Scilab Manual for

Control and Instrumentation

by Prof A. George Ansfer
Electrical Engineering
St. Xaviers Catholic College of Engineering1

Solutions provided by
Prof A.George Ansfer
Electrical Engineering
St.Xaviers Catholic College of Engineering

January 18, 2017

1 Funded by a grant from the National Mission on Education through ICT,

http://spoken-tutorial.org/NMEICT-Intro. This Scilab Manual and Scilab codes
written in it can be downloaded from the Migrated Labs section at the website
http://scilab.in
1
Contents

List of Scilab Solutions 3

1 Digital Simulation of P, PI, PD & PID Controller 5

2 Digital Simulation of Linear System 8

3 Simulation of Control Systems 10

2
List of Experiments

Solution 1.1Exp1 . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Solution 2.2exp2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Solution 3.3exp3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Solution 3.4exp4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3
List of Figures

1.1 Exp1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1 exp2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3.1 exp3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 exp4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4
 Experiment: 1

Digital Simulation of P, PI, PD

& PID Controller

Scilab code Solution 1.1 Exp1

1 // D i g i t a l S i m u l a t i o n o f P , PI , PD, and PID

controllers
2 // 1 Open Loop Program
3 num = poly ([10] , s , c o e f f ) ; // Numerator i n p u t
4 den = poly ([20 10 1] , s , c o e f f ) ; // Den omin ator i n p u t
5 q = syslin ( c , num / den ) // R a t i o o f t h e n u m e r a t o r t o t h e
denominator
6 t =0:0.05:2.5; // t i m e i n t e r v a l
7 p = csim ( s t e p ,t , q ) ;
8 subplot (321)
9 plot2d (t , p ) ;
10 xtitle ([ Open Loop ] , Time ( S e c o n d ) , A m p l i t u d e ) ;
11
12 // 2 P C o n t r o l Program
13 kp =300;
14 num = poly ([ kp ] , s , c o e f f ) ;
15 den = poly ([20+ kp 10 1] , s , c o e f f ) ;
16 q = syslin ( c , num / den )
17 t =0:0.01:2;

5
18 p = csim ( s t e p ,t , q ) ;
19 subplot (322)
20 plot2d (t , p ) ;
21 xtitle ([ P C o n t r o l ] , Time ( S e c o n d ) , A m p l i t u d e ) ;
22
23 // 3 PI C o n t r o l Program
24 kp =30;
25 ki =70;
26 num = poly ([ ki kp ] , s , c o e f f ) ;
27 den = poly ([ ki 20+ kp 10 1] , s , c o e f f ) ;
28 q = syslin ( c , num / den )
29 t =0:0.01:2;
30 p = csim ( s t e p ,t , q ) ;
31 subplot (323)
32 plot2d (t , p ) ;
33 xtitle ([ PI C o n t r o l ] , Time ( S e c o n d ) , A m p l i t u d e )
;
34
35 // 4 PD C o n t r o l Program
36 kp =300;
37 kd =10;
38 num = poly ([ kp kd ] , s , c o e f f ) ;
39 den = poly ([20+ kp 10+ kd 1] , s , c o e f f ) ;
40 q = syslin ( c , num / den )
41 t =0:0.01:2;
42 p = csim ( s t e p ,t , q ) ;
43 subplot (324)
44 plot2d (t , p ) ;
45 xtitle ([ PD C o n t r o l ] , Time ( S e c o n d ) , A m p l i t u d e )
;
46
47 // 5 PID C o n t r o l Program
48 kp =350;
49 kd =50;
50 ki =300;
51 num = poly ([ ki kp kd ] , s , c o e f f ) ;
52 den = poly ([ ki 20+ kp 10+ kd 1] , s , c o e f f ) ;
53 q = syslin ( c , num / den )

6
 Figure 1.1: Exp1

54 t =0:0.01:2;
55 p = csim ( s t e p ,t , q ) ;
56 subplot (325)
57 plot2d (t , p ) ;
58 xtitle ([ PID C o n t r o l ] , Time ( S e c o n d ) , A m p l i t u d e
);

7
 Experiment: 2

Digital Simulation of Linear

System

Scilab code Solution 2.2 exp2

1 // S e c o n d o r d e r s y s t e m s t e p r e s p o n s e f o r damping
conditions
2 t =0:0.0000001:0.0002;
3 d =[0.5 1 1.5]; // E n t e r i n g t h e damping c o n d i t i o n s
values
4 cv =[1 2 3];
5 s = %s ;
6 for n =1:3
7 num = 10^10;
8 den = s ^2 + 2* d ( n ) *100000* s +10^10;
9 P = syslin ( c ,num , den ) ;
10 Ps = csim ( s t e p ,t , P ) ;
11 plot2d (t , Ps , style = cv ( n ) ) ;
12 end ;
13 xgrid (6) ;
14 xtitle ([ S e c o n d o r d e r s t e p r e s p o n s e ] , Time ( S e c o n d )
, Amplitude );
15 legends ([ d = 0 . 5 ( underdamped ) ; d=1( c r i t i c a l l y damped
) ; d = 1 . 5 ( overdamped ) ] ,[1 ,2 ,3] , opt =4) ;

8
Figure 2.1: exp2

9
 Experiment: 3

Simulation of Control Systems

Scilab code Solution 3.3 exp3

1 // E f f e c t s on S t a b i l i t y .
2 // G( s ) = a 2 / s ( s +2b a ) , H( s ) = C , T( s ) = C a 2
/ ( s ( s +2b a ) + C a 2 )
3 s = %s ;
4 t =0:0.01:10;
5 a =1; b =1;
6 C =[1 ,2 ,5 ,10]
7 for n =1:4
8 T = syslin ( c , C ( n ) * a ^2 , s *( s + 2* b * a ) + C ( n ) * a
^2 ) ;
9 Ts = csim ( s t e p ,t , T ) ;
10 xset ( l i n e s t y l e ,n ) ;
11 plot2d (t , Ts ) ;
12 xgrid (5) ;
13 end
14 xtitle ( E f f e c t s on S t a b i l i t y . , Time ( s e c ) , C( t ) ) ;
15 legends ([ C=1 ; C=2 ; C=5 ; C=10
;] ,[[1;1] ,[1;2] ,[1;3] ,[1;4]] , opt =4) ;

10
 Figure 3.1: exp3

Scilab code Solution 3.4 exp4

1 // F r e q u e n c y Domain Methods f o r c o n t r o l l e r d e s i g n
2
3 // 1 N o r m a l i z e d bandwidth v s Damping f a c t o r ( s e c o n d
order system )
4 deff ( [ a ]= f 1 ( b ) , a=s q r t (1 2 b2+ s q r t (2 4 b2+4b 4 )
) )
5 b =[0:0.01:0.9];
6 subplot (311)
7 fplot2d (b , f1 ,[1])
8 xgrid (2)
9 xtitle ([ N o r m a l i z e d bandwidth v s Damping F a c t o r ] ,
Damping r a t i o , N o r m a l i z e d bandwidth ) ;
10
11 // 2 Peak o v e r s h o o t v s R e s o n a n c e Peak ( s e c o n d
order system )
12 deff ( [ C]= f 2 ( b ) ,C=exp (( %pi b ) / s q r t (1b 2 ) ) )
13 deff ( [ D]= f 3 ( b ) ,D=1/(2 b s q r t (1b 2 ) ) )

11
14 b =[0.05:0.01:0.9];
15 subplot (312)
16 xset ( l i n e s t y l e ,4) ;
17 fplot2d (b , f2 ,[1])
18 xset ( l i n e s t y l e ,1) ;
19 fplot2d (b , f3 ,[1])
20 xgrid (3)
21 xtitle ([ Peak o v e r s h o o t
v s R e s o n a n c e Peak ] ,
Damping r a t i o , Peak Gain , R e s o n a n c e Gain ) ;
22 legends ([ Peak Gain ; R e s o n a n c e Gain
] ,[[1;4] ,[1;1]] , opt =1) ;
23
24 // 3 R e s o n a n t F r e q u e n c y v s Damping F r e q u e n c y (
Second o r d e r system )
25 deff ( [ e ]= f 4 ( b ) , e=s q r t (1 2 b 2 ) / s q r t (1b 2 ) )
26 b =[0:0.01:0.9]; // don t end w i t h 1 bec , d i v i s i o n by
0 error
27 subplot (313)
28 fplot2d (b , f4 ,[1])
29 xgrid (4)
30 xtitle ([ R e s o n a n t F r e q u e n c y v s Damping F r e q u e n c y ] ,
Damping r a t i o , R e s o n a n t F r e q u e n c y ) ;

12
Figure 3.2: exp4

13