IndianInstituteof Technology Gandhinagar Engineering of Department Electrical

EE4L1" ControlSystemLab. SYSTEMS.( SCtlO) OFLINEAR BASED ANALYSIS/DESIGN 2: MATLAB TXPTRIUTruT Problem: 1 transfer functionis given by, A closed-loop

r(s) -

Y(s) R(s)

77(s 2) +
(s + 7)(s2+ 4s +ZZ)

to transfer function T(s)=V6s11p[s.] [a) Obtainthe responseof the closed-loop criterion0 and a unit step input. What is the setting time T' [use a 20/o P.O.? pertent overshoot (b) Neglecting real pole at s = -7, determinethe settingtime T' and results the can be made in with the actualsystemresponse part [a). What conclusion the regardingneglecting pole? num:77*| 2l;-den:conv([ 7],[ a 22]); sys: t(num,den) na:(77 )* [ I 2]; da:[ | a 22]; sysa:tf(nada); 17 t:[0:0.01:5]; y:step(sys,t); ya:step(sysa,t); plot(t,y,t,y&,'--') (s)'),ylabel('Step response') xlabel('Time

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usingroot compensator a shownin figure'Design lag the controlsystem problem:2: consider locusmethodstomeetthefollowingspecifications l.steadystateerrorlessthanthel0%forastepinput margingreaterthan 45oand 2' Phase step input for lessthan 5 seconds a unit 3. setting time [with aZo/ocriterion) to meet the design utilizingroot locusmethod Designa lag compensator [a) to assistin the designprocess' a Deverop set of m-filescript specifications. closed-loop in part [a) by simulating the Test the controller developed [bJ provide the time histories of the response to unit step input. system outPutY[t]' phasemargin usingthe [c) Computethe margin function'

G,(s)

s*10 sz+2s+20

22Ol; 10]; numg=[1 deng=11 = tf(numg,deng), sysg 0, 5, axis([-1 1,-1 10l); hold rlocus(sYsg); on
o/o

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wn=1-7778', zeta=O.45; 0:0. x=[-1 1:-zeta*wn]; "x /zeta) ; rt( -zela^Z) ,=- 1sq 1 0:0. xq=[-1 1:-zeta*wn]; c=sqrt(wn^2-xc.^2); ',xc, -c" : ') : : t,xc,c,' . ',X,-Y,' ptot1t,y,' rloc{1nd(sysg), hold off

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o/o

wn=1.7778', zeta=0.45; 0:0. x=[-1 1:-zeta*wn]; *x y=-(sqrt(1-zeta^2)/zeta ; ) 0:0. xc=[-1 1:-zeta*wn] ; c=sqrt(wn^2-xc.^2); ',xc, -c,': ') : : ',xc,c,' plot(x,y,' . ',X,-Y,' rlocfind(sys-o) hold off

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deng=lt 2 2Ol; numg=[l 10J; = sysg tf(numg,deng); dengc=[l0.25]; 0.51; fluIngc=10*[t = tf(numgc,dengc); slsc sys-o= series(sysc,sYsg); ); sys-cl= feedback(sYs-o,[1] 1:5]; step(sys-cl,t) 1=[0:0. =[ede(sYs-o) pha ; Imag, s,w] pm [gm,pm,wL,w2]=63rgin(mag,phase,w); pm= 62.2474
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Problem 3. An Industrial Grinding Processis given by the'transfer function

A / \ bp (sJ : 1 0

,(r-t

The objectiveis to use digital computer to improve the performance,where the transfer function of the computer is representedby D[z). The Designspecifications are (1) phasemargin greater than 450and (2) settling time ( with az o/o criterion) lessrhan 1 second Let us take the PM = 500 and T, = 0.8 sec. The dampingratio is 0.5 the calculated natural frequency is 10 rad/sec numg=[lO]; deng=11 0]; 5 slsg = tf(numg,deng); axis( 1,-10, ); t0] [-15, rlocus(sysg);

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numg=[l 6]; deng=ll 23 90 0]; = sysg tf(numg,deng); ); axis([-20,1,-10,10] on; rlocus(sysg);hold wn=11.0; zeta=O.5; *wn]; 1:-zeta x=[-10:0. * -zeta^2\ rt( lzeta) x; y=-(sq 1 *wn]; 1:-zeta xg=[-1.0:0. c=sqrt(wnn2-xc.^2); -c,' :',xc, :'); :'rxi,c,' :',x,-Y,' ptot(&y,' lk pl=rlocfind(sYsg) window a Select pointin the graphics window pointin the graphics a Select window graphics a Select pointin the = selected-Point -7.9443+7.7329i

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Thegainof the compensator L4S/LO = *1,s TheTFof the compensator 15(s+6)/(s+1g) = sys=feed ck(sysg, ) ba [ 1] Transfer function: s+6 s^3+23s^2+91 6 s+ >> sys-feed back(1_45* [ 1]) sysg,

f t T^^-

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function: Transfer 145s + 870 s^3+23s^2+235s+870 72 1=(0,0.02,1) P(sYs,t) ;ste :1) 1=(0:0.02 ;steP(sYs,t) on 1);steP(sYs,t);hold 11 1=(0:0.02: (sYs,O.02,'zoh') >> sys-d=c2d function: Transfer z z^2+0.0001515 - 0'02048 0.02586 z z ^ 3- 2 . 5 5 4 ^ 2+ 2 . 1 9z - 0 ' 6 3 1 3 i S a m p l i ntgm e :0 . 0 2 : 2;, 1=[0:0.021];steP(sYs-d,T)
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