P10.

Design requirement: POT < 10%

Solution:
We use the Zeigler-Nichols method 2 to determine the PI parameters
The model in Matlab:

the step response of the uncompensated system is:

From the transfer function G(s) , we have :
 = 0.4 ,
 = 0.2 , K =1

So:

. 
 

=0.45

The simulation result:

;
 =
 /0.3= 1.33

=>  =
/
 =0.3375

Edited a bit:

= 0.4

 = 1.4

Then, the simulation result is:

=>  = 0.4 +

.


Finally, from the simulation result, we see that:

- POT < 10%
- The settling time
 < 2s (2% criterion)

DP10.8

* Design requirements:
- POT5%

- ts 10 sec(2% criterion)

- ess=0(step input)
Solution:

We use the manual tuning method to determine the PID parameter:

The model in matlab:

+ First of all, set KI and KD to 0, gradually increase KP to the critical gain Kcr.
When Kp=Kcr =33.5, we have:

So we set Kp=33.5/2=16.75
+ Next, we gradually increase KI until the steady state error is eliminated in a
sufficient time of process. When KI=3, we have:

+ Finally, we increase KD to reduce the overshoot and settling time to satisfy the
system requirements. When KD=3, we have

From this simulation result we determine that:

+ The overshoot: POT=2%
+ The settling time (2% criterion): ts=1.5s

So we have: Gcs = 16.75 + + 3s

%
&

DP10.9

*Design requirement: The system is well behaved and the steady state error is zero
Solution:
We use the manual tuning method to determine the PID parameter:
The model in matlab:

+ First of all, set KI and KD to 0, gradually increase KP to the critical gain Kcr.

When KP=Kcr =68, we have:

So we set Kp=68/2=34
+ Next, we gradually increase KI until the steady state error is eliminated in a
sufficient time of process. When KI=10, we have:

+ Finally, we increase KD to reduce the overshoot and settling time to satisfy the
system requirements. When KD=28, we have:

From this simulation result we determine that:

+ The system doesnt have overshoot so the system is well behaved
+ The settling time is about 3.5s (2% criterion) can be accepted
So we have: Gcs = 34 +


&

+ 28s

DP10.4: Control a robot by vision feedback

Gs =

1
s + 10.5s + 1

+ Due to ()) = 0 , we choose G* = K , +

+POT < 5% <=>e

567

856

+ We choose = 0.87
+ t= =

>?@

<6

-.
&

< 0.05 => > 0.69

+ Choose B = 1 rad/s

=>B > 0.943

+ The characteristic equation of the controlled system:

1 + FK , +

KG
1
=0
H
s s + 10.5s + 1

s % + 3s  + 2sI1 + K , J + 2K G = 0

+ The desired characteristic equation:

s + as  + 2B s + B   = 0

s % + 1.74 + as  + 1.74a + 1s + aB  = 0
3 = 1.74 + a
L
2K G = aB 

K
2I1 + K , J = 1.74a + 1
a = 1.26

K K G = 0.63 L
K , = 0.5962

+ Conclusion:
G* s = 0.5962 +

0.63
s

The simulation:

Result:

From the simulation, we determine that:

+ The systems overshoot: POT=0.7%
+ The settling time : ts=4s