UNIVERSITY OF NAIROBI

FEE 591: LABORATORY V A – CONTROLS OPTION

ANALYSIS AND DESIGN CONCEPTS IN CONTROL SYSTEMS

Theory
Control System Theory can be described as a two-pronged study involving both analysis and design.
Control System Analysis (CSA) provides a control engineer with an understanding of how a defined
system performs. It is concerned with concepts such as:

 Extent of Stability
 Steady State Performance
 Transient Performance
Control System Design (CSD) provides a control engineer with a means of meeting performance
specifications. It is therefore concerned with ideas such as:

 Speed of Response
 Relative Stability
 System accuracy and allowable error
From its very definition, system design involves moving a system from a performance unacceptable
region to a performance acceptable one. Designing a system (continuous or discrete) to meet
specifications and then analysing how well it does performs is the crux of control systems theory.
It should be noted that the mathematical tools used in analysis are also used in design i.e. Root loci,
Bode plots, Nyquist plots and Nichols charts. This is because analysis and design of systems are
interlinked processes.
Previous labs have had a larger emphasis on system analysis rather than system design; it is important
to have a working understanding of both.

Homework
1. In your own words, explain the differences between control systems analysis and control
systems design?
2. Describe three control system design specifications of your choice.
3. Explain why, in most cases, system design is an iterative process.
4. What is a deadbeat response?
Lab Exercises
Instructions: Use the MATLAB software program and provide appropriate print-outs detailing your
work out process. Please note that you should present the intermediate steps taken as well, not just the
final answer. Do not solve these problems using the SISO tool – work using the editor and command
window.

Root Locus Design:

1. Using root loci and MATLAB, design a continuous unity feedback system with the plant 𝐺1 =
𝐾
(𝑠+1)(𝑠+3)
and the following specifications:
a. Overshoot less than 20%
b. 𝐾𝑃 ≥ 4
c. 10% to 90% of the rise time in less than 1 second
2. Using root loci and MATLAB, determine the value of gain factor K for which the system with
𝐾
the OLTF 𝐺𝐻 = has closed loop poles with a damping ratio ζ = 0.5. Do multiple
𝑠(𝑠+2)(𝑠+4)
values of K exist that satisfy this condition?
𝐾(𝑠+𝑎)
3. For a system with the OLTF 𝐺𝐻 = (𝑠2 −1)(𝑠+5)
determine K and a such that the closed loop
system has dominant poles with ζ = 0.5 and 𝜔𝑛 = 2. What is the percentage overshoot of the
closed loop system with these values of K and a?
4. Use root locus analysis to prove the specifications of question 1 in this section are met by your
design.

Bode Plot Design:

1. Using bode plots and MATLAB, design a compensator for the system with the open loop
2
frequency response function 𝐺𝐻(𝑗𝜔) = 𝑗𝜔 𝜔 2 which will result in a closed loop
(1+𝑗𝜔)[1+ −( ) ]
10 4
system with a gain margin of at least 6dB and a phase margin of at least 40°.
2. Use bode plot analysis to prove that the specifications of question 1 in this section are met by
your design.

Nyquist Plot Design:

1. Using Nyquist plots and MATLAB, design a compensator which yields a phase margin of
84
approximately 45° for the system defined by 𝐺𝐻 = 𝑠(𝑠+2)(𝑠+6)
2. Use Nyquist plot analysis to prove the validity of your answer in question 1 of this section.

Nichols Chart Design:

1. Using Nichols charts and MATLAB, find a value of K for which the system whose OLTF is
𝐾
𝐺𝐻 = 𝑠 𝑠 has a resonant peak 𝑀𝑃 of 1.4 dB.
𝑠(1+ )(1+ )
200 250
2. Using any frequency response analysis other than Nichols charts, prove the validity of your
answer in question 1 of this section.

© 2018
Kinyua Wachira