INTRODUCTION
CHALLENGE 1
Evaluation of the transfer function of subsystems
( )
( )
( )
( )
( )
( )
(
( )
( )
(
( )
( )
Parameter
Kpot
K
a
Configuration2
3.18
150
150
0.8
1.32
0.2
)
( )
( )
CHALLENGE 2
State space representation of each dynamic subsystems
( )
( )
( )
(
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
(
( )
( )
)]
( )
( )
CHALLENGE 3
a. Prediction of the openloop angular velocity response of the power amplifier, motor, and
load to a step voltage at the input to the power amplifier.
b. Finding the damping ratio and natural frequency of the openloop system.
c. Derivation of the openloop angular velocity response of the power amplifier, motor, and
load to a stepvoltage input using transfer functions.
d. The openloop state and output equations.
e. Using MATLAB to obtain a plot of the openloop angular velocity response to a stepvoltage input.
a.
( )
( )
( )
( )
( )
(
( )
s
)(
a.
( )
b.
( )
(
c.
(
)(
)(
( )
( )
d.
( )
( )
( )
e.
num=24
den=poly([150 1.32])
G=tf(num,den)
Step(G)
CHALLENGE 4
a. Finding the closedloop transfer function using block diagram reduction.
b. Representation of each subsystem with a signalflow graph and finding the statespace
representation of the closedloop system from the signalflow graph.
c. Using the signalflow graph found in (b) along with Mason's rule to find the closedloop
transfer function.
d. Replace the power amplifier with a transfer function of unity and evaluate the closedloop percent overshoot, settling time, and peak time for K = 5.
e. For the system used for(d), derive the expression for the closed loop step response.
f. For the simplified model in (d), find the value of preamplifier gain, K, to yield 15%
overshoot.
a.
)(
b.
[ ]
10
150
( )
1
0 .2
0 .8
( )
1 ( )
2 ( )
( )
1 .3 2
150
10

10
c.
) ( )(
)( )(
( )
)( )( )(
( )
( )
( )
) ( )(
)( )(
( )
( )
( )
)( )( )(
( )
( )
( )
( )
( )
( )
d.
( )
( )
( )
( )
e.
( )
( )
( )
f.
( )
( )
)
(
CHALLENGE 5
Finding the range of preamplifier gain required to keep the closedloop system stable.
( )
Routh table
1
198
151.32
76.39K
29961.3676.39K
76.39K
Therefore
29961.3676.39K=0
K=392.22
For stability 0< K < 392.22
CHALLENGE 6
a. Find the steadystate errors in terms of gain, K, for step, ramp, and parabolic inputs.
b. Find the value of gain, K, to yield a 20% error in the steady state.
a.
( )
( )
( )
( )
( )
)(
( )
( )
( )
( )
( )
( )
b.
( )
)(
CHALLENGE7
a. Find the preamplifier gain, K, required for an 8second settling time.
b. Repeat, using MATLAB.
a.
( )
)(
Closed loop pole= 0.5+ 6.4 the gain value yields 76.39K=6210.507
Therefore K=81.3
b.
Program
numg= 1;
deng=poly([0 150 1.32]);
G=tf(numg,deng)
rlocus(G)
axis([2,0,10,10]);
grid on
[K1,p]=rlocfind(G)
K=K1/76.39
Computer Response
Transfer function:
1
s^3 + 151.3 s^2 + 198 s
Select a point in the graphics window
selected_point =
0.5134 + 6.0735i
K1 =
5.5870e+003
p=
1.0e+002 *
1.5025
0.0054 + 0.0607i
0.0054  0.0607i
K=
73.1383
CHALLENGE 8
a. For your solution to the challenge in Chapter 8, evaluate the percent overshoot and the
value of the appropriate static error constant.
b. Design a cascade compensator to reduce the percent overshoot by a factor of 4 and the
settling time by a factor of 2. Also, improve the appropriate static error constant by a factor
of 2.
c. Repeat Part b using MATLAB.
a. Closed loop poles=0.5+ 6.4
( )
(
(
(
b.
)(
(
)
))
)
(
( )
)(
)(
Choosing
therefore
)(
)(
)
)
( )
(
(
)(
)
)
)(
)(
)
)(
c.
Program and computer response
>> num=76.39
den=poly([0 1.32 150])
G=tf(num,den)
rlocus(G)
zun=0.078
sgrid(zun,0)
numld=[76.39 114.585]
den=poly([0 1.32 150])
Pn=1+1.925i
angle_Pn=angle(polyval(numld,Pn)/polyval(den,Pn))*(180/pi)
O=angle_Pn180
den1=poly([0 1.32 2.265 150])
Gld=tf(numld,den1)
rlocus(Gld)
z=0.461
sgrid(z,0)
numlg=[1 0.002581]
denlg=[1 0.0001]
Glg=tf(numlg,denlg)
Gllc=series(Gld,Glg)
rlocus(Gllc)
z=0.461
sgrid(z,0)
K=8.61
T=feedback(K*Gllc,1)
step(T)
num =
76.3900
den =
1.0000 151.3200 198.0000
Transfer function:
76.39
s^3 + 151.3 s^2 + 198 s
zun =
0.0780
numld =
76.3900 114.5850
den =
1.0000 151.3200 198.0000
Pn =
1.0000 + 1.9250i
angle_Pn =
123.3133
O=
56.6867
den1 =
1.0000 153.5850 540.7398 448.4700
Transfer function:
76.39 s + 114.6

CHALLENGE 9
a. Find the range of gain for stability. ___
b. Find the percent overshoot for a step input if the gain, K, equals 3.
C. Repeat Parts a. and b. using MATLAB
( )
( )
( )
( )
( )
( )
( )
(
( )
( )
( )
( )
)(
Parameter
Kpot
K
Configuration3
3.18
100
a
100
0.8
1.32 and 100
0.2
a. Phase response is 180 at w=11.8 rad/s
The magnitude plot is 48.9dB
(
c.
Program and computer response
num=50.88
den=poly([0 1.32 100])
G=tf(num,den)
bode(G)
grid on
num1=152.64
den1=poly([0 1.32 100])
G1=tf(num1,den1)
bode(G1)
grid on
[Gm,Pm,Wc,Wcp]=margin(G1)
num =
50.8800
den =
1.0000 101.3200 132.0000
Transfer function:
50.88
s^3 + 101.3 s^2 + 132 s
num1 =
152.6400
den1 =
1.0000 101.3200 132.0000
Transfer function:
152.6
s^3 + 101.3 s^2 + 132 s
Gm =
87.6195
Pm =
53.9644
Wc =
11.4891
Wcp =
0.9414
>> for z=0:.01:1
Pme=atan(2*z/(sqrt(2*z^2+sqrt(1+4*z^4))))*(180/pi);
if PmPme<=0;
break
end
end
z
percent=exp(z*pi/sqrt(1z^2))*100
z=
0.5300
percent =
14.0366
CHALLENGE 10
Gain Design
a. Find the value of K to yield 25% overshoot for a step input.
b. Repeat Part a using MATLAB.
a.
( )
)(
Let K=1
%OS=25%
Phase margin= 43.63
Therefore the phase angle=180+43.63=136.537 at w=1.34 rad/s where the gain is 13.9
dB
(
b.
Program and computer response
OS=0.25
z=log(OS)/sqrt(pi^2+(log(OS))^2)
Pmc=atan(2*z/sqrt(2*z^2+sqrt(1+4*z^4)))*(180/pi)
phase_angle=180+Pmc
num=50.88
den=poly([0 1.32 100])
G=tf(num,den)
bode(G)
grid on
K=10^(13.9/20)
K=4.95
T=feedback(K*G,1)
step(T)
OS =
0.2500
z=
0.4037
Pmc =
43.4630
phase_angle =
136.5370
num =
50.8800
den =
1.0000 101.3200 132.0000
Transfer function:
50.88
s^3 + 101.3 s^2 + 132 s
K=
4.9545
K=
4.9500
Transfer function:
251.9

)(
%OS=15%
(
)(
=0.082
(
(
)
)
(
)(
)(
)(
)(
b.
Program and computer response
OS=0.15
z=log(OS)/sqrt(pi^2+(log(OS))^2)
Pmc=atan(2*z/sqrt(2*z^2+sqrt(1+4*z^4)))*(180/pi)
phase_angle=180+Pmc
)
)(
K=51.89
num=2640.1632
den=poly([0 1.32 100])
G=tf(num,den)
bode(G)
grid on
numc=poly([0.4347 1.8])
denc=poly([0 1.32 100 0.0748 10.475])
Glag_lead=tf(numc,denc)
Kc=51.89*50.88
T=feedback(Kc*Glag_lead,1)
step(T)
OS =
0.1500
z=
0.5169
Pmc =
53.1718
phase_angle =
126.8282
K=
51.8900
num =
2.6402e+003
den =
1.0000 101.3200 132.0000
Transfer function:
2640
s^3 + 101.3 s^2 + 132 s
numc =
1.0000 2.2347 0.7825
denc =
1.0e+003 *
0.0010 0.1119 1.2017 1.4720 0.1034
Transfer function:
s^2 + 2.235 s + 0.7825
s^5 + 111.9 s^4 + 1202 s^3 + 1472 s^2 + 103.4 s
Kc =
2.6402e+003
Transfer function:
2640 s^2 + 5900 s + 2066
s^5 + 111.9 s^4 + 1202 s^3 + 4112 s^2 + 6003 s + 2066
DISCUSSION
The objective of the report has been met, however some challenges that were encountered
while doing the report were that some of the formulas required to solve some of the
problems are not clearly easy to identify and the Matlab responses sometimes give
different answers to the examples given on the prescribed book just by a little. Another
challenge was to find mistakes done as a single mistake can make the entire system fail.