Laboratory Report submitted for

CONTROL SYSTEM

Submitted by
KARAN JAISWAL - 1641016439

Electronics and Communication engineering

5TH Semester, Section-‘C’

Department of Electronics and communication Engineering

Institute of Technical Education and Research

(Faculty of Engineering)

SIKSHA ‘O’ ANUSANDHAN UNIVERSITY

Bhubaneswar, Odisha, India
There areelevenstudentoutcomes (A-K) fortheElectrical EngineeringB.Techprogram.

Abet Description ofOutcome

Outcomes

A AnAbility toapplyknowledgeofmathematics,science,and
engineering.

B AnAbility todesignandconduct experiments,aswellastoanalyse

andinterpretdata.

C Anability todesignasystem, component, orprocesstomeetdesired

needswithin realistic constraintssuchaseconomic,environmental,
social,political, ethical, health andsafety,manufacturability,and
sustainability.
D Anability tofunction onmultidisciplinaryteams.

E Anability toidentify, formulate, andsolveengineeringproblems.

F Anunderstandingofprofessionalandethical responsibility.

G Anability tocommunicateeffectively.

H Thebroadeducation necessarytounderstandtheimpact ofengineering

solutions inaglobal,economic,environmental,andsocietalcontext.

I Arecognition oftheneedfor,andanability toengageinlife-long

learning.

J Aknowledgeofcontemporaryissues.

K An ability to use the techniques, skills, and modern engineering

tools necessary for engineering practice.

The studentswillabletosatisfyABET outcomes A,E,B,C,Gand Kinthis subject. They

will satisfyoutcomeA,Ethrough mid-semester, endsemester, Quizzesandassignments,
whereasthey willsatisfyB,C,G andKthrough labtests, projects, reports andviva-voce.
 CONTENTS

1. PROBLEM STATEMENT
2. BACKGROUND THEORY AND ANALYSIS
3. MATHEMATICAL MODELLING
4. IMPLEMENTATION AND VERIFICATION OF MODEL IN MATLAB
5. RESULT ANALYSIS
6. CONCLUSION
7. REFERENCES
 1. PROBLEM STATEMENT
Develop a mathematical model of the given system. Also find the transfer function,
state model, bode plot and root locus of the system. Find the step responses and
performance parameters. Also develop a controller/ compensator such that we can get
a required output voltage.

(Fig.1: Circuit Diagram for Problem statement)

2. BACKGROUND THEORY AND ANALYSIS

INTRODUCTION
In this circuit we are using difference amplifier and integrator circuit using opamp
through which we can get any required output voltage by giving a constant input
voltage.
A differential amplifier is a type of electronic amplifier that amplifies the difference
between two input voltages but suppresses any voltage common to the two inputs.
The integrator Op-amp produces an output voltage that is both proportional to the
amplitude and duration of the input signal.
 ANALYSIS

I have taken Vin as input voltage = 5V, 15V, 30V

And the reference voltage =20V, 10V, 50V

Vin(in volts) Vref(in volts) Vo(in volts)

5V 20V 20V
15V 10V 10V
30V 50V 50V

I have observed that by providing any input voltage value we can get the required
output voltage
So, let’s say if we provide a constant 5v supply we can get any required output
voltage by setting the reference voltage same as the required voltage like
10v,50v,200v,1v.

3.MATHEMATICAL MODELLING

(Fig.2: Circuit Diagram for Problem statement)

Applying KCL,

Vin−Vn Vn−V 1
=
10 k 10 k

By voltage division rule,

Vo x 10 k
Vp=
10 k +10 k

For ideal opamp condition,

Vp=Vn

Vo Vo
Vin− −V 1
2k 2k
=
10 k 10 k

Vin+V1=Vo

V1=Vo-Vin -------(1)

Applying KCL in 2nd opamp,

V 1−0 v 0 v−Vo
=
R Vo
dVo
c
dt

V1 dVo
=−c
R dt

dVo −V 1
=
dt RC

-----------(2)
 4. IMPLEMENTATION AND VERIFICATION OF MODEL IN MATLAB
1. Developing the mathematical model of the given circuit in the Simulink with the
following values of electrical components-

R1=R2=R3=R4=R5= 10KΩ
C=0.1µF
In this model if we apply any input voltage value through step input we get the same amount
of output voltage.

(Fig.3: Mathematical Model of the given circuit)

2. To derive the transfer function and open loop bode-plot

In the MATLAB, codes were written to find the state model, transfer function,
bode plotand the root locus of the model:

clc;
clear all;
close all;
[A,B,C,D]=linmod('projecttf')
p=ss(A,B,C,D)
G=tf(p)
bode(G)
figure(2)
rlocus(G)
figure(3)
step(G)

3. Open-loop Bode-plot was determined by following steps-

 The model was selected and was converted to “subsystem” by right
clicking on the wire and selecting the option: ”create subsystem from
selection”.
 The input port was named as” Vin” and the output was named as “Vo”.
 The input wire was right clicked and Linear Analysis Point was chosen
and then “open loop input” option was selected.
 The output wire was right clicked and Linear Analysis Point and then
“open loop output” option was selected.
  From the toolbar, Analysis menu was selected, from which control design
option was chosen and then it was followed by Linear Analysis.
 A box appeared with several plotting options: Bode plot was chosen.

 The plot appeared on the screen.

(Fig.4: Subsystem Model )

4. In the Simulink window, the open loop input and output was again removed by
right clicking the wire of the corresponding ports and then selecting the Linear
Analysis Point.
5. The wire connecting the reference voltage and the sum was right clicked and
Linear Analysis Point option was selected, from that “Input perbutation” option
was selected.
6. The wire connecting the subsystem and the scope was right clicked and Linear
Analysis Point option was selected, from that “Output measurement” option was
selected.
A PID controller was added and the output of PID was multiplied with input voltage using
product block. The model was completed using unity feedback.

(Fig 5- Mathematical model using PID controller)

5. RESULT ANALYSIS:-

Transfer Function and State model

 After adding the input and output ports and running the above program we can find
the transfer function and state model of the above system.
 We have to save the SIMULINK file in any name(let it be ‘projecttf’).
 By using the code
[A,B,C,D]=linmod('projecttf')
p=ss(A,B,C,D)
G=tf(p)
we can find the state model and transfer function.

output :

A=
 -1000

B=

1000

C=

D=

p=

a=

x1

x1 -1000

b=

u1

x1 1000
 c=

x1

y1 1

d=

u1

y1 0

Continuous-time state-space model.

G=

1000

--------

s + 1000

Continuous-time transfer function.

Step response, Bode plot and Root locus

By doing linear analysis in the system before adding PID controller.

Before using PID controller

Providing in voltage Vin=5v we are getting the same output Vo=5v.

(Fig.6: Mathematical model for getting output)

SCOPE
After using PID controller

Now we are using PID controller to get required output voltage by giving any input
voltage value.
 (Fig.7:Mathematical model using PID controller)
SCOPE

After Tuning the PID controller

 The PID block was double clicked, a window appeared where ‘Tune’ button was clicked.
 A window appeared on the screen.
USING SIGNAL BUILDER IN PLACE OF STEP INPUTS
Here we are using signal builder block in place of step input blocks so that we can get
multiple outputs by providing multiple inputs in a single scope.

6. CONCLUSION
 From this project,I learned about the difference amplifier and integrator. The circuit
designed basically was voltage regulator circuit in which we have to get required
output voltage by providing basic input voltage. I came to know about a new block in
Simulink, i.e., signal builder. I learned to develop a mathematical model of a given
circuit in the Simulink. And, with the help of the mathematical model I learned to
determine the transfer function of the given model in MATLAB. I got to know about
plotting of the bode-diagram as well as the root locus of the system. I got the idea
about the subsystem block which consisted the whole model in one single block.
Further, PID controller gave me the knowledge about the tuning method. This tuning
helped to make the system more stable.

7. REFERENCES
 CONTROL SYSTEMS ENGINEERING
(Sixth Edition.)
-NORMAN S. NISE
 Tomovi´c, R. Sensitivity Analysis of Dynamic Systems, McGraw-Hill, New
York,1963.
 Jutarut Chaorai-ngern, Arjin Numsomran, Taweepol Suesut, and Vittaya
Tipsuwanporn ―PID Controller