1.

TEMPERATURE CONTROL SYSTEM

AIM:
To study the performance of various types of controller used to
control the temperature of an oven.

APPARATUS:

Temperature control unit

Techno meter -1
Stop clock - 1

CERCUIT DIAGRAM:

1
PROCEDURE:

I. OPEN LOOP TESTING:

1. Keep switch ‘S1’ to ‘WAIT’, ‘S2’ to ‘SET’ and open ‘FEED BACK’.
2. Connect potentiometer (p) output to driver i/p and switch on the
unit.
3. Set potentiometer ‘P’ to 0.5 which gives Kp = 10 adjust reference
potentiometer to read 5 on the dmm.
4. Put switch ‘S2’ to the measure position and note down the room
temperature.
5. Put switch ‘S1’ to run position and note down the room
temperature readings every 30 seconds till the temperature
becomes almost constant.
6. Plot temperature time curve on a graph paper calculate T1 and T2
hence write the transfer function of the oven including it’s driver
as

G(s) = Ke –(ST2) / (1+ST1) with ‘T’ in 0C.

II. P – CONTROLER:

Kp for P – controller is a Kp = T1 / (K T2)

1. starting with cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect ‘P’ to output to the driver i/p keep R, D, and I o/p’s
disconnected short ‘ FEED BACK’ terminals.
2. Set up potentiometer to the above calculated value of ‘Kp’
keeping in mind that maximum gain is 10.
3. Plot the observation on a linear graph paper and observe the rise
time, study state error and output overshoot.

III. P – I CONTROLER:

2
 1. Starting with cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect P & I output to the driver i/p and disconnect R, D. o/p’s
short ‘FEED BACK’ terminals.
2. Set P and I potentiometer to the above values of KP and K
respectively select and set the desired temperature to say 60
keep switch ‘S2’ to ‘RUN’ position and record temperature plot
the observation on graph.
3. Starting with a cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect P, I, and D o/p’s to driver i/p keep ‘R’ output
disconnected short feed back terminals.
4. Set P, I & D potentiometer according to calculated values.
IV. P ID CONTROLER:

1. Starting with cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect P & I output to the driver i/p and disconnect R, D. o/p’s
short ‘FEED BACK’ terminals.
2. Set P, I, D according to the above calculated values of KP, KI (or)
KD keeping in mind that there is a maximum value are 20, 0.0245
and 23.5 respectively.
3. Select & set the desired temperature time readings.
4. Plot the response on a graph paper and observe Tr Steady state
error and percentage over shoots.

OBSERVATIONS:

P – CONTROLER:

S.N TIME TEMPERATURE

o

3
P I– CONTROLER:

S.N TIME TEMPERATURE

o

PID – CONTROLER:

S.N TIME TEMPERATURE

o

EXPETED GRAPH:

4
RESULT:
The performance of various types of controllers i.e., P, PI and PID
controllers to control the temperature of an oven are studied.

VIVA VOCE:

• Define control system.

• Define open loop control system.
• Define open loop control system.
• Is temperature control system open loop are closed loop control
system?

5
 2. TRANSFER FUNCTION OF A DC MOTOR

AIM:
To study the torque – speed characteristics and determine the
transfer function of a Dc motor.

APPARATUS:

1. Trainer kit of a DC motor

2. DMM meters -2
3. Connecting wires

CIRCUIT DIAGRAM:

6
PROCEDURE:

MOTOR AND GENERATOR CHARACTERISTICS:

1. Set ‘Motor’ switch to ‘ON’ set ‘RESET’ switch to ‘RESET’ set

‘LOAD’ switch to ‘0’ position.
2. Vary Ea in small steps and take readings.
3. Plot N VS Ea and Eg VS N obtain the slopes and compute Km and KG.

TORQ SPEED CHARACTERISTICS:

1. Set ‘Motor’ switch to ‘OFF’ set ‘RESET’ switch to ‘RESET’ set

‘LOAD’ switch to ‘0’ position.
2. Connect Ea to the voltmeter and set Ea = 6V

7
 3. Shift the ‘Motor’ switch to ‘ON’ measure armature in put (Ea),
motor current (Ia) & motor speed in rpm record the readings.
4. Set the ‘LOAD’ switch to 1, 2. . 5 and take readings as above.
5. Complete the table motor voltage Ea = 6 volts; Ra = 4.42Ω.
6. Plot torque VS speed cures on a graph paper.
7. Complete ‘B’ from the slope of torque – speed curve and average
Kb from the table.
8. Repeat above for Ea = 8v, 10v, 12v and record the average
values of motor parameters B and Kb

STEP RESPONSE:

1. Set ‘Motor’ switch to ‘OFF’ set ‘RESET’ switch to ‘RESET’ set

‘LOAD’ switch to ‘0’ position.
2. Connect Ea to the volt meter and set it to 8V.
3. Switch ‘ON’ the motor and measure ‘Eg’ & the speed in rpm these
are the steady state generator voltage ‘Eg’ and steady state
motor speed ‘N’ respectively.
4. Set ‘ES’ to 63.2% of Eg measure above this is the generator Vg at
which the counter will stop counting.
5. Switch ‘OFF’ the motor set ‘RESET’ switch to ‘READY’.
6. Now switch the motor ‘ON’ record the counter reading as time
constant in mille seconds.
7. Repeat above with Ea = 10V, 12V and tabulate the results.
8. Substitute the values of Km and Tm in equation
Gm(s) = Km / (STm + 1) = w(s) / Ea(s).
9. Using the average values of Tm, B, Kb and Ra calculate the motor
inertia from equation I = Tm (B+Kb2/Ra).

OBSERVATION:

MOTOR AND GENERATOR CHARACTERISTICS:

8
 S.No Ea Ia N Eg
(volts) (mA) (rpm) (volts)

TORQUE SPEED CHARACTERISTICS:

S.N Load Ia N W= 2∏n/60 Eb = Ea-IaRa Kb = Tm = KbIa

o Step (mA (rpm (rad/sec) (volts) Eb / W (N-m)
) )

STEP RESPONSE:

S.N Ea Eg N Es = Time Gain constant

o (volts (volts (rpm 0.632Eg constant ‘Tm’ Km = ∏N/ 30 Ea
) ) ) (volts) msec

EXPETED GRAPH:

9
FORMULAE USED:

Motor gain constant = Km = KT / RaB+KTKb

Motor time constant = Tm = Ra j / RaB+KTKb

Steady state armature current, Ia = (Ea – Eb)/ Ra = (Ea/Ra) –

(KbW/Ra)

Steady state torque generated, Tm = KTIa

Tm = - KTKb / Ra(w) + KT / Ra (Ea)

Kb = Eb / W = (Ea - IaR) / W [volts/rad/sec]

Average Kb = 22.53x10-3 volts/rad/sec

B- Coefficient of viscous friction (N-m/rad/sec)

CALCULATIONS:

RESULT:
The transfer function of a DC motor is derived.

10
VIVA VOCE:

• Define transfer function.

• How transfer function is different from voltage gain ?
• Explain the advantages of transfer function.

11
 3. BODE PLOT USING MATLAB

OBJECTIVE:
To obtain the Bode Plot for the given transfer function and to
verify it using MATLAB.
50 ( s + 2)
G(s) =
( s +1)( s + 3)( s + 4)

APPARATUS:
PC with MATLAB software.

THEORY:

BODE PLOT USING MATLAB:

A stable linear system subjected to a sinusoidal input gives

sinusoidal output of the same frequency after steady state conditions
are reached. However, the magnitude and phase angle change. The
output magnitude and phase depends on the input frequency. Bode
plot give this relation in a graphical way. It can be proved that if ‘s’ is
replaced by ‘jw’, the transfer function gives steady state response to
sinusoidal inputs where w is the angular frequency. The command
bode (num, den) produces the bode plot.
The command (mag, phase, w) =bode (num, den, w) can be used
for specified frequency points contained in w-vector. Result is stored in
magnitude and phase matrices. The command mag dB=20*log (mag)
produces magnitude in dB.

12
 The command log space (d1, d2) generates 50 points between
10d1 and 10d2, w=log space (1, 2) generates 50 points between 10-1 and
102 i.e., and 100 rad/sec. but if we have to generate 100 points use the
command, w=log space (-1, 2, 100).

50 ( s + 2)
G(s) =
( s +1)( s + 3)( s + 4)

THEORETICAL CALCULATIONS:

(- to be done by the student-)

PROGRAM:
NUM = INPUT(‘ENTER NUMERATOR OF THE TF’);
DEN = INPUT(‘ENTER DENOMINATOR OF THE TF’);
SYS=TF (NUM, DEN);
BODE (SYS)
GRID

RESULT:
The Bode plot for the given transfer function has been obtained
and verified it by using MATLAB.

VIVA VOCE:
• Give the advantages of bode plot over Nyquist plot.
• Define gain cross over frequency.

13
 • Define phase cross over frequency.
• Define gain margin.
• Define phase margin.

4. PID CONTROLLER
AIM:
To study the performance characteristics of an analog PID
controller using simulated system.

APPARATUS:

1. PID Controller kit

2. Connecting wires
3. C R O
4. Digital voltmeter.

CIRCUIT DIAGRAM:

14
PROCEDURE:

Controller Response:

1. Apply a square wave signal of 100 mv, P-P at the in put of the
error detector connect P I and D o/p s to the summer and
display controller O/P on the CRO.
2. With P-potentiometer set to zero obtain maximum value of
P-P Square wave O/P P-P Square wave
o/p
Kc = --------------------------------- =
-----------------------------
P-P square wave I/P 0.1

15
 3. with I - potentiometer set to maximum and P, D
potentiometer to zero , a ramp will be seen on C R O .maximum
value of K is then given by
4 x f x (P-P) triangular curve O/P ramp in
K I (max) = -------------------------------------------------------
P-P square wave amplitude in volts
Where ‘ f ’ is the frequency of I/P
4. Set D - potentiometer to maximum and P and I potentiometers to
zero. A series of sharp pulses will be seen on C R O. this is
obviously not suitable for calibrating the D -potentiometer
applying a triangular wave at the I/P of the error detector a
square wave is seen on the C R O
P-P Square wave O/P
Kd(max) = -------------------------------------
4 x f x (P-P) Triangular wave I/P
5. Set all the three potentiometers = P, I and D to maximum values
and apply a square wave I/P of 100 mv (P-P). Observe and
trace the stop response of P I D controller, identify the effects of
P, I and D controls individually on the shape of this response.

II. Proportional control:

1) Make connections as shown in the fig, with process made up of

time delay and time constant blocks. Notice that the C R O
operations in the X - Y mode ensures stable display even at low
frequencies.
2) Set input amplitude to 1v (P-P) and frequency to low value..
3) For various values of Kc = 2-2, 2-4 . . . . . measure from screen
the value if peak over shoot and steady state error and tabulate
graph.

EXPETED GRAPH:

16
CALCULATIONS:

(a) P- control:

I/P = Square wave amp ----0.1v (p-p)

O/p = square amps --amp –2.0 (p-p)
O/p voltage (p-p)
Kc (max) 2.0/0.1 =20 = ---------------------------
I/p voltage (p-p)

(b) I - control:

I/p = square wave amplitude of 0.1v (p-p)

T=?

17
 F = 1/T

O/P=Triangular wave of amplitude v (P-P)

Ki (max) = 4 x f x o/p voltage (p-p)

--------------------------------
I/P Voltage [P-P]

(c). D - Control:

Input Triangular wave of amplitude V (p-p)

Time =?
F =1/t

O/P Square wave of amplitude V(P-P)

O/P voltage (P-P)

K d (max) = ----------------------
4 x f x I/P voltage (P-P)

RESULTS:
The performance characteristics of analog controller using
simulated system are drawn.

VIVA VOCE:

1. What is the need to add proportional control scheme in the

system?
2. Give the advantages of integral control over proportional control.
3. Explain the advantages of derivative control scheme.
4. What is need have included PID controller in the system?

5. STATE SPACE MODEL FOR CLASSICAL

TRANSFER FUNCTION USING MATLAB –
VERIFICATION

18
(I) CONVERSION OF TRANSFER FUNCTIONS TO STATE SPACE
MODEL:

OBJECTIVE:
To obtain the state space model for the given transfer function
and verifying it using MATLAB.
s 2 + 3s + 3
T ( s) =
s 3 + 2 s 2 + 3s + 1

THEORETICAL CALCULATIONS:

(-to be done by the student-)

PROGRAM:
NUM = [1 3 3]
DEN = [1 2 3 1]
[A, B, C, D] = TF2SS(NUM, DEN)

RESULT:
The state space model of the given transfer function has been
verified using
MATLAB.
-2 -3 -1 1
A= 1 0 0 B= 0 C=1 3 3 D=
0
0 1 0 0

19
(II) CONVERSION OF STATE SPACE MODEL TO TRANSFER
FUNCTION

OBJECTIVE:
To obtain the transfer function for the given state space model
and Verifying it using MATLAB.
-2 1 0 1
A= -3 0 1 B= 3 C=1 0 0 D=0
-1 0 0 3

THEORETICAL CALCULATIONS:

( - to be done by the student - )

PROGRAM:
A = [-2 1 0; -3 0 1; -1 0 0]
B = [1; 3; 3]
C = [1 0 0]
D = [0]
[NUM, DEN] = SS2TF (A, B, C, D)

RESULT:
The Transfer Function of the given state space model has been
verified using
MATLAB.

20
 s 2 + 3s + 3
T ( s) = 3
s + 2 s 2 + 3s + 1

VIVA VOCE:

1. What do you understand by state space model?

2. Explain the advantages of state space model over transfer
function approach.
3. Give the formula for transfer function in state space model.
4. What do mean by state vector?

21
 6. DC SERVO MOTOR SPEED TORQUE
CHARACTERISTCS

AIM:
To study dc servo motor speed torque characteristics

APPARATUS:

DMM 2 no s
Connecting wires
DC Servo Motor kit

THEORY:
It is a Dc shunt motor designed to satisfy the requirement of a
servo motor. The field is excited by a constant DC supply. If the field
current is constant then speed is directly proportional

PROCEDURE:

FOR PLOTTING SPEED TORQUE CHARACTERISTICS OF DC SERVO

MOTOR

1) Adjust spring balance so that there is minimum load on the servo

motor. Note that you have to pull the knob K in up ward direction
to apply load on the servo motor. You may make use of holes to
apply a fixed load in the system by using screw.

2) Ensure the pot ‘P’ (speed control) is in maximum and

anticlockwise position.

22
 3) Switch on the supply and slightly press the control knob in anti
clock wise direction so that self start relay is turned ON and
armature voltage is applied to the armature from zero onwards.
4) Connect the digital or analog millimeter across the terminal
marked armature voltage in the range o to 35 volts
5) Adjust P so that Va = 10v and P2 so that Vf = 20v
6) Note down T1 ,T2 and speed and enter the result in the table
1
7) Keeping Va= 10v, adjust T1 up to 500 gm in suitable steps to get
a set of readings.
8) Now for Va= 15, 20v repeat step 6.
9) Plot speed torque characteristics.
10) You may repeat above steps for various values of field Vg
by controlling pot P2.
OBSERVATION:

Table 1 ; Radius of pulley ; R=3.54 cms/cm , VF=20 volts

Armature voltage constant Va =10, 15, 20, 25 etc

S.N T1 T2 T=(T1- Torqu Speed[RP Ia

o gm gm T2) e M] [amps]
=T
*3.5

TYPICAL READINGS: A

Pulley R=3.5cms

FIED VOLTAGE VF=20V ARMATURE VOLTAGE

VA=10V

23
S.N T1 T2 T=(T1- Torqu Speed[RP Ia
o gm gm T2) e M] [amps]
=T
*3.5

B: VF= 20V and VA =15V

FIED VOLTAGE VF=20V ARMATURE VOLTAGE

VA=15V
S.N T1 T2 T=(T1- Torque Speed[R Ia
o gm gm T2) =T *3.5 PM] [amps
]

C: VF= 20V and VA =20V

FIED VOLTAGE VF=20V ARMATURE VOLTAGE

VA=20V
S.N T1 T2 T=(T1- Torqu Speed[RP Ia
o gm gm T2) e M] [amps]
=T
*3.5

D: VF= 20V and VA =25V

24
 FIED VOLTAGE VF=20V ARMATURE VOLTAGE
VA=25V
S.N T1 T2 T=(T1- Torqu Speed[RP Ia
o gm gm T2) e M] [amps]
=T
*3.5

EXPECTED GRAPH:

PRECAUTIONS:

1) The speed control knob should be always in the most anti clock
wise position before switching ON the equipment
2) In order to increase Va, rotate the knob in the clock wise
direction in a gentle fashion.
3) In order to increase the load on servo motor adjust the spring
balance in a care full fashion.
RESULT:
The speed torque characteristics of DC servo motor are drawn.

25
VIVA VOCE:

1. What is meant by servo motor?

2. How it is different from DC motor?
3. Explain the advantages of DC servo motor.
4. Draw the characteristics of DC servo motor.

7. ROOT LOCUS USING MATLAB

OBJECTIVE:
To plot the Root locus for the given transfer function and to
verify it using MATLAB.
k ( s +1)
G (s) =
s ( s + 1)( s 2 + 2 s + 5)

26
APPARATUS:
PC with MATLAB software.
THEORY:
ROOT LOCUS:

Roots of the transfer function move on the s-plane tracing a

particular path when gain is changed from 0 to ∞. This path is called
root locus.

Open loop transfer function = G (s )

G ( s)
Closed loop transfer function =
(1 +G ( s ) H ( s ))

The characteristic equation is 1 +G ( s ) H ( s ) = 0

⇒ G ( s ) H ( s ) = −1
To make above equation true, G ( s ) H ( s ) =180 0 (2k +1) ------(1)
| G ( s ) H ( s ) |=1 ------(2)
A plot satisfying (1) and (2) is the root locus. The constant part in
G ( s ) H ( s ) is called the “Gain”.

ROOT LOCUS PLOT USING MATLAB:

num
The characteristic equation can be written as 1 + k =0 .
den
The command rlocus (num, den) gives the root locus plot.
If the system is defined in state space, root locus is obtained by the
command rlocus (A, B, C, D).

THEORETICAL CALCULATIONS:

(-to be done by the student-)

27
PROGRAM:
NUM = INPUT(‘ENTER NUMERATOR OF THE TF’);
DEN = INPUT(‘ENTER DENOMINATOR OF THE TF’);
SYS=TF (NUM, DEN)
RLOCUS (SYS)
GRID
RESULT:
The Root locus for the given transfer function has been obtained
and verified it by using MATLAB.

VIVA VOCE:
1. Define root locus plot.
2. Give the advantages of root locus.
3. Is root locus plot drawn on open loop or closed loop system?
4. What are the different types of feed backs and explain?

8. EFFECT OF FEED BACK ON A GIVEN DC

MOTOR

AIM:

28
 To study the effect of feed back on given DC motor.

APPARATUS:

Trainer kit
Tachometer generator
Connecting wires

THEORY:

CIRCUIT DIAGRAM:

PROCEDURE:

CLOSED LOOP PERFORMANCE:

29
 1. Set VR = 1V and KA = 5
2. Record the speed ‘N’ in rpm and the techo generator voltage ‘V’T’
and steady state error ESS = VR - VT.
3. Repeat the above procedure for different values of ‘KA’.
4. Compare in each case, the steady state error computed using
the formula.

TRANSFER FUNCTION OF MOTOR TACHO GENERATOR:

1. Set VR = 1V and KA = 3.
2. Record the speed ‘N’ in rpm and the tacho generator output ‘V’T’.
3. Repeat the same with VR = 1V and KA = 4, 5, 6, 7 . . . 10 &
tabulate the measured motor voltage (VM = VRKA) steady state
motor speed ‘N’ in rpm and tacho generator out put ‘VT’.
4. Plot N VS VM and VTVSN obtain KM from the linear regain of the
speed in rad/sec. WSS/motor voltage tacho generator gain
KT = VT, volt – sec / Wss rad
5. Apply square wave signal and find the time constant using
formula given below.
6. Obtain the motor transfer using,
G(s) = Km / STm+1

OBSERVATION:

MOTOR TACHO GENERATOR CHARACTERISTICS:

S.N KA N VT Vm = VRKA Experime

o setting (rpm) (volts) (volts) ntal
Ka = Vm /
VR

30
 CLOSED LOOP PERFORMANCE:

S.N KA N VT Ess = VR-VT

o setting (rpm) (volts) (volts)

EXPECTED GRAPH:

THEORETICAL FORMULAE:

Keff = (KAKMKT) / (1+ KAKMKT)

Teff = 1 / (2f in [1-VT (p-p) / Vm (p-p)KMKT] )

Km = shaft speed (N) / motor voltage (Vm)

Where Km – motor gain constant

And KT = VT / Wss voltage/rad

Where KT – tacho generator gain

31
RESULT:

Effect of feed back on a given control system is studied.

VIVA VOCE:

1. What is meant by feed back?

2. Explain the advantages of negative feed back over the positive
feed back.
3. What happen when positive feedback is given a motor?
4. Give one example for closed and open loop control system.

32
9. CONVERSION OF STATE SPACE MODEL TO NYQUIST
PLOT

OBJECTIVE:
To obtain the Nyquist plot from the given state model and to
verify it using MATLAB.
0 1 0
A= -3 -4 B= 1 C = 10 0 D=0

THEORETICAL CALCULATIONS:

( - to be done by the student - )

PROGRAM:
A = [0 1;-3 -4]
B = [0;1]
C = [10 0]
D = [0]
[NUM, DEN] = SS2TF (A, B, C, D)
NYQUIST (TF (NUM, DEN))
TITLE (‘NYQUIST PLOT’);
GRID

RESULT:

33
 Nyquist plot for the given state model has been obtained and
verified it using MATLAB.

VIVA VOCE:
1. Define the term “state”.
2. Define the term “state variable”.
3. Is state space model unique, explain?

10. TIME RESPONSE OF SECOND ORDER

SYSTEM

OBJECTIVE:
To determine the time response specifications of a second order
system using MATLAB.

81
G(s) =
s + 4 s + 81
2

APPARATUS:
PC with MATLAB software

THEORY:

When the resistance, inductance and capacitance are connected

in series to the voltage source ‘e’ and the voltage across the capacitor
is taken as output.
The mathematical equations are
e(t) = R i(t) +L di/dt+(1/C) ∫ i dt and eo =(1/C) ∫ i dt
Ei(s)/Eo(s) = (s2+(R/L) s+(1/LC))LC
Eo(s)/Ei(s) =1/(s2+(R/L) s+(1/LC))LC
Compare with characteristic equation s2+2ζ wns+wn2=0
wn = 1/√LC, ζ = (R/2)* √C/L, Ø = cos-1(ζ )
Damping frequency = wd = wn√1-ζ 2

34
TIME RESPONSE SPECIFICATIONS:

(i) Delay Time: It is the time taken to reach 50% of its final value.

td = (1+0.7ζ )/ wn

(ii) Rise Time: It is the time taken to rise from 10% to 90% for over
damped system.
It is the time taken for the system response to rise from
0 to 100% for under
damped system.
It is the time taken for the system response to rise from
5% to 95% for the
critically damped system.

td = [(π -tan-1(√1-ζ 2/ζ )]/wd

(iii) Peak Time: It is the time taken for the response to reach peak
value for the first attempt.

tp = π /wd

(iv) Settling Time: It is the time taken to reach and stay within the
tolerable limit (2-5%).

ts = 4/(ζ wn)

(v) Peak Overshoot: It is the ratio of maximum peak value

measured to the final value.
π ζ /(√1-ζ 2)
Mp = e-

THEORETICAL CALCULATIONS:

(- to be done by the student-)

35
PROGRAM:

NUM=[0 0 81];
DEN=[1 4 81];
SYS=TF(NUM,DEN)
STEP(SYS)
TITLE(‘STEP RESPONSE’);
GRID

OBSERVATION TABLE:

Time Theoretical values Practical Values

td(mse
c)
tr
msec)
tp(mse
c)
ts(mse
c)
Mp (%)

RESULT:

The time response specifications of second order system are

determined and verified using MATLAB.

VIVA VOCE:

1. What is the need to analyze the time response?

2. Define transient response.
3. Define steady state response.
4. Define steady state error.

36