Experiment No.

Experiment No. 02
Aim: Experimental study of time response characteristics of R-L-C

second order system: Validation using simulation.

Apparatus: DC supply, Resistor, Inductor, Capacitor, voltmeters and ammeters.
Theory:

For the series RLC circuit below, application of Kirchhoff s voltage law gives following
equations in terms of current
d2 i R d i i
+
+
=0
d t 2 L dt LC
second order ordinary differential equations whose general solution can be found from the
roots of the characteristic equation:
s 2 +2 s+20 =0
Where the roots are given by
Where

1
2 RC

The values of and

and
0

0 =

1
LC

determine the form of the natural (or step) response of a second order

series RLC circuit. The form of the response can be categorized as:
2
2
Overdamped. The response is overdamped when > 0 . In this case the natural (or step)
response approaches its final value without oscillation.
2

Overdamped. In this case < 0 and the response oscillates about its final value.
Critically damped. In this case

2=20 , and the response is on the verge of oscillating

about its final value.

Depending on the damping, the solution to the differential equation describing the response of
the circuit can be found by applying the appropriate set of equations.

Circuit for getting step response

.

Observation Table:

Time

VR

VL

VC

Procedure:
Connect the circuit taking components of appropriate values.
Apply source and measure different voltages across different elements wrt time.
Plot the graphs
Results and conclusions:

Experiment No. 3

Experiment No. 4
PID control of level/Pressure/Temperature control system.

WATER LEVEL CONTROLLER

(ON/OFF MODE)

**INTRODUCTION:

This water level controller is

demonstration type set
up with the following accessories.

1. Main control unit.

2. Sensing systems mounted on a M.S. water tank.
3. Fractional Horsepower motor system coupled to a pump
(monoblock
Pump).

Demonstration is based on one type of sensor.

Aluminum electrode system.

Electrode System.

This system has two alluminium electrodes. The basic idea on

the
Which the circuit operates is that the tap water or bulk water
used for
general consumption has always sufficient conductivity. This
Conductivity of water forms the basis of the level sensing
.The electrode
A is used for upper limit while sensor B is used for lower
limit. The
body of the tank provides return path through the water itself.
Now refer to the circuit diagram for water level controller.
Note that
the electrode B is connected through the N/C contact on the
relay
RL1.
When the water level is below the electrode B, the
transistor gets
properly biased and the relay RL1 is turned ON. This in turn
switches
ON the motor pump set. When the water level touches
electrode B, no
change takes place as the sensor is connected through N/C
contact. This
contact is now open.
When the water level rises and touches electrode A, the
base current

of the transistor is diverted to the ground through the

electrode and the
transistor gets turned OFF and the motor stops. The pump is
switched
ON again only when the water level goes below sensor B
again.
The main advantage of the two electrode system is that the
electrode A prevents overflowing and the electrode B does not
allow the water level to go below certain level. The electrodes A and
B might be located very close to each other (Height wise) and a close
level control within 2 cm can be readily obtained.
Operating Instructions:

1>Ensure that the suction pipe is completely full of water (i.e.

perform
the priming operation of the pump.) Ensure good earthing
of the
Motor.
2>Pump outlet might be connected to the tank inlet.
3> Establish connection between the controller unit and
the water tank
by supplied cables.
4>Now ensure that the electrode A and B are suitably
located.
5>Switch ON the supply and observe the operation of the
system.

6>You may check the operation at various positions of the

electrodes,
but the electrode B should be always at the lower level
than that of
Electrode A.
PRECAUTION:
1> If there is lot of scaling on the electrode system, the
electrodes are required to be cleaned before re-use.
2> Ensure that the water from the tank does not split out
on the electronic unit.

Experiment No. 5

Experimental analysis of D.C. Position Control System

Experiment No. 06
Aim: Stability analysis using a) Bode plot b) Root locus c) Nyquist plot.
Apparatus: Matlab softaware
Theory:

Explain stability and its types.

Consider the following transfer function.

10
G(s)=
1.
( s+ 1 )( s+2 ) ( s+ 3)

2.

G(s)=

5 ( s +2 )
( s3 ) ( s +4 ) ( s+5)

Create m-file and following code.

clc
clear all
close all
G=zpk(system)
bode (G)
figure
rlocus(G)
figure
nyquist(G)

Obtain the plots.

Comment

Conclusion

Experiment No. 07
Aim: Time response of second order system effect of P, PI, PID on it.
Apparatus: Matlab softaware
Theory:

What is PID controller

Draw simple mass, spring, damper system and write down is 2nd order TF.

Take its Laplae transform.

Get the TF between displace

Let
M = 1kg
b = 10 N.s/m
k = 20 N/m
Plug these values into the above transfer function

Get the Open-loop step response.

x and the output f (t )

F(s) = 1

Create a new m-file. Add in the following code:

num=1;
den=[1 10 20];
step (num,den)
Obtain and save the plot.
The closed-loop transfer function of the above system with a proportional controller:
kp
X ( s)
=
2
F(s) M s + bs+(k + k p)

Obtain step resp.

Kp=300;
num=[Kp];
den=[1 10 20+Kp];
t=0:0.01:2;
step (num,den,t)

Now consider PD control

k d s+ k p
X (s)
=
2
F(s) M s +(b+ k d ) s +( k +k p )

Obtain step resp.

Kp=300;
Kd=10;
num=[Kd Kp];
den=[1 10+Kd 20+Kp];
t=0:0.01:2;
step (num,den,t)

Now consider PI control

k p s +k i
X (s)
= 3
2
F(s) s +b s +(k + k p)s +k i

Obtain step resp.

Kp=30;
Ki=70;
num=[Kp Ki];
den=[1 10 20+Kp Ki];
t=0:0.01:2;
step (num,den,t)
Now consider PID controller
+k d
bs

3
s +
2
X (s) k d s +k p s +k i
=

F(s)

Obtain step resp

Kp=350;
Ki=300;
Kd=50;
num=[Kd Kp Ki];
den=[1 10+Kd 20+Kp Ki];
t=0:0.01:2;
step (num,den,t)

Conclusion

Experiment No. 08
Aim: Study of addition of pole-zero on root locus of second order system.
Apparatus: Matlab software
Theory:
Root locus is a technique which gives pictorial representation of variation of closed
loop poles on variation of different system parameters.
Procedure
Obtain a root locus of a given transfer function.
Add pole close to origin and observer the root locus of modified system
Add a pole far away from origin and observe the root locus of the modified system
Add zero close to the origin and observe the root locus of the modified system
Add zero far away from the origin and observe the root locus of the modified system
Add pole and zero simultaneously to the original transfer function and observed the
root locus of modified system.
Result and conclusion: From the various root locus sketches effect of addition of
pole-zero on the root locus is studied.

Experiment No. 5
AIM:- To study performance of PID controller with model as temperature control system.
APPARATUS:- PID control kit and stop watch. process as temperature control system.
THEORY: - The set up has built in signal source as reference, DVM as temperature indicator;
PID controller and DC supply to operate the system. The set has three controls, P for
proportional gain, I for integrated gain, and D for derivative gain. A separate oven with fan is
provided to raise the temperature.
PROCEDURE:The experiment is completed in four parts.
1. TO OBSERVE PROCESS CHARACTERISTICS: - Connect the oven and switch on the
power. Select temperature switch to oven and note the temperature. Now select the temperature
switch to S.P. adjust temperature to 20*C. again select temperature switch to oven, switch on the
heater and start the stop watch. Note the temperature at intervals of 5, 10,20,30,40 seconds till
the temperature is stable. Plot the curve between temperature and time.
2. TO OBSERVE SIGNAL CONDITIONAL CHARACTERISTICS:- Connect the Circuit as
before and set the temp. about 10* C. Connect the DVM across ground 0And signal conditional
socket. Select temp. switch to oven and note the temp. and voltage at error detector point. Switch
on heater and note error detector negative side input voltage.
3 P. CONTROL:-Connect the set as before and set temp. to 60*C and P control Kp To 10. switch
on the heater and note temp. at 10 sec. interval. Switch off the heater and allow it to cool with the
help of fan. Now adjust Kp to 16. Switch on the heater and repeat the experiment. Plot graph
between temp. and time.
4 PI CONTROL:- Set temp. to 60* C . Select oven temp. at display reading. Switch On the
heater and stop watch. Note the temp. at 10 sec. interval. Plot graph between time and temp.

5 PID CONTROL:- Set temp. at 60* C select ovan temp. at display reading. Switch
on heater and stop watch. Note temp. at 10 sec. interval . plot response curve from results
obtained from the experiment. Find out set temp. percentage from graph as: T( set) T(ovan) /
T(set) * 100.

OBSERVATION TABLE:Sr. No.

Time

Temperature

PRECAUTIONS:1 Do not switch on the heater for long time.

2 Allow the heater to cool before next experiment.
3 Take the reading carefully.
4 Switch off the kit when not in use
GRAPH:-

DISCUSSION:The graph is plotted between time and temperature. The temperature increases with time upto a
certain limit and then becomes steady . this time temperature graph is used to find out steady

state error (Ess) the rise in temperature depends Upon feedback gain . More the feedback gain
less the steady state error but it does not become zero .