Tutorial 9

Question 1 (Use MATLAB)

Find which of the control systems with the following open-loop transfer functions are stable
using bode stability criterion, root locus and Nyquist plots (use Pade approximations for
exponential terms for Rootlocus).

1
a) GOL = s−1

10e−3s
b) GOL = 4s+1

5e−5s
c) Gp s = (2s+1)(s+1)

1
d) Gp s = 0.2s2 +0.8s−1
Question 2 (Use Simulink)

Use the Direct synthesis design method to calculate PID controller settings
for the process:
2𝑒 −𝑠
𝐺𝑝 𝑠 =
(10𝑠 + 1)(5𝑠 + 1)
Consider three values of the desired closed-loop time constant: τ𝑐 = 1, 3, and 10. Evaluate the
controllers for unit step changes in both the set point and the disturbance, assuming that G𝑑 = G.
Repeat the evaluation for two cases:

(a) The process model is perfect (𝐺෨ = G).

෩ = 0.9, instead of the actual value, K = 2. Thus,
(b) The model gain is incorrect 𝐾
0.9𝑒 −𝑠
𝐺𝑝 𝑠 =
(10𝑠 + 1)(5𝑠 + 1)