Problem 1

Solution
I
s=tf('s');
G=1/((s+2.5)*(s+4.5)*(s+7));
rlocus(G);
grid on

Root Locus
15
0.7

0.82

0.56

0.42

0.28

0.14

10

Imaginary Axis (seconds-1)

0.91

5 0.975

20
0

17.5

15

12.5

10

7.5

2.5

-5 0.975

0.91
-10

0.82
-15
-20

0.7

0.56

-15

0.42

-10

0.28

0.14

-5

Real Axis (seconds -1)

II

Root Locus
0.503

0.5

0.497

0.493

0.49

3.76
3.75

4.3
0.506

Imaginary Axis (seconds-1)

3.74
3.73

4.28

3.72
3.71

System: G
Gain: 101
Pole: -2.15 + 3.72i
Damping: 0.5
Overshoot (%): 16.3
Frequency (rad/s): 4.3

0.51

3.7
3.69
3.68

4.26

4.24

0.512

3.67
4.22

3.66
-2.19

-2.18

-2.17

-2.16

-2.15

-2.14

Real Axis (seconds -1)

-2.13

-2.12

-2.11

K = 101
Check the third pole for K=101, closed loop TF:
M(s) =

101
(:2.5)(:4.5)(:7)

s=tf('s');
M = 101/((s+2.5)*(s+4.5)*(s+7));
F = feedback(M,1);
pole(F)

ans =

-9.6988
-2.1506 + 3.7294i
-2.1506 - 3.7294i
Since the third pole s = -9.6988 is NOT greater than five times the real part of the dominant pole
(-2.1506), therefore the approximation that the system is a second-order is not valid. In this case the
actual settling time/peak time of original equation which can be found using the plot of the step
response must be considered.

s=tf('s');
M = 101/((s+2.5)*(s+4.5)*(s+7));
F = feedback(M,1);
step(F)

Step Response
0.7
System: F
Settling Time (seconds): 1.95

0.6

Amplitude

0.5

0.4

0.3

0.2

0.1

0.5

1.5

2.5

Time (seconds)

From the graph above it was found that the actual settling time Ts = 1.95 (sec).

III.
Considering the desired parameter that Ts(new) 5 x Ts ;
Taking the maximum possible value
Ts(new) = 5 x 1.95 = 9.75 (sec)
IV.
Desired location for the compensated poles:
Real part

dnew

Imaginary part

dnew

4
Ts(new)

.
n

(sec)
.

Root Locus
6

0.56

0.42

0.28

0.14

0.7

Imaginary Axis (seconds-1)

4
0.82

3
0.91

0.975

0.975

-1

-5

-4

-3

-2

-1

-1

Real Axis (seconds )

V. System with PI controller looks like

Graph the locus of the compesated sytem with varying values of zero to find a suitable value of K,
then plot the step response of each system until we come up with the our desired value of settling
time (Ts ).
Test point 1
M(s) =

(:0.1)
(:2.5)(:4.5)(:7)

K = 100
Taking the step response using the obtained value of K
s=tf('s');
M = (100*(s+0.1))/(s*(s+2.5)*(s+4.5)*(s+7));
F=feedback(M,1);
step(F)

Ts = 54.1 (sec)

Test point 2
M(s) =

(:0.5)
(:2.5)(:4.5)(:7)

K = 99.1
Taking the step response using the obtained value of K
s=tf('s');
M = (99.1*(s+0.5))/(s*(s+2.5)*(s+4.5)*(s+7));
F=feedback(M,1);
step(F)

Ts = 9.91 (sec)
Test point 3
M(s) =

(:0.6)
(:2.5)(:4.5)(:7)

K = 98.7
Taking the step response using the obtained value of K
s=tf('s');
M = (98.7*(s+0.6))/(s*(s+2.5)*(s+4.5)*(s+7));
F=feedback(M,1);
step(F)

Ts = 8.06 (sec)
This value of settling time satisfies our the condition T s(new) 5 x Ts. Therefore it is safe to say that the
location of the zero for this system should be at -0.6.
VI.
Gc(s) =

98.7(s:0.6)

Gc(s) = K1 +
Therefore
K1 = 98.7
K2 = 59.22

K2

VII. Validation of second order system approximation

s=tf('s');
M = (98.71*(s+0.6))/(s*(s+2.5)*(s+4.5)*(s+7) );
F=feedback(M,1);
pole(F)

ans =

-9.5760
-2.0229 + 3.5020i
-2.0229 - 3.5020i
-0.3781
Pole and zero dont cancel each other, second order approximation is not valid. We have to
simulate compensated system to make sure all requirements have been met.
VIII. Plot step responses for uncompensated and compensated system.
s=tf('s');
G=101/((s+2.5)*(s+4.5)*(s+7));
F1=feedback(G,1);
H=(98.7*(s+0.6))/(s*(s+2.5)*(s+4.5)*(s+7));
F2=feedback(H,1);
step(F1,F2)

Step Response
1
System: F2
Settling Time (seconds): 8.06

0.9
System: F1
Peak amplitude: 0.643
Overshoot (%): 14.4
At time (seconds): 0.962
System: F1
Settling Time (seconds): 1.95

0.8
0.7

Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0

10

12

14

16

Time (seconds)

IX.

Uncompensated
TF, G(s)H(s)

()

.5)(

Simulation

.5)(

Pi-Compensated
()

(
.5)(

Simulation
. )
.5)(

Dom. Poles

-2.15 j 3.72

-2.02 j 3.5

Gain, K

101

98.7

0.5

0.5

%OS

16.3

14.4

16.3

Ts

1.95

1.95

9.75

8.06

Tp

0.962

0.962

4.42

>16

Kp

1.28

0.44

Other Poles

-9.6988

-0.3781

Zeroes

None

-0.6

Comments

Second-order approx.

not valid

*some values (poles and zeroes etc.) were obtained using MatLab, codes and obtained values can be
found from the preceding process.
Kp
e

. 8

( .5)( .5)( )
Kp

. 8

Ts = 1.95
Kp
e

98.7(0.6)

Kp

Ts= 5 x 1.95 = 9.75 (sec)

dnew

dnew
Tp

Ts(new)

(sec)

.
.

Problem 2
Solution
I.
s=tf('s');
G=1/(s*(s+15)*(s+6));
rlocus(G);
grid on
Root Locus
40
0.76

0.86

0.64

0.5

0.34

0.16

30

Imaginary Axis (seconds-1)

20 0.94

10 0.985
60
0

50

40

30

20

10

-10 0.985

-20 0.94
-30
0.86
-40
-60

0.76
-50

0.64
-40

0.5

-30

0.34

-20

0.16
-10

10

20

Real Axis (seconds -1)

II

Root Locus
4.47
0.458
4

0.456

0.453

0.451

0.449

0.446
4.46

3.99

Imaginary Axis (seconds-1)

4.45
3.98

System: G
Gain: 338
Pole: -2.03 + 3.96i
Damping: 0.456
Overshoot (%): 20
Frequency (rad/s): 4.45

0.46
3.97

4.44

3.96

4.43

3.95 0.463

4.42

3.94

4.41

3.93
-2.06

-2.05

-2.04

-2.03

-2.02

-2.01
-1

Real Axis (seconds )

-2

-1.99

K = 388
Check the third pole for K=101, closed loop TF:
M(s) =

388
(:15)(:6)

s=tf('s');
G=388/(s*(s+15)*(s+6));
F=feedback(G,1);
pole(F)

ans =

-16.8746
-2.0627 + 4.0163i
-2.0627 - 4.0163i
The third pole s = -16.8746 is twelve times farther from the j-axis than the dominant poles, so the
approximation is valid and we can use the peak time.
III. Peak time of uncompensated system is
Tp =

3.96

We need to reduce settling time by

1
2

(sec)

5 (sec)

so;
.

Tp (new)

IV. Desired location for the compensated poles:

Imaginary part

dnew

Real part

dnew

Desired compensated poles:

Tp(new)
dnew
n

.8

7.95

Root Locus
16

0.64

0.5

0.34

0.16

14 0.76

Imaginary Axis (seconds-1)

12
10 0.86
8
6 0.94
4
0.985

116.74deg

2
0

16

14

12

10

-14

-12

-10

-8

-6

-4

-2

-2
0.985
-16

Real Axis (seconds -1)

V. System with PD compensator looks like:

We need to find gain K and zero z. To find location of zero se use an angle criteria:

Root Locus
16

0.64

0.5

0.34

0.16

14 0.76

Imaginary Axis (seconds-1)

12
10 0.86
8
6 0.94
4
0.985

116.74deg

2
0

16

14

12

10

-14

-12

-10

-8

-6

-4

-2

-2
0.985
-16

-1

Real Axis (seconds )

VI. Value of PD Compensator

s=tf('s');
G=(388*(s+10.86))/(s*(s+15)*(s+6));
rlocus(G);
grid on

Root Locus
0.452

0.449

0.447

8.95

8
0.454
8.9

Imaginary Axis (seconds-1)

7.95
System: G
Gain: 92.6
Pole: -4.03 + 7.85i
Damping: 0.456
Overshoot (%): 20
Frequency (rad/s): 8.83

0.456
7.9
0.458

8.85

7.85

8.8
0.461

7.8

8.75
0.463

7.75
8.7
-4.06

-4.05

-4.04

-4.03

-4.02

Real Axis (seconds -1)

K=92.6

VII Designed PD Compensator

Gc(s) = 92.6(s+10.86)
K1 = 1000.56
K2 = 92.6

-4.01

-4

VIII Validation of secnd order system approximation

s=tf('s');
G=(92.6*(s+10.86))/(s*(s+15)*(s+6));
F=feedback(G,1);
pole(F)

ans =

-4.7845 +18.5937i
-4.7845 -18.5937i
-11.4311
Second order system approximation is not valid.
IX Step responses for uncompensated and compensated system
s=tf('s');
G=388/(s*(s+15)*(s+6));
F2=feedback(G,1);
H=(92.6*(s+10.86))/(s*(s+15)*(s+6));
F1=feedback(H,1);
step(F1,F2)

System: F1
Step Response
Peak amplitude: 1.22
Overshoot (%): 22
At time (seconds): 0.388

1.4

1.2

System: F2
System: F2
Peak amplitude: 1.23
Settling Time (seconds): 1.82
Overshoot (%): 23
At time (seconds): 0.792
System: F1
Settling Time (seconds): 0.936

Amplitude

0.8

0.6

0.4

0.2

0.5

1.5

Time (seconds)

2.5

3.5

*F1 Compensated
*F2 Uncompensated

Uncompensated

TF, G(s) H(s)

G(s)=

Dominant Poles

Simulation

K
(:15)(:6)

PD-Compensated

G(s)=

Simulation

K(s:10.86)
(:15)(:6)

-2.03 j3.96

-4.07 j7.95

Gain, K

338

92.7

0.45

0.45

%OS

20%

23%

20%

22

Ts

1.97

1.82

0.983

0.936

Tp

0.79

0.79

0.395

0.388

Kv

3.76

11.19

0.27

0.09

-16.8491

-12.8844

none

-10.86

2nd is valid

2nd is not valid

Other Poles
Zeroes
Comments

8
5( )

Kv
e
Tp
Ts

Kv

.
.

d
d

.
.

.
.

. ( .8 )
5( )

Kv
e
Tp

Kv

Tp

Tp

d
Ts

Tp

d
n .8
d

. 5

5
.
. 8

Problem 3
Solution
PD Controller

I
s=tf('s');
G=1/(s*(s+4)*(s+6)*(s+10));
rlocus(G)
grid on

Root Locus
20
0.76

0.64

0.5

0.34

0.16

15 0.86

Imaginary Axis (seconds-1)

10

0.94
0.985

25
0

-5

-10

20

15

10

0.985
0.94

-15 0.86
0.76
-20
-25

0.64
-20

-15

0.5

0.34

-10

0.16
-5

Real Axis (seconds -1)

II

10

15

Root Locus

Imaginary Axis (seconds-1)

0.406

0.404

0.401

0.399

0.396

0.394

2.01

2.19

2.005

2.18
0.408

System: G
Gain: 413
Pole: -0.878 + 1.99i
Damping: 0.404
Overshoot (%): 25
Frequency (rad/s): 2.18

1.995

2.17

2.17

1.99

2.17

0.411
1.985

2.16
1.98
2.15
1.975
-0.895

-0.89

-0.885

-0.88

-0.875

Real Axis (seconds -1)

K=413

Check the third pole for K=413, closed loop TF:

M(s) =

413
(:4)(:6)(:10)

s=tf('s');
M = 413/(s*(s+4)*(s+6)*(s+10));
F = feedback(M,1);
pole(F)

ans =

-9.1188 + 1.9910i
-9.1188 - 1.9910i
-0.8812 + 1.9910i
-0.8812 - 1.9910i

-0.87

-0.865

-0.86

The approximation of the system to be a second order is valid.

III Settling time of uncompensated system
Ts

0.878

.5 (sec)

Ts 2 (sec)
IV. Desired location for the compensated poles:
Real part

dnew

Imaginary part

dnew

4
Ts

.5

Root Locus
0.64

7
6

0.5

0.34

0.16

0.76

6
5

5
Imaginary Axis (seconds-1)

0.86

3
0.94

2
1

0.985

0.985

0
-1
-2

2
-7

-6

-5

-4

-3

-2

-1
-1

Real Axis (seconds )

V. System with PD compensator looks like:

Location of zero

Root Locus
0.64

7
6

0.5

0.34

0.16

0.76

6
5

5
Imaginary Axis (seconds-1)

0.86

3
0.94

2
1

0.985

0.985

0
-1
-2

2
-7

-6

-5

-4

-3

-2

Real Axis (seconds -1)

VI Gain(K) of th PD Compensator
s=tf('s');
M = (s+2.96)/(s*(s+4)*(s+6)*(s+10));
rlocus(M)
grid on

-1

Root Locus
4.64 0.409

0.404

0.399

0.394

0.389

0.384
5

4.62

Imaginary Axis (seconds-1)

4.6

4.98
System: M
Gain: 294
Pole: -2 + 4.53i
Damping: 0.404
Overshoot (%): 25
Frequency (rad/s): 4.95

4.58 0.413
4.56
4.54

4.95

4.92

4.52

4.9
0.418

4.5
4.88
4.48
4.85

4.46
-2.06

-2.04

-2.02

-2

-1.98

Real Axis (seconds -1)

K=294
VII Designed PD Compensator
Gc(s) = 294(s+2.96)
K1 = 870.24
K2 = 294

VIII Validation of the second order assumption

ans =
s=tf('s');
M = (294*(s+2.96))/(s*(s+4)*(s+6)*(s+10));
F=feedback(M,1);
pole(F)

-1.96

-1.94

-1.92

-13.3382
-1.9991 + 4.5275i
-1.9991 - 4.5275i
-2.6637

Second order system approximation is valid.

IX Step responses for uncompensated and compensated system

System: H
Step 1.24
Response
Peak amplitude:
Overshoot (%): 23.6
At time (seconds): 1.82

System: F
1.41.19
Peak amplitude:
Overshoot (%): 18.7
At time (seconds): 0.796
1.2

System: F
Settling Time (seconds): 1.78
1

Amplitude

System: H
Settling Time (seconds): 4.07
0.8

0.6

0.4

0.2

Time (seconds)

Upon graphing the step responses,

and (overshoot response 5%).

Ts=1.78 (sec) which satisfies our desired conditions (Ts )

PI Controller
Test point 1
s=tf('s');
G=((s+0.1)*(s+2.96))/(s^2*(s+4)*(s+6)*(s+10));
rlocus(G)
grid on

K = 292
Taking the step response using the obtained value of K
s=tf('s');
G=(292*(s+2.96)*(s+0.1))/(s^2*(s+4)*(s+6)*(s+10));
F=feedback(G,1);
step(F)

Ts > 3.5 (sec)

Test point 2
s=tf('s');
G=((s+0.3)*(s+2.96))/(s^2*(s+4)*(s+6)*(s+10));
rlocus(G)
grid on

K=286

Taking the step response using the obtained value of K

s=tf('s');
G=(286*(s+2.96)*(s+0.3))/(s^2*(s+4)*(s+6)*(s+10));
F=feedback(G,1);
step(F)

Ts = 5.05 (sec)
Based on the first to test points as we increse the value of zero the value of Ts also increases, which
we should avoid in order to achieve the desired parameter. So this time we try to adjust the decimal
point backwards.
Test point 3
s=tf('s');
G=((s+0.003)*(s+2.96))/(s^2*(s+4)*(s+6)*(s+10));
rlocus(G)
grid on

K=294
Taking the step response using the obtained value of K
s=tf('s');
G=(294*(s+2.96)*(s+0.003))/(s^2*(s+4)*(s+6)*(s+10));
F=feedback(G,1);
step(F)

Ts = 1.78 (sec)

Ts , Therefore at this location of zero is valid for our PI design.

Designed PID Compensator

K1 + K2s +

K3

294(:2.96)(:0.003)

= 871.122+294s++

2.61

Validation of second order system approximation

s=tf('s');
G=(294*(s+0.003)*(s+2.96))/(s^2*(s+4)*(s+6)*(s+10));
F=feedback(G,1);
pole(F)

ans =

-13.3378
-1.9980 + 4.5262i
-1.9980 - 4.5262i
-2.6632
-0.0030

Approximation is valid.
Plot of responses (Uncompensated, PD, PID)
s=tf('s');
G=(294*(s+0.003)*(s+2.96))/(s^2*(s+4)*(s+6)*(s+10));
PID=feedback(G,1);
H= (413)/(s*(s+4)*(s+6)*(s+10));
U=feedback(H,1);
J=(294*(s+2.96))/(s*(s+4)*(s+6)*(s+10));
PD=feedback(J,1);
step(U,PD, PID)

System: U
Step 1.24
Response
Peak amplitude:

System: PD
1.41.19
Peak amplitude:
Overshoot (%): 18.7
At time (seconds): 0.796
1.2

Overshoot (%): 23.6

At time (seconds): 1.82
System: PID
Time (seconds): 1.88
Amplitude: 0.995

Amplitude

System: PID
Peak amplitude: 1.19
Overshoot (%):118.8
At time (seconds): 0.796

System: PID
System: U
Settling Time (seconds): 1.78Settling Time (seconds): 4.07

0.8

0.6

0.4

0.2

Time (seconds)

Computation of some parameters:

Kp =
es = 0
Kv = 413/(4)(6)(10) = 1.72
er =1/1.72 = 0.58
Kp =
es = 0
Kv = 294(2.96)/(4)(6)(10) = 3.63
er = 1/3.63 = 0.275

Mark Jayson Mercado()

20128048

Control Engineering()

Homework 8