SL.NO.

NAME OF THE EXPERIMENT

Root Locus

DATE

27-2-12
2

Laplace Transform

Residue Function

Response of P,PD & PI Controller

10-4-12

Root Locus

Bode Plot

Interacting and Non-Interacting tanks

Standard 2nd Order System

12-4-12

SIGNATURE

1. Determine the roots of the following integral : S3-3S+2=0

Program:
p=[1 0 -3 2]
r=roots(p)
Output:
r = -2.0000
1.0000
1.0000

2. Find the Laplace Transform of: (i) t (ii) e-t (iii) sint
(i)Program:
syms t
f=t
F=laplace(f)
Output:
F =1/s^2

(ii)Program:
F=exp(-t)
F=laplace(f)
Output:
F=1/(1+s)
(ii)Program:
syms t
f=sint
F=laplace(f)
Output:
F=1/(1+s^2)

3. Obtain (y,p,k) using residue for the following T.F :

G=

S3+S2+2
S2(S+3)(S+5)

Program:
num=[1 1 0 2]
den=conv(conv([1 0 0],[1 3]),[1 5])
[y,p,k]=residue(num,den)
[num,den]=residue(y,p,k)
printsys(num,den)
Output:
y = 1.9600
-0.8889
-0.0711
0.1333
p = -5 -3 0 0
k = []
num = 1.0000 1.0000
den = 1

8 15

num/den =
s^3 + 1 s^2 + 2
-------------------s^4 + 8 s^3 + 15 s^2

0 2.0000
0

4. Write a program to obtain the output response of P, PI, and PD

controller using Matlab. The T.F of the system is:
G(S) =

4500
S(S+361.2)

Program:
G=tf(4500,[1 361.2 0])
kc=184.1
m1=feedback(kc*G,1);
%step response with P and PD controller
t=0:0.001:0.04;
y1=step(m1,t);
kd=0.324
d1=tf([kd,kc],1);
m2=feedback(d1*G,1);
y2=step(m2,t);
%step response with P and PI controller
kc=14.728;
ki=147.28;
d2=tf([kc,ki],1);
m3=feedback(d2*G,1);
y3=step(m3,t);
plot(t,y1,t,y2,t,y3);
grid;
xlabel('t');
ylabel('y(t)');
text(0.005,1.5,'with P control');
text(0.015,1.15,'with PI control');
text(0.006,1.17,'with PD control');

Output:

5. Obtain root locus for the following T.F :

(i) G(S)H(S)= K(S+1)
S(S+3)
(ii) G(S)H(S)=
K
S(S+1)(S+3)
(iii) G(S)H(S)=
K
2+
S(S 2S+13)
(i)Program:
num1=[1 1]
den1=conv([1 0],[1 3]);
rlocus(num1,den1);
grid;
Output:

(ii)Program:
num2=[1]
den2=conv(conv([1 0],[1 1]),[1 2])
rlocus(num2,den2);
grid;
Output:

(iii)Program:
num3=[1]
den3=conv([1 0],[1 2 13])
rlocus(num3,den3);
grid;
Output:

6. Obtain Bode Plot for the following T.F :

(i) G(S)H(S)= K(S+1)
S(S+3)
(ii) G(S)H(S)=
K
S(S+1)(S+3)
(iii) G(S)H(S)=
K
2+
S(S 2S+13)
(i)Program:
num1=[1 1]
den1=conv([1 0],[1 3])
w=logspace(-2,3,100);
bode(num1,den1,w)
Output:

(ii)Program:
num2=[1]
den2=conv(conv([1 0],[1 1]),[1 2])
w=logspace(-2,3,100);
bode(num2,den2,w)
Output:

(iii)Program:
num3=[1]
den3=conv([1 0],[1 2 13])
w=logspace(-2,3,100);
bode(num3,den3,w)
Output:

7. Two non-interacting tanks are connected as shown in fig:

(a)The time constants are 2=1 and 1=0.5, r2=1. Sketch the
response of the label in tank 2 if unit step change is made in
the inlet flow rate to tank 1.
H2(S) =
R2
Q(S)
(1s+1) (2 s+1)
(a) Program:
num=[1]
den=conv([0.5 1],[1 1])
t=0:0.5:4;
y1=step(num1,den1,t);
xlabel('t');
ylabel('h(t)')
title(Step response of two non-interacting tanks)

(b) If two tanks are interacting at time constant of both the tanks
equal. Sketch the response of the label in tank 2 if a unit step change
is made in the inlet flow rate to the tank 1 and compare the same
non-interacting tank.

H2(S) =
Q(S)

R2
12s + (1 + 2 + A1R2) S+1
2

(b)Program:
num1=[1]
den1=conv([0.5 1],[1 1])
t=0:0.5:4;
y1=step(num1,den1,t);
xlabel('t');
ylabel('h(t)')
num2=[1]
den2=[1 3 1]
t=0:0.5:4;
y2=step(num2,den2,t);
plot(t,y1,'*',t,y2,'o');
grid;
xlabel('t');
ylabel('h(t)')
title('Step response of two interacting and non-interacting tanks')
text(1,0.4,'non-interacting tanks');
text(1,0.2,'interacting tanks');

Output:

8. Find the rise time, peak time, maximum overshoot and settling
time of the standard second-order system where =0.6 and n=5.
Program:
num=[0 0 25]
den=[1 6 25]
t=0:0.005:5;
[y,x,t]=step(num,den,t);
r=1;
while y(r)<1.0001;
r=r+1;
end;
rise_time=(r-1)*0.005
[ymax,tp]=max(y);
peak_time=(tp-1)*0.005
max_overshoot=ymax-1
s=1001;
while y(s)>0.98 & y(s)<1.02;
s=s-1;
end;
settling_time=(s-1)*0.005
Output:
rise_time = 0.5550
peak_time = 0.7850
max_overshoot = 0.0948
settling_time = 1.1850