Scilab Manual for

Control Systems
by Mrs Supanna S Kumar
Electrical Engineering
KLE Dr M.S Sheshgiri College of Engg &
Tech1

Solutions provided by
Mr. Supanna S Kumar
Electrical Engineering
KLE DR M.S Sheshgiri College of Engg&Tech, Belgaum

April 11, 2020

1 Funded by a grant from the National Mission on Education through ICT,

http://spoken-tutorial.org/NMEICT-Intro. This Scilab Manual and Scilab codes
written in it can be downloaded from the ”Migrated Labs” section at the website
http://scilab.in
1
Contents

List of Scilab Solutions 3

1 Simulation of a typical second order system & determina-

tion of step response eval of time domain specifications 4

2 Evaluation of effect of additional poles & zeroes on Time

response of second order system 7

3 Evaluation of effect of pole location on stability 11

4 Effect of loop gain of a negative feedback system on stabil-

ity 14

5 To examine the relationships between open-loop frequency

response and stability, open loop frequency and C.L tran-
sient response 16

2
List of Experiments

Solution 1.1 Step Response and Time domain specifications . . 4

Solution 1.2 Step Responses for different Damping ratios . . . 5
Solution 2.1 Addition of Poles to Open Loop transfer function 7
Solution 2.2 Adding Zeroes to Open Loop transfer function . . 8
Solution 2.3 Adding Poles to LClosed Loop transfer function . 9
Solution 2.4 Adding Zeroes to Closed Loop transfer function . 10
Solution 3.3 Effect of Pole Location on Stability . . . . . . . . 11
Solution 4.1 Effect of Loop Gain on stability . . . . . . . . . . 14
Solution 5.1 Relation between Open Loop Frequency Response
and Closed Loop Transient Response . . . . . . . 16

3
 Experiment: 1

Simulation of a typical second

order system & determination
of step response eval of time
domain specifications

Scilab code Solution 1.1 Step Response and Time domain specifications

1 s = %s ;
2 T = syslin ( ’ c ’ ,25 ,25+4* s + s ^2) ;
3 t =0:0.0005:5;
4 Ts = csim ( ’ s t e p ’ ,t , T ) ;
5 plot2d (t , Ts ) ;
6 xgrid ;
7 xtitle ( ’ R e s p o n s e o f I I o r d e r f n t o u n i t −s t e p i n p u t
f o r T( s ) =25/( s ˆ2+6 s +25) ’ , ’ Time ( s e c ) ’ , ’ C ( t ) ’ )
8 y = denom ( T ) // e x t r a c t i n g t h e
d e n o m i n a t o r o f CL
9 z = coeff ( y ) // e x t r a c t i n g t h e c o e f f i c i e n t s o f t h e
denominator polynomial
10 //Wnˆ2= z ( 1 , 1 ) , c o m p a r i n g t h e
coefficients
11 Wn = sqrt ( z (1 ,1) ) // Wn= n a t u r a l f r e q u e n c y //

4
 2 ∗ z e t a ∗ Wn = z ( 1 , 2 )
12 zeta = z (1 ,2) /(2* Wn ) // z e t a = d a m
p i n g f a c t o r
13 Wd = Wn * sqrt (1 - zeta ^2)
14 Tp = %pi / Wd // Tp= p
e a k t i m e
15 Mp =100* exp (( - %pi * zeta ) / sqrt (1 - zeta ^2) ) // Mp=p e
a k o v e r s h o o t
16 Td =(1+0.7* zeta ) / Wn // Td= d e
l a y t i m e
17 a = atan ( sqrt (1 - zeta ^2) / zeta )
18 Tr =( %pi - a ) / Wd // T r = r
i s e t i m e
19 Tset =4/( zeta * Wn ) // T s =
s e t t l i n g t i m e
20
21 Peak_time = sprintf ( ” Peak Time = %6 . 3 f s e c s ” , Tp ) ;
22 Peak_overshoot = sprintf ( ” Peak O v e r s h o o t = %6 . 3 f
p e r c e n t ” , Mp ) ;
23 Delay_time = sprintf ( ” D e l a y t i m e = %6 . 3 f s e c s ” , Td ) ;
24 Rise_time = sprintf ( ” R i s e t i m e = %6 . 3 f s e c s ” , Tr ) ;
25 Settling_time = sprintf ( ” S e t t l i n g t i m e = %6 . 3 f s e c s ”
, Tset ) ;
26
27 messagebox ([ Peak_overshoot , Peak_time , Delay_time ,
Rise_time , Settling_time ] , ” Time r e s p o n s e
q u a n t i t i e s ”);

Scilab code Solution 1.2 Step Responses for different Damping ratios

1 // S t e p R e s p o n s e s o f a I I o r d e r s y s t e m f o r z e t a = 0 . 1 (
underdamped ) , z e t a =1( c r i t i c a l l y damped ) & z e t a
= 1 . 5 ( overdamped )
2 t =0:0.0000001:0.0002;
3 zeta =[0.5 1 1.5];

5
 4 cv =[1 2 3];
5 s = %s ;
6 for n =1:3
7 num = 10^10;
8 den = s ^2 + 2* zeta ( n ) *100000* s +10^10; //wn=100k
rad / s e c
9 P = syslin ( ’ c ’ ,num , den ) ;
10 Ps = csim ( ’ s t e p ’ ,t , P ) ;
11 plot2d (t , Ps , style = cv ( n ) ) ;
12 end ;
13 xgrid ;
14 xtitle ([ ’ S t e p R e s p o n s e s o f a I I o r d e r s y s t e m f o r
z e t a = 0 . 1 ( underdamped ) , z e t a =1( c r i t i c a l l y damped )
& z e t a = 1 . 5 ( overdamped ) ’ ] , ’ Time ’ , ’ A m p l i t u d e ’ ) ;
15 legends ([ ’ z e t a =0.5 ’ ; ’ z e t a =1 ’ ; ’ z e t a =1.5 ’ ] ,[1 ,2 ,3] , opt
=4) ;

6
 Experiment: 2

Evaluation of effect of
additional poles & zeroes on
Time response of second order
system

Scilab code Solution 2.1 Addition of Poles to Open Loop transfer func-
tion

1 // E f f e c t o f Adding a P o l e (1+Tp s ) t o OL t r f n G=wn

ˆ 2 / ( s ( s +2 z e t a wn ) ) on CL t r f n T=wn ˆ 2 / ( Tp s ˆ3+(1+2
z e t a wn Tp ) s ˆ2+2 z e t a wn s+wn ˆ 2 ) o f a I I o r d e r
system
2 s = %s ;
3 t =0:0.1:30;
4 zeta =1; wn =1;
5 Tp =[0 1 2 5]; // P o l e s added a r e s =−1/Tp i . e
p o l e s a t −1/0 , −1/1 , −1/2 , −1/5
6 line_style =[1 2 3 4]; // f o r dashed , d o t t e d
, . . . . lines
7 for n =1:4
8 T = syslin ( ’ c ’ , wn ^2 ,( Tp ( n ) * s ^3+(1+2* zeta * wn * Tp ( n ) )
* s ^2+2* zeta * wn * s + wn ^2) ) ;

7
 9 Ts = csim ( ’ s t e p ’ ,t , T ) ;
10 xset ( ” l i n e s t y l e ” , line_style ( n ) ) ;
11 plot2d (t , Ts , style =1) ; // s t y l e =1 f o r b l a c k l i n e
12 end ;
13 xgrid (3) ; // g r e e n g r i d
14 xtitle ([ ’ E f f e c t o f Adding a P o l e (1+Tp s ) t o OL t r
f n G = wnˆ2 / ( s ( s + 2 z e t a wn ) ) ’ ] , ’ Time ( s e c ) ’ ,
’ c ( t ) ’ );
15 legends ([ ’ s = −1/0 ’ ; ’ s = −1/1 ’ ; ’ s = −1/2 ’ ; ’ s = −1/5 ’
] ,[[1;1] ,[1;2] ,[1;3] ,[1;4]] , opt =4) ;

Scilab code Solution 2.2 Adding Zeroes to Open Loop transfer function

1 // E f f e c t o f Adding a Zero , ( 1 + Tz s ) t o OL t r f n G=wn

ˆ 2 / ( s ( s +2 z e t a wn ) ) on CL t r f n T=wnˆ2(1+ Tz s ) / ( s
ˆ2+(2 z e t a wn + wnˆ2 Tz ) s + wn ˆ 2 ) o f a I I o r d e r
system
2 s = %s ;
3 t =0:0.001:20;
4 zeta =0.1; wn =1;
5 Tz =[0 0.5 2 5]; // Z e r o e s added a r e s =−1/Tz
i . e z e r o e s a t −1/0 , − 1 / 0 . 5 , −1/2 , −1/5
6 line_style =[1 2 3 4]; // f o r dashed , d o t t e d
, . . . . lines
7 for n =1:4
8 T = syslin ( ’ c ’ , wn ^2*(1+ Tz ( n ) * s ) ,( s ^2+(2* zeta * wn + Tz
( n ) * wn ^2) * s + wn ^2) ) ;
9 Ts = csim ( ’ s t e p ’ ,t , T ) ;
10 xset ( ” l i n e s t y l e ” , line_style ( n ) ) ;
11 plot2d (t , Ts , style =1) ; // s t y l e =1 f o r b l a c k l i n e
12 end ;
13 xgrid (3) ; // g r e e n g r i d
14 xtitle ([ ’ E f f e c t o f Adding a Z e r o (1+Tz s ) t o OL t r
f n G = wnˆ2 / ( s ( s + 2 z e t a wn ) ) ’ ] , ’ Time ( s e c ) ’ ,
’ c ( t ) ’ );

8
15 legends ([ ’ s = −1/0 ’ ; ’ s = −1/0.5 ’ ; ’ s = −1/2 ’ ; ’ s =
−1/5 ’ ] ,[[1;1] ,[1;2] ,[1;3] ,[1;4]] , opt =4) ;

Scilab code Solution 2.3 Adding Poles to LClosed Loop transfer function

1 // E f f e c t o f a d d i t i o n o f p o l e s t o CL t r f n T( s )
=100/( s ˆ2+4 s +100) on i t s Time r e s p o n s e
2 s = %s ;
3 a =[15 4];
4
5 for n =1:3
6 if n ==1 then
7 num =100
8 den =( s ^2 +4* s + 100)
9 else
10 num =100* a (n -1)
11 den =( s ^2 +4* s + 100) *( s + a (n -1) ) ;
12 end
13
14 T = syslin ( ’ c ’ ,num , den ) ;
15 t =0:0.005:5;
16 Ts = csim ( ’ s t e p ’ ,t , T ) ;
17 xset ( ” l i n e s t y l e ” ,n )
18 plot2d (t , Ts ) ;
19 xgrid (3) ; // 3 − l i g h t s h a d e (
green ) grid
20 end
21 xtitle ( ’ E f f e c t o f a d d i t i o n o f p o l e s t o CL t r f n T( s )
=100/( s ˆ2+4 s +100) on i t s Time r e s p o n s e ’ , ’ t ( s e c ) ’
, ’ C ( t ) ’ );
22 legends ([ ’ O r i g i n a l t r . f n . ’ , ’ Added p o l e a t s = − 15 ’ ,
’ Added p o l e a t s = − 4 ’ ] ,[[1;1] ,[1;2] ,[1;3]] , opt
=4) ;

9
 Scilab code Solution 2.4 Adding Zeroes to Closed Loop transfer function

1 // E f f e c t o f A d d i t i o n o f Z e r o e s t o CL t r f n T( s )
=100/( s ˆ2+4 s +100) on i t s Time r e s p o n s e
2 s = %s ;
3 a =[8 2];
4 den =( s ^2 +2* s + 9) ;
5
6 for n =1:3
7 if n ==1 then
8 num =9
9 else
10 num =9*( s + a (n -1) ) / a (n -1) ;
11 end
12
13 T = syslin ( ’ c ’ ,num , den ) ;
14
15 t =0:0.005:5;
16 Ts = csim ( ’ s t e p ’ ,t , T ) ;
17 xset ( ” l i n e s t y l e ” ,n )
18 plot2d (t , Ts ) ;
19 xgrid (3) ; // 3 − l i g h t s h a d e (
green ) grid
20 end
21 xtitle ( ’ E f f e c t o f A d d i t i o n o f Z e r o e s t o CL t r f n T( s
) =100/( s ˆ2+4 s +100) on i t s Time r e s p o n s e ’ , ’ t ( s e c ) ’
, ’C ( t ) ’ ) ;
22 legends ([ ’ O r i g i n a l t r . f n . ’ , ’ Added z e r o a t −8 ’ , ’ Added
z e r o a t −2 ’ ] ,[[1;1] ,[1;2] ,[1;3]] , opt =4) ;

10
 Experiment: 3

Evaluation of effect of pole

location on stability

Scilab code Solution 3.3 Effect of Pole Location on Stability

1 // E v a l u a t i o n o f e f f e c t o f P o l e l o c a t i o n on s t a b i l i t y
o f I I order system
2 s = %s ;
3 t =0:0.001:20;
4 wn =1;
5
6 // P o l e s on −ve r e a l a x i s ( z e t a >1)
7 zeta =2 ;
8 R = roots ( s ^2 + 2* zeta * wn * s + wn ^2) // R( 1 ) = −
3 . 7 3 2 0 5 0 8 , R( 2 ) = − 0 . 2 6 7 9 4 9 2
9 T = syslin ( ’ c ’ , wn ^2 ,( s - R (1) ) *( s - R (2) ) ) //T= s y s l i n ( ’ c ’ ,
wn ˆ 2 , s ˆ2 + 2∗ z e t a ∗wn∗ s + wn ˆ 2 ) ;
10 Ts1 = csim ( ’ s t e p ’ ,t , T ) ;
11 subplot (231)
12 xtitle ( ” P o l e s on −ve R e a l a x i s ( z e t a >1) ” )
13 plot (t , Ts1 ) ;
14 xgrid ;
15
16 // Equal P o l e s on −ve R e a l a x i s ( z e t a =1)

11
17 zeta =1 ;
18 R = roots ( s ^2 + 2* zeta * wn * s + wn ^2) // R( 1 ) = R( 2 ) =
−1
19 T = syslin ( ’ c ’ , wn ^2 ,( s - R (1) ) *( s - R (2) ) ) //T= s y s l i n ( ’ c ’ ,
wn ˆ 2 , s ˆ2 + 2∗ z e t a ∗wn∗ s + wn ˆ 2 ) ;
20 Ts1 = csim ( ’ s t e p ’ ,t , T ) ;
21 subplot (232)
22 xtitle ( ” Equal P o l e s on −ve R e a l a x i s ( z e t a =1) ” )
23 plot (t , Ts1 ) ;
24 xgrid ;
25
26 // Complex c o n j u g a t e P o l e s w i t h −ve R e a l p a r t (0< z e t a
<1)
27 zeta =0.5 ;
28 R = roots ( s ^2 + 2* zeta * wn * s + wn ^2) // R( 1 )= −0.5
+ 0 . 8 6 6 0 2 5 4 i , R( 2 )= −0.5 − 0 .8 6 60 2 5 4 i
29 T = syslin ( ’ c ’ , wn ^2 ,( s - R (1) ) *( s - R (2) ) ) //T= s y s l i n ( ’ c ’ ,
wn ˆ 2 , s ˆ2 + 2∗ z e t a ∗wn∗ s + wn ˆ 2 ) ;
30 Ts1 = csim ( ’ s t e p ’ ,t , T ) ;
31 subplot (233)
32 xtitle ( ” Complex c o n j P o l e s w i t h −ve R e a l p a r t (0<
z e t a <1) ” )
33 plot (t , Ts1 ) ;
34 xgrid ;
35
36 // Complex c o n j P o l e s on Imag a x i s ( z e t a =0)
37 zeta =0 ;
38 R = roots ( s ^2 + 2* zeta * wn * s + wn ^2) // R( 1 )= i , R( 2 )
= −i
39 T = syslin ( ’ c ’ , wn ^2 ,( s - R (1) ) *( s - R (2) ) ) //T= s y s l i n ( ’ c ’ ,
wn ˆ 2 , s ˆ2 + 2∗ z e t a ∗wn∗ s + wn ˆ 2 ) ;
40 Ts1 = csim ( ’ s t e p ’ ,t , T ) ;
41 subplot (234)
42 xtitle ( ” Complex c o n j P o l e s on Imag a x i s ( z e t a =0) ” )
43 plot (t , Ts1 ) ;
44 xgrid ;
45
46 // Complex c o n j P o l e s w i t h +ve R e a l p a r t (0> z e t a >−1)

12
47 zeta = -0.5 ;
48 R = roots ( s ^2 + 2* zeta * wn * s + wn ^2) // R( 1 )= 0 . 5 +
0 . 8 6 6 0 2 5 4 i , R( 2 ) = 0 . 5 − 0 . 8 6 6 0 2 5 4 i
49 T = syslin ( ’ c ’ , wn ^2 ,( s - R (1) ) *( s - R (2) ) ) //T= s y s l i n ( ’ c ’ ,
wn ˆ 2 , s ˆ2 + 2∗ z e t a ∗wn∗ s + wn ˆ 2 ) ;
50 Ts1 = csim ( ’ s t e p ’ ,t , T ) ;
51 subplot (235)
52 xtitle ( ” Complex c o n j P o l e s w i t h +ve R e a l p a r t (0>
z e t a >−1)” )
53 plot (t , Ts1 ) ;
54 xgrid ;
55
56 // P o l e s on +ve R e a l a x i s ( z e t a <−1)
57 zeta = -1.2 ;
58 R = roots ( s ^2 + 2* zeta * wn * s + wn ^2) // R( 1 )=
5 . 8 2 8 4 2 7 1 , R( 2 ) = 0 . 1 7 1 5 7 2 9
59 T = syslin ( ’ c ’ , wn ^2 ,( s - R (1) ) *( s - R (2) ) ) //T= s y s l i n ( ’ c ’ ,
wn ˆ 2 , s ˆ2 + 2∗ z e t a ∗wn∗ s + wn ˆ 2 ) ;
60 Ts1 = csim ( ’ s t e p ’ ,t , T ) ;
61 subplot (236)
62 xtitle ( ” P o l e s on +ve R e a l a x i s ( z e t a <−1)” )
63 plot (t , Ts1 ) ;
64 xgrid ;

13
 Experiment: 4

Effect of loop gain of a negative

feedback system on stability

Scilab code Solution 4.1 Effect of Loop Gain on stability

1 // E f f e c t o f Loop Gain K o f a N e g a t i v e f e e d b a c k
s y s t e m on S t a b i l i t y .
2 // G( s ) = wnˆ2 / s ( s +2 z e t a wn ) , H( s ) = K , T( s ) = K
wnˆ2 / ( s ( s +2 z e t a wn ) + K wnˆ2 )
3 s = %s ;
4 t =0:0.01:10;
5 wn =1; zeta =1;
6 K =[1 ,2 ,5 ,10]
7 for n =1:4
8 T = syslin ( ’ c ’ , K ( n ) * wn ^2 , s *( s + 2* zeta * wn ) + K (
n ) * wn ^2 ) ;
9 Ts = csim ( ’ s t e p ’ ,t , T ) ;
10 xset ( ” l i n e s t y l e ” ,n ) ;
11 plot2d (t , Ts ) ;
12 xgrid (3) ;
13 end
14 xtitle ( ’ E f f e c t o f Loop Gain K o f a − ve f e e d b a c k
s y s t e m on S t a b i l i t y . ’ , ’ Time ( s e c ) ’ , ’C( t ) ’ ) ;
15 legends ([ ’K=1 ’ ; ’K=2 ’ ; ’K=5 ’ ; ’K=10 ’

14
;] ,[[1;1] ,[1;2] ,[1;3] ,[1;4]] , opt =4) ;

15
 Experiment: 5

To examine the relationships

between open-loop frequency
response and stability, open
loop frequency and C.L
transient response

Scilab code Solution 5.1 Relation between Open Loop Frequency Response
and Closed Loop Transient Response

1 // OpenLoop F r e q u e n c y R e s p o n s e & C l o s e d L o o p T r a n s i e n t
Response
2
3 // 1 ) C o r r e l a t i o n b /w ub ( N o r m a l i z e d bandwidth ) &
z e t a ( Damping f a c t o r ) f o r a I I o r d e r s y s t e m
4 deff ( ” [ wbbywn]= f 1 ( z e t a ) ” ,”wbbywn=s q r t (1 −2∗ z e t a ˆ2+
s q r t (2 −4∗ z e t a ˆ2+4∗ z e t a ˆ 4 ) ) ” )
5 zeta =[0:0.01:0.9]; // don ’ t end w i t h 1 bec , d i v i s i o n
by 0 e r r o r
6 subplot (221)
7 fplot2d ( zeta , f1 ,[1])
8 xgrid (3)

16
9 xtitle ([ ’ C o r r e l a t i o n b /w ub ( N o r m a l i z e d bandwidth ) &
z e t a f o r a I I o r d e r s y s t e m ’ ] , ’ z e t a ( Damping r a t i o
) ’ , ’ wb / wn ’ ) ;
10
11 // 2 ) C o r r e l a t i o n b /w Mp( Peak o v e r s h o o t ) & Mr (
R e s o n a n c e Peak ) f o r a I I o r d e r s y s t e m
12 deff ( ” [ Mp]= f 2 ( z e t a ) ” ,”Mp=exp (( − %pi ∗ z e t a ) / s q r t (1− z e t a
ˆ2) ) ”)
13 deff ( ” [ Mr]= f 3 ( z e t a ) ” ,”Mr=1/(2∗ z e t a ∗ s q r t (1− z e t a ˆ 2 ) ) ” )
14 zeta =[0.05:0.01:0.9]; // don ’ t s t a r t from 0 & end
w i t h 0 b e c a u s e , d i v i s i o n by 0 e r r o r
15 subplot (222)
16 xset ( ” l i n e s t y l e ” ,4) ;
17 fplot2d ( zeta , f2 ,[1])
18 xset ( ” l i n e s t y l e ” ,1) ;
19 fplot2d ( zeta , f3 ,[1])
20 xgrid (3)
21 xtitle ([ ’ C o r r e l a t i o n b e t w e e n Mp & Mr f o r a I I o r d e r
s y s t e m ’ ] , ’ z e t a ( Damping r a t i o ) ’ , ’Mp, Mr ’ ) ;
22 legends ([ ’Mp ( Peak Gain ) ’ ; ’ Mr ( Gain a t R e s o n a n c e ) ’
] ,[[1;4] ,[1;1]] , opt =1) ;
23
24 // 3 ) C o r r e l a t i o n b e t w e e n wr ( R e s o n a n t f r e q u e n c y ) &
wd ( Damped f r e q u e n c y ) f o r a I I o r d e r s y s t e m
25 deff ( ” [ wrbywd ]= f 4 ( z e t a ) ” ,” wrbywd=s q r t (1 −2∗ z e t a ˆ 2 ) /
s q r t (1− z e t a ˆ 2 ) ” )
26 zeta =[0:0.01:0.9]; // don ’ t end w i t h 1 bec , d i v i s i o n
by 0 e r r o r
27 subplot (223)
28 fplot2d ( zeta , f4 ,[1])
29 xgrid (3)
30 xtitle ([ ’ C o r r e l a t i o n b e t w e e n wr & wd f o r a I I o r d e r
s y s t e m ’ ] , ’ z e t a ( Damping r a t i o ) ’ , ’ wr / wd ’ ) ;

17