Question 1:

τd τp

Figure 1.1
Question 2:

>> s=tf('s');

>> gp=exp(-50*s)*(1/(30*s+1));

>> fbgb=feedback(gp,2);

>> step(fbgp)

The step response for the system with Km of 2 is shown in Figure 2.1 below.

Figure 2.1

By trial and error, the ultimate gain is found at Kcu =0.8320.

>>step(feedback(0.832*gp,2))

As can be seen in Figure 2.2, the system now shows marginal stability.

Figure 2.2
To determine the ultimate period, zoom in Figure 2.2 to get Figure 2.3.

From Figure 2.3, the ultimate period Pu = 142 s per cycle = 2.367 min per cycle.

Figure 2.3

Apply Zeigler Nichols for PI controller

Kc = Kcu/2.2 = 0.8320/2.2 = 0.378

Pu/1.2 = 142/1.2 = 118.3 s

1
𝐺𝑐 (𝑠) = 0.378 × (1 + )
118.3𝑠

Question 3 :

b.1)

Kc 2
KP 5
τ1 0
τd 0
τ2 2
τ3 3

10
𝐺𝑂𝐿 (𝑠) =
(2𝑠 + 1)(3𝑠 + 1)
 Magnitude diagram
40

20

0
0.01 0.1 1 10 100
-20
AR (dB)

-40

-60

-80

-100
Frequency w (rad/s)

Phase diagram
0
0.01 0.1 1 10 100
-20
-40
-60
Phase (degree)

-80
-100
-120
-140
-160
-180
-200
Frequency w (rad/s)

w  0 then AR  10

w  ∞ then AR ?

b.2)

Kc 2
KP 5
τ1 0
τd 5
τ2 2
τ3 3

10𝑒 −5𝑠
𝐺𝑂𝐿 (𝑠) =
(2𝑠 + 1)(3𝑠 + 1)
 Magnitude diagramm
40

20

0
0.01 0.1 1 10 100
-20
AR (dB)

-40

-60

-80

-100
Frequency w (rad/s)

Phase diagram
0
0.01 0.1 -500 1 10 100

-1000
-1500
Phas (degree)

-2000
-2500
-3000
-3500
-4000
-4500
-5000
Frequency w (rad/s)

w  0 then AR  10

b.3)

Kc 4
KP 5
τ1 0
τd 0
τ2 2
τ3 3

20
𝐺𝑂𝐿 (𝑠) =
(2𝑠 + 1)(3𝑠 + 1)
 Magnitude diagram
40

20

0
0.01 0.1 1 10 100
-20
AR (dB)

-40

-60

-80
Frequency w (rad/s)

Phase diagram
0
0.01 0.1 -20 1 10 100

-40
-60
Phase (degree)

-80
-100
-120
-140
-160
-180
-200
Frequency w (rad/s)

w  0 then AR  10