Birzeit University-Faculty of Engineering and Technology

Electrical and Computer Engineering Department

EE4302-Control Systems
Inst.: Dr. J. Siam Assignment 1st semester 2023-24

Note: the assignment work is evaluated only after the assignment test is passed, the assignment
final graded is also scaled according to the percentage of the achieved work and its assessment.

MTALAB Assignment:
The following system represent an Unmanned Free-Swimming Submersible Vehicle
(UFSS). The depth of the vehicle is controlled as follows:
During forward motion, an elevator surface on the vehicle is deflected by a selected
amount. This deflection causes the vehicle to rotate about the pitch axis. The pitch of the
vehicle creates a vertical force that causes the vehicle to submerge or rise. The block
diagram for the pitch control system is shown below. In this case, study, we investigate
the time response of the vehicle dynamics that relate the pitch angle output to the elevator
−0.125(𝑠+0.435)
deflection input. (𝑉𝑒ℎ𝑖𝑐𝑙𝑒 𝑑𝑦𝑛𝑎𝑚𝑖𝑐𝑠 𝐺(𝑠) = (𝑠+1.23)(𝑠2 +0.226𝑠+0.0169))
Use MATLAB to:
1. Determine the transfer function of the system (Using Simulink and using math.
Formulation)
2. Determine the transfer function using fixed K1=5.
3. Plot the root locus of the system using the assigned value of K1.
4. Repeat the points 1 to 3 considering K2 fixed =8.
5. Determine values of K1 (with at least three different fixed values of K2) for which
the system is stable.
6. Determine the step response for four different values of K1 to include different
stability conditions (if possible: stable oscillatory, stable non-oscillatory,
unstable, and at the limit of stability)
Note: you can change K2 value to achieve the requirements if necessary).
7. Determine the transient parameters (rising time, settling time, overshoot (if
exists) and compare and discuss the different responses.
8. Determine the steady state error for the selected values of K1 and K2
9. Determine the canonical controller state-space representation of the feedback
system.
10. Study the effect of using K2=0 (eliminating the rate feedback controller) on the
system stability, transient performance, and steady state error under stability
conditions (for at least three cases, if exists).