SURNAME AND INITILAS : SHONGWE AS

STUDENT NUMBER : 231901795

EXPERIEMENT NUMBER :1–5

DATE : 31/03/2025

QUALIFICATIONS : DPEE20

SUBJECT NAME : CONTROL SYSTEMS CNS216D

LECTURER : MS S HLUNGULU

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Contents
EXPERIEMENT 1 ........................................................................................................ 3
1. INTRODUCTION .................................................................................................. 3
2. OBJECTIVE .......................................................................................................... 3
3. EQUIPMENT AND TOOLS .................................................................................... 3
4. LAB ...................................................................................................................... 3
5. POST LAB ............................................................................................................... 5
EXPERIEMENT 2 ........................................................................................................ 6
1. INTRODUCTION...................................................................................................... 6
2. OBJECTIVES........................................................................................................... 6
3. EQUIPMENT AND TOOLS ....................................................................................... 6
4. LAB ......................................................................................................................... 6
5. CONCLUSION ....................................................................................................... 12
EXPERIEMENT 3 ...................................................................................................... 13
1.INTRODUCTION..................................................................................................... 13
1. OBJECTIVES......................................................................................................... 13
2. EQUIPMENT AND TOOLS ..................................................................................... 13
3. LAB ....................................................................................................................... 13
EXPERIMENT 4......................................................................................................... 14
4.1 NTRODUCTION................................................................................................... 14
4.2 OBJECTIVE ......................................................................................................... 14
4..2 EQUIPMENT AND TOOLS .................................................................................. 14
4.3 PRELAB .............................................................................................................. 14
4.4 CONCLUSION ..................................................................................................... 15
EXPERIMENT 5......................................................................................................... 16
5.1 INTRODUCTION .................................................................................................. 16
5.2 OBJECTIVE ......................................................................................................... 16
5.4 CONCLUSION ..................................................................................................... 18
REFERENCES .......................................................................................................... 19

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EXPERIEMENT 1

1. INTRODUCTION
A control system consists of subsystems and processes (or plants) assembled for
the purpose of obtaining a desired output with desired performance, given a
specified input.
We use MATLAB because it helps engineers solve mathematical models quickly,
analyze stability and performance, design and tune controllers, and simulate real
world control applications.

2. OBJECTIVE
The purpose of the experiment is to learn how to use MATLAB to generate and
manipulate polynomials and transfer function.

3. EQUIPMENT AND TOOLS

• MATLAB
• THE CONTROL SYSTEM TOOLBOX

4. LAB
1. Using MATLAB to find the Laplace Transform for the following function.
𝑓(𝑡) = 12(1−𝑒 −2𝑡)

COMMAND WINDOW
>> experiement_1

F = 12 - 12*exp(-2*t)

F = 12/s - 12/(s + 2)

2. Use only one MATLAB command to find the factors of the equation below.
𝑠 5 + 2𝑠 4 + 4𝑠 3 + 8𝑠 2 + 3𝑠+1

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 COMMAND WINDOW

p= 1 2 4 8 3 1

factors = x^5 + 2*x^4 + 4*x^3 + 8*x^2 + 3*x + 1

3. Use MATLAB commands to find the initial value of the time domain response of
the following equation.
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𝐹(𝑠) = 2(𝑠 2 + 6𝑠 + 5) (𝑠 + 2)

COMMAND WINDOW

init_value = 0

4. Use MATLAB commands to find G(s) expressed as factors in the numerator

divided by factors in the denominator.
18𝑠2
G(s) = 𝑠3 +58𝑠2 +75𝑠+4

COMMAND WINDOW

num =

18*s^2

den =

s^3 + 58*s^2 + 75*s + 4

5. Use MATLAB to evaluate the partial fraction expansions for the TF shown below.
86𝑠−78
G(s) = (𝑠+3)(𝑠−4)(5𝑠−1)

COMMAND WINDOW

r=

2.0000
-3.0000

1.0000

4
 p=

4.0000

-3.0000

0.2000
k = []

5. POST LAB
In this experiment, we investigated how to represent systems in the frequency domain
using MATLAB. We effectively analyzed several mathematical models by using Laplace
transformations, polynomial factorization, the initial value theorem, and partial fraction
expansion.

The manner that MATLAB simplifies complex algebraic calculations that would
otherwise be time consuming to complete by hand was one important lesson learned.

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EXPERIEMENT 2

1. INTRODUCTION
In this experiment, we’ll explore important concepts like Laplace transforms, transfer
functions, and how systems respond over time. These ideas are essential for
understanding and designing control systems. By using MATLAB, we’ll get hands-on
experience analyzing the behavior of linear time-invariant (LTI) systems and learning
how to measure and interpret their performance.

2. OBJECTIVES
To evaluate the effect of additional poles and zeros upon the time response of the
second-order systems.

3. EQUIPMENT AND TOOLS

A computer, MATLAB, Simulink, and the control systems toolbox.

4. LAB
1. Obtain the poles, zeros and gain values for the transfer function?
𝑠2 +4𝑠+3
G(s) = (𝑠+5)(𝑠2 +4𝑠+7)

COMMAND WINDOW

num = 1 4 3

den = 2 9 7

z=

-3

-1

p=

-3.5000
-1.0000

k=

0.5000

2. Obtain the pole zero plot of the function above ?

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3. Verify your results theoretically from 2 and discuss the significance of a transfer
function?

Poles: (s + 5)(𝑠 2 + 4s + 7)

s = -5

s = -2+𝑗√3 or s = -2-j√3

Zero: (s + 1)(s + 3)

s = -1 or s = -3
4. Obtain step response of unity feedback system having forward path transfer function
1
of G(s) = 𝑠+5

COMMAND WINDOW

G=
1

-----

s+5

Continuous-time transfer function.

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Model Properties

sys =

-----
s+6

Continuous-time transfer function.

Model Properties

5. Explain why a series RL circuit with high inductance has a slow response?
𝑑𝑖
• Inductor resists changes in current (due to V = L𝑑𝑡
• Higher inductor (L) results in slower current buildup.
• This increases the system’s time constant, leading to a slower response.

6. Obtain the transient response of a unity feedback system having forward path
transfer function of
1
G(s) = (𝑠2 + 4𝑠+7)

COMMAND WINDOW

G1 =

1
-------------

s^2 + 4 s + 7
Continuous-time transfer function.

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Model Properties

sys =

-------------
s^2 + 4 s + 8

Continuous-time transfer function.

Model Properties

7. Explain the following: What is the rise time in a second order system?

Why is less overshot desired for a practical control system?

• Rise time – is the tine taken for system response to go from 10% to 90% of
finale value.
• Less overshot – Helps prevent excessive oscillation and instability in practical
systems.

8. Solve for the loop currents in the figure above.

5
Vs = I1 (s + 7 + s) − I2(s + 2) − I3(5)
3
0 = -I1(s + 2) +I1(2s + 4 + 𝑠 ) – I3(s + 2)
4
0 = - I1(5) – I2(s + 2) + I3 (8 + 5 + 𝑠 )

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A= V 0 0

B= I1 I2 I3

C=

[s + 5/s + 7, - s - 2, -5]

[ - s - 2, 2*s + 3/s + 4, - s - 2]

[ -5, - s - 2, s + 4/s + 8]

/ \
5
| s + -𝑠 + 7, - s - 2, -5 |

| |

| |
3
| - s - 2, 2s+ + 4, -s-2 |
𝑠

| |

| |
4
| -5, - s - 2, s+𝑠+8 |

\ /

B=

(V*s*(s^4 + 16*s^3 + 39*s^2 + 40*s + 12))/(s^5 + 26*s^4 + 205*s^3 + 396*s^2 + 284*s + 60)

(V*s^2*(s^3 + 15*s^2 + 30*s + 8))/(s^5 + 26*s^4 + 205*s^3 + 396*s^2 + 284*s + 60)

(V*s^2*(s^3 + 14*s^2 + 24*s + 15))/(s^5 + 26*s^4 + 205*s^3 + 396*s^2 + 284*s + 60)

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/ 4 3 2 \

| V s (s + 16 s + 39 s + 40 s + 12) |

| ------------------------------------ |

| #1 |

| |

| 2 3 2 |

| V s (s + 15 s + 30 s + 8) |

| ---------------------------- |

| #1 |

| |

| 2 3 2 |

| V s (s + 14 s + 24 s + 15) |

| ----------------------------- |

\ #1 /

where

#1 == 𝑠 5 + 26𝑠 4 + 205 𝑠 3 + 396 𝑠 2 + 284 s + 60

G=

(s^2*(s^3 + 14*s^2 + 24*s + 15))/(s^5 + 26*s^4 + 205*s^3 + 396*s^2 + 284*s + 60)

𝑠 2 (𝑠 3 + 14 𝑠 2 + 24 s + 15)

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

𝑠 4 + 26 𝑠 4 + 205 𝑠 3 + 396 𝑠 2 + 284 s + 60

>>

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5. CONCLUSION
This experiment helped us apply Laplace transforms and work with symbolic equations
using MATLAB’s tools. We were able to convert time-domain signals into Laplace form
and go back to the time domain, which made it easier to understand how systems
behave. Creating transfer functions and analyzing step responses gave us a better view
of how control systems react and how their performance can be predicted and
improved.

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EXPERIEMENT 3

1.INTRODUCTION
This experiment focused on using MATLAB and its Symbolic Math Toolbox to do
Laplace transforms and work with symbolic transfer functions. We also used it to solve
symbolic equations and get a better understanding of how math is used in control
systems.

1. OBJECTIVES
To evaluate the effect of additional poles and zeros upon the time response of the
second-order systems.

2. EQUIPMENT AND TOOLS

A computer, MATLAB, Simulink, and the Control system Toolbox

3. LAB
1. Consider an open loop system having forward path transfer function of G(s)

Write a MATLAB code to show the effect of additional of zero at -2, -1, -0.5.
1
G(s) = 𝑠(𝑠+1)

Show the responses of each systems response to the additional zero. Combine your
plots in one plot.
Observe the results in the following table

Tz Tr Tp Ts %OS TF

0.5 None None None None 0.5

𝑠2 + 𝑠 + 1
1 None None None None 1
𝑠2 + 𝑠 + 1
2 None None None None 2
2
𝑠 +𝑠+1
3 None None None None 3
2
𝑠 +𝑠+1

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EXPERIMENT 4

4.1 NTRODUCTION
In a control system, stability refers to the system’s ability to produce a bounded output
in response to a bounded input. In simpler terms, if you give the system a certain input,
it should settle to a steady output over time—not blow up, oscillate uncontrollably, or
diverge.

For this experiment we’ll see how the position of poles affects system stability. We’ll use
MATLAB to find out where the poles of a system are located and then analyzed how
that relates to the system being stable or not.

4.2 OBJECTIVE
To verify effect of pole location upon stability. To verify the effect upon stability of loop
gain in a gain in a negative feedback system.

4..2 EQUIPMENT AND TOOLS

MATLAB. Simulink, and the control system toolbox.

4.3 PRELAB
A negative unit feedback system shown in the figure below has a forward transfer
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function G(s) given by: G(s) = 𝑠5 +15𝑠4 +185𝑠3 +725𝑠2 −326𝑠+60

4.3.1 determine the stability of the system?

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4.4 CONCLUSION
From the results, we learned that poles on the right side of the s-plane make the system
unstable, while poles on the left mean the system is stable. This made it clear why it’s
so important to check pole locations when designing a system.

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EXPERIMENT 5

5.1 INTRODUCTION
This experiment explores the effects of input types and loop gains on the steady-state
error of a system. Students also classify systems based on their type (Type 0, Type 1,
etc.) using MATLAB.

5.2 OBJECTIVE
To verify the effect of input waveform, loop gain, and system type upon steady-state
errors.

5.3 EQUIPMENT AND TOOLS

A computer, MATLAB, Simulink, and the control system toolbox

Determine the static error constant kp, kv, ka

5.3.1 Determine the system type

COMMAND WINDOW

a) Type 0

G1 =

500 s^2 + 3500 s + 5000

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

s^3 + 30 s^2 + 296 s + 960

Continuous-time transfer function.

Model Properties

kp = 5.2083

e = 0.1611

a = 500 3500 5000

b=1 30 296 960

num = 500*s^2 + 3500*s + 5000

den = s^3 + 30*s^2 + 296*s + 960

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Gs = (500*s^2 + 3500*s + 5000)/(s^3 + 30*s^2 + 296*s + 960)

kp = 125/24

kv = 0

ka = 0
estep = 24/149

b) type 1

G=

500 s^3 + 6500 s^2 + 26000 s + 30000

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

s^4 + 30 s^3 + 296 s^2 + 960 s

Continuous-time transfer function.

Model Properties

kp = Inf

e=0

a = 500 6500 26000 30000

b=1 30 296 960 0

num = 500*s^3 + 6500*s^2 + 26000*s + 30000

den = s^4 + 30*s^3 + 296*s^2 + 960*s

Gs = (500*s^3 + 6500*s^2 + 26000*s + 30000)/(s^4 + 30*s^3 + 296*s^2 + 960*s)

kp = NaN

kv = 125/4

ka = 0

eramp = 4/125

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c) Type 2

a= 500 12000 111500 498000 1058000 840000

b= 1 30 296 960 0 0

num = 500*s^5 + 12000*s^4 + 111500*s^3 + 498000*s^2 + 1058000*s + 840000

den = s^5 + 30*s^4 + 296*s^3 + 960*s^2

Gs =

(500*s^5 + 12000*s^4 + 111500*s^3 + 498000*s^2 + 1058000*s + 840000)/(s^5 +

30*s^4 + 296*s^3 + 960*s^2)

kp = Inf
kv = NaN

ka = 875

eparabolic = 1/875

5.4 CONCLUSION
In this experiment, we learned how steady-state error is affected by different types of input
signals, system types, and loop gains. Using MATLAB and Simulink, we saw that systems
respond differently to step, ramp, and parabolic inputs depending on their type. Higher-
order systems tend to handle more complex inputs better, which helps reduce or eliminate
steady-state errors.

We also calculated the static error constants Kp, Kv, and Ka, which gave us useful insight
into how the system behaves in steady state. These constants helped us understand how
accurate the system is and how changes in system parameters can affect performance.
Overall, this experiment highlighted how important system type and gain are when
designing a control system that’s both stable and accurate.

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REFERENCES
• N.S. Nise: Control Systems Engineering, John Wiley & Sons, Inc., 7th ed. Hoboken,
NJ, 2019.
• J. J. Craig: Introduction to Robotics. Mechanics and Control, Prentice Hall, 3d ed.
Upper Saddle River, NJ, 2005.
• R.J. Nyzen: “Analysis and Control of an Eight-Degree-of Freedom Manipulator”.
Ohio University Master Thesis, Mechanical Engineer- ing, Dr. Robert L. Williams II,
advisor, August 1999.
• R.L. II. Williams: “Local Performance Optimization for a Class of Redundant Eight-
Degree-of Freedom Manipulator.” NASA Technical Paper 3417, NASA Langley
Research Center, Hampton VA, March 1994.
• Khan Academy. (n.d.). Control Systems - Overview. Available at:
https://www.khanacademy.org
• MathWorks. (2024). MATLAB and Simulink [Software]. Natick, Massachusetts: The
MathWorks, Inc. Available at: https://www.mathworks.com

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