Table of Contents

Q1 Frequency response of plant Model .......................................................................................... 2

(a) ................................................................................................................................................ 2
(b) ................................................................................................................................................ 2
Q2 Speed Control ............................................................................................................................ 3
(a) ................................................................................................................................................ 3
(b) ................................................................................................................................................ 5
(c) ................................................................................................................................................ 5
Q3 Position Control ........................................................................................................................ 6
(a) ................................................................................................................................................ 6
(b) ................................................................................................................................................ 7
(C) ............................................................................................................................................... 8
Q1 Frequency response of plant Model
1900
𝐺𝑝 (𝑠) =
𝑠2 + 13.8𝑠 + 41.6
(a)
The characteristic equation is
𝑠2 + 13.8𝑠 + 41.6
T
Compare with the second order ODE
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2 = 0
Now after comparing we get the value of wn and z will be
𝑤𝑛2 = 41.6
𝑤𝑛 = 6.44
2𝜁𝑤𝑛 = 13.8
𝜁 = 1.06
(b)
As in the Transfer function 𝑤𝑛2 is present so
1
𝑤𝑛2
𝑤 − 40𝑙𝑜𝑔𝑤
So the graph will start with zero slope at 32.5 and after that there will be the slope of 40db and at
start which will start at 6.44
The bode plot is
The manually lines

Q2 Speed Control
PI Controller is
𝐾𝑖
𝑃𝐼 = 𝐺𝑐 (𝑠) = 𝐾𝑝 +
𝑠
The filter H(s) is
1
𝐻(𝑠) =
1 + 0.05𝑠
The plant is
Ω(s) 1900
𝐺𝑝 (𝑠) = = 2
𝑉(𝑠) 𝑠 + 13.8𝑠 + 41.6
(a)
Kp = 0.1 and ki = 0
So the Gc(s) will become
𝐺𝑐 (𝑠) = 0.1
The close loop transfer function is
Ω(s) 𝐺𝑐 (𝑠)𝐺𝑝 (𝑠)
=
Ωref (s) 1 + 𝐺𝑐 (𝑠)𝐺𝑝 (𝑠)𝐻(𝑠)

1900
Ω(s) 0.1 ∗ 2
= 𝑠 + 13.8𝑠 + 41.6
Ωref (s) 1 + 0.1 ∗ 1900 1
2 ∗
𝑠 + 13.8𝑠 + 41.6 1 + 0.05𝑠
 Ω(s) 190(1 + 0.05𝑠)
= 2
Ωref (s) (𝑠 + 13.8𝑠 + 41.6)(1 + 0.05𝑠) + 190

Ω(s) 190(1 + 0.05𝑠)

= 2
Ωref (s) 𝑠 + 0.05𝑠 + 13.8𝑠 + 0.6900𝑠 2 + 41.6 + 2.0800𝑠 + 190
3

Rearranging

Ω(s) 190(1 + 0.05𝑠)

=
Ωref (s) 0.05𝑠 + 1.6900𝑠 2 + 15.8800𝑠 + 231.6
3

The transfer function as a MATLAB output

The transfer function after using minreal function

Ω(s) 190𝑠 + 3800
= 3
Ωref (s) 𝑠 + 33.8𝑠 2 + 317.6𝑠 + 4632
(b)
The plot of speed response for 100 rad/s input

The characteristics from the above plot

Percent overshoot 55.5 %

Settling time 1.33 s
Steady State Error 100-82 = 18

(c)
The desired requirements are
• Settling time less than 1 second
• Underdamped response with overshoot less than 10%
• Zero steady state Error
The Integral gain is used to eliminate the steady state error however if its increase the overshoot
and time.
The increase of proportional controller is also reducing the settling time by very less amount and
increasing overshoot.
We get the below plot after tuning PI controller
The characteristics from the above plot
Percent overshoot 10 %
Settling time 1.0 s
Steady State Error 100-100 = 0

We eliminated the steady state error by integral gain. The overshoot and settling time also reduced
by decreasing the proportional gain.
The Kp and Ki gains are
kp = 0.0349;
ki = 0.1;

Q3 Position Control
The plant is
1
𝐺𝑝2 (𝑠) =
𝐺 (𝑠)
𝑠 𝑝
θ(s) 1900
𝐺𝑝2 (𝑠) = = 3
𝑉(𝑠) 𝑠 + 13.8𝑠 2 + 41.6𝑠
(a)
The PID controller is
𝐾𝑝 𝑠 + 𝐾𝑖 + 𝐾𝑑 𝑠 2
𝐶(𝑠) =
𝑠
We made the root locus plot and find the ultimate gain and oscillations frequency for marginally
stable system from the root locus plot.
The gains we get through Ziegler Nicholas method is
Ultimate Gain Ku 0.32
Ultimate frequency 0.62
Ultimate Period 0.94
Kp 0.1894
Ki 0.3993
Kd 0.0225

The graph of final step response of tuned closed loop transfer function is given below

(b)
The characteristics of the final graph when PID controller is applied is given below in the table
Percentage overshoot 61.6%
Settling Time 3.25 s
Steady-State Error 90-90 = 0

The figure below shows these Characteristics in graph

(C)
Integral part in the PID is Ki so when we make the integral part then Settling time and
Percentage Overshoot will decrease. The table and graph below shows the changed
characteristics when integral part become zero.
Percentage overshoot 27.6%
Settling Time 1.32
Steady-State Error 1