UNIVERSITY OF BUEA (UB)

FACULTY OF ENGINEERING AND TECHNOLOGY

SECOND SEMESTER OF 2024/2025 ACADEMIC YEAR
Course Code EEF460 Course Title FEEDBACK SYSTEMS LABORATORY
Electrical and Electronic
Course Status C Credit Value 4 Department Engineering

Day Time Venue EE-Lab

Dr. Engr. Musong Louis/ Dr. Engr. Ayuketah Yvan/ Engr. Ajua C./
Course Instructor(s) Engr. Tiku F./ Engr. Dam A./ Engr. Ayamba K./ Engr. Joseph N.

Course Objectives
At the end of this practical course, students will be able to:
➢ Model systems mathematically, obtain transfer functions, and simulate them using
MATLAB/Simulink.
➢ Measure the response of systems to typical signals, including step, impulse, and ramp
inputs
➢ Evaluate time and frequency responses for different systems
➢ Design and test controllers for different applications
Requirements

➢ A computer with MATLAB (any version from 2016) Installed

Prerequisite

➢ Students must have taken the course EEF467: Feedback Systems

Course Outline

Chapter Outline of the Chapter

Experiment 1: ➢ Introduction to Matlab and Simulink for transfer systems
System Modeling and Simulation modeling and simulations
➢ Modeling and simulation of a series RLC electrical network
➢ Modeling and simulation of mechanical systems
Experiment 2: ➢ Poles and Zeros
Time Response of Dynamic Systems ➢ Time Response of Dynamic Systems
Experiment 3: ➢ System stability analysis through pole location
Stability And Steady-State Error ➢ Analysis of steady-state error
Analysis and Design of Systems
Experiment 4: ➢ Plotting of Root-Locus diagrams and stability analysis for
Root Locus Analysis of Systems first and second order systems
Experiment 5: ➢ Tuning of Controllers (Proportional, PI, PD and PID
Tuning of Controllers controllers)

Experiment 6: ➢ Feedback control and application to buck/boost converter

Project design, PLL system

Experiment 7: ➢ Manual Liquid level Control in a typical system

Feedback and Application to Liquid ➢ Automatic liquid level control using PID controller
Level control
Experiment 8: ➢ Use a Programmable logic controller for elevator control with
Feedback and Application to the typical implementation of feedback loops.
control of an elevator Cabin

Outcomes
At the end of this course, student should be able to:
➢ Model and test different feedback systems using their transfer functions
➢ Design controllers for different applications
➢ Develop the capacity to use feedback control instrumentation as well as capacity to
implement feedback control systems
Rules to Follow
i) No student without a lab jacket will be given access to the laboratory. Students are
expected to wear closed shoes.
ii) All students MUST have at least a 60 leaves exercise book in which pre-lab exercises
will be done. This book will be marked and the marks will be considered during the
compilation of the final CA and EXAMINATION marks.
iii) Attendance is compulsory and the only justification for being absent is a medical report
signed by the University of Buea Health Unit. Any student who is absent without
justification will not be given the attendance and experimental marks for that session.
iv) Late coming is not allowed. Any student who comes late to the laboratory will not be
given the attendance mark for that session.
v) Simulation works should be done individually.
vi) The use of mobile phones is prohibited during laboratory sessions.
vii) After each experiment, students are expected to submit a report before the next
experiment.
viii) ANY CASE OF COPY WORK IN YOUR REPORTS WILL LEAD TO A ZERO
SCORE.
 Experiment 1: System Modeling and Simulation

1.1 Introduction to MATLAB and Simulink for transfer systems modeling and simulations

Objectives:

➢ To understand the MATLAB functions used to define transfer functions and system
response.
➢ To understand the SIMULINK environment and blocks used to model transfer functions
➢ To visualize time response for first and second order systems

Some commonly used functions for defining transfer functions in MATLAB are:

➢ tf: Creates transfer function (TF) objects representing continuous-time or discrete-time

TFs in polynomial form.
➢ zpk: Creates zpk objects representing continuous-time or discrete-time TFs in zero-pole-
gain (factorised) form.
➢ filt: Creates TFs objects representing discrete-time TFs using digital signal processing
(DSP) convention.
In addition to that, there are other functions which are used for the study of TFs. Among them are:
➢ step, impulse, bode, nyquist, rlocus,

𝑠
Example 1: Consider the transfer function 𝐺(𝑠) = 𝑠2 +2𝑠+1. Using the tf command, enter this

function in MATLAB.
num = [1 0];
den = [1 2 1];
G = tf(num, den)
1
Example 2: Plot the step response for the first order system 𝐺 (𝑠) =
1+0.5𝑆
num=1;
den=[0.5 1];
G=tf(num,den);
step(G)
grid
Using Simulink, model and plot the step response for the open-loop TF G(s).
2𝑠+1
Example 3: Consider the transfer function 𝐺 (𝑠) = . Use MATLAB to represent this
𝑠2 +4𝑠+3
function.
Example 4: Using the zpk function, represent the following TF in MATLAB.
5(𝑠+2)(𝑠+3)
𝐺 (𝑠) =
(𝑠+1)(𝑠+4)(𝑠+6)

Z=[-2 -3];
P=[-1 -4 -6];
K=[5];
G=zpk(Z,P,K);

The link below directs you to the MathWorks forum where you can learn more about transfer
functions and Simulink model development.
https://www.mathworks.com/help/

Exercise 1: Modeling and simulation of a series RLC electrical network

Consider the RLC network shown in Figure 1 below:

Figure 1: RLC network for Question 4

a) Find the differential equation relating V1(t) and V2(t).
b) Draw a block diagram to represent this equation
c) Deduce the open-loop transfer function for the system.
d) Determine the closed-loop transfer function for the system.
e) Find the value of the critical damping coefficient (RC)c in terms of L and C.
Simulations: Considering R=5Ω, L=0.5H, and C=1000µF
f) Model the differential equation of the system using Simulink blocks
g) Using MATLAB codes, plot the step response for the system
 h) Using SIMULINK, plot the step response for the system
i) Deduce the settling time for the system.

Exercise 2: Modeling and simulation of mechanical systems

A damper-spring system is shown in Figure 2. From the equilibrium position, the output
displacement x of the mass m is measured for an input force f(t). By applying Newton’s 2nd law of
motion for a system in translation, derive the system’s transfer function.

Figure 2: Damper-Spring System

Simulations: f= 0 to 8 N, M = 2 kg, K= 16 N/m, and b =4 N.s/m
a) Using MATLAB codes, plot the step response for the system
b) Using SIMULINK, plot the step response for the system with a simulation time of 10s
c) Model the differential equation of the system using Simulink blocks
d) Deduce the settling time for the system
 Experiment 2: Time Response of Dynamic Systems
In Experiment 1, we saw how to model systems, obtain their transfer functions, and how to plot
the TFs in MATLAB. It is also important to see how systems will respond in time domain.
The time response represents how the state of a dynamic system changes in time when subjected
to a particular input.
Consider the system below.

Theoretical analysis
𝐶(𝑆)
1) Show that the closed-loop transfer function = for a unity gain
𝑅(𝑆)
feedback.
2) Obtain analytically, the time response of the system c(t) for a unit step input r(t) when ‫<ﻉ‬1.
3) For 𝑤𝑛 = 10 𝑟𝑎𝑑𝑠/𝑠𝑒𝑐, 𝑎𝑛𝑑 ‫ = ﻉ‬0.4, calculate (i) the damped natural frequency, (ii) the
peak response, (iii) the time to peak, (iv) the rise time, (v) the settling time for a 5%
tolerance, and (vi) the maximum overshoot.
Experimental analysis
4) Plot using MATLAB (two separate plots): (i) the Pole-Zero map and (ii) the time response
for 𝑤𝑛 = 10 𝑟𝑎𝑑𝑠/𝑠𝑒𝑐, 𝑎𝑛𝑑 ‫ = ﻉ‬0.4.
5) From the time response plot, determine (i) the damped natural frequency, (ii) the peak
response, (iii) the time to peak, (iv) the rise time, (v) the settling time for a 5% tolerance,
and (vi) the maximum overshoot. Compare these results with those obtained in (3) above
and conclude.
6) For the same 𝑤𝑛 and 0 ≤ ‫ ≤ ﻉ‬1.2 (𝑖𝑛𝑐𝑟𝑒𝑚𝑒𝑛𝑡 𝑏𝑦 0.1), plot: (i) the pole-zero map for the
system and (ii) the time response for the system.
7) Observe carefully the different curves of time response plotted on the same graph as ‫ﻉ‬
varies and obtain the all the indices of time response for each curve as requested in (5)
above.
8) Plot Time to peak Tp= f(‫ )ﻉ‬and conclude. Note: The values of Tp are those obtained in (7)
for different values of ‫ﻉ‬.
9) What conclusion can you draw by observing the poles when ‫ = ﻉ‬0, ‫ < ﻉ‬1, ‫ = ﻉ‬1, ‫ > ﻉ‬1?
10) What conclusion can you draw by observing the time response when ‫ < ﻉ‬0, ‫ < ﻉ‬1, ‫ = ﻉ‬1,
‫ > ﻉ‬1?
Note: This Work should be typed, graphs should be very clear and well presented.