient and the steady
state error.
Calculate the forward path gain K necessary to meet the steady state error specifications.
Set the above value of K, short the COMPENSATION terminals and observe the step
response of the closed loop system. Compute the time-domain performance specifications,
namely, MP, tP, ess and .
Shift the magnitude by 20 log10 (K), and obtain the value of phase margin. Compare with the
given specifications of phase margin.

Lag Network Design

From the Bode plot, find a frequency where PMactual = PMspecified + a safety margin (50-
100). This is new gain cross-over frequency g, new.
Measure gain at g, new. This must equal the high frequency attenuation of the lag network,
i.e.20 log . Compute .
Choose Zc=1/T, at approx. 0.1 g,new and Pc=1/ T accordingly.
Write the transfer function Gc(s) and calculate R1, R2 and C.
Implement Gc(s) with the help of a few passive components and the amplifier provided for
this purpose. The gain of the amplifier must be set at unity.
Insert the compensator and determine experimentally the phase margin of the plant.
Observe the step response of the compensated system. Obtain the values of MP, tP, ess and .
Lead Network Design

From the Bode diagram obtained in section, calculate the required phase lead as Phase lead
needed (fm) = PM specified - PMavailable + safety margin (5 to 10)
Calculate a for the lead network from
Calculate new gain cross-over frequency g, new such that
This step ensures that maximum phase lead shall be added at the new gain cross-over frequency.
The corner frequencies are now calculated from 1/T= a m and 1/aT=m/ a
Implement Gc(s) with the help of a few passive components and the amplifier provided for this
purpose. The gain of the amplifier is to be set equal to 1/a.
Insert the compensator and determine experimentally the phase margin of the plant with
compensator.
Observe the step response of the compensated system. Obtain the values of MP, tP, ess and .
In addition to the above experiments, the measurement of frequency response of closed loop
system, both before and after compensation, would provide further insight.
Measurements of intercepts on x and y axes and peak values in these directions yield Gain = B/A
= yo/xo; or 20 log (B/A) dB, and

Measurements of intercepts on x and y axes and peak values in these directions yield
It is easy to see that for 90<<180, the major axis of the ellipse of Figure has a negative slope
and the phase angle is computed as = -180 + sin-1(xo/A).
(b) Bode plot: For the readings obtained above, the Bode plot is shown in Figure . From it, the
approximate transfer function of the open loop system is obtained by drawing the low and high
frequency asymptotes and observing the values of low-frequency gain and corner frequency. In
the present set-up,
Thus, Plant Transfer Function is obtained as,
(c) Design: (Lag network)

Let the design requirement be
ess = 0.05 (5%)
Phase margin = 40
Required value of error coefficient KP to meet ess specification is 19. Thus gain K needs to be
increased by 19/4.466 = 5(say), i.e. by 20 log(5) = 14 dB (approx.). With this value of open loop
gain, step response of closed loop system {Figure } gives
The gain setting of 5 must not be changed throughout this experiment.

The magnitude plot is redrawn by shifting up by +14 dB. From this plot Gain cross over
frequency g = 2p (330)
Phase Margin = 24
Now, phase margin needed = 40 + 5 (safety margin) = 45
This is available naturally at = 2p(175) which may be chosen as g,new.
High frequency attenuation needed = 10dB = 20log b, so that the value of b is 3.16.
Compensation network is thus chosen as
Component values for implementation
(d) Design: (Lead network)

Continuing with the same design requirement as before, viz.
ess = 0.05 (5%)
Phase margin = 40
We now proceed with the lead network design. To satisfy the steady state specifications, the
open loop gain will need to be set to 5 as in the lag network example, leading to MP = 48 %, ess
= 5 %.
The gain setting of 5 must not be changed throughout this experiment.
The Phase Margin from Figure is read as 24. Following the steps outlined in sec. , Phase lead
needed (m) = 40 - 24 + 10 = 26
Time Constant T = R1 C

Choosing C = 0.01 F, the resistances are computed as
With the compensator inserted and its gain set to 1/a = 2.5, the response of the closed loop
system
TYPICAL RESULTS
Following are the results obtained on a typical unit.
(a) Frequency response measurements :
Input = 1 Volt p-p, sine wave; CRO in x-y mode
All measurements are in volts p-p
Observation Table:
S.N. F(Hz) A B x0 y0 Gain (dB) Phase in
degree

Calculation:
Questions:
1. Which are components used for design of compensating network?
2. Why is the need of compensating design in control system?

EXPERIMENT NO. 9
Study the Stepper Motor
Aim: To study the stepper motor and to verify the truth table.
Apparatus Required:
Theory: A stepper motor is a low speed, high torque motor which characterizes itself with a
Number of unusual feature such as those mentioned below:
1. It moves in 200discrete steps in one revolution.
2. It is a bi-direction motor, capable of rotating in either direction.
3. It is a self starting motor. No external means as required for starting it.
4. Its effective inertia is very low. It start, stops and reverse practically instantaneously.
5. Its starting, running and stalling current are of the same order. There is no heavy inrush of
current at start. Its motor can be stalled forcibly without any fear of damage to its
winding.
6. Its low basic shaft speed eliminates the complex gear trains in many applications.
7. When driven through a translator, It moves by only one step per pulse.
8. While working with a solid state translator, a stepper motor acts as a transducer having
high gain. It generates a large torque with micro watts of input control power.
9. Its torque output is manifold in comparison with the convention motor of the same size
and weight.
A stepper motor can be viewed as the simplest form of incremental servo because for each input
signal, its output shaft assumes as a new increment of angular position. This one to the
correspondence of output shaft position to input signal resemble physically can analytically the
feedback of a conventional servo position. So, by using stepper motor, many close loop servo
mechanism can be replaced by a simple open loop system. Once of the significance feature of a
stepper motor is its ability to hold a position with well defined accuracy for any length of time.
This makes the motor a true digital actuator without the complication of tachometer, error

potentiometer, amplifier and other stabilizing network. Some of the common applications of
stepper motor are mentioned below:
1. Remote control of dimmer stats, potentiometer, camera focusing, process timing etc.
2. Numerically controlled machine tool and robots.
3. Punched tape driver.
4. As variable speed drivers.
5. Paper feed driver in recorder.
6. Drives for electronic sweep generators.
7. Curve tracers.
A stepper motor can also be used as integrator or by feeding a continuously variable signal to an
analog to digital converter giving a pulse frequency proportional to the amplitude of the input
signal. A stepper motor when supplied with these pulses will move the load attached to its shaft
through a distance proportional to the time integral of the signal.
Type of Stepper Motors

Stepper motors are available in three lead, four lead and five lead types. Five lead types are also
called Bifilar Type. These are available in standard voltage rating of 6V, 12V, and 24V DC.
For a phase switched DC stepping, these can be connected to provide either 200steps or 100
steps per revolution.
a) Three Lead Types: This type of stepper motor requires a center tapped DC power
and signal pole double throw switching with a connection as shown in figure . This
stepper motor will take 200 steps to make one revolution of the rotor. In this case, each
switching action rotates the shaft by one step of 1.8 degree. The accuracy of step is +0.1
degree. This error is not cumulative and is same when run at speed within its limit. The
output torque decreases with increased stepping rate. This is due to inductive impedance
of the windings. The torque at higher stepping rates can be increased to some extent by
inserting a resistance in series with each winding. Figure shows the torque v/s speed
characteristics of a 3kg and 10kg stepper motor. A connection diagram for 200 steps per
revolution is shown in figure .
b) Four Lead Types: This type of stepper motor is useful when isolation between the
two winding is required. This motor can easily be converted into a three lead type by
shorting terminal 2 and 4. These require signal ended power supply and double pole
double throw switching.
c) Five Lead Types: This type of stepper motor is useful where application of push-pull
circuitry and center-tap of power supply is not possible and also where more torque
output is required at higher stepping rates. In this, each stator coil is wound in opposite
direction and these are stepped by switching from one half of the winding to the other
half.

Terminology Used In Stepper Motors

Step Angle: The motor shaft rotates its specific angular increment each time the winding
polarity is changed. This specific degree of rotation or increment is called the step angle.
It is specified in degree. Nowadays, motors with step angle as small as 0.9 degree
available.
Steps per revolution: This term describe the total number of steps required for the output
shaft to rotate through 360 degree or one completer revolution. Steps per revolution are
calculated by dividing 360 degree by the steps.
Steps per Second: The number of angular movements accomplished by the motor in one
second of time. It corresponds to the pulse rate.
Step Accuracy: It is defined as the positional accuracy tolerance. This figure is generally
expressed as a percentage and indicates the total error introduced by the stepper motor in
a single step movement. The error is non-cumulative, i.e. it does not increase as addition
steps are taken.
Holding torque: With the motor shaft at standstill, or zero rpm condition, the amount of
torque from an external source, required to break away the shaft from its holding
position. This is measured with rated voltage and current applied to the motor and is the
basic characteristics of the stepper motor.
Residual Torque: The torque present at standstill under power off condition is a result of
the permanent magnetic flux acting on the stator poles. Residual torque is present under
power off condition only with a motor of permanent magnet rotor design.
Torque to Inertial Ratio: This ratio is determined by dividing the rated holding torque
of the motor by its inertia. The better the torque to inertia ratio, the better the response.
When dealing with step response problems, it is important to know the torque to inertia
ratio of the motor.
Step Response: When given a command to move a step, the motor will respond within a
specific time period. This time for a single step or Step response is a function of the
torque to inertia ratio of the motor and the characteristics of the electronic drive system.
Ratings are given for no load conditions with time generally expressed milliseconds.
Resonance: Stepper motors can be stimulated as a spring mass system and as such, have
certain nature frequency characteristics. When the motors natural frequency or
response is reached, an increase in the audible level of the motors operation can be
detected. In case of severe resonant condition, the motor may lose steps and/or oscillate
about a point. The frequency at which this resonance occurs varies, depending on the
motor and the load.
Drives: This is a broad term used to describe the circuitry which controls the stepper
motors and usually consists of a power supply, sequencing logic and power output
switching components.
Ramping: The process of controlling pulse frequency to accelerate the rotor from zero
speed to maximum speed as well as to decelerate the rotor from maximum speed to zero

speed Ramping increases the capability of driving motor and load to higher speed levels,
particularly with large internal loads.
Start/Stop Error: An additional curve found on some torque curves which indicates the
maximum step rate to which the particular motor can start and stop without losing steps
or falling out of synchronism. This condition assumes no acceleration/deceleration time.
These curves are usually the result of actual testing with negligible external load inertia.
Slew Rate: An area of high speed operation where the motor can run unidirectional in
synchronism. However, it cannot instantaneously start, stop or reverse. A stepper motor is
brought up to slewing rate using acceleration and is then decelerated to stop under
conditions where no step loss can be tolerated. Nowadays, motors with slewing speeds
from 10,000 steps per second to 20,000 steps per second are available. The secret lies in
the electronic control.
Damping: The reduction or elimination of steps overshoot is defined as damping. It is
used in applications where settling down time is important. Damping methods used
include mechanical, electronic and viscous (fluid).
Translator, Clock Generator and Power Amplifier
Translator: Stepper motor translator is a versatile electronic control capable of
producing the proper pulse trains for driving the stepper motors. It is designed for
controlling 5 lead type, i.e bifilar motor only. The complete circuit diagram is shown in
fig.6. Is basically consists of a CMOS dual D type Flip flop (CD4013). The Q and Q
outputs of the first D flip flop are directly connected to the windings A1 and A2 of the
stepper motor through power amplifiers. The other two inputs to B1 and B2 are
controlled by the second D flip flop and the CMOS demultiplexer (CD4053). The
function of the demultiplexer is to change the direction of the stepper motor. This is done
by either grounding pin 10 and 11, or connecting them to +Vcc. The truth table for logic
signals for forward and reverse directions is also enclosed. Also included is the timing
diagram.
Analog to Digital Converter (A to D converter LM331): The analog dc voltage inputs
to 3311/c gets converted to square wave output. The frequency of the waveform depends
on only input.
Power Amplifiers: Since the output of the translator cannot drive the stepper motor
windings directly, hence the use of power amplifiers. It consists of a driver stage, SL100
and power transistors 2N3055. The stepper motor windings are connected in series with
the power transistors. Four such stages of power amplifiers are use
Procedure:
1. Connect 5 pin plug of stepper motor to socket provided in the panel.
2. Keep the DIRECTION SELECTOR switch in forward (CW) mode.

3. Connect the 2-pin power cord of power supply to 230V, 50 Hz.

4. Press the manual pulse generator switch.
5. Observe the status of LEDS & verify the truth table as below.
6. Now change the DIRECTION SELECTOR switch to REVERSE MODE. Press the
push button &verify the truth table.
Observation Table:
Forward Direction (Cw)
STEP A1 B1 A2 B2
Reverse Direction (Ccw)

STEP A1 B1 A2 B2
Truth Tables
Clockwise Direction
STEP A1 B1 A2 B2
1

Counter-Clockwise Direction
STEP A1 B1 A2 B2
1
Calculation:
Questions:
1. What is the step angle in stepper motor?
2. How many types of stepper motor are used ?
3. What is the advantages of stepper motor?
4. Write the applications of stepper motor?

EXPERIMENT NO. 10
Angular Position Error Detector
Aim: To study the performance characteristics of an angular position error detector using two
potentiometers.
Apparatus Required:
Signal sources: There are two built in sources for operating the error detector. These are
D.C. : I.c.regulated+5volt(nominal) A.C. : 400 Hz 1.2 volt p-p (nominal)
Measurement: A 3 digit DVM is available on the panel for measurement of dc signals. For
ac measurement an external CRO will be required.
Error Detector: The basic error detector consists of two servo potentiometer with calibrated
dials of 1 degree resolution mounted on the panel. A common ac/dc signal is internally
connected to these and the potentiometer output are permanently wired to a unity gain
instrumentation amplifier .The output of the instrumentation amplifier is brought out on the
panel. This consist the error detector.
Demodulator: This block is needed during the ac operation of the potentiometer. The ac
output of the potentiometer may be connected to the demodulator input and the output obtained
is a phase sensitive dc signal.
Power Supply: The unit has an internal 12 V I.C regulated supply which is permanently
connected to all the circuits.

Theory:
Measurement of the output variable and its comparison with the command or reference input is a
fundamental task to be performed in any feedback control system. In a position control system
this is usually achieved by a pair of potentiometer or a syncro-transmitter control transformer set.
Potentiometer is an important component of a feedback position control system. Potentiometer is
also used in open loop system for the purpose of monitoring the angular position of a shaft. A
potentiometer is an electromechanical transducer which converts angular or linear displacement
into a proportional electrical voltage. When a reference voltage is applied across the fixed
terminals of the potentiometer, the output voltage measured at the variable terminal is
proportional to the input displacement. Fig. 2 shows a schematic diagram and the block diagram
of a potentiometer. The output voltage e(t) may be written as e(t)=Ke(t) Where (t) is the shaft
position and Ke is the constant of proportionality.

()
Ke =
Use of two potentiometers in parallel, supplied from the same source, enables a comparison of
two shaft positions a reference shaft and a controlled shaft. The output voltage taken across the
variable points of the two potentiometers may be expressed as
e(t) = Ke[1(t)- 2(t)]
and the circuit is also represented as error detector block a schematic diagram of a D.C. position
control system is shown in Fig. 4 which uses a pair of potentiometers as error detector. In this
system the D.C. motor rotates in a direction to align the potentiometers and to minimize the
error.
A system similar to the above is possible using A.C. excitation of the potentiometers, A.C.
amplifier and a 2-phase A.C. servomotor to drive the load. The difference between the D.C. and
A.C. position control systems essentially arises from the features of the amplifier and motor
types used. Advantages of A.C. systems over D.C. systems are:
(a) A.C. amplifiers are free from drift, and the transformer coupled output allows single supply
operation, and

(b) 2-phase motors having no commutators and brushes are inherently more robust and
maintenance free.
On the other hand, in potentiometer error detector supplied with A.C. signal (carrier).
v(t)=V sin wct, the error output is given by
where e is the angular error between reference and controlled potentiometers. It may be seen
from above that whenever e changes sign there is a 180 phase shift in e(t). Again considering a
sinusoidal angular error
e(t) may be represented as a suppressed carrier signal given by
When the above signal is applied to a 2-phase servomotor, the motor acts as a demodulator and
the direction of shaft movement is in accordance with the sign of e. A D.C. motor may be used
instead, provided a balanced demodulator is used to extract the direction information from the
signal of Eq. (5). An integrated circuit balanced modulator/demodulator type LM1496 has been
used in the present unit for this purpose. In this circuit, the modulated signal
e(t) = Ks e Vsinwct, is multiplied by the carrier signal of amplitude V to yield
The above signal is passed through a low pass filter to remove the 2wc component to yield the
output
This may then be amplified by a D.C. amplifier before feeding to a D.C. motor.

Procedure:
Steps for conducting this experiment are:
1. Set the excitation switch to DC
2.Keep POT 2 fixed at any position and do not disturb its position. Let this position be 2
3.Turn POT 1 in steps of 20 (at 1 interval when there is a sudden change in voltage). Record
angular position 1 and the output Vo (use DVM on panel).
4.Plot Vo vs 1. Observe linearity and range.
5. Repeat for another position of POT 2.
Circuit Diagram:
Figure 1: Potentiometer representation

Figure 2: Schematic Diagram of demonstration kit

Observation Table:
Calculation:

Questions:
1. How to define error in control system?
2. Which are the methods used for error detection in control system?
3. Why are you used balanced demodulator in a potentiometer error detector with ac.
excitation?
4. What is the essential required property for an ideal potentiometer?

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IPS ACADEMY, INSTITUTE OF ENGINEERING AND SCIENCE- INDORE

6th SEM SUBJECT: CS 20___-__

Vision of the Institute

Mission of the Institute

To inculcate dedication, hard work, sincerity, integrity and ethics in building up

To inculcate a spirit of entrepreneurship and innovation in passing out students.

To instigate sponsored research and provide consultancy services in technical,

6th SEM SUBJECT: CS 20___-__

Vision of the Department

Mission of the Department

6th SEM SUBJECT: CS 20___-__

Program Education Objectives (PEOs)

Program Outcomes (POs)

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Course Outcomes (COs)

CO3 Ability to investigate stability of control system using root loci.

CO5 Ability to design lag/lead/lag-lead compensator in frequency domain for improvement in

6th SEM SUBJECT: CS 20___-__

Laboratory Regulations and Safety Rules

6th SEM SUBJECT: CS 20___-__

Determination of transfer function of A.C.

To perform load test on 2-phase A.C.

To study the time response of a variety of

(A) Objective of this exercise is get to know the

5. (B) To analyze the stability of the linear systems

(A) To analyze the stability of the linear

(B) To analyze the stability of the linear systems

6th SEM SUBJECT: CS 20___-__

To Study the performance characteristics of an

(A) Study of lead and lag compensating

To study the stepper motor and to verify the

To study the performance characteristics of an

6th SEM SUBJECT: CS 20___-__

S.N. Apparatus Specification Quantity

Theory: A synchro is, in effect, a transformer whose primary-to-secondary coupling may be

A Synchro receiver is a unit whose rotor assumes an angular position detection

6th SEM SUBJECT: CS 20___-__

Figure 1: Operation of Synchro Transmitter & Receiver

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S.N. Apparatus Specification Quantity

Theory: A Synchro is an electromagnetic transducer commonly used to convert an angular

Vs1n = KVrsin ct cos (+120)

Vs2n = KVr sinctcos

Vs3n = KVrsinctcos (+240)

The three terminal voltage of stator are:

6th SEM SUBJECT: CS 20___-__

Vs1s2 = Vs1n - Vs2n = KVrsin (+240) sinct

Vs2s3 = Vs2n Vs3n = KVrsin (+120) sinct

Vs3s1 = Vs3n Vs1n = KVrsinsinct

Figure 2: Circuit diagram of synchro transmitter

Figure 3: Output waveform of synchro transmitter

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Result & Discussion:

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S.N. Apparatus Specification Quantity

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Tm (s) = K1 Ec(s) - K2 (s), where is the shaft speed.

subsequently the angular position, () of the motor shaft.

transfer function and the parameters of the a.c. servomotor.

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Combining the above two transfer functions (under assumption of linearity),

Ec = Constant voltage applied to the control winding

TL = Constant Load torque

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