Question 1.

1
𝜋∙𝜀 𝑛𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 ln(𝑟)
𝑟=( ) = 0.8425 𝑎𝑛𝑑 𝛺0 = 𝜋 ∙ = 0.3884 → 𝑝1,2 = 𝑟 ∙ 𝑒 ±𝑗∙0.3884 = 0.7798 ± 𝑗 ∙ 0.319
√𝜋 2 + 𝑙𝑛2 (𝑜𝑠) ln(𝑜𝑠)

1.041 𝑟𝑎𝑑
Question 2. 𝑝1,2 = 0.373 ± 𝑗 ∙ 0.637 = 0.738 ∙ 𝑒 ±𝑗∙1.041 → 𝑟 = 0.738 𝑎𝑛𝑑 𝛺0 = 1.041 → 𝜔𝑑 = 𝑇𝑠
= 104 [
𝑠
]

−𝜋∙𝜉
−𝑙𝑛(𝑟) √1−𝜉 2 𝑙𝑛(𝜀 ∙ √1 − 𝜉 2 ) 𝑙𝑛(0.05 ∙ √1 − 0.282 )
𝜉= = 0.28, 𝑜𝑠 = 𝑒 = 0.4 (40%) 𝑡𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 = 𝑇𝑠 ∙ = 0.01 ∙ = 0.1𝑠
√𝑙𝑛2 (𝑟) + 𝛺02 𝑙𝑛(𝑟) 𝑙𝑛(0.738)

Question 3a.
5 5 ∙ (𝑧 + 1)2 5 ∙ (𝑧 + 1)2
𝐻𝑃 (𝑧) = 2 = =
2 ∙ 𝑓𝑠 ∙ (𝑧 − 1) 2 ∙ 𝑓𝑠 ∙ (𝑧 − 1) 120 ∙ (𝑧 − 1)2 + 8 ∙ (𝑧 2 − 1) + (𝑧 + 1)2 129 ∙ 𝑧 2 − 238 ∙ 𝑧 + 113
( ) ∙ 0. 3 + 0.4 ∙ +1
𝑧+1 𝑧+1

0.03876 ∙ (𝑧 + 1)2
𝐻𝑃 (𝑧) =
𝑧2 − 1.845 ∙ 𝑧 + 0.876
b. Overall system of feedback system with proportional controller:

0.03876 ∙ (𝑧 + 1)2
𝐻𝑝 (𝑧) ∙ 𝐾 𝐾∙ 𝐾 ∙ 0.03876 ∙ (𝑧 + 1)2
𝐻(𝑧) = = 𝑧 2 − 1.845 ∙ 𝑧 + 0.876 =
0.03876 ∙ (𝑧 + 1) 2
1 + 𝐾 ∙ 𝐻𝑝 (𝑧) 𝑧 − 1.845 ∙ 𝑧 + 0.876 + 𝐾 ∙ 0.03876 ∙ (𝑧 + 1)2
2
1+𝐾∙ 2
𝑧 − 1.845 ∙ 𝑧 + 0.876
Matlab script to draw the root loci:

K = [0, 10.^(-2:0.01:4)]; % Vary K from 0 to 10^4 (exponential scale)

a = [1, -1.845, 0.876]; % Denominator of transfer function plant
b = 0.03876* [1, 2, 1]; % Numerator of transfer function plant
%% plot unit circle and x- and y-axis
fi = -pi : pi/100 : pi;
plot(cos(fi), sin(fi), 'black'); % plot upper half of unit circle
hold on; grid on; grid minor;
plot(cos(fi), -sin(fi), 'black') % plot lower half of unit circle
plot([0, 0], [-1.1, 1.1], 'black') % plot y-axis
plot([-1.1, 1.1], [0, 0], 'black') % plot x-axis
%% plot root locus
for i = 1 : length(K)
p = roots(a + K(i)*b); % Calculate roots
for j = 1 : 2 % There are 2 poles
plot(real(p(j)), imag(p(j)), 'color','red','linestyle','none',...
'marker', '.','MarkerSize', 1); % plot system pole
if i == 1 % gain = 0 when i = 1
pltx = plot(real(p(j)), imag(p(j)), 'xred'); % plot plant pole
set(pltx,'MarkerSize',10, 'LineWidth', 2);
end
end
end

c. The poles that correspond to an overshoot of 20% and a 5% settling time of 2s equal:
1
𝜋∙𝜀 𝑛𝑠𝑒𝑡𝑡𝑙𝑖𝑛𝑔 ln(𝑟)
𝑟=( ) = 0.8559 𝑎𝑛𝑑 𝛺0 = 𝜋 ∙ = 0.3038 → 𝑝1,2 = 𝑟 ±𝑗∙0.1305 = 0.7798 ± 𝑗 ∙ 0.319
√𝜋 2 + 𝑙𝑛2 (𝑜𝑠) ln(𝑜𝑠)

The poles are drawn as blue filled circles in the plot of question 3b. Since they are located within the that is covered by the root loci, it is
not possible to meet the requirements of 20% overshoot and 5% settling time of 2s.
d. To move the root loci to the left, we place 2 zeros of the lead compensator that equal the plant poles (zc = 0.9225±0.158j) and two
poles a little to the left of them (pc= 0.7225±0.158j). This will give the following overall transfer function of the system:

𝐾 ∙ 0.03876 ∙ (𝑧 + 1)2
𝐻(𝑧) =
𝑧 2 − 1.445 ∙ 𝑧 + 0.547 + 𝐾 ∙ 0.03876 ∙ (𝑧 + 1)2

The figure on the right shows the root loci of this system. A part of the root loci of the
poles now have a smaller radius and imaginary part than the blue poles that meet the
requirement.

To find the best gain value, we calculate the overshoot, settling time and steady state error
at some gain values (see table below). The settling time and overshoot is calculated as in
question 2 is shown, the steady state error is calculated as 100% * (1 – H(1)). A gain of 1
fulfils the requirements, though the steady state error is relatively big.

Gain K poles Overshoot [%] Settling time [s] Steady state error [%]
0.5 0.690±0.283j 9.3 1.1 57
1 0.658±0.361j 17 1.1 40
2 0.599±0.470j 28 1.1 25
The figure on the right shows the step-response of the system at K=1.

e. The DC-gain of the plant + lead compensator at K=1 equals:

0.03876 ∙ (1 + 1)2
𝐻𝑝𝑙𝑎𝑛𝑡+𝑙𝑒𝑎𝑑 (𝑧 = 1) = = 1.52
1 − 1.445 ∙ 1 + 0.547
To have a steady state error of 1%, the DC-gain of the plant + controller including the lag
compensator must be 99 →

Hlag_compensator(z=1) = 99 / 1.52 =65. To avoid that the transfer function has a much
influence on the root locus, we set the zero of the lag compensator to zlag_compensator = 0.8.
The pole of the lag compensator is then: plag_compensator=1 - (1 - 0.8) / 65 = 0.9969.

The figure on the right shows the stepresponse of the system with both a lead
compensator and lag compensator.

f. To get a zero steady state error we can set the pole of the lead compensator to 1.