Control Parameter Design

The transfer function relating pitch angle, 0(s) to elevator surface angle (s)
for an Unmanned Free-Swimming Submersible vehicle is:
0(s) 0.125(s + 0.435)
(s) (s+1.23)(s2 +0.226s +0.0169)
a) Using only the second order poles predict percent overshoot (Mr), rise-
time (T*), peak time (Tr) and settling time (Trr)
b) Using Laplace transforms find the analytical solution to a step input n (s)
c) Plot the results and verify the simplifications used in a)
a) F.sl -o.d.r. pole- lime- c-onslqnf
r,=#
Seconol - t'tt goles !
S'+,2I6s+o.r 161 = sz't 2':^Ss + :
Un= O,l3o rals
( et).o^pedl)
= 0'861 ',.
Er= ,* = 9,85s
The domnqnJ poles att? u;g".f I-e eonslorf ,
I-L (
a

slo,u"^sl fnI"s ).
gince lOt, 1Tz +h< f7oxirrrc,Ifon sLo-ld be vo Itol.
Vs,q *L-, 9ecorcl-e er
rcl poles i
; = fu).o,"
Ts 2,163 t o. o
t)'n-
= ll s
Tp= = 48,1 s
Tst: 4 t2 = 35.t+s

b) 6 )= 3
I

2,g s+ o,lt3 * 3"+78 t O.o43

2 L tL o.o6tlS
&) +
a

= S s + t.23 ( s + a.t3) + o.o613 2

rT: Lt) = 2,616 + ,0645 e
-r.13t
e-o.t ( 2.Ll c"t(o.o6+9t)
+ g.lzt sr. (o"oqAt)

C-) 1e. le.ef-,.e .<co.ol