EE3023 Control Systems II

ASSIGNMENT

Name : D.Y.M. Jayasundara

Index No. : 140256C
Date of Sub. : 03-09-2018
Question 1
MATLAB code:

Resulted answer:

Question 2

MATLAB Code:
Root Locus plot with upper stability margin:

Root Locus plot with lower stability margin:

Hence, the range of the gain(K) for stability is 0 < K < 10.8
Question 3
3.4)
a) MATLAB code:

Root-Locus plot:

b) MATLAB Code:
Root-Locus Plot:

Root-Locus plot of compensated system is got as,

1 + 𝐾𝐺𝑐 (𝑠)𝑥𝐺(𝑠) = 0
16
1+𝐾 =0
𝑠(𝑠 + 4)
At K = 1 this equation gives characteristic equation of the closed loop transfer function of the
compensated system. That means Root-Locus plot should give designed closed-loop poles at K=1.
According to above Root-Locus plot, at gain = 1 (K=1), poles is same as the desired poles. Hence,
designed system satisfies the design criteria.
c)
MATLAB Code to determine performance of the step response:

Resulted Values from the MATLAB code:

d)
𝑠+2
Lead controller TF, 𝐺𝑐 (𝑆) = 1.6 𝑠+4

1
𝑅4 𝐶1 (𝑆+ )
𝑅1 𝐶1
Op amp controller TF = 1
𝑅3 𝐶2 (𝑆+ )
𝑅2 𝐶2

To implement designed lead controller as an Op amp controller, by comparing above equations,

1 1 𝑅4 𝐶1
=2, = 4 𝑎𝑛𝑑 = 1.6
𝑅1 𝐶1 𝑅2 𝐶2 𝑅3 𝐶2

Select 𝑅1 = 330 kΩ and 𝑅2 = 240 kΩ, then 𝐶1 and 𝐶2 can be selected as 1.5 µF and 1 µF such that
1 1
= 2 𝑎𝑛𝑑 = 4 equations are satisfied satisfactorily. Then,
𝑅1 𝐶1 𝑅2 𝐶2

𝑅4 𝐶1
= 1.6
𝑅3 𝐶2

𝑅4 1.6
=
𝑅3 1.5

𝑅4 and 𝑅3 can be selected as 160 kΩ and 150 kΩ.

All above 𝑅1 , 𝑅2 , 𝑅3 , 𝑅4 , 𝐶1 and 𝐶2 are selected from practically available resistor and capacitor
values.

Reference: https://ecee.colorado.edu/~mcclurel/resistorsandcaps.pdf
d) Now, for transfer function of implemented controller,

1 1
= = 2.0202
𝑅1 𝐶1 330 kΩ x 1.5 µF

1 1
= = 4.1667
𝑅2 𝐶2 240 kΩ x 1 µF

𝑅4 𝐶1 160 kΩ x 1.5 µF
= = 1.6
𝑅3 𝐶2 150 kΩ x 1 µF
𝑠+2.0202
Now, implemented Lead controller TF, 𝐺́𝑐 (𝑆) = 1.6 𝑠+4.1667

𝐺́ (𝑆) 𝑥 𝐺(𝑠)
Closed loop TF = 1+ 𝑐𝐺́ (𝑆) 𝑥 𝐺(𝑠)
𝑐

𝑠 + 2.0202 10
{1.6 }𝑥 { }
𝑠 + 4.1667 𝑠(𝑠 + 2)
=
𝑠 + 2.0202 10
1 + {1.6 𝑠 + 4.1667} 𝑥 { }
𝑠(𝑠 + 2)
16𝑠 + 32.32
=
𝑠3 + 6.167𝑠 2 + 24.333𝑠 + 32.32
MATLAB Code:

Step response of both designed lead controller and op amp implemented lead controller:
Performance of op amp implemented lead controller:
Rise time = 0.619 s
Maximum over shoot = 0.15
Peak time = 0.908 s
Setting time (2%) = 1.94
Practically implemented controller performance is much close to behavior of compensated system
(overshoot and settling time are better than compensated system). Hence, this is acceptable without
further tuning.