University of Wah

Department of Electrical Engineering

Document No: UW/EE/AF/REV00

UNIVERSITY OF WAH
WAH ENGINEERING COLLEGE
Electrical Engineering Department
Complex Engineering Problem
Course Title: Linear Control Systems Course Code: EE 322
Section: 6th (A, B & N) Course Teacher: Mirza Muhammad Javed
Total Marks: 20 Due Date: June 07, 2020
Student Name_____________________ Reg No.___________________________

Note: Attempt all questions.

Course Learning Outcome Program Learning Outcome Learning Domain

CLO-3 PLO-3 C6

CLO-3: Design controllers for linear systems to improve the performance of the system for a given
set of parameters.

PLO-3: Design / Development of Solutions: An ability to design solutions for complex engineering
problems and design systems, components or processes that meet specified needs with appropriate
consideration for public health and safety, cultural, societal, and environmental considerations

Attribute 1: Preamble: Engineering problems which cannot be resolved without in-depth

engineering knowledge.

Attribute 4: Depth of knowledge required: Requires research-based knowledge much of which is

at, or informed by, the forefront of the professional discipline and which allows a fundamentals-
based, first principles analytical approach.

Attribute 9: Interdependence: Are high level problems including many component parts or sub-
problems.
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Problem 1: A mobile robot using a vision system as measurement device is shown in Figure 1.
The control system is a unity feedback with the plant transfer function G(s) = 1/ (s+1) (0.5s + 1), and
controller transfer function Gc(s) = Kp+ KI / s as shown in Figure 2. The use of integral controller
ensures a zero steady state error for a step input.

a. (12 points) Design the PI controller to meet the following specifications:

 %OS for a step input is ≤ 5%
 Settling time (2% criterion) is Ts ≤ 6 seconds
 System velocity error constant Kv > 0.9
  The peak time Tp is minimized.

b. (5 points) Simulate the system in Matlab and verify that your controller improves the system
performance as specified.
c. (3 points) Are there any constraints on the object speed? Can you suggest improvements in the
specifications to handle speed constraints?

Figure 1: A robot and vision system

Figure 2: Feedback control system