SHANMUGHA

ARTS, SCIENCE, TECHNOLOGY AND RESEARCH ACADEMY

TIRUMALAISAMUDRAM, THANJAVUR - 613402

DEPARTMENT OF

ELECTRICAL & ELECTRONICS ENGINEERING

LABORATORY MANUAL

COURSE NAME: CONTROL SYSTEM LABORATORY

COURSE CODE: BEECEE 606R01/ MPSCEE 606 R01 SEMESTER: VI

We welcome your suggestions regarding the manual. If you find any errors or anything else
that you think is an error, please feel free to mail us

1
 CONTROL SYSTEM LAB
LIST OF EXPERIMENTS

1. Transfer function of D.C. Servomotor.

2. Transfer function of A.C. Servomotor.

3. Closed loop position control of D.C. Servomotor.

4. Closed loop position control of A.C. Servomotor.

5. Position control system using Synchro family of control units.

6. Closed loop speed control of D.C. Servomotor using Tacho generator and PID

controller.

7. Closed loop speed control of A.C. Servomotor using Tacho generator and PID

controller.

8. Pole-zero plot of a transfer function.

9. Time response of first order system for unit step and ramp signals using MATLAB

and Simulink.

10. Time response of second order un damped and under damped system for unit step

signal using MATLAB and Simulink.

11. Time response of second order critically damped and over damped system for unit

step signal using MATLAB and Simulink.

12. Stability analysis using Bode plot and polar plot using MATLAB.

13. Stability analysis using Nyquist plot using MATLAB.

14. Stability analysis using root locus technique using MATLAB.

2
Experiment No :
Date :

TRANSFER FUNCTION OF DC SERVOMOTOR

AIM:

To find the armature resistance & inductance, field resistance & inductance, back emf
constant, field & armature torque constant and moment of inertia of DC servomotor using
VPET-300(A) module to obtain the transfer function of DC servo motor.

EQUIPMENT REQUIRED:

i. VPET - 300(A) module

ii. DC Servo Motor with load arrangement

THEORY:
DERIVATION OF TRANSFER FUNCTION OF DC SERVO MOTOR:

PROCEDURE:
(i) Armature resistance & Field resistance:

1. Initially keep all switches in OFF Position.

2. Initially keep voltage adjustment POT (VARIAC) in minimum position.
3. Initially keep Armature and field voltage adjustment POT in minimum position.
4. Connect VPET - 300(A) module Armature output A and AA(F and FF) to motor
Armature terminal A and AA(Field terminal F and FF) respectively.
5. Switch ON the power switch and SPST Switch 'S1' (S2)
6. Shaft should not rotate, when applying the DC input voltage.
7. Now note down the Armature(Field) current for various Armature(Field) voltage in
the table-1(table – 2). Armature(Field) current should not exceed rated current value
(2.5A).
8. Calculate the Resistance value Ra =Va / Ia. & Rf =Vf / If.
9. The average resistance value gives the armature(Field) resistance.
Table -1

Armature Armature Ra = Va/Ia

voltage Va current Ia
()

3
 Average value of Ra =

Armature Armature Rf = Vf/If

voltage Vf current If
()

Average value of Rf =
(ii) Armature & Field inductance:

1. Initially keep all switches in OFF Position.

2. Initially keep voltage adjustment POT (VARIAC) in minimum position.
3. Initially keep Armature and field voltage adjustment POT in minimum position.
4. Connect VPET-300(A) module variac output P and N to motor Armature terminal A
and AA (Field terminal F and FF) respectively.
5. Switch ON the power.
6. Shaft should not rotate, when applying the AC input voltage.
7. Now note down the AC current for various AC voltage in the table-3 & table -4.
8. Calculate the impedance value Za =Va / Ia. (Zf =Vf / If)
9 The average inductance value gives the armature(Field) inductance.

Table -3
Armature Armature Z = Va/Ia Xa= La=Xa/2πf Average La
voltage Va current Ia
(H) (H)

Table 4

Field voltage Field Zf = Vf/If Xf= Lf=Xf/2πf Average Lf

Vf current
(H) (H)
If

4
 (iii) Back emf:

1. Initially keep all switches in OFF Position.

2. Initially keep voltage adjustment POT (VARIAC) in minimum position.
3. Initially keep Armature and field voltage adjustment POT in minimum position.
4. Connect VPET - 300(A) module, armature output A and AA to motor Armature
terminal A and AA respectively.
5. Connect VPET - 300(A) module, field output F and FF to motor Field terminal F and
FF respectively.
6. Switch on the power and SPST Switch 'S1' and „S2'.
7. Set the field Voltage at rated value (48V).
8. Adjust the Armature voltage by using Armature POT. Now note down the Armature
current and speed for various Armature Voltage (up to Motor rated Speed) in the
table-5.
9. Plot the graph Eb versus T, model graph is as shown in Fig.7 and calculate the back
emf constant kb from graph as shown below.

Table -5

Armature Armature Eb =Va - Ia R a Speed Speed 

Voltage(Va) current (Ia) N(rpm) rad/sec

Model graph

iv. Field & ArmatureTorque constant:

1. Initially keep all switches in OFF Position.

2. Initially keep voltage adjustment POT (VARIAC) in minimum position.
3. Initially keep Armature and field voltage adjustment POT in minimum position.
4. Connect VPET - 300(A) module Armature output A and AA to motor Armature
terminal A and AA respectively.
5. Connect VPET - 300(A) module field output F and FF to motor Field terminal F and
FF respectively.

5
 Field Torque Constant:
a. Switch ON the power supply and SPST switches „ S1' and „S2'.
b. Adjust the Field voltage at 50% of rated value.
c. Apply 50% of armature voltage.
d. Apply the load by tightening belt.
e. Now, note down the field current and spring balance readings in the table - 6.
f. Increase the field current and repeat the step d & e up to rated field current.
g. .Plot the graph Torque vs Field current.

Armature torque constant:

i. Adjust the Field voltage to rated value.

ii. Apply the Armature voltage till the Motor run at rated speed.

iii. Apply load by tightening.

iv. Now, note down the armature voltage, current and spring balance reading in the
table-7.

v. Plot the graph Torque Vs Armature current (Ia) model graph is shown figure.

vi. Calculate the Torque constant from graph as shown below

MODEL GRAPH

Torque Vs Field Current (If) Torque Vs Armature Current (Ia)

Table -6

Field voltage Field S1 S2 S1 – S2 T = r(S1 – S2)(9.81)

current
(V) (kg) (kg) (kg) (N-m)
(I)

Where r = radius of brake drum = 0.075m

6
 Table-7

Armature Armature S1 S2 S1 – S2 T = r(S1 – S2)(9.81)

voltage current
(kg) (kg) (kg) (N-m)
(V) (I)

Moment of inertia is found from retardation test J =

MODEL CALCULATION:

Transfer function of Armature controlled DC servo motor =

Transfer function of field controlled DC servo motor =

RESULT:

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the
Experiment)

1. Write the difference between dc motor and dc servomotor?

2. Define Transfer function.

3. What are the various methods of speed control of dc motor?

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

7
Experiment No :
Date :

TRANSFER FUNCTION OF TWO PHASE AC SERVOMOTOR

AIM

To determine the motor constant K2, motor constant K1 to obtain the transfer function of AC
servo motor

EQUIPMENTS REQUIRED

1. Two phase A.C servo motor with Load setup.

2. VPET - 302 module
3. Patch chords.
4. Loads.
5. „a‟ pin „D‟ connector.

THEORY:

DETERMINATION OF AC SERVOMOTOR TRANSFER FUNCTION

Transfer function of A.C Servomotor is,

Where

using the graph find out the values of K1 and K2 and substitute in equation

The values of J and B are given here by the manufacturers

J = 52 gm/cm2 = 0.052 Kg cm2

B = 0.01875

To substitute the equation 2 & 3 in equation 1 then we get the AC servomotor Transfer
Function

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 PROCEDURE:

Motor constant K2 :

i. Initially keep variac is minimum position.

ii. Connect banana connectors “ P OUT” to “P IN” and “N OUT” to N IN (VARIAC

output terminal is connected to input of control winding)

iii. Connect 9 pin D-connector from motor feed back into input of, VPET-302 module.

iv. Switch ON the 230V AC supply to the motor setup.

v. Switch ON the power ON/OFF switch.

vi. Switch ON the S2 (main winding) and S1 (control winding).

vii. Vary the control voltage by using VARIAC and set the rated voltage (230V) to control
phase winding.

viii. Apply the load on the motor step by step up to motor speed reduced to0 rpm.

ix. For each step note the readings (Load and Speed) as shown in the table 1. Speed is
measured from LCD display.

10. To calculate the torque value.

11. Plot the graph Speed Vs Torque.

12. The slope of speed - torque curve given the motor constant K2.

Motor constant K1 :
i. Initially keep variac is minimum position of VPET - 302 module

ii. Connect banana connectors “ P OUT” to “P IN” and “N OUT” to N IN (VARIAC output
terminal is connected to input of control winding)

iii. Connect 9 pin D-connector from motor feed back into input of VPET-302 module.

iv. Switch ON the 230V AC supply to the motor setup.

v. Switch ON the power ON/OFF switch.

9
 vi. Switch ON the S2 (main winding) and S1 (control windings).

vii. Vary the control voltage by using VARIAC and set the rated voltage (230V) to
control phase winding.

viii. Apply the load on the motor step by step up to motor speed reduced to 0 rpm

ix. For each step note the load and control winding voltage is shown in the table 2.

x. To calculate the torque value.

xi. Plot the graph Torque Vs Control voltage.

xii. The slope of torque - control voltage curve gives the motor constant K1

Table -1

Speed (N) Load (s) Torque= 9.81 × r × s

S.No (rpm) (Kg) (Nm)

S = Applied load in kg

Table -2

Control Torque = Torque=

S. No Load (Kg) Voltage (Vc) 9.81 × r × s (Nm)

Radius of shaft in m. = 0.068 m

MODEL GRAPH:

10
MODEL CALCULATION:

RESULT:

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the
Experiment)

1. Write the difference between single phase induction motor and ac servomotor?

2. Define time constant.

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

11
Experiment No :
Date :

CLOSED LOOP POSITION CONTROL OF DC SERVOMOTOR

AIM:
(i) To obtain the closed loop position control of DC servomotor using P controllers
(ii) To obtain the closed loop position control of DC servomotor using PI controllers
(iii) To obtain the closed loop position control of DC servomotor using PI controller with
speed feedback.

APPARATUS REQUIRED:

APPARATUS TYPE RANGE QTY

PEC - 01 module 1

Motor Setup DC Servo motor 1

Patch Chords Required number

THEORY:

{Students are directed to write the theory with neat diagrams wherever necessary on their
own referring relevant books}

12
(i) Closed loop position control of DC servomotor using P controller
CONNECTION DIAGRAM:

PROCEDURE:

Connection Procedure
1. Connect the terminal P1 to P6 using patch chord.
2. Connect the motor actual position terminal P2 to P7 using patch chord.
3. Connect the terminal P8 to P10 and P12 to P17 using patch chords.
4. DC output from P24 & P25 is connected to the input of Permanent Magnet DC motor.

Experiment Procedure
1. Verify the connection as per the connection diagram and connection procedure.
2. Set the pulse release switch in OFF position.
3. Switch ON the power supply.
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4. Vary the set position knob and set the motor position at any value.
5. Select the SPDT switch in upward direction and note the input position in digital display.
6. Slightly vary the P control knob.
7. Switch ON the pulse release switch S2. Note the maximum overshoot or maximum
Position achieved by the motor.
8. Select the SPDT switch in downward direction and note the output position in digital
display.
9. Tabulate the input and output position and maximum overshoot in the tabular column
shown below.
TABULATION:

S.No Input Position Output Position Maximum Error

(degrees) (degrees) Overshoot (degrees)
(degrees)

OBSERVATIONS:

It is observed from the error that the set position equals the output position of the
motor.

Note: Small differences in the above are due to the controller and its gain values.

(ii) Closed loop position control of DC servomotor using PI controller

14
CONNECTION DIAGRAM:

PROCEDURE:
Connection Procedure
1. Connect the terminal P1 to P6 using patch chord.
2. Connect the motor actual position terminal P2 to P7 using patch chord.
3. Connect the terminal P8 to P10 and P9 to P11 using patch chords.
4. Connect the terminal P12 to P14 and P13 to P15 using patch chords.
5. DC output of P24 & P25 is connected to the input of Permanent Magnet DC (PMDC)
motor.
Experiment Procedure
1. Verify the connection as per the connection diagram and connection procedure.
2. Set the pulse release switch in OFF position.
3. Switch ON the power supply.
4. Vary the set position knob and set the motor at any position.
5. Select the SPDT switch in upward direction and note the input position in the digital
display.

15
6. Slightly vary the P and I control knobs.
7. Switch ON the pulse release switch S2. Note the maximum overshoot or maximum
position achieved by the motor.
8. Select the SPDT switch in downward direction and note the output position in the digital
display.
9. Tabulate the input and output position and maximum overshoot in the tabular column as
shown below.

TABULATION:

S.No Input Position Output Position Maximum Error

(degrees) (degrees) Overshoot (degrees)
(degrees)

OBSERVATIONS:

It is observed from the error that the set position equals the output position of the
motor.

Note: Small differences in the above are due to the controller and its gain values.

16
(iii). Closed loop position control of DC servomotor using PI controller with
speed feedback

CONNECTION DIAGRAM:

PROCEDURE:

Connection Procedure
1. Connect the terminal P1 to P6 using patch chord.
2. Connect the motor actual position terminal P2 to P7 using patch chord.

17
3. Connect the terminal P8 to P10 and P9 to P11 using patch chords.
4. Connect the terminal P12 to P14 and P13 to P15 using patch chords.
5. Connect the terminal P3 to P19 and P20 to P21 using patch chords.
6. DC output of P24 & P25 is connected to the input of permanent magnet DC motor.

Experiment Procedure
1. Verify the connection as per the connection diagram and connection procedure.
2. Set the pulse release switch in OFF position.
3. Switch ON the power supply and switch ON the power ON/OFF switch.
4. Vary the set position knob and set the motor at any position.
5. Select the SPDT switch in upward direction and note the input position in digital display.
6. Slightly vary the P gain control (1). I gain control and P gain control (2) knobs.
7. Switch ON the pulse release switch S2. Note the maximum overshoot or maximum
position achieved by the motor.
8. Select the SPDT switch in downward direction and note the output position in digital
display.
9. Tabulate the input and output position and maximum overshoot in the tabular column
shown below.

TABULATION:

S.No Input Position Output Position Maximum Error

(degrees) (degrees) Overshoot (degrees)
(degrees)

OBSERVATIONS:

It is observed from the error that the set position equals the output position of the motor.

Note: Small differences in the above are due to the controller and its gain values.

18
Result

Thus the closed loop Position Control of DC Servomotor using P, PI controllers and PI
controllers with speed feedback loop were performed and verified.

To be filled by the Staff

Marks awarded out of 10 :

Initials of the Staff with Date :

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the Experiment)

1. Give any four applications of position control systems

2. What is meant by servo control system?

3. Why closed loop control is is necessary for servo motors?

4. Write the difference between DC motor and DC servomotor?

5. What are the various types of speed control of DC motor?

6. What are the advantages of permanent magnet DC servomotors?

19
Experiment No :

Date :

AC SERVOMOTOR POSITION CONTROL SYSTEM

AIM
To obtain the closed loop position control of AC servomotor using PI controller

APPARATUS REQUIRED:

APPARATUS TYPE RANGE QTY

PEC - 02 module 1

Motor Setup AC Servo motor 1

Patch Chords Required number

THEORY:

{Students are directed to write the theory with neat diagrams wherever necessary on their
own referring relevant books}

Block Diagram of Automatic control system

20
 Basic block diagram of Position control
Precautions
1. Check whether power ON/OFF switch is in OFF condition.
2. Check whether 230V AC ON/OFF switch is in OFF condition.
3. Check whether main winding voltage 230V AC is in OFF condition.
Connection Procedure
1. Connect set position (SP) to error detector (SP) input.
2. Connect position feedback (PV) to error detector (PV) input.
3. Connect 12-0-12V output of centre taped transformer to input 12 - 0 -12V of power
circuit.
4. Connect output of power circuit to motor control winding (12V).

Pulse patching
Pulse Amplifier Output SCR

G1 G1
K1 K1
G2 G2
K2 K2
G3 G3
K3 K3
G4 G4
K4 K4

Procedure
1. Switch ON the trainer power ON/OFF.
2. Switch ON the constant 230V AC main winding voltage.
3. Switch ON the transformer primary 230V AC ON/OFF switch.
4. Set the motor position using set position knob and take the reading for set position
and output position and tabulate it in table 1.
5. Repeat the same procedure step by step up to 340°.
6. For each step note down set position and output position and tabulate it in table.
7. From the readings we know the set position and Output position.

21
TABULATION:
Sl.No Set Position Output Position

1.
2.
3.
4.
5.

OBSERVATIONS:

It is observed from the Table that the set position is equal to the output position of the motor.

Note: Small differences in the above are due to the controller and its gain values.

RESULT:
Thus the AC. Servomotor position control experiment was conducted and the readings
are tabulated.

To be filled by the Staff

Marks awarded out of 10 :

Initials of the Staff with Date :

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the
Experiment)

1. How does an ac servomotor differ from a normal two phase induction motor?

2. What are electric drive control devices?

3. What are the basic components of a closed loop control system?

4. What is the effect of feedback on stability?

5. Compare DC and AC servomotors.

6. What are the characteristics of servomotors?

22
Experiment No :
Date :
SYNCHRO TRANSMITTER/RECEIVER
AIM:
(i)To measure the Stator output voltage with respect to rotor position and plot the
graph.
(ii) To study the Rotor position of Synchro transmitter and Receiver
APPARATUS REQUIRED:

APPARATUS TYPE RANGE QTY

PEC-03 Trainer kit Synchro Transmitter / 1

Receiver
Patch Chords Required number

THEORY:

{Students are directed to write the theory with neat diagrams wherever necessary on their
own referring relevant books}

(i). To measure the Stator output voltage with respect to rotor position

PROCEDURE:
1. Connect Digital Voltmeter across the any two Stator output of Synchro transmitter.
2. Connect Synchro transmitter stator outputs to corresponding Stator terminals of
Synchro Receiver.
3. Power „ON‟ the all ON/OFF Switches
4. Verify the Stator output voltage of 0V at 0 degree, if it is not make 0V at 0 degree to
adjust the pointer of both transmitter and Receiver.
5. Adjust the transmitter rotor position Step by Step.
6. Now note down the output voltage for various rotor position in the table 1.
7. Repeat the Same procedure for other pair of Synchro transmitter coils.
TABULATION:

SI.No Synchro Transmitter

Rotor Position Stator Output (v)
(degrees)

23
Model graph

Note:
The following table is used to Synchro transmitter Stator Output Voltage for various
Rotor positions.
Rotor Position(
Sl.No. Stator Output (V)
degree)

1 0° and 180° 0V

2 0° to 90° 0V to 34V

3 90° to 180° 34V to 0V

4 180° to 270° 0V to 34V

5 270° to 360° 34V to 0V

(ii). To study the Rotor position of Synchro transmitter and Receiver

PROCEDURE:
1. Connect Digital Voltmeter across to the any two Stator output of Synchro
transmitter.
2. Connect Synchro transmitter stator outputs to corresponding Stator terminals
of Synchro receiver.
3. Power „ON‟ the all ON/OFF Switches

24
 4. Verify the Stator output voltage 0V at 0 degree, if it is not make 0V at 0
degree to adjust the pointer of both transmitter and Receiver.
5. Adjust the transmitter rotor position step by step by using knob
6. Now note down the rotor position of transmitter and receiver in the table-2.

TABULATION:

Sl.No. Synchro Synchro Error = Rotor

Transmitter Receiver Rotor position
Rotor Position position (degree) (Transmitter -
(degree) Receiver)

RESULT:
Thus the Synchro transmitter Stator output voltage with respect to rotor position and the
Rotor Position of Synchro transmitter and Receiver were studied and the graph was plotted

To be filled by the Staff

Marks awarded out of 10 :

Initials of the Staff with Date :

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the Experiment)

1. What is synchro?
2. What are the commercial names of synchro?
3. What is synchro pair? What for is it used?
4. What is electrical zero position of a synchro transmitter?
5. What are the applications of synchros?
6. What is aligned position of a synchro pair?

25
Experiment No :
Date :
CLOSED LOOP SPEED CONTROL OF A.C. SERVOMOTOR USING
TACHO GENERATOR AND PID CONTROLLER
AIM:
To control the speed of two phase AC servo motor with tacho generator feedback:
a. Open loop method b. closed loop method.
APPARATUS REQUIRED:
S.No. Name of the Type / Spec Range/Value Qty
Apparatus
1. DC Servo Motor Setup
2. ITB - PEC00ST Unit
3. Digital Multimeter /
DSO
4. Patch Chord.
5. 9 - 9 pin cable
6. Power chord

THEORY:
{Students are directed to write the theory with neat diagrams wherever necessary on
their own referring relevant books}

Front Panel Diagram

Precaution
1. Initially all switching should be under off condition.
2. Never short connector P1 & P2 (12V AC supply)
3. Always follow the direction of rotation as mentioned.

26
Procedure
1. Connect motor main winding module main supply to 230V AC supply mains.
2. Connect P1 & P2, P3 & P4 connectors.
3. Connect the pulse output MT1, G1 of controller circuit to MT1, G1 of TRIAC section.
4. Connect P5, P6 terminal to auxillary winding of motor using patch chord.
5. Connect the motor feedback using 9 to 9 pin cable.
A. Open loop method
1. Switch ON the power ON/OFF switch.
2. Switch ON the pulse release switch (S1).
3. Switch On the 12V AC supply switch (S2).
4. As soon as the controller is energized the LCD will display as below,
Vi Microsystems
Pvt. Ltd.,

1.OPEN LOOP
2. CLOSED LOOP
5. Select open loop using increment key, the display will as below,
OPEN LOOP
Set Angle = 180o
Actual speed = 0
6. Increase the firing angle using increment key, the motor starts to run and the display on the
LCD as
shown below,
OPEN LOOP
Set Angle = 150o
Actual speed = 600
7. Vary the speed as required using increment and decrement key and observe the corresponding
response.
8. Signals at the test points can be viewed and variation can be observed through CRO at different
speeds.
9. Note down the firing angle and speed at each step and tabulate.
B. Closed loop method
1. Switch ON the power ON/OFF switch.
2. Switch ON the pulse release switch (S1) .
3. Switch On the 12V AC supply switch (S2).
4. Select closed loop using decrement key, the display will be as below,

Enter Kp value .020

5. Press Enter key the display will as below,

Enter Ki value 0.005

6. Press Enter key the display will as below,
Closed Loop
Set speed : 200
Act speed : 0
7. The motor starts to run in the actual speed trying to match the set speed by controller using
tacho generator.

27
8. Once the two speeds becomes same, vary the speed as desired using increment & decrement
key. Allow the actual speed of motor to match the set speed. The actual speed may settle down at
±20rpm with set speed.
9. To load the motor, add the disc weight provided one by one to the loading hook provided. At
each value of set speed observe the closed loop operation under loading condition.

Tabulation

S.No Set Speed Actual Speed Error

Result
Thus the speed control of two phase AC servo motor with tacho generator feedback using both
the methods

a. Open loop method b. closed loop method are studied.

To be filled by the Staff

Marks awarded out of 10 :

Initials of the Staff with Date :

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the
Experiment)
1. What is meant by servomechanism?
2. What is the working principle of AC servo motor?
3. What is the purpose of AC servomotor?
4. List the components of AC position control?
5. How is position control achieved?
6. List out the applications of AC servomotors?
7. What is meant by the dynamic response of DC servomotor?
8. What is the difference between AC and DC servomotors?
9. List the advantages of AC servomotor.
10. List the different servo modes used?

28
Experiment No :
Date :
CLOSED LOOP SPEED CONTROL OF D.C. SERVOMOTOR USING
TACHO GENERATOR AND PID CONTROLLER
AIM:
To control the speed of two phase DC servo motor with tacho generator feedback and PID
controller:
a. Open loop method with PI controller. b. Closed loop method with PI controller. c.
Disturbance rejection of the system under open loop and closed loop for various conditions.
APPARATUS REQUIRED:
S.No. Name of the Apparatus Type / Spec Range/Value Qty
1. Two phase AC servo motor setup
2. Feedback cable
3. Patch chord
4. Power chord.

THEORY:
{Students are directed to write the theory with neat diagrams wherever necessary on
their own referring relevant books}

Front Panel Diagram

Precaution
1. Initially all switching should be under off condition.
2. Never short connector P1 & P2 (12V AC supply)
3. Always follow the direction of rotation as mentioned.

29
Procedure

A. Study of open loop system with PI controller

1. Before switch on the unit,
i) The EXT/INT switch should be in INT mode.
ii) The Integral open/close switch in close (OL) mode.
iii) The signal conditioner open/close switch in close (OL) mode.
iv) Interface the sensor and motor with module
2. Initially the pulse ON /OFF switch should be in OFF mode
3. Switch ON the unit.
4. Pulse ON /OFF switch should be in ON mode
5. Set the speed reference voltage Vr = 5V.
6. Adjust the proportional gain and integral reset time so that the motor turns without any
Oscillation at 1500 rpm
[Keep kp adjust pot and T1 adjust pot approximately around their middle position]
7. Observe the No Load speed of the motor. The motor will be running very much closed
to 1500 rpm. Compare the no load speed with P controller alone. The no load speed with
P controller will be much less than 1500 rpm. This is because the closed loop system with
P-controller can work only with a certain steady state error.
8. Apply eddy current loading, by moving the brake magnet close to the disc. Apply the load
in such a way that the motor current increases by 0.25A, for each step. Measure the
motor voltage, current and speed. Note down the readings.
9. Reduce the load and switch OFF power.
10. Calculate the following
(i) % change in speed = [(Noload speed – Actual speed)/(Full scale division)]X100
ii) Torque T = kt Ia . N.m
where kt = Torque constant N.m /amp.
= kb
iii) Plot the speed Vs. TL characteristics

Speed - Torque Characteristics with PI controller

11. Compare the speed torque characteristics on open load and with P controller. It will be
noticed that speed will be close to the set speed with PI controller. Speed regulations will
be much better with P-I controller.

30
 Note:
If the motor current exceeds 1.5A, the speed regulation will be poor as the controller
output is limited to protect the motor against overloading. i.e. the output voltage of the
power amplifier will not increase further.
Table-1
Kt = 0.064, VR = 5V, Set speed NS = 1500 rpm or s - 157.1 rad/sec
Sl.No Brake Va (V) Ia (A) N (rpm) ω T % Change
Setting (rad/sec) (N.m) in Speed
1.
2.
3.
4.
5.

B. Study of closed loop system with PI controller

1. Before switch on the unit,
i) The EXT/INT switch should be in INT mode.
ii) The Integral open/close switch in close (CL) mode.
iii) The signal conditioner open/close switch in close (CL) mode.
iv) Interface the sensor and motor with module.
2. Initially the pulse ON /OFF switch should be in OFF mode .
3. Switch ON the unit.
4. Pulse ON /OFF switch should be in ON mode .
5. Set the speed reference voltage Vr = 5V.
6. Adjust the proportional gain and integral reset time so that the motor tuns without any
oscillation at 1500 rpm.
[Keep kp adjust pot and T1 adjust pot approximately around their middle position]
7. Observe the No Load speed of the motor. The motor will be running very much closed
to 1500 rpm. Compare the no load speed with P controller alone. The no load speed with
P controller will be much less than 1500 rpm. This is because the closed loop system with
P-controller can work only with a certain steady state error.
8. Apply eddy current loading, by moving the brake magnet close to the disc. Apply the load
in such a way that the motor current increases by 0.25A, for each step. Measure the
motor voltage, current and speed. Note down the readings.
9. Reduce the load and switch OFF power.
10. Calculate the following
(i) % change in speed = [(Noload speed – Actual speed)/(Full scale division)]X100
ii) Torque T = kt Ia . N.m
where kt = Torque constant N.m /amp.
= kb
iii) Plot the speed Vs. TL characteristics

31
 Speed - Torque Characteristics with PI controller
11. Compare the speed torque characteristics on open load and with P controller. It will be
noticed that speed will be close to the set speed with PI controller. Speed regulations will
be much better with P-I controller.
Note:
If the motor current exceeds 1.5A, the speed regulation will be poor as the controller
output is limited to protect the motor against overloading. i.e. the output voltage of the
power amplifier will not increase further.
Table 2 Closed Loop Speed Control System with PI controller
Kt = 0.064, VR = 5V, Set speed NS = 1500 rpm or s - 157.1 rad/sec
SI No Brake Va (V) Ia (A) N (rpm) ω T N.m % Change
Setting (rad/sec) in Speed
1.
2.
3.
4.
5.

C. Study of disturbance rejection with P and PI controllers for various of gains

1. Before switch on the unit,
i) The EXT/INT switch should be in INT mode.
ii) The Integral open/close switch in open (OL) mode .
iii) The signal conditioner open/close switch in open (OL) mode.
iv) Interface the sensor and motor with module .
2. Initially the pulse ON /OFF switch should be in OFF mode.
3. Switch ON the unit.
4. Pulse ON /OFF switch should be in ON mode.
5. Adjust Vref and kp so that the motor runs at 1000 rpm.
6. Apply eddy current braking in steps, such that the motor current increases by 0.25 for
each step.
7. Note down the motor current and speed as shown in table.
8. Reduce the load and switch OFF power.

32
9. The Integral open/close switch in open (OL) mode. The signal conditioner open/close
switch in close (CL) mode.
10. Switch ON power and run the motor.
11. Set Vref corresponding to a set speed of 100 rpm ie V ref = 5/1500 * 1000 = 3.33V and
adjust proportional gain k p = 2, by measuring Verror and Vc.
12. Repeat steps 3 to 5.
13. Reduce the load, and now set kp = 10, as described in step 11.
14. Repeat steps 3 to 5.
15. Reduce the load and switch OFF power.
16. Set the controller to PI. The Integral open/close switch in close (CL) mode, The signal
conditioner open/close switch in close (CL) mode.
17. Switch ON power and set kp = 2. Adjust T1 so that the motor runs without any
oscillation.
18. Repeat steps 3 to 5.
19. Reduce the load, and set the proportional gain kp=10.
20. Repeat steps 3 to 5.
21. Reduce the load and switch OFF power.
22. From table the following conclusions can be drawn.
i) Speed drops drastically with load on open loop.
ii) The drop in speed with load is smaller on closed loop.
iii) The speed regulation improves with proportional gain k p when P-Controller alone
is used. This is because the steady state error decreases with kp.
iv) The speed regulation is much better with PI controller, since the steady state error
is zero in this case.
v) The variation in proportional gain k p with PI controller does not affect the steady
state performance. It may affect the transient response of the system.
23. Plot the Speed - Torque characteristics for various conditions and study.
Table 3 Study of Disturbance Rejection
Set Speed = 1000 rpm
S.No Condition Speed in rpm
Brake Setting
Ia Ia Ia Ia Ia
(0.50amps) (0.75amps) (1amps) (1.25amps) (1.50amps)
1. Open loop
2. Closed Loop
P control with
gain 2
P control with
gain 10
PI control with
gain 2
PI control with
gain 10

33
Result
Thus the speed control of two phase AC servo motor with tacho generator feedback by
both the methods a. Open loop method with PI controller b. closed loop method with PI
controller. c. Disturbance rejection of the system under open loop and closed loop for various
conditions are studied.

To be filled by the Staff

Marks awarded out of 10 :

Initials of the Staff with Date :

Viva-Voce Questions based on the experiments conducted

(To be noted down by the student and answered after the completion of the
Experiment)
1. What is a servomotor?
2. What is the working principle of DC servomotor?
3. What is the purpose of DC servomotor?
4. Name the components of DC position control.
5. How is position control achieved?
6. Mention the applications of DC servomotors.
7. What is meant by dynamic response of DC servomotor?
8. Compare AC and DC servomotors.
9. List the merits of DC servomotor.
10. List the different servo modes used.

34
Experiment No:
Date :
POLE-ZERO PLOT OF A TRANSFER FUNCTION

AIM

The polynomial form of the transfer function is . Obtain the model

of the system as ZPK plot. Extract its poles, zeros and gain and also obtain the time domain
specifications using MATLAB.

COMPONENTS NEEDED

PC Loaded with MATLAB Software

PROCEDURE

1. Create a „ *.m‟ file to type the program

2. Feed the transfer function polynomial
3. Plot the Zero-Pole –Gain (ZPK) for the given transfer function and observe the poles
and zeros location.
4. Plot the step response for the given transfer function and observe the corresponding
time domain specifications
SYSTEM ANALYSIS

For the system transfer function , the zeros and poles are
calculated as,

Zeros: -1, -8

Poles: -0.4913+j1.2416, -0.4913-j1.2416, -0.9575, -14.06

PROGRAM

% Enter the numerator and Denominator of the transfer function

clc;
num = input('enter numerator:')
den = input('enter denominator:')
h = tf([num],[den])
zpk(h)
[z,p,k] = zpkdata(h)
p = pole(h)
z = zero(h)
zplane(z,p)
step(h)

35
OUTPUT:

2
Imaginary Part

-2

-4

-6
-14 -12 -10 -8 -6 -4 -2 0
Real Part

Fig.1 Pole-Zero plot for G(s)

Step Response
1.8

1.6 System: h
Peak amplitude: 1.7 System: h
Overshoot (%): 27.5 Settling time (seconds): 7.98
1.4 At time (seconds): 2.53

System: h
1.2 Final value: 1.33
System: h
Amplitude

Rise time (seconds): 1.07

1

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (seconds)

Fig.2 Step response of G(s)

Viva-Voce Questions based on the experiments conducted

36
(To be noted down by the student and answered after the completion of the
Experiment)

1. What is the impact of poles and zeros in system response

2. If a pole is closer to origin in a „s‟ plane, then what about settling time of the system.

3. If a pole is far away from the origin in a „s‟ plane, then what about the settling time of
the system.

4. When the system have multiple real roots, then what about the system condition

5. Define settling time

6. Define rise time

7. Define peak overshoot

8. Define settling time

RESULT:

Thus the ZPK plot and time domain specifications for the given system transfer function were
obtained.
To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

37
Experiment No:
Date :

TIME RESPONSE OF FIRST ORDER SYSTEM FOR UNIT STEP AND RAMP
SIGNALS USING MATLAB AND SIMULINK
Aim

To obtain the unit step and ramp responses of given first order system using
MATLAB.
Components Needed

S.No. Requirement

1 PC with MATLAB software

SYSTEM MODELLING

Figure 1 Flow metering valve with an actuator

Consider a system which consists of flow metering valve and actuator shown in
Figure 1. The input to the system is movement of the valve x i. This allows a flow of oil into
the cylinder of Q m3/s which makes the cylinder move a distance of X o.
Making a assumption that for a constant supply pressure the flow rate is directly
proportional to the valve position and is given by,

38
 Q=kv xi
Where,
kv= Valve constant in m2/s
dx 0
The area of the piston is A m2. The velocity of the actuator is v  and this
dt
related to the piston area by the law of continuity such that,
dx 0
Q  k vxi  A (1)
dt
Applying the Laplace transform to Equation (1),

Step response of first order system

1400

1200

1000

800
y output

600

400

200

0
0 5 10 15 20 25 30 35 40
t (seconds)

39
 4
x 10 Ramp response of first order system
3

2.5

y output
1.5

0.5

0
0 5 10 15 20 25 30 35 40
t (seconds)

k v Xi (s)  AsX 0 (s) (2)

Equation (2) is represented in the transfer function form as,

X 0 (s) 1
G(s)  kv  (3)
X i (s) A
 s
 kv 

A
The units of is seconds and it is deduced into another time constant as T.
kv

1
.
G(s) 
.. Ts (4)

 1 
Note that this is not quite the standard first order equation   and the
 Ts  1
difference is that the output will keep changing for a given input. If the actuator is a motor
instead of a cylinder the equation is similar but the output is angle instead of linear motion.

Consider a hydraulic cylinder has bore of 90mmand is controlled with a valve with a
constant kv= 0.2 m2/s.

πD 2
Area of the cylinder, A   6.362  10 3 m 2 .
4

40
 A
T  0.032 Seconds
kv

1 1
G(s)  
Ts 0.032s

The step and ramp responses of the system with transfer function G(s) are simulated
through the MATLAB software.

Program Code

% Program for first order system transfer function

clc;
clear;
s=tf(„s‟);
num=[1];
den=[0.032 0];
disp('The transfer function of first order system is');
G=tf(num,den)
step(G)
title('Step response of first order system');
xlabel('t');
ylabel('y output');
figure
G1=(G/s);
ramp(G1)
title('Ramp response of first order system');
xlabel('t');
ylabel('y output');

41
Viva-Voce Questions based on the experiments conducted
(To be noted down by the student and answered after the completion of the
Experiment)

1. What are the standard test signals?

2. Give the mathematical expression for step function

3. State the another name for ramp function

4. Give some real time examples for ramp function

5. State the relation between step and ramp signals

RESULT

Thus the step and ramp responses for the given first order system were obtained using
MATLAB.

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

42
Experiment No:
Date :
TIME RESPONSE OF SECOND ORDER UNDAMPED AND UNDERDAMPED
SYSTEM FOR UNIT STEP SIGNAL USING MATLAB
Aim
To obtain the time response of second order undamped and underdamped system for
unit step signal using MATLAB.
Components Needed

S.No. Requirement

1 PC with MATLAB software

Procedure
1. Consider the second order undamped and underdamped system transfer functions
as and respectively.

2. Write a program to obtain the time response of the second order undamped and under
damped system for unit step signal.
3. Simulate the response of given second order system using Simulink for both the cases.
Program
clc;
clear;
Num=[1 0];
Den=[1 10 500];
G=tf(Num, Den)
Omegan=sqrt(Den(3))
Zeeta=Den(2)/(2*Omegan)
Ts=4/(Zeeta*Omegan)
subplot(211)
step(G)
title('Step response of underdamped system');
Num1=[1 0];
Den1=[1 0 500];
G1=tf(Num1, Den1)

43
Omegan1=sqrt(Den1(3))
Zeeta1=Den1(2)/(2*Omegan1)
Ts1=4/(Zeeta1*Omegan1)
subplot(212)
step(G1,1)
title('Step response of undamped system');
Simulation Results
For an underdamped system with the transfer function G(s),

For an undamped system with the transfer function G1(s),

Step response of underdamped system

0.04
Amplitude

0.02
System: G
Settling time (seconds): 0.818
0

-0.02
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Time (seconds)

Step response of undamped system

0.05
Amplitude

-0.05
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (seconds)

44
Viva-Voce Questions based on the experiments conducted
(To be noted down by the student and answered after the completion of the
Experiment)

1. Define undamped system

2. Define underdamped system

3. State the general second order system transfer function

4. What is the impact of damping ratio on system transient?

5. Why the step response is preferred over other test signals?

RESULT

Thus the step and ramp responses for the given first order system were obtained using
MATLAB.

To be
To filled
be filled
by the
by the
Faculty
Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

45
Experiment No:
Date :

TIME RESPONSE OF SECOND ORDER CRITICALLY AND OVERDAMPED

SYSTEM FOR UNIT STEP SIGNAL USING MATLAB
Aim
To obtain the time response of second order critically damped and overdamped
system for unit step signal using MATLAB.

Components Needed

S.No. Requirement

1 PC with MATLAB software

Procedure
1. Consider the second order critical damped and overdamped system transfer functions
as and respectively

2. Write a program to obtain the time response of the second order critically damped and
over damped system for unit step signal.
3. Simulate the response of given second order system using Simulink for both the cases.

Program
clc;
clear;
Num=[4];
Den=[1 4 4];
G=tf(Num, Den)
Omegan=sqrt(Den(3))
Zeeta=Den(2)/(2*Omegan)
subplot(211)
step(G)
title('Step response of critical damped system');
Num1=[4];
Den1=[1 5 4];
G1=tf(Num1, Den1)

46
Omegan1=sqrt(Den1(3))
Zeeta1=Den1(2)/(2*Omegan1)
subplot(212)
step(G1,10)
title('Step response of overdamped system');
Simulation Results
For the critical damped system with the transfer function G(s),

For an over damped system with the transfer function G1(s),

Step response of critical damped system

1
System: G
Settling time (seconds): 2.92
Amplitude

0.5

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time (seconds)

Step response of overdamped system

1
System: G1
Settling time (seconds): 4.2
Amplitude

0.5

0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

47
Viva-Voce Questions based on the experiments conducted
(To be noted down by the student and answered after the completion of the
Experiment)

1. Define critical damped system

2. Define over damped system

3. State the impact of critical and over damping conditions on system transient.

4. When the order of the system increases, how the system stability is getting affected?

RESULT

Thus the step and ramp responses for the given first order system were obtained using
MATLAB.

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

48
Experiment No:
Date :

STABILITY ANALYSIS USING BODE PLOT AND POLAR PLOT USING MATLAB

Aim
To obtain the bode plot and polar plot of the given system whose transfer function is given

by and find whether the system is stable or not.

Components Needed

S.No. Requirement

1 PC with MATLAB software

Procedure

(a) Stability analysis using bode plot

1. Draw the bode plot for the given system transfer function and obtain the gain
margin and phase margin values.
2. Write a program to obtain the bode plot for the given system using MATLAB.
3. Access the stability of the system using the plots obtained.
4. Compare the theoretical and simulation results to verify the results.

(b) Stability analysis using polar plot

1. Draw the polar plot for the given system transfer function and obtain the gain
margin and phase margin values.
2. Write a program to obtain the polar plot for the given system using MATLAB.
3. Access the stability of the system using the plots obtained.
4. Compare the theoretical and simulation results to verify the results.

49
Program

Stability analysis using bode plot

% bode plot of the given system

% Enter the numerator and denominator of the transfer function
num = [0 0 0 242 1210];
den = [1 6 126 121 0];
sys = tf(num,den)
% specify the frequency range and enter the command
w= logspace(-2,4,1000);
bode(sys,w)
xlabel('Frequency')
ylabel('phase angle in degrees and Magnitude of G(s)')
% To determine the gain margin, phase margin, gain cross over frequency and % phase cross
over frequency.
[Gm, Pm, Wcp, Wcg] = margin(sys)

Stability analysis using polar plot

clc;
clear;
num = [0 0 1];
den = [1 1 0];
sys = tf(num,den)
w=0.1:0.1:100;
[re,im,w]=nyquist(num,den,w);
polar(re,im,w);
plot(re,im)

50
 Output

sys =

242 s + 1210
-----------------------------
s^4 + 6 s^3 + 126 s^2 + 121 s

Continuous-time transfer function.

Gm =2.0273 ;Pm =41.8270; Wcp =10.0961; Wcg =3.6322

Simulation Results

Bode Diagram
100 System: sys
Gain Margin (dB): 6.14
At frequency (rad/s): 10.1
Closed loop stable? Yes
Magnitude (dB)

0
phase angle in degrees and Magnitude of G(s) (deg)

-100

-200
-90

-135
System: sys
-180 Phase Margin (deg): 41.8
Delay Margin (sec): 0.201
At frequency (rad/s): 3.63
-225 Closed loop stable? Yes

-270
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10 Polar plot
Frequency (rad/s)

51
Viva-Voce Questions based on the experiments conducted
(To be noted down by the student and answered after the completion of the
Experiment)

1. Define gain margin

2. Define phase margin

3. Define gain crossover frequency.

4. Define phase crossover frequency.

5. How the stability of the system can be justified based on phase margin and gain
margin values?

RESULT

Thus the stability of the given system was analyzed using bode plot and polar plot in
MATLAB.

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

52
Experiment No:
Date :

STABILITY ANALYSIS USING NYQUIST PLOT USING MATLAB

Aim
To obtain the Nyquist plot of the given system whose transfer function is given as
and find out whether the system is stable or not.

Components Needed

S.No. Requirement

1 PC with MATLAB software

Procedure

1. Write a program to obtain the nyquist plot for the given system using MATLAB.
2. Access the stability of the system using the plots obtained.
Program

Stability analysis using nyquist plot

% Nyquist plot of the given system
% Enter the numerator and denominator of the transfer function
num = [0 0 0 50];
den = [1 7 12 12];
sys = tf(num,den)
% specifies the frequency range and enter the command
nyquist(sys)
v=[-3 5 -7 7]
axis(v)
xlabel('Real axis')
ylabel('Imaginary axis')
% To determine the gain margin, phase margin, gain cross over frequency and % phase cross
over frequency.
[Gm, Pm, Wcp, Wcg] = margin(sys)

53
Output
sys =

50
-----------------------
s^3 + 7 s^2 + 12 s + 12

Continuous-time transfer function.

v=

-3 5 -7 7

Gm = 1.4402; Pm = 11.1642; Wcp =3.4643; Wcg = 2.9533

Simulation Results

Nyquist Diagram

2
Imaginary axis

0
System: sys
Gain Margin (dB): 3.17
-2 At frequency (rad/s): 3.46
Closed loop stable? Yes

-4

-6

-3 -2 -1 0 1 2 3 4 5
Real axis

54
Viva-Voce Questions based on the experiments conducted
(To be noted down by the student and answered after the completion of the
Experiment)

1. State Nyquist stability criterion

2. State the merits of stability analysis using Nyquist stability criterion

3. List out stability analysis methods

4. Define relative stability.

5. Define absolute stability

RESULT

Thus the stability of the given system was analyzed using nyquist in MATLAB.

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

55
Experiment No:
Date :

STABILITY ANALYSIS USING ROOT LOCUS TECHNIQUE USING MATLAB

Aim
To obtain the Root locus plot of the given system whose transfer function is given
as and find out whether the system is stable or not (Theoretical and

MATLAB simulation).

Componnts Needed

S.No. Requirement

1 PC with MATLAB software

Procedure

1. Write a program to obtain the root locus for the given system using MATLAB.
2. Access the stability of the system using the plots obtained.

Program
Stability analysis using root locus

% Root Locus of the given System

% Enter the numerator and denominator of the transfer function
num = [0 0 0 0 1];
den = [1 6 20.25 33.75 0];
sys = tf(num,den)
rlocus (sys)
v=[-10 10 -8 8]
axis(v)
xlabel('Real axis')
ylabel('Imaginary axis')

56
Simulation Results

Root Locus
8

4
Imaginary axis (seconds-1)

-2

-4

-6

-8
-10 -8 -6 -4 -2 0 2 4 6 8 10
-1
Real axis (seconds )
Viva-Voce Questions based on the experiments conducted
(To be noted down by the student and answered after the completion of the
Experiment)

1. Define centroid

2. Define breakaway point

3. Define break in points

4. Define marginally stable system

5. State the conditions for system stability conditions based on poles and zeros locations

RESULT

Thus the stability of the given system was analyzed using root locus in MATLAB.

To be filled by the Faculty

Marks awarded out of 10 :

Initials of the Faculty with Date :

57