Assignment 1

AIM: Define polynomial function in MATLAB and find the roots and values of
polynomial function.

Question 1. Consider the polynomial p(t) = t2 + 2t + 1

a. Define the polynomial in MATLAB.
b. Calculate the polynomial's roots.
c. Calculate the value of the polynomial for t = 1.

Answer.1

>> syms t

>> p(t)= t^2+2*t+1

p(t) = t^2 + 2*t + 1

>> p=sym2poly(p)

p= 1 2 1

>> p_value = polyval(p,1)

p_value = 4

>> r = roots(p)

r = -1 ,-1

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 Question 2. Consider the symbolic polynomial p(t) = t3 + 2t + 6.
a. Convert the symbolic polynomial to polynomial matrix.
b. Convert the polynomial matrix back to the symbolic polynomial.

Answer.2

>> p1(t) = t^3+2*t+6

p1(t) = t^3 + 2*t + 6

>> a=sym2poly(p1)

a= 1 0 2 6

>> poly2sym(a)

ans = x^3 + 2*x + 6

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 Question 3. Consider the polynomial p(t) = 8t6 + 4t5 + 2t3 + 7t + 2. Define and Extract the
coefficients of this polynomial. Identify the difference in the use of sym2poly & coeffs commands
output.

Answer.3

>> f= 8*t^6+4*t^5+2*t^3+7*t+2

f = 8*t^6 + 4*t^5 + 2*t^3 + 7*t + 2

>> f_new =sym2poly(f)

f_new = 8 4 0 2 0 7 2

Question 5. Create the following transfer function using tf(num,den)

H(s) = s + 1
s2 + 3s + 1
and then convert from tf model (polynomial form) to zpk model (factored
form).

>> G=tf([1 1],[1 3 1])

G=

s+1

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

s^2 + 3 s + 1

Continuous-time transfer function

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>> rj=zpk(G)

rj =

(s+1)

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

(s+2.618) (s+0.382)

Continuous-time zero/pole/gain model.

Question 6. Create the following transfer function in pole zero model T(s)
= (s + 2)(s + 1)
(s + 3)2(s + 5)
Then, convert this transfer function from factored form to polynomial form.

>> z=[-2 -1];

>> p=[-3 -3- 5];

>> k=[1];

>> rj=zpk(z,p,k)

rj =

(s+2) (s+1)

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

(s+3)^2 (s+5)

Continuous-time zero/pole/gain model.

>> h=tf(rj)

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h=

s^2 + 3 s + 2

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

s^3 + 11 s^2 + 39 s + 45

Continuous-time transfer functions

conclusion: By using Matlab roots of polynomial has been found.

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 Assignment 2
Aim: To Define The Transfer function in MATLAB and find its responses.

Question 1. Consider the following transfer function

G1(s) = 1
(s + 2)(s + 3)

Design the step response of the system. Then consider a new transfer
function
G2(s) = 10
(s + 2)(s + 3)(s + 10)

and on the same diagram design the step response for the second system.

Answers 1
Clc
clear all
p = [-2,-3];
z = [];
k = [1];
g = zpk(z,p,k);
step [g];
hold on
p = [-2,-3,-10];
z= [];
k= [10];
f= zpk(z,p,k);
step (f);
hold off
run

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Control system lab shivam
 Question 2. Consider a system with transfer function
H(s) = 2s = 2s
(s + 2)(s2 + 2s + 2) s3 + 4s2 + 6s + 4
Define the transfer function to MATLAB. Then in a tab with two sub-windows design the
impulse and step response of the system.
Answer.2
clc
clear all
num =[2,0]
den =[1 ,4,6,4]
g = tf(num,den)
subplot (1,2,1)
step (g)
subplot (1,2,2)
impulse (g)

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 Question 3. Consider a system with the following transfer function:
G(s) = s2 + 2s + 1
s3 + 3.8s2 + 8.76s + 5.96

Find the poles and zeros of the system and then in a tab with 3 sub-windows plot:
1. The impulse response of the system
2.
3. The step response of the system
4. The response when we have as input the signal 2cos(1.6t), in the interval [0; 10].

Answer.3

clc
clear all
num = [1,2,1]
den = [1,3.8,8.76,5.96]
g = tf (num,den)
pole (g)
zero ( g)
subplot (3,1,1)
step (g)
subplot (3,1,2)
impulse (g)
subplot (3,1,3)
t = 0:0.1:10
u = 2*cos (1.6*t)
lsim (g,u,t)

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 Question 4. Consider & Analyse the rational function X(s) as partial fractions.
X(s) = s + 2
s3 + 4s2 + 3s

Answer.4

num=[1,2]
den=[1,4,3]
f=tf(num,den)
[c,p,k]=residue(num,den)

ans

num = 1 2

den = 1 4 3

f=
s+2
-------------
s^2 + 4 s + 3

Continuous-time transfer function.

c = 0.5000
0.5000

p = -3
-1
k = []

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 Question 5. Create the following transfer function using tf(num,den)
H(s) = s + 1
s2 + 3s + 1

and then convert from tf model (polynomial form) to zpk model (factored
form).

Answer.5

clc
clear all
num=[1,1]
den=[1,3,1]
d=tf(num,den)
[z,p,k]=tf2zp(num,den)

output
num = 1 1
den = 1 3 1

d=
s+1
-------------
s^2 + 3 s + 1

Continuous-time transfer function.

z = -1
p = -2.6180
-0.3820

k=1

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 Question 6. Create the following transfer function in pole zero model
T(s) = (s + 2)(s + 1)
(s + 3)2(s + 5)

Then, convert this transfer function from factored form to polynomial

form.

clc
clear all
z = [-2,-1];
p = [-3,-3,-5];
k = [1];
a = zpk (z,p,k)
b = tf (a)

a=

(s+2) (s+1)

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

(s+3)^2 (s+5)

Continuous-time zero/pole/gain model.

b=

s^2 + 3 s + 2

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

s^3 + 11 s^2 + 39 s + 45

Continuous-time transfer functions

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 Assignment 3
AIM: To see the effect of change in Forward path Gain

Q1)consider wn = 1 , g=0.5 and k=[0 1 2 5 10] plot the responses on the same
graph and find the effect on the response after the addition of gain in
forward path.

clc;
clear all;
g=0.5;
wn=1;
for k = [ 1 2 5 10]
num = [k*wn^2];
den = [1 2*g*wn k*wn^2];
g1= tf (num,den)
step (g1)
hold on
end

%response shown in fig.1

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Q2) consider wn = 1 , g=1 and k=[0 1 2 5 10] plot the responses on the same
graph and find the effect on the response after the addition of gain in
forward path.

clc;
clear all;
g=1;
wn=1;
for k =[1 2 5 10]
num = [k*wn^2];
den =[1 2*g*wn k*wn^2];
g1= tf (num,den)
step (g 1)
hold on
end

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 %response shown in fig.2

conclusion :-

1) With the increase in the forward path gain, the maximum overshoot
increases.

2) With the increase in the forward path gain, the rise time decreases that is
the system is becoming faster.

3) The damping factor decreases with the increses in gain.

4) settling time is ineffective

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 ASSIGNMENT 4
clc;
clear all;
close all;
wn=1;
g=0.5;
for p=[1 5 10 20 30 50 ]
num=[wn^2]
den=[1 (p+2*g*wn) 2*g*wn*p wn^2]
g1=tf(num,den)
step(g1)
hold on
end

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Q2
clc;
clear all;
close all;
wn=1;
g=0.75;
for p=[1 5 10 20 30 50 70 ]
num=[wn^2]
den=[1 (p+2*g*wn) 2*g*wn*p wn^2]
g1=tf(num,den)
step(g1)
hold on
end

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 ASSINGMENT:- 5
Aim: To study the effect of P, PI and PID Controller on a second order transfer
function.

Q1. Consider a second order transfer function 0.01/(0.005s^2+0.06s+0.1001)

plot the open loop and close loop characteristics and find the effect of PID

controllers on the close loop characteristics.

 OPEN LOOP DC MOTOR

when we haven transfer function a unity step response.

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  CLOSE LOOP DC MOTOR

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With proportional controller

At first the Kp(proportional constant) is kept to be of value 1 , and it gave the same result as we
got from close loop.

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With proportional-integral controller

.Keeping the previous value of Kp and now adding an Integral controller (Ki),we observe that
the rise time is reduced further and approximately eliminated steady state error. But does not
affect Overshoot.

By keeping Ki > Kp ,we see steady state error is zero.

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With P.I.D controller

1. After observing the response for several values we get the desired response in which the
transfer function has - No Overshoot ,Fast rise time and zero steady state error.

* CONCLUSION:

a.) To improve rise time of transfer function one should add a Proportional constant.

b.) Add a Derivative Controller to reduce the overshoot.

c. )To remove steady state error completely an Integral Controller should be used.

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Control system lab shivam