Name: Zulfiqar Ali.

DEPARTMENT OF ELECTRONIC ENGINEERING

UNIVERSITY OF ENGINEERING AND TECHNOLOGY ABBOTTABAD
CAMPUS

Registration No: 17ABELT0736.

Subject: “Control System”

Date of Conduction:
Date of Submission:
Particulars Max. Marks Marks Obtained
Pre-Lab
Lab Performance
Post-Lab
Lab Report
Total

REPORT VERIFICATION

Date:

Instructor Name:

Signature:

LAB REPORT NO.4

 DC Motor Position: System Modeling

1- Aim:

Upon completion of this lab, one will be able to understand

 DC motor modeling
 Position control of DC motor
 System analysis
 Open and closed loop control of DC motor

 IN LAB TASK:

 MATLAB representation
 1. Transfer Function
 We can represent the above open-loop transfer function of the motor in MATLAB by
defining the parameters and transfer function as follows. Running this code in the
command window produces the output shown below.

J = 3.2284E-6;
b = 3.5077E-6;
K = 0.0274;
R = 4;
L = 2.75E-6;
s = tf('s');
P_motor = K/(s*((J*s+b)*(L*s+R)+K^2))
RESULT:

P_motor =

0.0274

-------------------------------------------

8.878e-12 s^3 + 1.291e-05 s^2 + 0.0007648 s

Continuous-time transfer function.

2. State Space
We can also represent the system using the state-space equations. The following additional
MATLAB commands create a state-space model of the motor and produce the output shown
below when run in the MATLAB command window.
A = [0 1 0
0 -b/J K/J
0 -K/L -R/L];
B = [0 ; 0 ; 1/L];
C = [1 0 0];
D=[0];
motor_ss = ss(A,B,C,D)
RESULT:

motor_ss =

a=

x1 x2 x3

x1 0 1 0

x2 0 -1.087 8487

x3 0 -9964 -1.455e+06

b=

u1

x1 0

x2 0

x3 3.636e+05

c=

x1 x2 x3

y1 1 0 0

d=
 u1

y1 0

Continuous-time state-space model.

System Analysis:

From the main problem, the dynamic equations in the Laplace domain and the open-loop transfer
function of the DC Motor are the following.

For the original problem setup and the derivation of the above equations, please refer to the DC
Motor Position: System Modeling page.

For a 1-radian step reference, the design criteria are given are the following.

 Settling time less than 0.040 seconds

 Overshoot less than 16%
 No steady-state error, even in the presence of a step disturbance input
 Open-loop response
 First create a new m-file and type in the following commands (refer to the main problem
for the details of getting these commands).

J = 3.2284E-6;
b = 3.5077E-6;
K = 0.0274;
R = 4;
L = 2.75E-6;
P_motor = K/(s*((J*s+b)*(L*s+R)+K^2));
t = 0:0.001:0.2;
step(P_motor,t)
RESULT:
 Step Response
7

5
Amplitude

0
0 0.05 0.1 0.15 0.2
Time (seconds)

From the above plot, we can see that when 1 volt is applied to the system the motor position
grows unbounded. This is obviously at odds with the given requirements, in particular, that there
be no steady-state error. The open-loop response of the system is not even stable. Stability of a
system can be verified with the MATLAB command isstable where a returned value of TRUE
(1) indicates that the system is stable and a returned value of FALSE (0) indicates that the system
is not stable
isstable(P_motor)
RESULT:

ans =

Stability of the system can also be determined from the poles of the transfer function where the
poles can be identified using the MATLAB command pole as shown below.
pole(P_motor)
RESULT:

ans =
 1.0e+06 *

-1.4545

-0.0001

Closed-Loop Response

Let's now consider the closed-loop response of the system where the system schematic has the
following structure.

The closed-loop transfer function for the above with the controller C(s) simply set equal to 1 can
be generated using the MATLAB command feedback as shown below.
sys_cl = feedback(P_motor,1)
RESULT:

sys_cl =

0.0274

----------------------------------------------------

8.878e-12 s^3 + 1.291e-05 s^2 + 0.0007648 s + 0.0274

Continuous-time transfer function.

The corresponding unit step response can be generated by adding the above and following
command to your m-file. The annotations for the peak response, settling time, and final value can
be added to the plot from the right-click menu under Characteristics.
step(sys_cl,t)

Step Response
1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 0.05 0.1 0.15 0.2
Time (seconds)

pzmap(sys_cl)
RESULT:
 Pole-Zero Map
40

30

20
)
-1

10
Imaginary Axis (seconds

-10

-20

-30

-40
-15 -10 -5 0
-1 5
Real Axis (seconds ) x 10

damp(sys_cl)
RESULT:

Pole Damping Frequency Time Constant

(rad/seconds) (seconds)

-2.96e+01 + 3.53e+01i 6.43e-01 4.61e+01 3.38e-02

-2.96e+01 - 3.53e+01i 6.43e-01 4.61e+01 3.38e-02

-1.45e+06 1.00e+00 1.45e+06 6.88e-07

[Wn,zeta,poles] = damp(sys_cl);
Mp = exp((-zeta(1)*pi)/sqrt(1-zeta(1)^2))
Ts = 4/(zeta(1)*Wn(1))

RESULT:

Mp =
 0.0716

Ts =

0.1351

Proportional ControL:
Let's first try using a proportional controller with gain ranging from 1 to 21. An array of LTI
models, each with a different proportional gain, can be built using a for loop. The closed-loop
transfer functions can be generated using the feedback command. Add the following code to the
end of your m-file and run it in the MATLAB command window:

Kp = 1;
for i = 1:3
M(:,:,i) = pid(Kp);
Kp = Kp + 10;
end
sys_cl = feedback(M*P_motor,1);
t = 0:0.001:0.2;
step(sys_cl(:,:,1),'r', sys_cl(:,:,2),'b', sys_cl(:,:,3),'m', t)
ylabel('Position, \theta (radians)')
title('Response to a Step Reference with Different Values of K_p')
legend('Kp = 1', 'Kp = 11', 'Kp = 21')
RESULT:
 Response to a Step Disturbance with Different Values of K p
1.4
Kp = 1
1.2 Kp = 11
Kp = 21
1
Position,  (radians)

0.8

0.6

0.4

0.2

0
0 0.05 0.1 0.15 0.2
Time (seconds)

%Let's also consider the system's response to a step disturbance

dist_cl = feedback(P_motor,M);
step(dist_cl(:,:,1), dist_cl(:,:,2), dist_cl(:,:,3), t)
ylabel('Position, \theta (radians)')
title('Response to a Step Disturbance with Different Values of K_p')
legend('Kp = 1', 'Kp = 11','Kp = 21')

%adding an integral term will eliminate the steady-state error

%and a derivative term can reduce the overshoot and settling time.
%We will set $K_p$ = 21 and test integral gains $K_i$ ranging from 100 to 500
PI Control:

Kp = 21;
Ki = 100;
for i = 1:5
M(:,:,i) = pid(Kp,Ki);
Ki = Ki + 200;
end

sys_cl = feedback(M*P_motor,1);
t = 0:0.001:0.4;
step(sys_cl(:,:,1), sys_cl(:,:,2), sys_cl(:,:,3), t)
ylabel('Position, \theta (radians)')
title('Response to a Step Reference with K_p = 21 and Different Values of
K_i')
legend('Ki = 100', 'Ki = 300', 'Ki = 500')
RESULT:
 Response to a Step Reference with K p = 21 and Different Values of Ki
1.8
Ki = 100
1.6 Ki = 300
Ki = 500
1.4
Position,  (radians)

1.2

0.8

0.6

0.4

0.2

0
0 0.1 0.2 0.3 0.4
Time (seconds)

%distrubances
dist_cl = feedback(P_motor,M);
step(dist_cl(:,:,1), dist_cl(:,:,2), dist_cl(:,:,3), t)
ylabel('Position, \theta (radians)')
title('Response to a Step Disturbance with K_p = 21 and Different Values of
K_i')
legend('Ki = 100', 'Ki = 300', 'Ki = 500')
RESULT:
 Response to a Step Disturbance with K p = 21 and Different Values of K i
0.08
Ki = 100
0.07 Ki = 300
Ki = 500
0.06
Position,  (radians)

0.05

0.04

0.03

0.02

0.01

-0.01
0 0.1 0.2 0.3 0.4
Time (seconds)

PID control
%PID
Kp = 21;
Ki = 500;
Kd = 0.05;

for i = 1:3
M(:,:,i) = pid(Kp,Ki,Kd);
Kd = Kd + 0.1;
end

sys_cl = feedback(M*P_motor,1);
t = 0:0.001:0.1;
step(sys_cl(:,:,1), sys_cl(:,:,2), sys_cl(:,:,3), t)
ylabel('Position, \theta (radians)')
title('Step Response with K_p = 21, K_i = 500 and Different Values of K_d')
legend('Kd = 0.05', 'Kd = 0.15', 'Kd = 0.25')
RESULT:
 Step Response with K p = 21, K i = 500 and Different Values of K d
1.4
Kd = 0.05
1.2 Kd = 0.15
Kd = 0.25
1
Position,  (radians)

0.8

0.6

0.4

0.2

0
0 0.02 0.04 0.06 0.08 0.1
Time (seconds)

%distrubcances
dist_cl = feedback(P_motor,M);
t = 0:0.001:0.2;
step(dist_cl(:,:,1), dist_cl(:,:,2), dist_cl(:,:,3), t)
ylabel('Position, \theta (radians)')
title('Step Response with K_p = 21, K_i = 500 and Different values of K_d')
legend('Kd = 0.05', 'Kd = 0.15', 'Kd = 0.25')
RESULT:
 Step Response with K p = 21, Ki = 500 and Different values of K d
0.06
Kd = 0.05
0.05 Kd = 0.15
Kd = 0.25
0.04
Position,  (radians)

0.03

0.02

0.01

-0.01
0 0.05 0.1 0.15 0.2
Time (seconds)
%to determine the precise characteristics of the step response you can use the
right-click menu of the step response plot
%or you can use the MATLAB command stepinfo as shown below.
stepinfo(sys_cl(:,:,2))
ans =

struct with fields:

RiseTime: 0.0046

SettlingTime: 0.0338

SettlingMin: 0.9103

SettlingMax: 1.1212

Overshoot: 12.1175

Undershoot: 0
Peak: 1.1212

PeakTime: 0.0122

From the above, we see that the response to a step reference has a settling time of roughly 34ms
(< 40 ms), overshoot of 12% (< 16%), and no steady-state error. Additionally, the step
disturbance response also has no steady-state error. So now we know that if we use a PID
controller with
 = 21,   = 500, and   = 0.15,
all of our design requirements will be satisfied.