Table of Contents

Task 2............................................................................................................................2
Question:02 part (a) using transfer function.............................................................2
Question:02 part (a) using second order approximation..........................................4
Conclusion:...................................................................................................................5
Find the amplifier gain K and Kf :.............................................................................5
Calculation of Steady state error:...............................................................................7
Error for Compensated system:..................................................................................8
Error for Uncompensated system:............................................................................10
Design of Phase lead-lag Compensator:...................................................................12
Analysis of both systems:...........................................................................................13
References...................................................................................................................14
 Task 2

a ( s  e)
G ( s) 
An engine cooling system has forward transfer function ( s  d )( s 2  bs  c ) is
in a unity feedback configuration shown in the following figure that representing the
uncompensated engine cooling system.

Question:02 part (a) using transfer function

Write a m-script to generate the settling time and percent overshoot of the unity
feedback control system representing above against the given values of a, b, c, d
and e.

Given data:
a = 200
b=3
c = 10
d = 24.9
e = 20
Solution:
clc;
clear all;
close all;
a = 200;
b = 3;
c = 10;
d = 24.9;
e = 20;
num = [ a a*e];
denum = [1 b+d c+b*d d*c];
function_output = tf(num, denum);
stepinfo(function_output);

Output:

>> function_output

function_output =

200 s + 4000
-----------------------------
s^3 + 27.9 s^2 + 84.7 s + 249

Continuous-time transfer function.

>> ans

ans =

struct with fields:

RiseTime: 0.4997
SettlingTime: 2.6005
SettlingMin: 15.0613
SettlingMax: 19.0330
Overshoot: 18.4802
Undershoot: 0
Peak: 19.0330
PeakTime: 1.1052

Question:02 part (a) using second order approximation

a) Compute the settling time and percent overshoot using second order
approximation. Compare and comment the validity of the second order
approximation.

Given data:
a = 200
b=3
c = 10
d = 24.9
e = 20
Solution:
clc;
clear all;
close all;
a = 200;
b = 3;
c = 10;
d = 24.9;
e = 20;
num = [ a/(d*c) (a*e)/(d*c)];
denum = [1/(d*c) (b+d)/(d*c) (c+b*d)/(d*c) (d*c)/(d*c)];
function_output = tf(num, denum);
stepinfo(function_output);

Output:

>> ans

ans =

struct with fields:

RiseTime: 0.4997
SettlingTime: 2.6005
SettlingMin: 15.0613
SettlingMax: 19.0330
Overshoot: 18.4802
Undershoot: 0
Peak: 19.0330
PeakTime: 1.1052

>> function_output

function_output =

0.8032 s + 16.06
---------------------------------------
0.004016 s^3 + 0.112 s^2 + 0.3402 s + 1

Continuous-time transfer function.

Conclusion:

In both cases we find the same values of settling time and the % overshoot. This
system can be approximated by using the second order system.
Find the amplifier gain K and Kf :

a) An amplifier of gain K and digital thermometer with the gain Kf are inserted into
the loop as shown in the below figure to improve the closed loop response. Using the
second order approximation through pole-zero cancellation determine the values of K
and Kf to reduce the percent overshoot and settling time.

Given data:
Settling time ts = 0.5
% Overshoot Mp = 18 %
Solution:
Using the method of second order approximation. By taking the inner loop transfer
function.

a
G ( s) 
s  bs  c
2

200
G ( s)  2
s  3s  10

The formula of overshoot is given below.


1 2
%OS  e

19 1 2
e
100
  2 
 19   1 
ln    ln  e 
 100 
 
 
 1.660 
1  2
  0.528

The value of ζ = 0.528 by using this value we can find the angular frequency by using
the relation of settling time.

4
ts 
wn
4
wn 
t s
4
wn 
(0.528)(0.5)
wn  15.15
The transfer function for the inner loop and inserted value.

200
G ( s) 
s  3s  10
2

The value of H(s) = Kf s

By applying the transfer function for closed loop system we will get the following
equation.

200 K f s
G ( s) 
s 2  s[3  200 K f (1  K )]  10
By comparing the above transfer function with the following second order transfer
function.

2
Kwn
G ( s)  2 2
s  2wn  wn

wn2 =10

2ζwn = 3+200Kf (1+K)

By putting all of the values in the equation

2(0.528)(15.15) = 3+200Kf (1+K)

15.99 -3 = 200Kf (1+K)
12.99 = 200Kf (1+K)
The final equation will be
Kf (1+K) = 0.0649

K=1

Kf = 0.032

Calculation of Steady state error:

b) Calculate the steady state error specifications for both the uncompensated and
compensated systems for unit step, ramp and parabolic inputs.
Solution:
Given figure below represents the compensated system.
The formula of closed loop transfer function is:
Y (s) G ( s)

X ( s) 1  G ( s ) H ( s)
By putting the value in the transfer function we will get.
a ( s  e)
Y (s) ( s  d )( s 2  bs  c)

a ( s  e)
X ( s) 1   K f s
( s  d )( s 2  bs  c )
a ( s  e)
Gi ( s ) 
( s  d )( s  bs  c)  a ( s  e) K f s
2

a ( s  e) K
Gi ( s ) K 
( s  d )( s  bs  c)  a ( s  e) K f s
2

By simplifying this transfer function we well get the following:

C ( s) aKs  ake
 3
R ( s ) s  (b  d  aK f ) s 2  (bd  c  aK f e) s  cd

The uncompensated system:

By applying the transfer function we will get. When the the gain K is connected in
series with the upper system.

C ( s) aKs  ake
 3
R ( s ) s  (b  d  aK f ) s  (bd  c  aK f e  aK ) s  cd  aKe
2

Error for Compensated system:

Following is the transfer function of compensated system.

C ( s) aKs  ake
 3
R ( s ) s  (b  d  aK f ) s  (bd  c  aK f e  aK ) s  cd  aKe
2

Ramp input:
The steady state error in this case will be.
A
ess 
Kv
Here the A=1 to find the value of Kv .

K v lim it s 
0 sG ( s )
aKs  ake
K v lim it s 
0 s
s  (b  d  aK f ) s  (bd  c  aK f e  aK ) s  cd  aKe
3 2

K v 0
Put these values in the steady state error formula.
1
ess  
0

Unit Step input:

The steady state error in this case will be.
A
ess 
1 K p
Here the A=1 to find the value of Kp .
K p  lim it s 
0 G ( s)
aKs  ake
K p lim it s 
0
s  (b  d  aK f ) s  (bd  c  aK f e  aK ) s  cd  aKe
3 2

ake
Kp 
cd
By putting the values of a, e, c and d we will get the Kp.
( 200)( 20)k
Kp 
(10)( 24.9)
50k
Kp 
3
Put these values in the steady state error formula.
1
ess 
50k
1
3
3
ess 
3  50k

Parabolic input:
The steady state error in this case will be.
A
ess 
Ka
Here the A=1 to find the value of Ka .

K a lim it s 
0 s 2G ( s )
aKs  ake
K a lim it s 
0 s2
s  (b  d  aK f ) s  (bd  c  aK f e  aK ) s  cd  aKe
3 2

K a 0
Put these values in the steady state error formula.
1
ess  
0

Error for Uncompensated system:

Following is the transfer function of uncompensated system.

C ( s) a ( s  e)

R ( s ) ( s  d )( s 2  bs  c )
Ramp input:
The steady state error in this case will be.
A
ess 
Kv
Here the A=1 to find the value of Kv .

K v lim it s 
0 sG ( s )
a ( s  e)
K v lim it s 
0 s
( s  d )( s 2  bs  c)
K v 0
Put these values in the steady state error formula.
1
ess  
0

Unit Step input:

The steady state error in this case will be.
A
ess 
1 K p
Here the A=1 to find the value of Kp .
K p lim it s 
0 G ( s)
a ( s  e)
K p lim it s 
0
( s  d )( s 2  bs  c)
ae
Kp 
cd
By putting the values of a, e, c and d we will get the Kp.
(200)( 20)
Kp 
(10)( 24.9)
50
Kp 
3
Put these values in the steady state error formula.
1
ess 
50
1
3
3
ess 
53
Parabolic input:
The steady state error in this case will be.
A
ess 
Ka
Here the A=1 to find the value of Ka .

K a lim it s 
0 s 2G ( s )
a ( s  e)
K a lim it s 
0 s2
( s  d )( s 2  bs  c )
Ka  0
Put these values in the steady state error formula.
1
ess  
0

Design of Phase lead-lag Compensator:

c) Design using computational approach a phase lead-lag compensator cascaded with

the uncompensated system shown in Figure 1 that will have a 45% (individual value)
or better improvement of the settling time, at least 3 times (individual value)
improvement in percent overshoot. Also force the steady-state error to 10 times
(individual value) for a unit step input.

(s  z)
G ( s)  k
The transfer function for this compensator is (s  p)

Solution:
The uncompensated system settling time is 2.60.
Ts = 0.86 s and overshoot is 19%
 
1 2
%OS  e

19 1 2
e
100
  2 
 19   1 
ln    ln  e 
 100 
 
 
 1.660 
1  2
  0.528
Now calculate the value of angular frequency.
4
ts 
wn
4
wn 
t s
4
wn 
(0.528)(0.86)
wn  8.80

The poles of closed loop can be find through following equation:

s  wn  wn 1   2
s  (0.528)(8.80)  (8.80) 1  0.5282
s  4.646  7.47 j

After doing the calculation we will find the poles at 9 and the zero at -2. the controller
function will be.
( s  2)
G ( s)  k
( s  9)
Now to find the value of gain we used the following relation.

( s  2) 200( s  20)
k* 1
( s  9) ( s  24.9)( s 2  3s  10)

Evaluate this equation at -4.6+7j.

K = 0.3

( s  2)
Gc ( s)  0.3
( s  9)
Analysis of both systems:

d) Using graph or table of transient and steady state response, analyze the system
performance of the uncompensated and compensated systems and comment on the
improvement. Provide the simulation results to prove the changes.

Answer:
The control system improvement can be adjusting its steady state response and
transient response. The transient response can be improve by adding additional poles
and zeros.

Parameters Uncompensated Compensated

Overshoot 18.4802 % 18.4802
Error for step input 3/53 3
3  50k
Error for parabolic input Infinity Infinity
Error for ramp input Infinity Infinity
 References

1. Arkun, Y. and S. Ramakrishnan, “Bounds on the optimum quadratic cost of

structure-constrained controllers,” IEEE Transactions on Automatic Control, vol. AC-
28, 924–927, 1983.
2. Chiang, R. and M. Safonov, Robust Control Tool Box User’s Guide, The Math
Works, Inc., Natick, Massachusetts, 1992.
3. Gajic,´ Z. and X. Shen, Parallel Algorithms for Optimal Control of Large Scale
Linear Systems, Springer-Verlag, London, 1993.
4. Green, M. and D. Limebeer, Linear Robust Control, Prentice Hall, Englewood
Cliffs, New Jersey, 1995.
5. Grimble, M., Robust Industrial Control, Prentice Hall International, Hemel
Hempstead, 1994.