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Remarks: ………………………………….
1. Root Locus of the System in Section 4.7 of the text book.
2. Time Domain Analyses of the system.
3. Adding a Zero to the system.
4. Adding a Pole to the system.
5. Comparison of Time Domain Analyses.
Block Diagram of the System
Figure 1
Exercise – I
1. Find the Poles and Zeros of the system shown in figure 1 to check its stability.
1
Gc (s) = K G p (s) =
(s + 1 )2
2. Draw the Root Locus of the system shown in figure 1 by hand.
3. Find the Steady State Error of the system by hand for different values of Gain like
a. K = 1
b. K = 2
c. K = 5
d. K = 15
4. Find the Damping Ratio and Natural frequency for all the values of K.
5. Write a code in Matlab to find the Open Loop Step Response.
6. Write a code to draw the Root Locus for particular values of Damping Ratio and
Natural Frequency for any of the Gain chosen. ( Use the command sgrid )
7. Find the Closed Loop Step Response of the same system for the different values
of Gain given in step‐3.
8. Compare the Rise Time and Steady State Error for the Closed Loop Results of
step‐7.
2. Find the Poles and Zeros of the system shown in figure 1 to check its stability.
3. Draw the Root Locus of the system shown in figure 1 by hand.
4. Find the Steady State Error of the system by hand for different values of Gain like
a. K = 0.5
b. K = 1
c. K = 2
d. K = 5
5. Find the Damping Ratio and Natural frequency for all the values of K.
6. Write a code in Matlab to find the Open Loop Step Response.
7. Write a code to draw the Root Locus for particular values of Damping Ratio and
Natural Frequency for any of the Gain chosen. ( Use the command sgrid )
8. Find the Closed Loop Step Response of the same system for the different values
of Gain given in step‐4.
9. Compare the Rise Time and Steady State Error for the Closed Loop Results of
step‐8.
Exercise ‐ III (Adding a Pole to the System)
1. Add a Pole to the system thus increasing the Type Number, turning the system
into an Integral‐Compensator.
K 1
Gc (s) = G p (s) =
s (s + 1 )2
2. Find the Poles and Zeros of the system shown in figure 1 to check its stability.
3. Draw the Root Locus of the system shown in figure 1 by hand.
4. Find the Steady State Error of the system by hand for different values of Gain
(Choose the values very carefully).
5. If in case the Root Locus crosses the Imaginary Axis in S‐plane, find the Range of
Gain and the exact value of Gain at which the Poles are exactly on the Imaginary
Axis.
6. Write a code in Matlab to find the Open Loop Step Response.
7. Write a code to draw the Root Locus for particular values of Damping Ratio and
Natural Frequency for any of the Gain chosen. Use the command sgrid. Prove the
value of Gain found in step‐5.
8. Find the Closed Loop Step Response of the same system for the different values
of Gain chosen above.
Exercise – IV (Comparison Table)
1. Draw a table of Comparison between the Compensators.
2. In the table, Compare the above 3 Compensators for the only value of Gain at
which the original system has the Ideal damping ratio of 0.707.
3. Comparison should be between the Time Domain Analyses like Rise Time, Peak
Time, Settling Time, Steady State Error, Overshoot, Damping Ratio, Natural
Frequency and Damping Frequency.
Home Exercise:
9 Submit a Lab Report (Hand Written) containing all the codes and their results
with explanation before Next Lab.
9 Write the Name/Roll Number of your Group Member in Brackets with your
Name/Roll Number on top.
9 It is an Individual Lab report.
9 Code and result of the group might be the same, yet explanations should be
different.
9 Lab Report must contain Objective, Procedure, Diagrams (if any), Tables and
Results, Explanation, and Errors (if any found).