DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

LAB MANUAL

SUBJECT: CONTROL SYSTEM LAB [KEC-652]

B.Tech 3RD Year 4TH Semester

Branch: ECE

Lab Co-ordinator: Approved By: HOD

Mis. Zaiba Ishrat Prof. (Dr.) Seema Nayak

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 VISION AND MISSION OF THE INSTITUTE

Vision:
To be among the renowned institutions providing engineering and management
education of excellence, empowered with research, innovation and entrepreneurship
with high ethical values, catering to the needs of industry and society.

Mission:
1. To offer state of the art undergraduate and postgraduate program.
2. To be a learner centric institute imbibing experimental innovation and lifelong
learning skills, addressing societal problems with high ethical values for nation
building.
3. To deliver changing demands of industry and academia through our
stakeholders.
4. To contribute as a professional leader in the growing field of entrepreneurship
and research.

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 IIMT COLLEGE OF ENGINEERING, GREATER NOIDA
Department of Electronics & Communication Engineering
Vision of the Department

To impart knowledge and skill of Electronics and Communication to develop and sustain a culture of
research while promoting values, innovation, entrepreneurship, ethics and professionalism to meet
the needs of industry and society.

Mission of the Department

1. To conduct the electronics and communication engineering program with practical exposure,
creating new knowledge and skill-sets by engaging in the research oriented approach and
promoting the academic growth.
2. To promote creative thinking and innovations by the students and faculty.
3. To develop strong industry–academia relationship.
4. To nurture students and infuse professional ethics, human values and positive attitude in the
students.

Program Educational Outcome:

PEO1:- To provide solid foundation in electronics and communication engineering along with
good communication and entrepreneurship skills for tackling social issues.
PEO2:- To impart students with good scientific and engineering knowledge in order to analyze,
design and create novel products for giving practical solutions to real life
problems.
PEO3:-To create engineers with sound technical knowledge for facing all sorts of challenges in
industry or in pursuance of higher studies.
PEO4:-To motivate students acquire aptitude for lifelong learning along with leadership skills,
team spirit and ethical values so that they upgrade themselves with the latest trends in
the field of engineering in order to serve the society.

Program Specific Outcomes:

1.Graduates of the program will be able to analyze real world engineering problems and provide
it’solution in the field of Electronics and Communication Engineering.
2.Graduates of the program will be able to design and test systems in the field of Embedded
System and ICT.

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Program Outcomes (PO’s):

PO-1: Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering problems.
PO-2: Problem analysis: Identify, formulate, review research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of mathematics,
natural sciences, and engineering sciences.
PO-3: Design/development of solutions: Design solutions for complex engineering problems and
design system components or processes that meet the specified needs with appropriate consideration
for the public health and safety, and the cultural, societal, and environmental considerations.
PO-4: Conduct investigations of complex problems: Use research-based knowledge and research
methods including design of experiments, analysis and interpretation of data, and synthesis of the
information to provide valid conclusions.
PO-5: Modern tool usage: Create, select, and apply appropriate techniques, resources, and modern
engineering and IT tools including prediction and modeling to complex engineering activities with
an understanding of the limitations.
PO-6: The engineer and society: Apply reasoning informed by the contextual knowledge to assess
societal, health, safety, legal and cultural issues and the consequent responsibilities relevant to the
professional engineering practice.
PO-7: Environment and sustainability: Understand the impact of the professional engineering
solutions in societal and environmental contexts, and demonstrate the knowledge of, and need for
sustainable development
PO-8: Ethics: Apply ethical principles and commit to professional ethics and responsibilities and
norms of the engineering practice.
PO-9: Individual and team work: Function effectively as an individual, and as a member or leader
in diverse teams, and in multidisciplinary settings.
PO-10: Communication: Communicate effectively on complex engineering activities with the
engineering community and with society at large, such as, being able to comprehend and write
effective reports and design documentation, make effective presentations, and give and receive clear
instructions.
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
 PO-11: Project management and finance: Demonstrate knowledge and understanding of the
engineering and management principles and apply these to one’s own work, as a member and leader
in a team, to manage projects and in multidisciplinary environments.
PO-12: Life-long learning: Recognize the need for, and have the preparation and ability to engage
in independent and life-long learning in the broadest context of technological change.

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

Programme Specific Outcomes (PSO’s):

PSO-1: Graduates of the programme will be able to analyse real world engineering problems and
provides its solution in the field of electronics and communication engineering

PSO-2: Graduates of the programme will be able to design and test systems in the field of embedded
system and ICT.

CO-PO Mapping:

Course PO PO PO PO PO PO PO PO PO PO PO PO PSO PSO

Outcomes 1 2 3 4 5 6 7 8 9 10 11 12 1 2

CO1 3 2 2 1 2 - - 1 2 - 2 1 1
CO2 2 2 2 1 2 - - 1 2 - 2 1 1
CO3 2 2 1 1 2 - - - 1 - 1 1 1
CO4 2 2 1 1 2 - - 1 1 - 1 1 1
CO5 2 2 2 1 2 - - - 1 - 1 1 1
3 – High; 2 – Medium; 1 – Low

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 EVALUATION SCHEME
DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
KEC-652: CONTROL SYSTEM LAB

Periods Evaluation Scheme

Sr. Subject
No Code Name of the End Credit
Subject/Lab L T P PS Semester TOTAL
PE

1 KEC-652 CONTROL 0 0 2 25 25 50 1
SYSTEM LAB

Mis. Zaiba Ishrat

(Lab Coordinator)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 INTERNAL EVALUATION SCHEME

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING

KEC-652: CONTROL SYSTEM LAB

Sr. No. Evaluation Criteria %

1 Attendance 5
2 T Lab Performance and Weekly observation 5
A note
Practical Files 5
3 CT (Internal Written Test and Practical Performance 5
Practical
Viva-Voice 5
Exam.)

Mis. Zaiba Ishrat

(Lab Coordinator)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

KEC-652: CONTROL SYSTEM LAB

Safety measures in laboratories
Safety is always an important topic whenever laboratory work is being considered,
and it is certainly true in the case of Electronics and Communication Engineering labs.
Safety is important.
1. Note the location of the Emergency Disconnect to shut off power in an

emergency.
2. Students are allowed in the laboratory only when the lab instructor is

present.
3. Open drinks and food are not allowed near the lab benches.

4. Report any broken equipment or defective parts to the lab

instructor. Do not open, remove the cover, or attempt to repair any

equipment.
5. When the lab exercise is over, all PC must be turned off.

6. Do not plug in external devices without scanning them for computer viruses.

7. Ensure that the temperature in the room stays cool, since there are a

lot of machines inside a lab as these can overheat easily

8. Institution property must not be taken from the laboratory.

Mis. Zaiba Ishrat

(Lab Coordinator

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 LABORATORY POLICIES AND REPORT FORMAT

KEC-652: CONTROL SYSTEM LAB

Standard Operating Procedure (SOP)

The faculty will explain the theory of corresponding practical in brief.

1. Students will perform the experiment as per instructions given and lab manual.
2. Students will maintain a notebook for reading/results of the experiment and get it’s signed by
the lab instructor/faculty.
3. Lab report for each experiment shall be submitted for evaluation in the next week of
performing the experiment.
4. The performance of each experiment will be graded as per the policy.

General Instructions

Every lab requires preparation prior to performing the experiments. Students are
required to perform this preliminary work prior to coming to the lab. For this lab
session your lab instructor will help you get started.

1. Before starting of the laboratory the students are instructed with necessary safety
and precautionary measures that has to be adopted in any electronics laboratory.
2. Well-designed laboratory manual / instruction sheets are provided to students at
the beginning of the session for a particular lab.
3. It is extremely important for students to read equipment manual given to you
before coming to the laboratory. Failure to do so might result in your not being
able to finish this lab session within the allotted time.
4. Be sure that the measuring equipment is set up correctly and you are reading the
correct parameters.
5. Note the readings and result in reading notebook.

Mis. Zaiba Ishrat

(Lab Coordinator)
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
 DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

KEC-652: CONTROL SYSTEM LAB

Pre-requisites of the Course:

Course Outcomes (CO’s)

At the end of this course students will be demonstrate the ability to:

Understand the basics operation of MATLAB/SCI Lab

CO 1:

Analysis the time domain and frequency domain signals.

CO 2:

Implement the concept of Fourier series and Fourier transforms.

CO 3:

Find the stability of system using pole-zero diagrams and bode diagram.
CO 4:

Design frequency response of the system

CO 5:

Mis. Zaiba Ishrat

(Lab Coordinator)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
KEC-652: CONTROL SYSTEM LAB (As per AKTU)

List of Experiments:
1. Different Toolboxes in MATLAB, Introduction to Control Systems Toolbox or its equivalent
open source freeware software like Scilab using Spoken Tutorial MOOCs.
2. Determine transpose, inverse values of given matrix.
3. Plot the pole-zero configuration in s-plane for the given transfer function.
4. Determine the transfer function for given closed loop system in block diagram representation.
5. Plot unit step response of given transfer function and find delay time, rise time, peak time and
peak overshoot.
6. Determine the time response of the given system subjected to any arbitrary input.
7. Plot root locus of given transfer function, locate closed loop poles for different values of k. Also
find out Wd and Wnat for a given root.
8. Create the state space model of a linear continuous system.
9. Determine the State Space representation of the given transfer function.
10. Plot bode plot of given transfer function. Also determine the relative stability by measuring gain
and phase margins.
11. Determine the steady state errors of a given transfer function.
12. Plot Nyquist plot for given transfer function and to discuss closed loop stability. Also determine
the relative stability by measuring gain and phase margin.
Spoken Tutorial (MOOCs):
Spoken Tutorial MOOCs, ' Course on Scilab', IIT Bombay (http://spoken-tutorial.org/)

Mis. Zaiba Ishrat

(Lab Coordinator)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING
KEC-652: CONTROL SYSTEM LAB

List of Experiments:
1. Different Toolboxes in SciLab, Introduction to Control Systems Toolbox or its equivalent open
source freeware software like Scilab using Spoken Tutorial MOOCs.
2. Determine transpose, inverse values of given matrix.
3. Plot the pole-zero configuration in s-plane for the given transfer function.
4. Determine the transfer function for given closed loop system in block diagram representation.
5. Plot unit step response of given transfer function and find delay time, rise time, peak time and
peak overshoot.
6. Determine the time response of the given system subjected to any arbitrary input.
7. Plot root locus of given transfer function, locate closed loop poles for different values of k. Also
find out Wd and Wnat for a given root.
8. Create the state space model of a linear continuous system.
9. Determine the State Space errors of a given transfer function.
10. Plot bode plot of given transfer function. Also determine the relative stability by measuring gain
and phase margins.
11. Determine the steady state errors of a given transfer function.
12. Plot Nyquist plot for given transfer function and to discuss closed loop stability. Also determine
the relative stability by measuring gain and phase margin.

Mis. Zaiba Ishrat

(Lab Coordinator)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 Experiment No. 1: Introduction to SCI LAB

Aim: Different Toolboxes in SciLab, Introduction to Control Systems Toolbox or its equivalent open
source freeware software like Scilab using Spoken Tutorial MOOCs

Objective: To introduce SCI LAB

a. To define and use variables and functions in SCI LAB.
b. To define and use Vectors and Matrices in SCI LAB.
c. To study various SCI LAB arithmetic operators and mathematical functions.
d. To create and use m-files.

Apparatus Required: SCI LAB TOOL (7.12.0 r2011a) and PC.

Theory: Scilab is a programming language associated with a rich collection of numerical algorithms
covering many aspects of scientific computing problems. From the software point of view, Scilab is an
interpreted language. This generally allows getting faster development processes, because the user
directly accesses to a high level language, with a rich set of features provided by the library. The Scilab
language is meant to be extended so that user-defined data types can be defined with possibly overloaded
operations. Scilab users can develop their own module so that they can solve their particular problems.
The Scilab language allows dynamically compiling and linking other languages such as FORTRAN and
C: this way, external libraries can be used as if they were a part of Scilab built-in features. Scilab also
interfaces Lab VIEW, a platform and development environment for a visual programming language from
National Instruments.
From the license point of view, Scilab is free software in the sense that the user does not pay for
it and Scilab is open source software, provided under the Cecil license. The software is distributed with
source code, so that the user has an access to Scilab most internal aspects. Most of the time, the user
downloads and installs, a binary version of Scilab since the Scilab consortium provides Windows, Linux
and Mac OS executable versions. An online help is provided in many local languages.

From a scientific point of view, Scilab comes with many features. At the very beginning of
Scilab, features were focused on linear algebra. But, rapidly, the number of features extended to cover
many areas of scientific computing. The following is a short list of its capabilities:

 Linear algebra, sparse matrices,

 Polynomials and rational functions,
 Interpolation, approximation,
 Linear, quadratic and non linear optimization,
 Ordinary Deferential Equation solver and Differential Algebraic Equations solver,
 Classic and robust control, Linear Matrix Inequality optimization,
 Differentiable and non-differentiable optimization,
 Signal processing,
 Statistics.
Getting started
In this section, we make our first steps with Scilab and present some simple tasks we can perform
with the interpreter.
There are several ways of using Scilab and the following paragraphs present three methods:
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
  using the console in interactive mode,
 using the exec function against a file,
 using batch processing.
The console
The first way is to use Scilab interactively, by typing commands in the console, analyzing Scilab
result, continuing this process until the final result is computed. This document is designed so that
the Scilab examples which are printed here can be copied into the console. The goal is that the reader
can experiment by himself Scilab behaviour. This is indeed a good way of understanding the
behaviour of the program and, most of the time; it allows a quick and smooth way of performing the
desired computation.
In the following example, the function disp is used in interactive mode to print out the string

"Hello World!".
-->s=" Hello World!”
s=
Hello World!
-->disp (s)
Hello World
In the previous session, we did not type the characters "-->" which is the prompt, and which is
managed by Scilab. We only type the statement s="Hello World!" with our keyboard and then hit the
<Enter> key. Scilab answer is s = and Hello World!. Then we type disp(s) and Scilab answer is
Hello World.

Figure-1
The editor
Scilab version 5.2 provides a new editor which allows to edit scripts easily. The figure-2 presents the
editor while it is editing the previous "Hello World!" example. The editor can be accessed from the
menu of the console, under the Applications > Editor menu, or from the console, as presented in the
following session.
--> editor ()
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
This editor allows managing several files at the same time, as presented in the figure -2, where we
edit five files at the same time. There are many features which are worth to mention in this editor.
The most commonly used features are under the Execute menu.
Load into Scilab allows to execute the statements in the current file, as if we did a copy and paste.
This implies that the statements which do not end with a ";" character will produce

Figure-2

an output in the console. Evaluate Selection allows to execute the statements which are currently
selected.
Execute File Into Scilab allows to execute the file, as if we used the exec function. The results which
are produced in the console are only those which are associated with printing functions, such as disp
for example.
We can also select a few lines in the script, right click (or Cmd+Click under Mac), and get the
context menu which is presented in figure 3. The Edit menu provides a very interesting feature,
commonly known as a "pretty printer" in most languages. This is the Edit > Correct Indentation
feature, which automatically indents the current selection. This feature is extremely convenient, as it
allows to format algorithms so that the if, for and other structured blocks can be easy to analyze. The
editor provides a fast access to the inline help. Indeed, assume that we have selected the disp
statement, as presented in the figure 4. When we right-click in the editor, we get the context menu,
where the Help about "disp" entry allows to open the help associated with the disp function.

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 Figure-3

Figure-4

Figure-5
The docking system uses Flex dock, an open-source project providing a Swing docking framework.
Assume that we have both the console and the editor opened in our environment, as presented in
figure-5. It might be annoying to manage two windows, because one may hide the other, so that we
constantly have to move them around in order to actually see what happens. The Flex dock system
allows dragging and dropping the editor into the console, so that we finally have only one window,
with several sub-windows. All Scilab windows are dock able, including the console, the editor, the
help and the plotting windows. In the figure-6, we present a situation where we have docked four
windows into the console window.

Figure-6
Common Operators
Here is a list of common operators in Scilab:
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
 + Addition
− Subtraction
_ Multiplication
/ Division
ˆ Power
’ Complex conjugate transpose
Common Functions
Some common functions in Scilab are: sin, cos, tan, asin, acos, atan, abs, min, max, sqrt, sum. E.g.,
when
we enter: sin(0.5) then it displays: ans: =
0.4794255
Another example:
max(2, 3, abs(-5), sin(1))
ans: = 5.
Special Constants
We may wish to enter some special constants like, i (sqrt(−1) ) and e. It is done by entering %pi, %i
and
%e respectively. There are also constants %t (true) and %f (false) which are Boolean variables.
Boolean variables would be introduced later. Data Structures Scilab supports many data structures.
Examples are: usual (real or complex matrices), polynomial, Boolean, string, function, list, tlist,
sparse, library. Please read Scilab documentation for details. To query for the type of an object, type:
typeof (object).

Entering Matrices
There are many ways to enter a matrix. Here is the simplest method:
1. Separate each element in a row using a blank space or a comma;
2. Separate each row of elements with a semi-colon;
3. Put the whole list of elements in a pair of square brackets.
For example, we wish to enter a 3 × 3 magic square and assign to the variable M.
M = [8 1 6; 3 5 7; 4 9 2]
M=
8. 1. 6.
3. 5. 7.
4. 9. 2.

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 Experiment-2

Aim: Determine the inverse and transpose of a given matrix.

Software used: Scilab 6.1.0

Theory: In Scilab, the result of a character string transpose is the string itself; but in scilab,
transpose of a character string gives a column vector of characters. To have the same result in
Scilab, use: mtlb_t
The transpose of a matrix is obtained by changing its rows into columns (or equivalently, its
columns into rows). A rectangular array of numbers or functions that are arranged in the form of
rows and columns is called a matrix. These arrays of numbers are called either entries or elements of
a matrix.

Programme:

//exp2 determines the inverse and transposes value of matrix

//sample values

A=[1,2,3;4,5,6;7,8,9];
B=[4,2,3;-2,3,3;1,1,3];
y=inv(A)
z=inv(B)
disp(y,"inverse of matrix A");
disp(A*B,"The multiplication of Matrix A with B:");
disp(A+B,"The sum of the Matrices A and B:");
disp(A',"The transpose of the matrix A:");
disp(B',"The transpose of the matrix B:");
disp(det(A),"The determinant of A is:");
disp(det(B),"The determinant of B is:");

Result: Matrix operation verified.

inverse of matrix A

-4.504D+15 9.007D+15 -4.504D+15

9.007D+15 -1.801D+16 9.007D+15
-4.504D+15 9.007D+15 -4.504D+15

The multiplication of Matrix A with B:

3. 11. 18.
12. 29. 45.
21. 47. 72.
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
The sum of the Matrices A and B:

5. 4. 6.
2. 8. 9.
8. 9. 12.

The transpose of the matrix A:

1. 4. 7.
2. 5. 8.
3. 6. 9.

The transpose of the matrix B:

4. -2. 1.
2. 3. 1.
3. 3. 3.

The determinant of A is:

6.661D-16

The determinant of B is:

27.

Short questions:
1. How do you find the inverse of a transpose?
2. What is inverse of a transpose?
3. What is the transpose of the given matrix?
4. How find the inverse of a matrix?
5. What is the formula of a inverse in matrix?

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 Experiment-3

Aim: Determine the pole zero plot of a given transfer function.

Software used: Scilab 6.1.0

Theory: In mathematics, signal processing and control theory, a pole–zero plot is a graphical
representation of a rational transfer function in the complex plane which helps to convey certain
properties of the system such as: Stability. Causal system / anticausal system. Region of convergence
(ROC)
Poles and Zeros of a transfer function are the frequencies for which the value of the denominator and
numerator of transfer function becomes zero respectively. The values of the poles and the zeros of a
system determine whether the system is stable, and how well the system performs. Control systems, in
the simplest sense, can be designed simply by assigning specific values to the poles and zeros of the
system.
Physically realizable control systems must have a number of poles greater than the number of zeros.
Systems that satisfy this relationship are called proper. We will elaborate on this below.
Let's say we have a transfer function defined as a ratio of two polynomials:

H(s) =N(s)/D(s)
Where N(s) and D(s) are simple polynomials. Zeros are the roots of N(s) (the numerator of the
transfer function) obtained by setting N(s) = 0 and solving for s.
Poles are the roots of D(s) (the denominator of the transfer function), obtained by setting D(s) = 0 and
solving for s. Because of our restriction above, that a transfer function must not have more zeros than
poles, we can state that the polynomial order of D(s) must be greater than or equal to the polynomial
order of N(s).
H(s) =2+3*s+4*s^2/1+s+s^2

Programme:

// Scilab version 6.1.0

//sample values

s=%s

n=[2+3*s+4*s^2]; // input numerator of transfer function

d=[1+s+s^2]; // input denomenator of transfer function

h=syslin('c',n/d);
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
disp(h)

plzr(h)

Result:

Short questions:
1. How do you find the transfer function of a pole-zero plot?
2. What do poles and zeros represent in a transfer function?
3. How do you plot the poles of a transfer function?
4. What happens when transfer function is zero?
5. What is pole and zero in Z transform?

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 Experiment: 4
Aim: Determine the transfer function for given closed loop system in block diagram representation.
Software used: Scilab 6.1.0
Theory: The transient response is characterized by the roots of the closed-loop characteristic
polynomial, given as: Δ(s)=1+KGH(s). These roots can be real or complex, distinct or repeated.
Accordingly, the system natural response modes are characterized as follows: Real and Distinct
Roots.
The closed-loop system response is given as: y(s)=T(s)r(s)y(s)=T(s)r(s),
where  T(s)=KG(s)1+KGH(s)T(s)=KG(s)1+KGH(s).
i.e.,  y(t)=ytr(t)+yss(t)y(t)=ytr(t)+yss(t).
In particular, for a constant input, rssrss, the steady-state component of the system response is given
as: yss=T(0)rssyss=T(0)rss.
The transient response is characterized by the roots of the closed-loop characteristic polynomial,
given as: Δ(s)=1+KGH(s)Δ(s)=1+KGH(s). 

These roots can be real or complex, distinct or repeated. Accordingly, the system natural response
modes are characterized as follows:

Real and Distinct Roots. Let Δ(s)=(s−p1)(s−p2)…(s−pn).Δ(s)=(s−p1)(s−p2)…(s−pn).; then, the

system natural response modes are given as: {ep1t,ep2t,…,epnt}{ep1t,ep2t,…,epnt}.
Real and Repeated Roots. Let Δm(s)=(s−s1)mΔm(s)=(s−s1)m; then, the corresponding natural
response modes is given as: {es1t,tes1t,…,tm−1es1t}{es1t,tes1t,…,tm−1es1t}.
Complex Roots. Let Δc(s)=(s+σ)2+ω2Δc(s)=(s+σ)2+ω2; then, the corresponding natural response
modes are given as: {e−σtcosωt,e−σtsinωt}{e−σtcos⁡ωt,e−σtsin⁡ωt}.
General Expression. Assume that for an nnth order polynomial, the response modes are given
as: ϕk(t),k=1,…,nϕk(t),k=1,…,n. Then, using arbitrary constants, ckck, the system natural response
is given as: y(t)=∑nk=1ckϕk(t)y(t)=∑k=1nckϕk(t).

Programme:
// Transfer Function and analyze the transient response of closed loop system using step input.
s=%s
num1=s;
den1 =1+s;
TF1 = syslin('c',num1,den1)
disp(TF1)
num2=1;

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

den2 =3;
TF2 = syslin('c',num2,den2)
disp(TF2)
L=TF1*TF2
disp(L)
E=1+L
disp(E)
S1=TF1/E
disp(S1)
t=0:0.1:30;
y1 = csim('step',t,S1);
title('Closed Loop system');
plot(t,y1);

Result: -->

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Short questions:
1. What is the transient response in a closed-loop system?
2. How do you get a step response from a transfer function?
3. What is step response and transient response?
4. What is transient response analysis?
5. How do you calculate transient response?

Experiment: 5
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
Aim: Plot unit step response of given transfer function and finds delay time, rise time, peak time and
peak overshoot.

Software Used: Scilab 6.1.0

Theory: One of the most common test inputs used is the unit step function,

     

The response of a system (with all initial conditions equal to zero at t=0-, i.e., a zero state
response) to the unit step input is called the unit step response.  If the problem you are trying
to solve also has initial conditions you need to include a zero input response in order to
obtain the complete response.

In electronic engineering and control theory, step response is the time behaviour of the outputs of
a general system when its inputs change from zero to one in a very short time. The concept can
be extended to the abstract mathematical notion of a dynamical system using an evolution parameter.

Programme:

clc;
clear;
close all;
s=%s
num=25;
den =25+4*s+s^2; // input numerator and denomenator of transfer function
TF = syslin('c',num,den) // transfer function of system
disp(TF)
t=0:0.0005:5;
y1 = csim('step',t,TF); // transisent response
title("II order system response");
xgrid;
plot(t, y1)
y=den
disp(y)
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
z=coeff(y)
disp(z)
Wn=sqrt(z(1,1)) // Wn= natural frequency //
disp(Wn)
zeta=z(1,2)/(2*Wn) // damping ratio//
disp(zeta)
Wd=Wn*sqrt(1-zeta^2) // damping frequency//
disp(Wd)
Tp=%pi/Wd //peak time//
disp(Tp)
Mp=100* exp((-%pi * zeta ) / sqrt (1 - zeta ^2) ) // maximum overshoot//
disp(Mp)
Td =(1+0.7*zeta )/Wn //delay time//
disp(Td)
a = atan(sqrt(1-zeta ^2)/zeta )
disp(a)
Tr=(%pi-a )/Wd //rise time//
disp(Tr)
Ts=4/(zeta*Wn) // settling time//
disp(Ts);

Result:

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Transient Response:

Short questions:
1. What is step response of transfer function?
2. What are the units of the transfer function?
3. What is the unit of impulse response?
4. How do you find the unit step function?
5. How do you calculate transfer function?

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 Experiment-6

Aim: Determine the time response of the given system subjected to any arbitrary input.

Software Used: Scilab 6.0.1

Theory: Time Response of first order system

In the above transfer function, the power of 's' is the one in the denominator. That is why
the above transfer function is of the first order, and the system is said to be the first order
system.

Response of 1st order system when the input is unit step -

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Now, the partial fraction of above equation will be:

Taking the inverse Laplace of above equation is:

Where T is known as time constant of the system and it is defined as the time required for
the signal to attain 63.2 % of final or steady state value. Time constant means how fast the
system reaches the final value. As smaller the time constant, as faster is the system
response. If time constant is larger, system goes to move slow.

Programme:

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

//Step Responses of a II order system for zeta =0.1( underdamped) , zeta =1( c r i t i c a l l y
damped) & zeta =1.5( overdamped )

clc;
clear;
close all;
t=0:0.01:5;
zeta=[0.5 1 1.5]
cv=[1 2 3];
s=%s;
for n=1:3
num = 36;
den = s^2 + 2*zeta(n)*6*s +36;
P =syslin('c',num,den); // transfer function//
Ps=csim('step',t,P); // transfer function simulation//
plot2d(t,Ps,style=cv(n));
end;
xgrid;
xtitle(['Step Responses of a II order system for zeta =0.1(underdamped) , zeta =1( c r i t i c a l l y
damped) & zeta =1.5( overdamped )'], 'Time', 'Amplitude' );
legends(['zeta =0.5'; 'zeta=1'; 'zeta =1.5'],[1,2,3]);
Result:

Short questions:
1. What is the response of the system?
2. What is the time response of first order system?
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
 3. What is time response of second-order system?
4. What is time domain response in control system?
5. What is step response time?

Experiment-7

Aim: Plot root locus of given transfer function, locate closed loop poles for different values of k.
Also find out Wd and Wnat for a given root.

Software Used: Scilab 6.1.0

Theory:
The root locus of a feedback system is the graphical representation in the complex s-plane of the
possible locations of its closed-loop poles for varying values of a certain system parameter. The
points that are part of the root locus satisfy the angle condition. The value of the parameter for a
certain point of the root locus can be obtained using the magnitude condition.
Suppose there is a feedback system with input signal  and output signal. The forward path transfer
function is; the feedback path transfer function is.
For this system, the closed-loop transfer function is given by[2]

T(s) =Y(s)/X(s) = G(s)/(1+G(s)H(s))

In control theory and stability theory, root locus analysis is a graphical method for examining
how the roots of a system change with variation of a certain system parameter, commonly
a gain within a feedback system. This is a technique used as a stability criterion in the field
of classical control theory developed by Walter R. Evans which can determine stability of the
system. The root locus plots the poles of the closed loop transfer function in the complex s-plane as a
function of a gain parameter (see pole–zero plot).
To determining the stability of the system, the root locus can be used to design the damping ratio (ζ)
and natural frequency (ωn) of a feedback system. Lines of constant damping ratio can be drawn
radially from the origin and lines of constant natural frequency can be drawn as arccosine whose
center points coincide with the origin.

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Programme:
// To sketch root locus for a given system for different value of K
clc;
clear;
close all;
s=%s ;
num=1;
den =s*(2+s)*(5+2*s+s^2); // input numerator and denomenator of transfer function
TF = syslin('c',num,den) // transfer function of system
disp(TF)
evans(TF);
// rootlocus

Result:

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Short questions:
1. How do you find the root locus of a system?
2. How do you draw a root locus of a system?
3. How do you find the stability of a system using root locus?
4. Which command is used to obtain root locus of system?
5. What is K in root locus?

EXPERIMENT -8
Aim: To Plot bode plot of given transfer function. Also determine the relative stability by measuring
gain and phase margins.
Software Used: Scilab 6.1.0
Theory: A Bode plot is a graph of the magnitude (in dB) or phase of the transfer function
versus frequency. Of course we can easily program the transfer function into a computer to make
such plots, and for very complicated transfer functions this may be our only recourse.

Bode plots show the frequency response, that is, the changes in magnitude and phase as a
function of frequency. This is done on two semi-log scale plots. The top plot is typically magnitude
or “gain” in dB. The bottom plot is phase, most commonly in degrees.

Phase margin is measured at the frequency where gain equals 0 dB. This is commonly referred to as
the “crossover frequency”. Phase margin is a measure of the distance from the measured phase to a
phase shift of -180°. In other words, how many degrees the phase must be decreased in order to
reach -180°.

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Gain margin, on the other hand, is measured at the frequency where the phase shift equals -180°.
Gain margin indicates the distance, in dB, from the measured gain to a gain of 0 dB. These values, 0
dB and -180° are important because system instability occurs if these two values meet.

Programme:
// To plot the Bode Plot of a given transfer Function

clc;
clear;
close all;
s=%s;
G=(10*(s+3))/(s*(s+2)*(s^2+s+2));
sys=syslin('c',G);
f_min=.0001;f_max=16;
clf();
bode(sys,f_min,f_max,"rad");

Result:

Short questions:
1. What does a Bode plot represent?
2. What is the transfer function of a system?
3. How do you draw a Bode plot phase?
4. Which graph is used for Bode plot?
5. What is pole and zero in Bode plot?

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 EXPERIMENT -9
Aim: Determine the State Space errors of a given transfer function.

Software Used: Scilab 6.1.0

Theory:
Theory Steady State Errors for Unity Feedback Systems Consider the following block
diagram of closed loop control system, which is having unity negative feedback.

Where,
• R(s) is the Laplace transform of the reference Input signal r(t)r(t)

• C(s) is the Laplace transform of the output signal c(t)c(t)

We know the transfer function of the unity negative feedback closed loop control system as

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 C(s)R(s)=G(s)1+G(s)C(s)R(s)=G(s)1+G(s)

⇒C(s)=R(s)G(s)1+G(s)⇒C(s)=R(s)G(s)1+G(s)

The output of the summing point is –

E(s)=R(s)−C(s)

Substitute C(s)C(s) value in the above equation.

E(s)=R(s)−R(s)G(s)1+G(s)E(s)=R(s)−R(s)G(s)1+G(s)

⇒E(s)=R(s)+R(s)G(s)−R(s)G(s)1+G(s)⇒E(s)=R(s)+R(s)G(s)−R(s)G(s)1+G(s)

⇒E(s)=R(s)1+G(s)⇒E(s)=R(s)1+G(s)

Substitute E(s) value in the steady state error formula

ess=lims→0sR(s)1+G(s)

Programme:

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 EXPERIMENT -10
Aim: To plot Nyquist of given transfer function.

Software Used: Scilab 6.1.0

Programme:
// Plot Nyquist of given transfer function.
clc;
clear;
close;
s=%s;//Avariable used to defind polynomials
G=syslin('c',200,(s+2)*(s+4)*(s+5));//open loop transfer function
//syslin is linear system definition
nyquist(G,'rad')
[GM,PCF]=g_margin(G)//GAIN MARGIN ANDASSOCLSTED CROSSOTER FREQUENCY
[PM,GCF]=p_margin(G)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
 The value-added of laboratory
Experiments

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA

 EXPERIMENT -11
Aim: To state space model of a transfer function.

Software Used: Scilab 6.1.0

Programme:
// state space model of a transfer function

//Scilab 6.1.0 s-poly (0,'s');

clc;
close;
s=%s;
num=25;
den=25+4*s+s^2;
TF=syslin('c',num,den);
disp(TF)
y=den;
disp(y)
z=coeff(y)
disp(z)
q=num
disp(q)
r=coeff(q)
wn=sqrt(r)
disp(wn)
zeta=z(1,2)/(2*wn)
disp(zeta)
mr=1/2*zeta*sqrt(1-zeta^2)
disp(mr)
wr=wn*sqrt(1-2*zeta^2)
disp(wr)
Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA
bw=wn*sqrt(1-2*zeta^2+sqrt(2-4*zeta^2+4*zeta^4))
disp(bw)

Signal System Lab, Deptt. of ECE IIMT, Gr. NOIDA