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Given closed loop control system with different controllers to satisfy the given

specifications
Settling time
Peak percentage overshoot
Using above two specifications we can find dominant poles of the closed loop system

where

- damping ratio
- natural frequecy

Peak percentage overshoot

Settling time
Using peak percentage overshoot we can find
find

and using settling time and

we can

Using MATLAB code we can above send parameters which are useful to verify out
response after controller design
a) Proportional controller K
MATLAB CODE :
%% Finding parameters of different controllers and closed loop response
clear
clc
%% Using Proportional Controller K
%% Given uncompensated system
Guc = tf([1],[1 5 6])
%% Finding required dominant poles of closed loop system
%% Given Transisent Specifications
PO = 0.1;
Ts = 10
zeta = sqrt(log(PO)^2/(pi^2+log(PO)^2));% damping ratio
wn = 2/(Ts*zeta); % natural frequency
% Dominant poles of closed loop system
Sd = -(-zeta*wn)+wn*sqrt(1-zeta^2)*i
%% Root locus Plot
rlocus(Guc);
sgrid(zeta,0);
[K,p] = rlocfind(Guc)
%% Closed loop system response with obtained K.
G = Guc*K

Tz = feedback(Guc*K,1);
step(Tz)
Output :
K=
4.8922

p=
-2.5000 + 2.1546i
-2.5000 - 2.1546i
Closed loop system with Proportional controller

Root locus Plot :

b) Integral Controller is K/s


MATLAB CODE :
%% Finding parameters of different controllers and closed loop response
clear
clc
%% Using Integral Controller K/s
%% Given uncompensated system
Guc = tf([1],[1 5 6 0])

%% Finding required dominant poles of closed loop system


%% Given Transisent Specifications
PO = 0.1;
Ts = 10
zeta = sqrt(log(PO)^2/(pi^2+log(PO)^2));% damping ratio
wn = 2/(Ts*zeta); % natural frequency
% Dominant poles of closed loop system
Sd = -(-zeta*wn)+wn*sqrt(1-zeta^2)*i
%% Root locus Plot
rlocus(Guc);
sgrid(zeta,0);
[K,p] = rlocfind(Guc)
%% Closed loop system response with obtained K.
G = Guc*K
Tz = feedback(Guc*K,1);
step(Tz)

Output :
K=
1.7297

p=
-3.3734
-1.1990
-0.4277
Closed loop system :

Root locus plot :

c) Proportional Plus integral controller


MATLAB CODE :
%% Finding parameters of different controllers and closed loop response
clear
clc
%% Using Proportional Integral Controller K(s+1)/s
%% Given uncompensated system
Guc = tf([1 0],[1 5 6 0])
%% Finding required dominant poles of closed loop system
%% Given Transisent Specifications
PO = 0.1;
Ts = 10
zeta = sqrt(log(PO)^2/(pi^2+log(PO)^2));% damping ratio
wn = 2/(Ts*zeta); % natural frequency
% Dominant poles of closed loop system
Sd = -(-zeta*wn)+wn*sqrt(1-zeta^2)*i
%% Root locus Plot
rlocus(Guc);
sgrid(zeta,0);
[K,p] = rlocfind(Guc)
%% Closed loop system response with obtained K.
G = Guc*K
Tz = feedback(Guc*K,1);
step(Tz)

Output
K=

2.6387

p=
-2.3078 + 1.2404i
-2.3078 - 1.2404i
-0.3844
Closed loop response

Root Locus Plot :

d) step response of closed loop system using three responses


MATLAB CODE:
%% Finding step response using different controllers and closed loop response
clear
clc
GK = tf([4.892],[1 5 6]);% Proportional controller K
GI = tf([1.73],[1 5 6 0]);% Integral controller K/s
GKI = tf([2.639 2.639],[1 5 6 0]);% Proportional plus Integral controller K(1+1/s)
TK=feedback(GK,1)
TI=feedback(GI,1)
TKI=feedback(GKI,1)
step(TK)
hold on
step(TI)
step(TKI)
hold off

PLOT :