Digital

LABORATORY MANUAL
For
DEPARTMENT OF ELECTRICAL ENGINEERING
Subject Name:- DIGITAL CONTROL SYSTEMS
Subject code:-MT-109-E
st
Semester:- 1
Course:- Master of Technology
OM INSTITUTE OF TECHNOLOGY AND

MANAGEMENT
V.P.O. : Juglan,12 KM stone, Hisar-Chandigarh Road,
National Highway - 65
District. : Hisar
Haryana
1
INDEX
S.N Experiments Page No.

o.
1. To implement PI, PD & PID 3-7
controllers for temperature control
on a simulation.
2. To observe the effects of 8-11
nonlinearities on the performance of
PI, PD & PID controllers used for a
first order system
3. To observe the effects of 12-14
nonlinearities on the performance of
PI, PD & PID controllers used for
second order system
4. To observe the effects of load 15-17
disturbances on the performance of
PI, PD, PID & Fuzzy controllers.
5. To control speed of a dc motor 18-20

using choppers.
6. Implementation of speed control of 21-23

a stepper motor
7. To study vector control of 24-29
induction motor
8. Matlab Programming for 30-32
electrical systems
9. To control the pressure of 33-35
Pneumatic System.
10. To control the pressure of 36-39
Hydraulic System
VIVA VOCE SAMPLE QUESTIONS 40
NOTE: At least 10 experiments be performed in the semester. At least seven experiments should be performed from above list.
Remaining 3 experiments may either be performed from the above list or designed & set by concerned institution as per scope of
syllabus.
OM INSTITUTE OF TECHNOLOGY AND Pa
MANAGEMENT JUGLAN,HISAR ge
PRACTICAL MANUAL INSTRUCTION SHEET No
.
Name of Subject:- Advanced Control System Lab Subject Code:- MTEE-109-E
EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation kit.
Master of Technology Semester –I Exp.No.MTEE
Apparatus Required -EX.01
(a)Matlab 7.0
software. (b)Simulink
Toolboxes.
Theory
I.Brief Description about the temperature control process.

The process involves two influent flows, the hot and the cold water flow. The flowrate of
the cold water is constant and depends on the value you set it to. While that for the hot
water is adjusted to be able to come up with an effluent flow of the desired temperature.
II. Running the Simulation

The simulation can be run by supplying first the needed parameters in the process block
and the values for the P, I and D modes of the PID controller.
Circuit Diagram
(A) PI Controller
Proportional Integral controller will eliminate forced oscillations and steady state
error resulting in operation of on-off controller and P controller respectively.
However, introducing integral mode has a negative effect on speed of the response
and overall stability of the system. Thus, PI controller will not increase the speed of
response. It can be expected since PI controller does not have means to predict
what will happen with the error in near future. This problem can be solved by
introducing derivative mode which has ability to predict what will happen with the
error in near future and thus to decrease a reaction time of the controller.
PRACTICAL MANUAL INSTRUCTION SHEET N
o.
EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation
kit. Master of Technology Semester –I Exp.No.MTEE
-EX.01
Observation Table
S. Sim Tem Tem Tem Flow Volu Pro Intergral

N ul p set p p rate of me por
Cold of tion
o ati point Hot Col water tank al
1 0.7 350 473 283 4 6 1 1
2 1.7 450 573 183 4 6 1 1
st
1 set of values for:-
a) Scope of
error.
b) Scope of
Temp
control Tm
nd
2 Set of Values for:-
a) Scope of
error.
b) Scope of
Temp
o.
-EX.01
P-D Controller:
The aim of using P-D controller is to increase the stability of the system by improving
control since it has an ability to predict the future error of the system response. Therefore,
D mode is designed to be proportional to the change of the output variable to prevent the
sudden changes occurring in the control output resulting from sudden changes in the error
signal. In addition D directly amplifies process noise therefore D-only control is not used.
Observation Table
S. Si Tem Tem Tem Flow Volu Pro Intergral

N mu p set p p rate of me por
Cold of tion
o l point Hot Col water tank al
1 0.7 350 473 283 4 6 1 1
2 1.7 450 573 183 4 6 1 1
st
a) Scope of error.
b) Scope of
Temp
control Tm
nd
a) Scope of error.
b) Scope of
Temp
control Tm
o.
-EX.01
(C)PID Controller
P-I-D controller has the optimum control dynamics including zero steady state error, fast
response (short rise time), no oscillations and higher stability. The necessity of using a
derivative gain component in addition to the PI controller is to eliminate the overshoot and
the oscillations occurring in the output response of the system. One of the main advantages
of the P-I-D controller is that it can be used with higher order processes including more
than single energy storage. In order to observe the basic impacts, described above, of the
proportional, integrative and derivative gain to the system response, see the simulations
below prepared on MATLAB in continuous time with a transfer function and unit step
input. The results will lead to tuning methods. The following are the conditions:-
1) For the Temp. set point block, the Temperature set point or the desired temperature
2) For the PID controller block, the value of Kp, Ki and Kd
3) For the process block, the Temperature of the incoming flows, the flow rate of the cold
water and the volume of the tank .
o.
-EX.01
Observation Table
S. Si Tem Tem Tem Flow Volu Pro Intergral

N mu p set p p rate of me por
Cold of tion
o l point Hot Col water tank al
1 0.7 350 473 283 4 6 1 1
2 1.7 450 573 183 4 6 1 1
st
a) Scope of error.
b) Scope of
Temp
control Tm
nd
a) Scope of error.
b) Scope of
Temp
control Tm
Result:-
The results of the simulation could be examined by double-clicking the scope

block. There are two scope blocks in the model, the scope for the (1) measured
temperature and for the (2) error. Tune the PID controller until the error shown is
already zero or if the value of the measured temperature is equal to your temperature
set point.
Notes:
(1) The initial temperature in the tank is the temperature of the cold water coming in.
o o
(2) The temperature values you supply should be in ―absolute‖ ( K or R).
o.
EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

PID controllers used for a first order system.
Master of Technology Semester –I Exp.No.MTEE-
EX.02
Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes
Theory
For the first order effects of non-linearities with the performance of PI,PD and PID we
use the transfer function of first order systems With following effects:-
1) Backlash as a non-linearity
2) PI,PD,PID controllers are added into the same signal loop.
3) Transfer function of First order is added just after controllers to check the
non- linearity of the system.
4) Integrators are used to integrate all the signals at a time.
5) Step input response is given for signals to flow in step wise input to all the
signals connected in parallel.
6) Different blocksets are used for tracking the signals into all the blocks parallel.
(a) Commonly Used Blocks
o.

Master of Technology Semester –I Exp.No.MTEE-EX.02
Math Operations
Math Operations used gain and step ramp input with summation block used in the matlab simulink.
Sources
o.

Master of Technology Semester –I Exp.No.MTEE-
Circuit Diagram EX.02
Observation Table
Ste Simulati Gain Gain 1 Backlash PI 1stor Integer Gain Gain

p on time Control der 3 2
T.F
5 20.0 1 4 [1.0,- [1 1] [1],[1 1] 1 8 1
10 30.0 1 4 1.0]
[4.0,- [2 2] [1] ,[1 1] 1 8 12
20 40.0 1 4 4.0]
[7.0,-7.0] [3 3] [1] ,[1 1] 1 8 12
Simulati Gai Gain Backlas PD 1stor Intege G Gai2
on n 1 h Control der r a n2
5 time
20.0 2 6 [2.0,- [1 0] T.F 1]
[1],[1 1 i
10 1
10 30.0 2 6 2.0]
[5.0,- [2 0] [1] ,[1 1] 1 10 14
20 40.0 2 6 5.0]
[8.0,-8.0] [3 0] [1] ,[1 1] 1 10 14
Simulati Gai Gain Backlas PID 1stor Intege Gain Gai4
on n 1 h Control der r 3 n2
5 20.0 3 7 [3.0,- [1 1 [1],[1 1] 1 11 1
10 30.0 3 7 3.0]
[6.0,- 0]
[2 2 [1] ,[1 1] 1 11 51
20 40.0 3 7 6.0]
[9.0,-9.0] 0]
[3 3 [1] ,[1 1] 1 11 51
0] 5
o.

1
st
Set of values for the
non-linearities in
backlash and integrator.
nd
2 Set of values for the
non-linearities in
backlash and integrator
rd
3 Set of Values for the
non-linearities in backlash
and integrator
Result:- 1) The Non-linearity due to backlash put an impact on PI,PD and PID controllers with
first order transfer function.
2) PID controller takes a maximum dip which means the proportional integral and
derivitaive has a maximum effect on non-linearity which generated due to backlash.
3) PI and PD controllers graphs dip upto the maximum value due to effect of non-linearity
of the system.
o.

PID controllers used for a second order system.
Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes
Theory
For the second order non linearity with the use of PI,PD and PID controller we use these
many functions as:-
nd
1) PI,PD and PID controllers are used for measurement of 2 order systems.
nd
2) 2 Order Transfer function used just before the PI,PD and PID Controllers.
3) Readings of all the blocks will be same.
Continuous Block Parameters Discrete Block parameters

o.

Circuit Diagram
Observation Table
Ste Simulation time Gain Gain 1 Backlash PI Integer Gain 3 Gain2
5 20.0 1 4 [1.0,- [1 1] 1 8 12
10 30.0 1 4 1.0]
[4.0,- [2 2] 1 8 12
20 40.0 1 4 4.0]
[7.0,-7.0] [3 3] 1 8 12
Simulation Gai Gain Backlash PD Integer Gain Gain
time n 1 Control 3 2
5 20.0 2 6 [2.0,- [1 0] 1 10 14
10 30.0 2 6 2.0]
[5.0,- [2 0] 1 10 14
20 40.0 2 6 5.0]
[8.0,-8.0] [3 0] 1 10 14
Simulation Gai Gain Backlash PID Integer Gain Gain
time n 1 Control 3 2
5 20.0 3 7 [3.0,- [1 1 0] 1 11 15
10 30.0 3 7 3.0]
[6.0,- [2 2 0] 1 11 15
20 40.0 3 7 6.0]
[9.0,-9.0] [3 3 0] 1 11 15
The Observation table has the same values that were used in first order systems but, instead of
first order transfer function. The block has been replaced by second order transfer function for
PI,PD and PID controllers.
o.

Graphs:-
st
1 Set of values for
PI,PD and PID
nd
Controllers for 2 order
system for non linearity
using backlash.
2nd Set of values for PI,PD

nd
and PID Controllers for 2
order system for non
linearity using backlash.
rd
3 Set of values for PI,PD
nd
and PID Controllers for 2
order system for non
linearity using backlash.
rd nd
Result:- 1) 3 set of values makes the graph linear for the PI,PD and PID controllers on 2
order transfer function.
nd
2) 3 set of graphs for 3 different values are drawn for the PI,PD and PID controllers for 2
order transfer function.
.
EXPERIMENT: To observe the effects of load disturbances on the performance of PI, PD, PID
& Fuzzy controllers.
Apparatus Required
(a) Matlab 7.0

Toolboxes
Theory
Proportional integral, derivative and fuzzy controllers when simulated together with gain , backlash
and saturation as load disturbance elements then with a single step input we can be able to control
the different output under one graph. The following were the effects:-
1) The Backlash and saturation effect the dead zone to take the parameters into deadzone
beat of the PI,PD and PID controllers.
2) Tuning of the Fuzzy controllers is needed to work well with the PID controllers as a
smooth curve follows the example.
3) The dead zone helps to suppress the signal which is been given by the step input pulse.
4) The gain bandwidth increases the signal flow with forward direction or connection with
the circuit.
5) The gain bandwidth decreases the signal flow with suppress condition with backward
flow with the circuit.
6) The feedback loop is given so as to check for any error present in the circuit diagram.
7) To get all the signals together with the blocks muxes are used for the scope.
.
Circuit Diagram
Observation table
Ste Simulati Dead zone Backlas Saturatio Fuzzy
p on h n Controller
5 time
100 -0.5 to 0.5 [1 0] -0.5 to 0.5 [2 3 4 5]
-0.6 to 0.6 [1 0] -0.6 to 0.6
-0.7 to 0.7 [1 0] -0.7 to 0.7
-0.8 to 0.8 [1 0] -0.8 to 0.8
-0.9 to 0.9 [1 0] -0.9 to 0.9
10 150 -1.0 to 1.0 [1 1} -1.0 to 1.0 [2 3 4 5]

-1.1 to 1.1 [1 1} -1.1 to 1.1
-1.2 to 1.2 [1 1} -1.2 to 1.2
-1.3 to 1.3 [1 1} -1.3 to 1.3
-1.4 to 1.4 [1 1} -1.4 to 1.4
.
Graph
Result:-
1)The PID Controller overshoots the signal for load disturbances with increase in values but
then suppresses once it dominates.
2) Fuzzy controller and Proportional Derivative controllers suppress the signal.
3)P controller used for PI,PD and PID for measuring different signals used for
the derivatives,integrals and proportional derivative integrals.
.
EXPERIMENT: To control speed of a dc motor using choppers.
Apparatus Required
(a) Matlab 7.0

Toolboxes
Theory
The DC motor is fed by the DC source through a chopper which consists of GTO thyristor and free-
wheeling diode D1. The motor drives a mechanical load characterized by inertia J, friction
coeficient B, and load torque TL.The hysteresis current controller compares the sensed current with
the reference and generates the trigger signal for the GTO thyristor to force the motor current to
follow the reference. The speed control loop uses a proportional-integral controller which produces
the reference for the current loop. Current and Voltage Measurement blocks provide signals for
visualization purpose.
Motor starting
Start the simulation. Observe the motor current, voltage, and speed during the starting on the scope.
At the end of the simulation time (1.5 s), the system has reached its steady-state.
Response to a change in reference speed and load torque
For response to a change in reference speed and load torque following conditions are used:-
1) The initial conditions state vector 'xinitial' to start with wm = 120 rad/s and TL = 5
2) Check the Simulation/Configuration Parameters menu , then select "Data Import/Export"
and check "Initial state‖.
3) Now, double click the two Manual Switch blocks to switch from the constant "Ref. Speed
(rad/s) " and "Torque (N.m)" blocks to the Step blocks. (Reference speed w.e.f changed from
120 to 160 rad/s at t = 0.4 s and load torque changed from 5 to 25 N.m at t= 1.2s).
4) Restart the simulation and observe the drive response to successive changes in speed
reference and load torque.
.

Circuit Diagram
Observation Table
Simultation Time:- 1) 2.5 2) 5 3) 20

(A) DC Machine
S. Ra & L R f & Lf Laf J Bm Tf N
Armature Field Field- Mom Fricti Torqu Spee
Resistance Rehostat arm en t on e d
& and mutual of co-
Inductanc Field inducta Inter efficie
nce tia
1 [0.5 0.01] [240 120] 1.23 0.05 0.02 0 0.1
2 [1.0 0.1] [300 180] 1.5 1.0 0.08 0 0.1
.
(B) GTO
S. Ron Lon Vf Tf Tt Rs Cs
Resistance Inductan Fwd Fall Current Snubbe Snubber
volt time r capacita
c tail time
resista nce
1 0.05 0 1 1e-6 1e-6 1e4 infinity
2 1.0 0 1 1e-8 st 1e-8 1e2 infinity
1 Set of values for simulation
Graph st
time 2.5 sec with 1 set of values
s
nd
2 Set of values for simulation time
nd
5 sec with 2 set of values
nd
2 set of values for simulation time
nd
20sec with 2 set of values
Result:- The armature voltage gets smooth curve for lower simulation time with least values. But,
with higher values with increment in simulation time it takes more time to generate the pulse which
shows the GTO controls the speed of DC machine with increase of armature voltage .
.
EXPERIMENT: Implementation of speed control of a stepper motor

Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes
Theory
The current-controlled 60-kW Steeper Motor drive using the Steeper Motor specific model based
on measured magnetization curves. The Steeper Motor is fed by a three-phase asymmetrical
power converter having three legs, each of which consists of two IGBTs and two free-
wheeling diodes. During conduction periods, the active IGBTs apply positive source voltage to
the stator windings to drive positive currents into the phase windings. During free-wheeling
periods, negative voltage is applied to the windings and the stored energy is returned to the
power DC source through the diodes. The fall time of the currents in motor windings can be
thus reduced. By using a position sensor attached to the rotor, the turn-on and turn-off angles
of the motor phases can be accurately imposed. These switching angle can be used to control
the developed torque waveforms. The phase currents are independently controlled by three
hysteresis controllers which generate the IGBTs drive signals by comparing the measured
currents with the references. The IGBTs switching frequency is mainly determined by the
hysteresis band.
Simulation of the SRM Drive
A DC supply voltage of 240 V is used. Following are the references that were used:-
1)The converter turn-on and turn-off angles are kept constant at 45 deg and 75
deg, respectively, over the speed range.
2) The reference current is 200 A and the hysteresis band is chosen as +-10 A.
3) The Steeper Motor is started by applying the step reference to the regulator input.
4) The acceleration rate depends on the load characteristics.
5) To shorten the starting time, a very light load was chosen. Since only the currents are
controlled, the motor speed will increase according to the mechanical dynamics of the system.
6) The Steeper Motor drive waveforms (phase voltages, magnetic flux, windings currents,
motor torque, motor speed) are displayed on the scope.
Current-controlled mode
From stand still up to about 3000 rpm, the motor's emf is low and the current can be regulated to
.
Circuit Diagram
.
Observation Table
(A) Stepper Motor Parameters
S.N Si Stator Inter Fricti Speed Ro Stat Sam
o m Resista tia on and tor or ple
ti nc (kg. (N.m Positio an curr time
1 m
3.5s (ohm)
0.05 m)
0.05 .s)
0.02 n
[0,0] [0gle
10 20 ent
0:25:450 -1
30 40 45]
2 5s 0.7 0.7 0.02 [0,0] [0 10 20 0:25:450 -5
30 40 45]
Graphs
st
1 Set of values for the Fluxes,
Current,Electromagnetic torque
and speed
nd
2 Set of values for the Fluxes,
Current,Electromagnetic torque
and speed
Result:- For speed upto 3000 rpm, the motor's emf is low and the current can be regulated to
the reference value. In this operation mode, the average value of the developed torque is
approximately proportional to the current reference. In addition to the torque ripple due to
phase transitions, the torque ripple created by the switching of the hysteresis regulator.
.
EXPERIMENT: To study vector control of induction motor
Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes
Theory
Circuit Description
The induction motor is fed by a current-controlled PWM inverter which is built using
a Universal Bridge block. The motor drives a mechanical load characterized by
inertia J, friction coeficient B, and load torque TL . The speed control loop uses a
proportional- integral controller to produce the quadrature-axis current reference iq*
which controls the motor torque. The motor flux is controlled by the direct-axis current
reference id*. Current and Voltage Measurement blocks provide signals for visualization
purpose. Motor current, speed, and torque signals are available at the output of the
'Asynchronous Machine' block.
Vector control to change in reference speed and load torque
The initial conditions state vector "xInitial" to start with wm = 120 rad/s and TL = 0 N.m
is automatically loaded in your workspace when you start the simulation (see Model
Properties). In order to use these initial conditions you have to enable them. Check
the Simulation/Configuration Parameters menu, then select "Data Import/Export" and
check "Initial state".
The two Manual Switch blocks to switch from the "Constant speed " and "Constant
torque" blocks to the Step blocks. (Reference speed wref changed from 120 to 160 rad/s
at t = 0.2 s and load torque changed from 0 to 200 N.m at t= 1.8s). Restart the
simulation and observe the drive response to successive changes in speed reference
and load torque.
Asynchronous Machine
Implements a three-phase asynchronous machine (wound rotor or squirrel cage)
modeled in a selectable dq reference frame (rotor, stator, or synchronous). Stator and
rotor windings are connected in wye to an internal neutral point.The present model is
divided into two parts:-
1) 4KW 400V 50Hz 1430RPM, with squirrel cage rotor and reference frame is
.

Circuit Diagram
How To Regenerate Initial Conditions

 In the Simulation/Configuration Parameters menu, uncheck the "Initial state" parameter.
 The "Torque constant" manual switch block in order to select the 0 N.m constant torque.
 The " Constant Speed" manual switch block in order to select the 120 rad/s constant speed.
.
Observation table
(A)Preset Model:- 5.4KW 400V 50Hz 1430RPM, Reference frame stationary, Squirrel cage rotor
Induction Motor Specifications
S.N Sim Power VL- Freq(H Stat Mut Vector
o time VL z Resis(oh ual Intial
1 3s 4000 400 )
50 1.405 0.1722 [1,0,0,0,0,0
,
2 6s 1.5e+004 400 50 0.2147 0,0]
0.00091 [1,1,1,1,0,0
,
0,0]
IGBT Inverter Specifications
S.N Simulati Snubbe Snubber Device Diode Ron
0 on r Capacita fwd fwd (O
1 3s time Resistan
1000 nc
Inf voltage
0.8 voltage
0.8 hms
1e-3
2 6s 2000 Inf 0.8 0.8 1e-3
st
1 Set of values for the Line
Voltagem Frequency Power and
Snubber capacitances effect upon
the output voltage fed through
controller
nd
Snubber capacitances effect upon the
output voltage fed through controller
.
(A)Preset Model:- 15KW, 400 V,50Hz,1460 RPM Reference frame stationary, Squirrel cage rotor
S.N Sim Power VL- VL Frequ Stator Mutual Vector
o time en Resist Inducta Intial
cy(Hz an nc (H) conditio
1 3s 4000 400V )
50 0.2147 0.00091 [ 1, 0 , 0 , 0
,
2 6s 1.5e+004 400V 50 0.2205 0.00091 0[1,1,1,1,0
,0,0,0]
,
0,0,0]
1 3s time Resistan
1000 nc
Inf voltage
0.8 voltage
0.8 hms
1e-3
2 6s 2000 Inf 0.8 0.8 1e-3
st
controller
nd
controller
.
Vector control for inductor motor where the switch is flip for the torque slip and speed slip the
parameters are fixed and the preset model parameters contains exact value as due to vector
control are now been control by the torque slip and speed slip.
.
Observation table
(B )Preset Model:- Automatic Selected Model with Squirrel Cage Rotor and Stationary arm.
S.N Sim Power VL- Freq(H Stat Mut Vector
o time VL z Resis(oh ual Intial
1 3s 50*746 460 )
50 0.087 0.8e-3 [ 1, 0 , 0 , 0 , 0
,
0,0,0]
1 3s time Resistan
1000 nc
inf voltage
0.87 voltage
0.8 hms
1e-3
Result
Several readings were noted for the motor current, voltage, and speed during the starting on the
scope. At the end of the simulation time (3 s), the system has reached its steady-state.
.
EXPERIMENT: Matlab Programming for electrical systems
Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes
Theory
The basic building blocks of electrical systems are the resistor, the inductor, and the
capacitor.The input to an electrical systems may be the voltage V and current i.
The relationship between the voltage acrosss a resistor and the current through it is given by Ohm’s
law :-
Vr=R * i-----------------------(1) where R is the resistor
For an inductor, the potential difference across the inductor depends on the rate of change of
current through the inductor, and is given by
VL= L di/dt--------------------(2) where L is the
inductance. Equation 2 can be written as
I=I/L ʃ VL dt-------------------(3)
The energy stored in an inductor is given
2
by E=1/2Li ----------------------(4)
The potential difference across a capacitor depends on the charge the plates hold, an d is given
by ic=Cdvc/dt---------------(5)
Vc=1/Cʃic dt------------------(6)
The energy stored in a capacitor depends on the capacitance and the voltage acorss the
capacitor and is given by
2
E=1/2 Cvc -------------------(7)
IL(t) -R/L -1/L IL(t) 1/L

d/dt= =
Vc(t) 1/C 0 Vc(t + 0 e(t)
Ec(t)= 0 1 + IL(t)
Vc(t)
.

Program Codes
% simulation program for state space model
clear all
t=0;%simulation starting time
dt=0.01;%step size
tsim=10.0;%finish time
n=round((tsim-t)/dt);%no. of iterations
%system parameters
R=10;
L=15;
C=0.05;
A=[-R/L-1/L;1/C 0];
B=[1/L;0];
C=[0 1];
D=[0 0];
X=[0 0]';
for i=1:n;
u=5*exp(-t);%exponential input
% u=4*sin(t);%sinusoidal input
% u=4;%fixed input
dx=A*X+B*u;
X=X+dx*dt;
Y=C*X;
Y1(i,:)=[t,Y];
X1(i,:)=[t,X'];
t=t+dt;
end
subplot(2,1,1)
plot(X1(:,1),X1(:,2:3) )
axis([0 10 -10 10])
xlabel('time')
ylabel('state variables')
title('Response of state variables')
subplot(2,1,2)
plot(Y1(:,1),Y1(:,2) )
axis([0 10 -10 10])
xlabel('time')
ylabel('state variables')
title('Response of state variables')
.
Graphs
Result
The electrical systems for the state variables and response of state variables for electrical
systems are shown for resistor, capacitor and inductor.
o.
EXPERIMENT: To control the pressure of Pneumatic System.
Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes.
Theory
The directional valve is initially moved to its maximum positive displacement, and
the motor spins up in a positive direction against the friction load. The valve
is then centered causing the motor to brake back to zero rpm. The valve then
moves to its maximum negative displacement and the motor direction is
reversed. This model can be used to get an idea of how the valve size affects
available motor power and maximum speed. It can also be used to support
closed-loop controller design.
o.
Circuit Diagram
Observation Table
(A) Pneumatic Vane Motor
S.N Simul Nomin No Nomin No- Nomi Roto Init
al nal
o ati on Mech mi al load r ial
flow
Time Power( nal differe spee rate
Inter RP
W) Spe nti al d(r tia M
1 10.0 2600 3500 5 7000 3.6 0.01 0.01
2 30.0 4200 7000 10 14000 7.2 0.01 0.01
(B)Pipeline for the pressure and temperature for pneumatic systems

S.N Simulation Pipe A Pipe B
o Time Intial Intial Length Intial Intial
Press Temperat Press Temperat
1 10.0 101325 293.15 1 101325 293.15
2 30.0 202650 293.15 1 202650 293.15
o.
Graphs
o.
EXPERIMENT: To control the pressure of Hydraulic System..
Apparatus Required
(a)Matlab 7.0
software.
(b)Simulink
Toolboxes.
Theory
The hydraulic system controls mechanical load position in response to a voltage

reference demand. If the reference demand is zero, then the hydraulic actuator (and load)
displacement is zero, and if the reference is +5 volts, then the displacement is the 100mm
maximum. The model illustrates how the Foundation library can be used to model
systems that span electrical, mechanical, and hydraulic domains. There are a few
implementation were used. The proportional plus integral controller is implemented
using op-amps, the final stage of which is set up as a current source. This then drives
a torque motor with resistance and inductance terms modeled. The torque motor directly
actuates the spool valve, which in turn controls the main hydraulic circuit supplying the
hydraulic ram. Finally, the ram drives a general mechanical load.
A model with this high level of fidelity is ideal to support the servo-valve controller
design and testing. It includes the electromechanical high frequency modes that affect
stability margins, as well as nonlinear flow rate effects when large demands are
made from the hydraulics.
o.
Circuit Diagram
o.
Observation Table
(A) Spool valve for the Hydraulic Pressure

S.N Simula Flo Spoo Tota Mot Mot Torq
o tio n w l l or or ue
time Co Displ Iner windin windin motor
ef. ac tia g g consta
1 1s 0.5 0.5 1e-4 10 2.5 0.04
2 10s 1.0 1.0 1e-4 20 5 0.4
(B) Double acting hydraulic actuator

S.No Simulati Pist Chamb Chamber A Chamber B
on Time on er dead intial intial
Are volume pressure pressure
1 1s 5e-4 10e-6 100 100
2 10s 5e-4 10e-6 200 200
(C) Custom Hydraulic Fluid

S.No Simulati Fluid Density Kinema Relative
on Time tic amount
Viscosit of
1 1s 850 1.8e-0.5 0.005
2 10s 1000 1.8e-0.5 0.005
o.
Graphs
st
1 Set of values
for Pressure,Load
Displacement and
Current in the
model block
diagram
nd
2 Set of values for
the Pressure, Load
Displacement and
current in the model
block diagram
Result
The Pressure, Load displacement for differne sets of values for Hydraulic System is
o.
Master of Technology Semester –I

VIVA-VOCE QUESTIONS
1. Defi ne a system model.

2. What is the need of a system model?
3. How do system models expedite the design and development of systems.
4. What are model validation and model verifi cation?
5. How do we validate and verify a given model?
6. How can we classify models?
What are the steps involved in model development?
8. State the fundamental axiom of the system discipline.
9. What do you understand by physical systems?
10. Give examples of complementary terminal variables—through and across
variables in the context of typical physical systems (electrical, magnetic, mechanical
(transnational/rotational), pneumatic, and thermal systems).
11. Are derivatives and integrals of through and across variables respectively through
and across variables or otherwise? Give suitable examples in support of your assertion.
12. State the component postulate of physical system theory.
13.Mention the fundamental variables for electrical, mechanical, hydraulic, and
economic systems.
14.State the component postulate of physical system theory.
15. State the interconnection postulates in the form of cutset and circuit
postulates. 16.Write fundamental cutset and fundamental circuit equations in the
matrix form with the branch chord partitioning as implied by the selected
formulation tree of the system graph.
17.What is a maximally selected formulation tree?
18.Differentiate between analog and digital
simulations.
19.Discuss three major simulation characteristics for digital
simulation. 20.Explain the errors in this simulation.
21.Describe the essential features of PC-based simulation packages for analog
and discrete simulations.
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LABORATORY MANUAL

Subject Name:- DIGITAL CONTROL SYSTEMS

Course:- Master of Technology

OM INSTITUTE OF TECHNOLOGY AND

S.N Experiments Page No.

5. To control speed of a dc motor 18-20

6. Implementation of speed control of 21-23

I.Brief Description about the temperature control process.

II. Running the Simulation

S. Sim Tem Tem Tem Flow Volu Pro Intergral

S. Si Tem Tem Tem Flow Volu Pro Intergral

S. Si Tem Tem Tem Flow Volu Pro Intergral

The results of the simulation could be examined by double-clicking the scope

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

Ste Simulati Gain Gain 1 Backlash PI 1stor Integer Gain Gain

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

Continuous Block Parameters Discrete Block parameters

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD &

2nd Set of values for PI,PD

Master of Technology Semester –I Exp.No.MTEE-EX.04

(a) Matlab 7.0

Master of Technology Semester –I Exp.No.MTEE-EX.04

10 150 -1.0 to 1.0 [1 1} -1.0 to 1.0 [2 3 4 5]

Master of Technology Semester –I Exp.No.MTEE-EX.04

EXPERIMENT: To control speed of a dc motor using choppers.

Master of Technology Semester –I Exp.No.MTEE-EX.05

(a) Matlab 7.0

Response to a change in reference speed and load torque

EXPERIMENT: To control speed of a dc motor using choppers.

Master of Technology Semester –I Exp.No.MTEE-EX.05

Simultation Time:- 1) 2.5 2) 5 3) 20

EXPERIMENT: To control speed of a dc motor using choppers.

Master of Technology Semester –I Exp.No.MTEE-EX.05

EXPERIMENT: Implementation of speed control of a stepper motor

Master of Technology Semester –I Exp.No.MTEE-EX.06

Simulation of the SRM Drive

EXPERIMENT: Implementation of speed control of a stepper motor

Master of Technology Semester –I Exp.No.MTEE-EX.06

EXPERIMENT: Implementation of speed control of a stepper motor

Master of Technology Semester –I Exp.No.MTEE-EX.06

EXPERIMENT: To study vector control of induction motor

Master of Technology Semester –I Exp.No.MTEE-EX.07

Vector control to change in reference speed and load torque

EXPERIMENT: To study vector control of induction motor

Master of Technology Semester –I Exp.No.MTEE-EX.07

How To Regenerate Initial Conditions

EXPERIMENT: To study vector control of induction motor

Master of Technology Semester –I Exp.No.MTEE-EX.07

EXPERIMENT: To study vector control of induction motor

Master of Technology Semester –I Exp.No.MTEE-EX.07

EXPERIMENT: To study vector control of induction motor

Master of Technology Semester –I Exp.No.MTEE-EX.07

EXPERIMENT: To study vector control of induction motor

Master of Technology Semester –I Exp.No.MTEE-EX.07

EXPERIMENT: Matlab Programming for electrical systems

Master of Technology Semester –I Exp.No.MTEE-EX.08

IL(t) -R/L -1/L IL(t) 1/L

EXPERIMENT: Matlab Programming for electrical systems

Master of Technology Semester –I Exp.No.MTEE-EX.08