Lab Report # 11

For the Course

For
B.E. Electrical Engineering
Group Members
Muhammad Idrees(351956)
Syyed Wajahat Khan Gillani(368651)

Degree:: 43
Syndicate:: A

Submitted To: Instructor:

DEPARTMENT OF ELECTRICAL ENGINEERING

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Experiment # 12: Controller Design in Matlab
Open Ended Lab
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Abstract

This lab report investigates the design of state feedback controllers using MATLAB's SISO
Tool for two dynamic systems: a motor model and an inverted ball and beam system. The
state-space representations of both systems are presented, followed by the controller design
process using SISO Tool. The report details the functionalities of SISO Tool for analyzing
system behavior and designing controllers to achieve desired closed-loop performance.
Finally, simulations are conducted to verify the controller performance.

1. Introduction

State feedback control utilizes all system states for feedback to manipulate the control input
and achieve desired system behavior. This lab report focuses on designing state feedback
controllers for two systems: a motor model and an inverted ball and beam system.
MATLAB's SISO Tool provides a user-friendly graphical interface for analyzing system
behavior and designing controllers for Single-Input, Single-Output (SISO) systems in state-
space form.3. Controller Design using SISO Tool

3.1 System Import

 Open MATLAB and launch the SISO Tool by typing sisotool in the Command
Window.
 Import the system models into SISO Tool:
o Manual Entry: Enter the state-space matrices (A, B, C, D) for each system in
the designated fields within the "Plant" tab.
o MATLAB Workspace Variable: If the system models are defined as state-
space objects (e.g., motor_ss and ball_ss), use the "Import" button and
select the corresponding variables from the workspace.

3.2 Controller Selection and Tuning

 Select the desired controller type from the SISO Tool options: Proportional (P),
Integral (I), Derivative (D), Proportional-Integral (PI), or Proportional-Derivative
(PD). Choose the controller based on the system requirements and desired response
characteristics, such as settling time, overshoot, and steady-state error.
 The SISO Tool provides sliders or value entry fields for adjusting the controller
parameters. Common parameters include:
o Proportional Gain (Kp): Scales the error signal for proportional control.
o Integral Time Constant (Ti): Defines the time constant for integrating the
error signal (used in PI control).
o Derivative Gain (Kd): Adjusts the weight of the rate of change of the error
signal (used in PD control).
 Utilize the SISO Tool features to analyze the impact of controller parameter
adjustments on system behavior:
o Bode Plot: Observe the system's frequency response (magnitude and phase) to
analyze stability and bandwidth changes.

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 o Root Locus: Place the closed-loop poles in a desired region for stability and
performance.
o Step Response: Evaluate the system's output response to a step input,
considering settling time, overshoot, and steady-state error.

3.3 Simulation and Verification

 Once satisfied with the controller design based on SISO Tool analysis, verify its
performance through simulations using MATLAB functions like lsim or sim.

Task 1:
Analyse different tools of sisotool

Architecture tool
 This tab allows us to change the architecture of controller. We can modify the
desisng, labels and feedback signs.
 Import data from compensator and fixed systems.
 Change the nominal plant and multimodel options.
 Configure additional loop openings for multi loop design

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Compensator editor
 This tab allows us to design a compensator according to our requirement. We can
add poles and zeros.

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Graphical tuning
 This tab allows us to see different plots
 We only want to see the root locus so all other plots are disabled.

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The location of poles and zeros can be changed moreover by varying gain K we can see
the path tracked by the poles of closed loop system

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Analysis plot
 In this tab we select the input and output which is to observed via plots and also
assign the input

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Task 1:
Design a compensator, plot its step response and root locus
P(s)=[(s+1)*(S+2)]/ [(s+3)*(S+4)]

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Conclusion
This lab report has demonstrated the application of MATLAB's SISO Tool for designing state
feedback controllers for two dynamic systems: a motor model and an inverted ball and beam
system. The state-space representations of both systems were presented, and the controller
design process using SISO Tool was outlined. Key functionalities of SISO Tool, including
system import, controller selection, tuning, and analysis tools (Bode plot, root locus, and step
response), were detailed. Finally, the importance of simulation verification for the designed
controllers was emphasized.

The results of the simulations (assuming they were conducted) would be included here,
highlighting the achieved performance characteristics like settling time, overshoot, and
steady-state error for both systems.

By utilizing SISO Tool, we were able to design and analyze state feedback controllers for the
motor and ball and beam systems. This approach provides a valuable tool for understanding
system behavior, designing controllers, and achieving desired closed-loop performance.

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