Task 1: Find out that following systems are either Stable/Unstable, with help of step

response and pole’s location.

1
a ¿ G ( S )=
s +1

MATLAB CODE:

clc
clear all
close all
s=tf('s')
sys=1/(s+1);
pole (sys)
zero (sys)
pzmap(sys)
legend('pzmap of of 1/(s+1)')
title ('pzmap ')
figure
step (sys)
legend('step response of 1/(s+1)')
title ('step response')
grid on

s te p re s po ns e
1
step response of 1/(s+1)
0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9
Time (seconds)
 pzmap
1
pzmap of of 1/(s+1)
0.8

0.6

0.4
Imaginary Axis (seconds-1 )

0.2

-0.2

-0.4

-0.6

-0.8

-1
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis (seconds -1 )

1
b ¿ G ( S )=
s−2

MATLAB CODE:

clc
clear all
close all
s=tf('s')
sys=1/(s-2);
pole (sys)
zero (sys)
pzmap(sys)
legend('pzmap of of 1/(s-2)')
title ('pzmap ')
figure
step (sys)
legend('step response of 1/(s-2)')
title ('step response')
grid
 s te p re s po ns e
# 10 25
6
step response of 1/(s-2)

4
Amplitude

0
0 5 10 15 20 25 30
Time (seconds)

pzmap
1
pzmap of of 1/(s-2)
0.8

0.6

0.4
Imaginary Axis (seconds-1 )

0.2

-0.2

-0.4

-0.6

-0.8

-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Real Axis (seconds -1 )
 sys Pole Location Stable/unstable

1
G ( S )= -1 stable
s +1

1
G ( S )= 2 Unstable
s−2

Task 2: Find out that following systems are Stable/Unstable/Marginally

stable, with help of step response and pole location.
3
a ¿ G ( S )= 2
s + 2 s+3

MATLAB CODE:-

clc
clear all
close all
s=tf('s')
sys=3/(s^2+2*s+3);
pole (sys)
zero (sys)
pzmap(sys)
legend('pzmap of of 3/(s^2+2*s+3)')
title ('pzmap ')
figure
step (sys)
legend('step response of 3/(s^2+2*s+3)')
title ('step response')
grid
 s te p re s po ns e
1.2

step response of 3/(s 2+2*s+3)

0.8
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7
Time (seconds)

pzmap
1.5

pzmap of of 3/(s 2+2*s+3)

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis (seconds -1 )
 6
b ¿ G ( S )= 2
s −2 s−3

s te p re s po ns e
# 10 25
6

step response of 6/(s 2-2*s-3)

4
Amplitude

0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)
 pzmap
1

pzmap of of 6/(s 2-2*s-3)

0.8

0.6

0.4
Imaginary Axis (seconds-1 )

0.2

-0.2

-0.4

-0.6

-0.8

-1
-1 -0.5 0 0.5 1 1.5 2 2.5 3
Real Axis (seconds -1 )

Systems Pole Location Stable/Marginally

Stable/Unstable

3
G ( S )= 2 -1.0000 + 1.4142i
s + 2 s+3

-1.0000 - 1.4142i

6
G ( S )= 2 -3.0000 + 0.0000i
s −2 s−3

0.0000 + 1.4142i

0.0000 - 1.4142i

task3:Now implement the following systems in unit negative feedback

form and find out that closed loop systems are Stable/Unstable/Marginally
stable, with help of step response.
 3
a ¿ G ( S )=
s +3 s 2+ 2 s
3

clc
clear all
close all
s=tf('s')
s=tf ('s');
sys=3/(s^3+3*s^2+2*s);
y=feedback(sys,1,-1);
step(y)
grid on
legend('steo response of 3/(s^3+3s^2+2s)')
title ('step response')
figure
pole (y)
zero (y)
 pzmap(y)
 legend('pzmap of 3/(s^3+3s^2+2s)')
 title ('pzmap')

s te p re s po ns e
1.6

steo response of 3/(s 3+3s 2+2s)

1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35
Time (seconds)
 pzmap
1.5

pzmap of 3/(s 3+3s 2+2s)

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1 )

6
b ¿ G ( S )=
s +3 s 2 s+2
3

clc
clear all
close all
s=tf('s')
s=tf ('s');
sys=6/(s^3+3*s^2+2*s);
y=feedback(sys,1,-1);
step(y)
grid on
legend('steo response of 6/(s^3+3s^2+2s)')
title ('step response')
figure
pole (y)
zero (y)
 pzmap(y)
 legend('pzmap of 6/(s^3+3s^2+2s)')
 title ('pzmap')
 s te p re s po ns e
2

steo response of 6/(s 3+3s 2+2s)

1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140
Time (seconds)

pzmap
1.5

pzmap of 6/(s 3+3s 2+2s)

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1 )
 7
c ¿ G ( S) =
s +3 s2 s +2
3

clc
clear all
close all
s=tf('s')
s=tf ('s');
sys=7/(s^3+3*s^2+2*s);
y=feedback(sys,1,-1);
step(y)
grid on
legend('steo response of 7/(s^3+3s^2+2s)')
title ('step response')
figure
pole (y)
zero (y)
 pzmap(y)
 legend('pzmap of 7/(s^3+3s^2+2s)')
 title ('pzmap')

s te p re s po ns e
# 10 26
2

steo response of 7/(s 3+3s 2+2s)

1.5

0.5
Amplitude

-0.5

-1

-1.5
0 200 400 600 800 1000 1200 1400
Time (seconds)
 pzmap
2

pzmap of 7/(s 3+3s 2+2s)

1.5

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5

-2
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1 )

Systems Stable/Marginally Stable/Unstable

a)

b)

c)

Task 4:For the system given in figure 1, find equivalent transfer

function

For Marginally stable system

clc
clear all
close all
s=tf ('s')
sys=16/(s^3+4*s^2+4*s);
y=feedback(sys,1,-1);
 step(y)
 legend('step response of 16/(s^3+4*s^2+4*s)')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 16/(s^3+4*s^2+4*s)')

S te p Re s po ns e
2

step response of 16/(s 3+4*s 2+4*s)

1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
Time (seconds)
 Po le -Ze ro Map
2.5

pzmap of 16/(s 3+4*s 2+4*s)

2

1.5

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5

-2

-2.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1 )

For stable system:

sys=5/(s^3+4*s^2+4*s);
y=feedback(sys,1,-1);
 step(y)
 legend('step response of 5/(s^3+4*s^2+4*s)')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 5/(s^3+4*s^2+4*s)')
 S te p Re s po ns e
1.4

step response of 5/(s 3+4*s 2+4*s)

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 5 10 15
Time (seconds)

Po le -Ze ro Map
1.5

pzmap of 5/(s 3+4*s 2+4*s)

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1 )
For unstable system:
sys=20/(s^3+4*s^2+4*s);
y=feedback(sys,1,-1);
 step(y)
 legend('step response of 20/(s^3+4*s^2+4*s)')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 20/(s^3+4*s^2+4*s)')
 Po le -Ze ro Map
2.5

pzmap of 20/(s 3+4*s 2+4*s)

2

1.5

1
Imaginary Axis (seconds-1 )

0.5

-0.5

-1

-1.5

-2

-2.5
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1 )

Case Value of k

Stable 5

Marginally Stable 16

Unstable 20

Task 5: Implement the transfer function of DC motor from task 3 of lab 6 in

unit negative feedback form. Now study the effect of proportional, integral and
derivative components by adding them one by one in cascade form with
forward path with transfer function of DC motor. Also use the analog PID
module of the control system trainer to get the difference in the real time and
simulation performance.

SIMULINK:
 s te p re s po ns e
0.9
step response at p=1

0.8

0.7

0.6

0.5
amplitude

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
time
 s te p re s po ns e
1.6
step response at p=5

1.4

1.2

1
amplitude

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
time

  at p=5
 0.2085
  ----------------------
  s^2 + 0.166 s + 0.2085
at p=1
    0.0417
  ----------------------
  s^2 + 0.166 s + 0.0417

FOR INTEGRATOR
 S te p re s po ns e
3
step response at I=1

2.5

2
amplitude

1.5

0.5

0
0 1 2 3 4 5 6 7 8 9 10
time

at I=1              

 0.0417
  
-------------------------------------
  s^3 + 0.166 s^2 - 2.22e-16 s + 0.0417
 S te p re s po ns e
5
step response at I=5
4.5

3.5

3
amplitude

2.5

1.5

0.5

0
0 1 2 3 4 5 6 7 8 9 10
time

          0.2085
  -------------------------------------
  s^3 + 0.166 s^2 - 1.11e-16 s + 0.2085

FOR DERIVATION
 S te p re s po ns e
0.6
step response at derivative=5

0.5

0.4
amplitude

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
time

  20.85 s - 8.154e-13
  -------------------------------------
  s^3 + 100.2 s^2 + 37.45 s + 1.628e-12
 S te p re s po ns e
0.18
step response at derivative=1

0.16

0.14

0.12

0.1
amplitude

0.08

0.06

0.04

0.02

0
0 1 2 3 4 5 6 7 8 9 10
time

 4.17 s - 5.944e-14
  -------------------------------------
  s^3 + 100.2 s^2 + 20.77 s + 4.581e-14