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Experiment – 1
Question No.1
Consider the simple mechanical and electrical systems shown in Fig.1. Model the given
systems with linear differential equations.

As the first question is asked to model the system with linear differential equations, they are,

⇒Mechanical System:

𝑑2𝑥 𝑑𝑥
𝑀 2+ 𝐵 + 𝐾𝑥 = 𝑓(𝑥) 𝑑𝑡 𝑑𝑡
Now for the above linear differential equation the corresponding State Space equation will
be,

For this mechanical system consider the initial values as M=1, B=5, K=25.
Now, similarly for the given electrical system find the state space model.

⇒ Electrical System:
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𝑑𝐼 Commented [GT1]:
𝑅. 𝐼 + 𝐿. + 𝑉𝐶 = 𝑉𝑠 𝑑𝑡
Here, 𝑑𝑉
𝐼=𝐶𝐶 𝑑𝑡

Now for the above linear differential equation the corresponding State Space
equation will be,

For this electrical system consider the initial values as R=1.4, L=2, C=0.32.

1. Simulate the systems in MATLAB/Simulink and LabVIEW Control Design and

Simulation module.

Sol. For the above-developed State Space models of Mechanical and Electrical systems,
we will develop a simulation model in MATLAB.

⇒Mechanical System:

For this code, the responses will be like,

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Now, similarly for the given electrical system,

⇒ Electrical System:

For this code, the responses will be like,

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2. Investigate the time domain performance specifications to a given input signal

(impulse, step, square and triangular wave) and the steady state tracking errors.
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Sol. For the above developed Mechanical and Electrical Systems, we will plot Step,
Square, Impulse, Triangular responses and we will calculate the steady state errors.

⇒Mechanical System:

The tracked responses of this system will be like

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For these responses the steady state error values will be like,
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Now, similarly for the given electrical system,

⇒ Electrical System:

The tracked responses of this system will be like

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For these responses the steady state error values will be like,
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3. Investigate the step response and impulse response for type 0, type 1, and type 2
system with unity feedback.

Sol. For this, let us consider three different systems of Type-0, Type-1, and Type-2

⇒Type-0:

𝐺(𝑠) = ( 𝑠+2)1(𝑠+3) = 𝑠2+51𝑠+6

⇒Type-1:

𝐺(𝑠) = 𝑠 (𝑠+21)(𝑠+3) = 𝑠3+51𝑠2+6𝑠

⇒Type-2:

(𝑠+1)(𝑠+3) 𝑠2+4𝑠+3

𝐺(𝑠) = 𝑠2(𝑠+2)(𝑠+3) = 𝑠4+5𝑠3+6𝑠2

So for the above three systems we develop code to find the step and impulse response.
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The Response plots will be as follows,
Date: 01-09-2018 Jayasurya Obbu
18MSS0003

Experiment – 1
Question No. 2

Consider the steering control of a tracked vehicle system (Fig. 2.a) and its model (Fig. 2. b).

1. Using MATLAB/LabVIEW investigate the conditions (i.e. values of a and K) for which
the system is stable and the steady state error for a ramp command is less than or
equal to 24% of the magnitude of the command

Sol.

Given,

𝐺𝑐(𝑠) = ( (𝑠𝑠++𝑎1)) , 𝐺(𝑠) = 𝑠 (𝑠+3𝐾)(𝑠+5)

𝑘(𝑠 + 𝑎)
⇒ 𝐺𝑐(𝑠). 𝐺(𝑠) =
𝑠(𝑠 + 1)(𝑠 + 3)(𝑠 + 5)

𝑘𝑠 + 𝑘𝑎
⇒ 𝐺𝑐(𝑠). 𝐺(𝑠) = 𝑠 4+ 9𝑠3 + 23𝑠2
+ 15𝑠

𝑘𝑠 + 𝑘𝑎

⇒ 𝑇(𝑠) = 𝑠4 + 9𝑠3 + 23𝑠2 + (15 + 𝑘)𝑠 + 𝑘𝑎

Date: 01-09-2018 Jayasurya Obbu
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Now apply Routh–Hurwitz stability criterion to the transfer function T(s)

From the above Routh-Hurwitz stability Criterion table, we got the values ak>0

and k<192
Now we will design the code according to the range of values we got for ‘a’ and ‘k’.
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According to this the ‘a’ and ‘k’ values we got as,

So, until this range of ‘a’ and ‘k’ values the given system will be stable.
Now to design the system with an steady state error less than or equal to 24% for the given
unit-ramp response,
1
𝑒𝑠𝑠 =
𝐾𝑣
Where,

𝐾𝑣 = lim 𝑠. 𝐺(𝑠)
𝑠→0

(𝑠 + 𝑎)(𝑘)
= lim 𝑠 ∗
𝑠→0 𝑠(𝑠 + 1)(𝑠 + 3)(𝑠 + 5)
𝑎𝑘
⇒ 𝐾𝑣 =
15
15
∴ 𝑒𝑠𝑠 =
𝑎𝑘
Therefore, now according to our condition this error should be less than 24%
15
𝑒𝑠𝑠 = < 0.24
𝑎𝑘

⇒ < 𝑎𝑘
⇒ 𝑎𝑘 > 62.5
Date: 01-09-2018 Jayasurya Obbu
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Therefore, to satisfy the above condition let us take a=1 and k=100 from the range of values
we got earlier.

⇒ 100 > 62.5

Now with this ‘a’ and ‘k’ values we will design the code to see the plot of steady state error
and we will calculate the accurate error.

So for this system with given ‘a’ and ‘k’ values, we will get the ramp response plot as

Therefore, for the above plot the accurate steady state error is,
15
𝑒𝑠𝑠 =
𝑎𝑘
Where a=1 and K=100

⇒ 𝑒𝑠𝑠
⇒ 𝑒𝑠𝑠 = 0.15
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The above 0.15 steady state error shows there is 15% error, which is less than the given 24%
criterion.

2. Plot the curve of a Vs K (for K>0 ) that divides the regions of stability and instability.

Sol. The curve, which divides the stability and instability region, is,

The region below the curve is a Stable region, and the region above the curve is unstable
region.