CONTROL ENGINEERING DIGITAL DESIGN: EEU 08201

TUTORIALS

1. Mention at least four advantages and four disadvantages of Lag and Lead
compensators
2. What is the distinguishing factor between lag and lead compensator?
3. Define the following terms; compensation, transient response, relative stability,
sensitivity, disturbance, bode plot, phase margin, state variable, state vector, state space,
state, microcomputer, minicomputer, amplitude quantization error, z-plane, w-plane,
state transition matrix, state equation, controllability, observability, .
4. Solve the equation 𝑥̇ + 3𝑥 = 4𝑡 given that x0 = 2 when t = 0
5. Determine the state variables for the system defined by
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 −2 −3 𝑥2 1
𝑥1
y = [1 0] [𝑥 ]
2
So that the state matrix in the resulting equation is in a diagonal form.
𝑌(𝑧) 𝑧+0.2
6. Given = Determine
𝑈(𝑧) (𝑧+0.8)(𝑧+1.3)
a. Controllability matrix
b. Observability matrix
7. In reality, a transmission line is a distributed system. The accuracy of a lumped
model can be increasing the number of sections in the model. In the figure below,
the transmission line has been divided into two sections each of which is
represented by lumped linear model. Derive a state-space, order for this 4th order
circuit.
y (t )
R1/2 L/2 R1/2
L/2
u (t ) C/2 2R2 C/2 2R2

8. With reference to the system below with Gp(s) = 2/{s(s + 1)(s + 2)}, find the
discrete compensator to achieve a phase margin of 45° when the sampling period
is chosen as T = 0.02sec. Use MATLAB to design phase lead compensator.
 R(s) Dc(s) C(s)
GP(s)

9. The plant transfer function G(s) of a unity feedback system is given by:
𝐾
G(s) = 𝑠(𝑠+2)
Design a lead compensator in order to place closed loop poles at s = – 3 ± j4. Also
find the over shoot of the closed loop system with unity step input.

10. With reference to the system in the figure below of series compensator, let G(s)
be given by:
4𝐾
G(s) = (𝑠+2)(𝑠+4)

R(s) Dc(s) C(s)

G(s)

11. Design a lag compensator to meet the following specification:

(a) Position error constant Kp ≥ 100 and (b) phase margin ≥ 45°.

Hints: K ≥ 200 to satisfy the specification on Kp. Set K = 200

and tabulate frequency response. At 𝜔1 = 6, | G(j 𝜔1) | = 17.5412 satisfies the
conditions of design steps of lag network. The frequency-domain parameters for
the compensated system are GM = ∞, phase margin = 47.1°, 𝜔g = ∞, 𝜔p= 6.002.
The closed loop system with H(s) = 1, when subjected to a step input yields an
overshoot of 15.6% and settling time ts = 3.25 sec.

12. Design a lead compensator for the problem above

Hints: As before, set K = 200 and tabulate the frequency response. At 𝜔1 = 40, |
G(j 𝜔1) |
= 0.4969 satisfies the conditions of design steps of lead network. The frequency-
domain parameters for the compensated system are GM = ∞, phase margin = 50°,
𝜔g = ∞, 𝜔p = 40. The closed loop system with H(s) = 1, when subjected to a step
input yields an over shoot of 24.9% and settling time ts = 0.146 sec.
13. Design a controller for a unit negative feedback system where the plant TF is
𝑧+0.9
Gp(z)= such that the resulting system has two closed loop poles at
(𝑧−1)(𝑧−0.8)
0.5+j0.5. Use root locus method.
R(z) Gc(z) C(z)
Gp(z)

14. Design a digital control system whose step response meets the following design
criteria
a. Peak overshoot Mp ≤ 16%
b. Settling time ts = 2sec
15.