Design criteria 2.

System type, IMP, transient

design criteria
Activities:

- Watch the video presentation

- Verify all calculations and assumptions made in the presentation:
o closed-loop transfer functions,
o mathematical procedures

Simulation activity 1

- Use a first order plant with 𝐺(𝑠) = 2.5/(0.9𝑠 + 1). To obtain a velocity
error, 𝑒𝑣 = 0, it is suggested to include the function 1/𝑠 2 in 𝐺𝑙 (𝑠) =
𝐶(𝑠)𝐺(𝑠) (thus 𝐺𝑙 (𝑠) will be of type 2):
- Is the design achieved defining 𝐶(𝑠) = 1/𝑠 2 ?
- Try instead 𝐶(𝑠) = (s 2 + 3s + 1)/s^2
- Use a reference signal 𝑟(𝑡) = 𝑎𝑡 and try different values for 𝑎. Make
conclusions.
- Use an input disturbance signal 𝑑(𝑡) = 𝑏𝑡 and try different values for 𝑏.
Make conclusions.
- How does the system respond to constant reference and disturbance
signals?

Simulation activity 2 (optional, report not required)

- Use a first order plant with 𝐺(𝑠) = 2.5/(0.9𝑠 + 1). To obtain a steady state
error 𝑒𝑠𝑠 = 0 for sinusoidal reference signals of frequency 𝜔 = 1 rad/s, it is
suggested to include the function 𝑁1 (𝑠)/(𝑠 2 + 𝜔2 ) in 𝐺𝑙 (𝑠) = 𝐶(𝑠)𝐺(𝑠):
- Is the design achieved defining 𝐶(𝑠) = 1/(𝑠 2 + 𝜔2 )?
- Try instead 𝐶(𝑠) = (2s 2 + 3.5s + 1)/(s^2 + ω2 )
- Use a reference signal 𝑟(𝑡) = 𝐴𝑠𝑖𝑛(𝑡 + 𝜃) and try different values for A
and 𝜃. Make conclusions.
- Use an input disturbance signal 𝑑(𝑡) = 𝐵𝑠𝑖𝑛(𝑡 + 𝜙) and try different
values for B and 𝜙. Make conclusions.
Forum activities

- Add questions, responses and comments to the Topic Forum

Assignment

- Upload a report of your conclusions (max. 2 pages) to the moodle platform.

Although it is recommended to do both activities, it is only required to
upload the conclusions obtained for the Simulation activity 1 to the moodle
platform.