Due Date: April 18 2017 Tuesday

MECH 304 CONTROL SYSTEMS HOMEWORK 6

1. For the unity feedback proportional control system shown below a. Find the condition on the proportional
gain K in order to make the closed loop system stable (use Routh Criterion) b. Plot the step response of the
closed loop transfer function for K=1, 2, 4, 5.

You may use the following sample MATLAB m-file script after modifying it for our problem.

% Define the Plant Transfer Function Example: Gp=1/(s^2+2s+1)

% Write the coefficients of the numerator and denominator
num=[0 1];
den=[1 2 1];
Gp=tf(num,den);
% Define the Controller Transfer Function, Gc=K
Gc=5;
% Find the Feedforward Transfer function
Gol=Gp*Gc;
% Find the Closed Loop Transfer Function, with unity feedback
Gcl=feedback(Gol,1)
% Plot the step response
step(Gcl) grid title(['Step response with P gain K = ',num2str(Gc)])

2. Consider the feedback system in the figure.

a. Determine the closed loop transfer function T(s)= Y(s)/R(s)
a. Determine the values of Kp and Ti so that the maximum overshoot and the settling time is
Mp=0.2 ts=3 seconds.
c. Determine the steady state error for unit ramp input in r(t).
3. For the systems below: