11/27/2017

HOURLY
#3
CONTROLS ENGINEERING

AAQIB IQBAL | ME 141068

Q1 PID CONTROLLER
Q2 MATLAB CODES
REDUCTION OF BLOCK DIAGRAM

Q3
ROOT LOCUS
Q4
K=0.0274;
J=3.2284E-6;
b=3.5077E-6;
L=2.75E-6;
R=4;
Kp=2.1;
Ki=1;
Kd=1.5;
OS=6;
Tr=4;

s=tf('s');
Gp2=K/(s*((J*s+b)*(L*s+R)+K^2));
Gc1=Kp+Ki/s+Kd*s;
Gc2=Kp+Ki/s+Kd*s;
Gp1=(1.15*s+0.1774)/(s^3+0.739*s^2+0.921*s);
Gm1=1/(s+10);
Gm2=1/(s+10);

func=(Gc1*Gc2*Gp1*Gp2)/(1+(Gm2*Gc2*Gp2));
closefunc=feedback(func,Gm1);
wn= 1.8/Tr;

num=log(OS/100);
den=(pi^2+(log(OS/100))^2)^(1/2);
zn=num/den;

rlocus(closefunc);
sgrid(zn,wn);

step(closefunc);
info=stepinfo(closefunc);
STEP FUNCTION

RiseTime: 1.0789
SettlingTime: 13.0178
SettlingMin: 9.0548
SettlingMax: 10.4756
Overshoot: 5.8963
Undershoot: 0
Peak: 10.3876
PeakTime: 6.8723