University of Engineering and Technology Lahore,

Narowal campus

Control Systems CEP

Submitted to: Dr. Muhammad Rehan Chaudhry

Submitted by: Amina Bibi

Registration no: 2021-BME-127

Semester: 6th (Spring, 2024)

Department: Biomedical Engineering

Spring 2024 EE340 ControlSystems
HW5
Complex Engineering Problem I

(CLO III) Speed control of a DC motor Transfer function of a DC

motoris derived in the lecture that is given below.

Figure 1: Transfer Function of DC Motor

Figure 2 without controllers

 a. b.

Figure 3 ( a.) step info of output .(b). step info of error signal.

Figure 4 : Block diagram of DC motor with the controller

Using α = 100 and step input of 1V , Model the controller(s) gains and
test the output of the system for designed gains of individual and
combination of controllers. Interpret error signal and the output of the
system for each combination.
 Figure 5 with p controllers

a. b.

Figure 6 ( a.) step info of output .(b). step info of error signal.
 Figure 7 with PI controllers

a. b.
Figure 8 ( a.) step info of output .(b). step info of error signal.
 Figure 9 with PID controllers

a. b.
Figure 10 ( a.) step info of output .(b). step info of error signal.
 Figure 11 : circuit without controllers

Figure 12
:slopgraph

Figure 13 :circuit with P controllers

Figure 14 : slop graph with P controller

Figure 15 circuit with PI controllers

Figure16 : graph with PI controller

Figure 17 circuit with PID controllers

 Figure 18 slop graph with PID controller

Explanation:

1. P Controller:
 Rise Time: The time it takes for the response to go from 10% to 90% of its final
value. The rise time for the P controller is relatively quick.
 Settling Time: The time it takes for the response to remain within a certain
percentage (usually 2% or 5%) of the final value. The P controller has a moderate
settling time.
 Overshoot: The amount by which the response exceeds its final value. The P
controller exhibits a noticeable overshoot.
 Steady-State Error: The difference between the final output and the desired output
after the transient response has settled. The P controller has a steady-state error due
to the lack of integral action.
 2. PI Controller:
 Rise Time: The rise time for the PI controller is slightly longer than the P
controllerdue to the added integral action.
 Settling Time: The PI controller has a longer settling time compared
to the Pcontroller.
 Overshoot: The PI controller exhibits less overshoot compared to the P
controller.
 Steady-State Error: The steady-state error for the PI controller is zero
because theintegral action eliminates any steady-state error.
3. PID Controller:
 Rise Time: The rise time for the PID controller is the shortest among
the threecontrollers due to the derivative action.
 Settling Time: The PID controller has the shortest settling time,
achieving a steadystate quickly.
 Overshoot: The PID controller exhibits minimal overshoot, combining
the benefitsof proportional, integral, and derivative actions.
 Steady-State Error: The steady-state error for the PID controller is zero,
similar tothe PI controller.

Table 1: Effect of Increasing the PID Gains on the Step Responses

Cl Response Rise Time Overshoot Settling Time S-S Error

Increasing Kp Decrease Increase Small Change Decrease
Increasing Ki Decrease Increase Increase Decrease
Increasing Kd Small Change Decrease Decrease No Change

Discussion
1. P Controller: The P controller provides a fast response with a noticeable overshoot
and a steady-state error. It is suitable for systems where a quick response is desired,
but the presence of a steady-state error is acceptable.
2. PI Controller: The PI controller eliminates the steady-state error but at the cost of
a slower response and increased settling time. It is suitable for systems where
accuracy is more important than speed.
3. PID Controller: The PID controller offers the best overall performance, with a fast
rise time, minimal overshoot, quick settling time, and zero steady-state error. It
combines the strengths of the P and PI controllers and is suitable for systems
requiring precise and fast control.
 Course WK PLO WP CE Bloom’s Taxonomy
A Level
EE340 Control WK2,WK4, PLO WP1 CEA1 C-VI
Systems WK5 III

Knowledge Profile Explanation

The concept-based mathematical thinking,
numerical analysis, statistics and formal
WK2 Mathematics and Computing aspects of computer and information sci-
ence to support analysis and modelling ap-
plicable to the discipline.
The knowledge of Engineering specializa-
tion that provides theoretical frameworks
WK4 Engineering Specialization and bodies of knowledge for the accepted
practice areas that are at the forefront in
a discipline.
The Design Thinking Knowledge that sup-
WK5 Engineering Design ports engineering design in a practice area
of an engineering discipline.

Work Package Characteristic Feature

Requires research-based knowledge
much of which is at, or informed by,
WP1 Depth of Knowledge required the forefront of the profes- sional
discipline and which allows a
fundamentals-based, first principles
analytical approach.

CEP Activities Characteristic Feature

Involve the use of diverse resources (and for
CEA1 Range of Resources this purpose resources include people,
money, equipment, materials, information
and technologies).
Department of Biomedical Engineering EE340 Control
Systems
RUBRIC FOR ASSESSMENT OF COMPLEX ENGINEERING
PROBLEM

Student Name: Registration Number:

[a] Design control systems using root-locus methods along with the selection of
suitable controllers (P, PI and PID).(CLOIII)PLOIII.

Sr. Performance Indicator Exemplar (80- Satisfactor (60- Developing (40- Unsatisfacto
No. yMarks) 100% yMarks) 80% Marks) 60% ry (0-40%
Marks)
Design and testing of P MATLAB MATLAB MATLAB
code, MATLAB code
con-troller. [a] (10 pts) c c
1 SIMULINK file, and
MATLAB code, ode, SIMULINK ode, SIMULINK
fig- ures and SIMULINK
SIMULINK file, fig- ures and file, fig- ures and
discussion, file do not
file, figures and discussion are all discussion, any
correct. three are correct. any one or two are work.
discussion
correct.
Design and testing MATLAB MATLAB MATLAB
code, MATLAB code
of PIcon-troller. [a] c c
2 SIMULINK file, and
(10 pts)MATLAB ode, SIMULINK ode, SIMULINK
fig- ures and SIMULINK
code, SIMULINK file, fig- ures and file, fig- ures and
discussion, file do not
file, figures and discussion are all discussion, any
discussion correct. three are correct. any one or two are work.
correct.
Design and testing of MATLAB MATLAB MATLAB
c MATLAB code
PID controller. [a] (10 c c
3 ode, SIMULINK and
pts) MATLAB code, ode, SIMULINK ode, SIMULINK
file, fig- ures and SIMULINK
SIMULINK file, fig- ures and file, fig- ures and
discussion, any one file do not
file, figures and discussion are all discussion, any
correct. three are correct. or two arecorrect. work.
discussion