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REPORT LAB 4 CONTROL Final

This document describes a control systems laboratory experiment on block diagram reduction and analysis in MATLAB. The objectives are to reduce block diagrams and analyze different control systems. Four exercises are presented where block diagrams are reduced and closed-loop transfer functions are derived. Responses are analyzed by coding systems in MATLAB and obtaining pole-zero maps and step responses. Effects of parameter variations like inertia changes are also examined. The conclusion states that the lab helped in reducing block diagrams and analyzing systems responses in MATLAB.

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Hamid Nasir
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93 views13 pages

REPORT LAB 4 CONTROL Final

This document describes a control systems laboratory experiment on block diagram reduction and analysis in MATLAB. The objectives are to reduce block diagrams and analyze different control systems. Four exercises are presented where block diagrams are reduced and closed-loop transfer functions are derived. Responses are analyzed by coding systems in MATLAB and obtaining pole-zero maps and step responses. Effects of parameter variations like inertia changes are also examined. The conclusion states that the lab helped in reducing block diagrams and analyzing systems responses in MATLAB.

Uploaded by

Hamid Nasir
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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ECE 476

Control Systems Laboratory

Laboratory Experiment 4

Block Diagram Reduction

Submitted By:

Dated: September 26, 2019


Objectives
The major objective of this control systems laboratory is to do block diagrams reduction
and then analyze them. Moreover, the analysis of different control-based systems in MATLAB is
also a major enlightened portion of this lab.

Abstract:
This experiment holds the basis of performing analysis in MATLAB using different commands
and observing responses under different conditions.

Introduction:
In the following experiment we are going to first simultaneously reduce the block diagrams so
that it becomes easier to solve them in the mentioned software and then the analysis of the
control systems to different conditions will be done using the same software named MATLAB.
The programs will be coded in the command window along with the simulation results being
observed carefully.

Equipment (Softwares):
MATLAB

EXERCISE 1
Code

%EXERCISE 1

%For the following multi-loop feedback system,


%get closedloop transfer function and the
%corresponding pole-zero map of the system.

sysG1=tf(1,[1 10]);
sysG2=tf(1,[1 1]);
sysG3=tf([1 0 1],[1 4 4]);
sysG4=tf([1 1],[1 6]);
sysH1=tf([1 1],[1 2]);
sysH2=2;
sysH3=1;

% By shifting Point Before G4 to Right


% Upper feedback H2 becomes H2/G4

sysupper=sysH2/sysG4;
sysG3G4=series(sysG3,sysG4);
sysloop1=feedback(sysG3G4,sysH1,+1);
sysG2loop1=series(sysG2,sysloop1);
sysloop2=feedback(sysG2loop1,sysupper);
% Closed Loop Transfer Function
systf_closed_loop=feedback(sysloop2,sysH3)
%Pole zero map
figure
pzmap(systf_closed_loop)
sgrid

Result
Closed Loop Transfer Function and Pole Zero Map

systf_closed_loop =

s^5 + 4 s^4 + 6 s^3 + 6 s^2 + 5 s + 2


------------------------------------------------
13 s^5 + 88 s^4 + 228 s^3 + 297 s^2 + 217 s + 73

Continuous-time transfer function.


EXERCISE 2

Code

% EXERCISE 2

sys_controller = tf(1,[1 1]);


sys_plant = tf([1 2],[1 3]);
% Series Function
sys_series = series(sys_controller,sys_plant);
% Closed Loop Transfer Function

sys_cltf = feedback(sys_series,[1])
figure
step(sys_cltf)

Result
Closed Loop Transfer Function and Step Response
Consider the Figure given below the final value of the step response of the system is 0.4 which is
2/5.
sys_cltf =

s + 2
-------------
s^2 + 5 s + 5

Continuous-time transfer function.


EXERCISE 3
Code

%EXERCISE 3

a=1;
b=8;
k=10.8e8;
j=10.8e8;
% J Reduced by 20%
j1=(10.8e8)*0.8;
% J reduced by 50%
j2=(10.8e8)*0.5;
sys_cont = tf([k k*a],[1 b]);
sys_spacecraft=tf(1,[j 0 0]);
sys_ser = series(sys_cont,sys_spacecraft);
sys_cl = feedback(sys_ser,[1])
t=[0:0.1:100];
% Nominal case
angle=10*pi/180; %Convert angle to radians
sys_cl=sys_cl*angle;

figure
step(sys_cl,t)

figure
step(sys_cl)
hold on
% J1
sys_cont1 = tf([k k*a],[1 b]);
sys_spacecraft1=tf(1,[j1 0 0]);
sys_ser1 = series(sys_cont1,sys_spacecraft1);
sys_cl1 = feedback(sys_ser1,[1]);
sys_cl1=sys_cl1*angle;
step(sys_cl1,t)
hold on
%J2
sys_cont2 = tf([k k*a],[1 b]);
sys_spacecraft2=tf(1,[j2 0 0]);
sys_ser2 = series(sys_cont2,sys_spacecraft2);
sys_cl2 = feedback(sys_ser2,[1]);
sys_cl2=sys_cl2*angle;
hold on
step(sys_cl2,t)

Result
Closed Loop Transfer Function
.
sys_cl =

1.08e09 s + 1.08e09
-----------------------------------------------
1.08e09 s^3 + 8.64e09 s^2 + 1.08e09 s + 1.08e09

Continuous-time transfer function.

Step Response
Step Response of system for J reduced by 20% and 50% and original system on same
graph.
EXERCISE 4
Code

%EXERCISE 4

sysG=tf([1 1],[1 2]);


sysH=tf(1,[1 1]);

%Feedback Function

sys_cltf=feedback(sysG,sysH)
figure
pzmap(sys_cltf)
sgrid
pole(sys_cltf)
zero(sys_cltf)

% There is a pole zero cancellation at -1

sys_cltf1=minreal(sys_cltf)
figure
pzmap(sys_cltf1)
sgrid
pole(sys_cltf1)
zero(sys_cltf1)

Results
Closed Loop Transfer Function
sys_cltf =

s^2 + 2 s + 1
-------------
s^2 + 4 s + 3

Continuous-time transfer function.

PZ Map
Closed Loop Poles and Zeros
Poles

-3
-1

Zeros

-1
-1

There are pole zero cancellation at -1.

Closed loop transfer function after Cancellation


sys_cltf1 =

s+1
-----
s+3

Continuous-time transfer function.

Pole Zeros after cancellation


Poles

-3

Zeros

-1

PZ Map after cancelation


Conclusion:
What we have learned in this lab is to convert the block diagrams into reduced versions and then
analyze those systems in MATLAB. Analysis has been done by performing mathematical cods and then
plotting maps and graphs using different basic MATLAB commands. Systems response to step input has
been observed under different conditions as well.

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