(Dynamic Compensation)

7-1

G (s) =

s(s + 2)

s = 2 j2 3 Gc(s) = k

s+a

s+b

( )1(1)30 (2)45 (3)60 (4)90

( )2 a=4 b (1)6 (2) 4 3 (3)8 (4)10
( )3 k ?(1)3 (2)4 (3) 6 (4)8
( )4 s = 1 j 3 (1)
(2)
( )5 s = 2 j2 3 kv = 5sec1 (1) (2)b > a
(3) ab

7-2

u = Gc ( s ) e What is Gc ?

(1) (PROPORTIONAL CONTROLLER)

Gc = K p
N c = Dc = 1

u = K p e

(2) (INTEGRAL CONTROLLER)

t

K
u (t ) = e( )d K I Gc ( s) = I
s
0

e( ) cons tan t u (t )

(3) (DERIVATIVE CONTROLLER)

u = K D e& Gc ( s) = s K D

() ()
7-3

(1)
Gc ( s) = p +

I D s + K p
=
s
s

(2)
Gc ( s) = K p + K D s

Gc ( s) =
K c , z ,
Case 1 z > p ,
GB ( s ) =
Case 2

Kc (s + z)
,
(s + p)

z>0
p>0

p
p

is

Small

Kc (s + z)
s

p >> z
GB ( s ) = K c ( s + z )
3


K c , z ,

p
(s + p)

is

Small

p
(Magnitude/Phase

criteria)
7-1 G p =

1
K (
s2

) 1 j 2 ? ?

Gc ( s ) =

c (s + z)
,
( s + p)

z >0
p>0

Ld ( s ) =

c (s + z)
,
(s + p) s 2

z>0
p>0

Ld (s ) s 0 = 1 j 2
Ld ( s0 ) = 180 360L

tan( ) =

2
, z =
z 1

tan( ) =

2
,
p 1

p =

()LHP
p =10 z

2(117) + = 180

234 + = 180
tan 1 (

2
2
) tan 1 (
) = 54
z 1
10 z 1)

tan(1 + 2 ) =

tan(1 ) tan( 2 )

1 + tan(1 ) tan( 2 )

z
z

z 1 10 z 1 = 1.38
2
2
1+

z 1 10 z 1

z = 2.23
p = 22.3

s 0 = 1 j 2
c = ( s 2 + 2 s + 5) ( s + ) = 0
Gc ( s ) =

c (s + z)
,
( s + p)

p = 10 z

c = 1 + Gc ( s ) G p ( s ) = 0

s 2 ( s + 10 z ) + ( s + z ) = 0

s 3 + s 2 10 z + s + z = 0

s 3 + s 2 ( + 2) + s (2 + 5) + 5 = 0
s 3 + s 2 10 z + s + z k = 0

+ 2 = 10 z
= 2 + 5
z k = 5

25
5 2 z

, =

5z

5 2 z

= 46.3, z = 2.23, = 20.65

7-4

 7-2 0 1.0

5 12
PD

c = s 2 + (0.3K D 1) s + 0.3K p = 0
c = ( s + 5)( s + 12) = s 2 + 17 s + 60 = 0
K D = 60 K P = 200
7-3

G ( s ) =
k ( s) =

200

s ( s +15)

s+z

s+p

(1) n = 20 (2) = 0.7

(

)01 (1) 14 m14.3 j (2) 15.3 m12.6 j (3) 12.6 m15.3 j

)02 (1) 30 (2) 40 (3) 60 (4) 90

)03 z = 14 p = (1)12 (2) 18 (3) 26 (4)32

)04 (1)0.232 (2) 0.385 (3) 1.86 (4)2.5

G ( s ) =

K
( s + 4)( s + 2) 2

(a) K s d = 2 + 3 j
(b)

( s + a)
K ab ?
( s + b)

G ( s ) =

s ( s + 2)

K Mp 16.3%
4sec 0.5 K ____________
2sec
8

(sd)_____________ j
G ( sd ) 180
D G ( sd ) = 180

D=__________ k c

s +z

s+p

________
(sd) p =__________

kc

s+(
s+(

)
kc G New ( s d ) =1 kc=_________ a
)

b (sd)

(75 )
If a type 2, third order system with proportional controller is replaced by PD
controller, what will be system type and order? And what if the proportional
controller is replaced by PI controller?


(88 )
The unity feedback system with G ( s ) = K

s2

is to designed for settling time (

2%) of 1.667 seconds and 16.3% peak overshoot. If compensator zero is placed at

-1, find the compensator pole. ( = 0.5 , n = 4.8 rad

sec )

M p = e /
t s = 1.667 =

1 2

= 0.163 = 0.5

1
1
=
n = 4.8rad / s
n 0.5n

Gc ( s) =

( s + 1)
( s + p)

c = s 2 ( s + p ) + K ( s + 1) = s 3 + ps 2 + Ks + K = 0
c = ( s + a)( s 2 + 4.8s + 23.04) = 0
a = 1.26 K = 29.1 p = 6.06
(85)
Consider the unity feedback system where G ( s ) =
plant and k ( s) =

200
is the controlled
s ( s +15)

s+z
is compensator to be designed. Find the parameters of
s+p

k(s) such that the closed-loop system has the natural frequency n=20 and the
damping ratio = 0.7 .
s = 14 14.28 j
G ( s ) =

200
s ( s + 15)

c = 180 (220.42) = 40.42

-14 k ( s) =
tan(90 40.42) =

s + 14
s+ p

14.28
p = 26.16
p 14

10

s =14 +14.28 j

= 220.42

 k ( s )G ( s ) =

200( s + 14)
=1
s ( s + 15)( s + 26.16) s =14+14.28 j

= 1.88

(72 )
G ( s ) =

k ( s + 1)

s ( s 2 + 6 s + 9)

15 0.75

( s + n )

s +

(72 )

(a) e ss = 0.00121 ,
Kp

(b) K D
(c) = 0.707 K D
(a) G ( s ) =
KV = lim s
s 0

400( K P + K D s )
s( s + 48.5)

1
1
400( K P + K D s )
=
= 825 K P = 100
= 8.25K P KV =
ess 0.00121
s( s + 48.5)

(b) K P = 100 c = s 2 + 48.5s + 400 K D s + 4000 = 0

1 +

400 K D s
= 0 s = 24.25 j198.5
s + 48.5s + 4000
2

d s 2 + 48.5s + 40000 s 2 40000

= 0 s = 200
=
ds
s
s2

KD =

1 s 2 + 48.5s + 40000
= 0.8788

400
s
s =200

11

(d) 45 s = 141.4 j141.4

K D = 0.5858
(86 )
Consider a type I system shown in Figure 2, where G ( s ) =

1
. We would like to
s ( s + 1)

design the compensator D (s ) to meet the following requirements (1) The steadystate value of y due to a constant unit disturbance w should be less than 0.4, and (2)
the damping ratio = 0.7 . Using root-locus techniques:
(a) Show that proportional control alone is not adequate.
(b) Show the proportional-derivative control will work.
Find values of the gains K and Kd for D( s ) = K + K d s that meet the design
specifications.

(a) D( s) = K
E ( s ) =

1
1
s( s + 1) + K s

ess = lim sE ( s ) =
s 0

G ( s ) =

Y (s)
1/ s ( s + 1)
1
=
=
W ( s ) 1 + K / s ( s + 1) s( s + 1) + K

1
1
= ess < 0.4 2.5 < K
K
K

K
= 0.707
s ( s + 1)

K
= 1 K = 0.5103 2.5 < K
s( s + 1) s =0.5+ j 0.5
(b) D( s) = K + K D s

Y (s)
1/ s( s + 1)
1
=
= 2
W ( s ) 1 + ( K + K D s) / s( s + 1) s + (1 + K D ) s + K

s
ess = lim
s 0

1
1 1
=
s + (1 + K D ) s + K s K
2

1
= ess < 0.4 2.5 < K
K
12

 c = s 2 + (1 + K D ) s + K = s 2 + 2 0.7n s + n2 = 0
1 + K D = 1.4n K = n2 n = K > 2.5 = 1.581 K D = 1.4n 1 > 1.213

(73 )

KI

KP

= 0 .1

K P , K I
(1)
(2)
400( K s + K I ) 400( s + 0.1)
G(s) = 2 P
= 2

s ( s + 48.5)
s ( s + 48.5)
d s 2 ( s + 48.5)
= 0 s = 0.2 s = 24.2
ds s + 0.1
s = 24.2 K P = 1.476 K I = 0.1476

(76 )
A third order system can be depicted as

where k and p are constant, and H(s) is rational function. Find k, p and H(s) such
that the closed-loop system meets the following specifications:
(1) zero steady-state error to a step input;
(2) damping ratio 0.6
(3) maximum time constant 0.75 sec
sd = n j 1 2 n = 1.333 j1.776
K (1 + 3s / 4)
3
H ( s ) = 1 + s G ( s ) H ( s) = 2
s (s + p)
4
13


4
8
8

( s + a ) ( s + ) 2 + 1.7762 = s 3 + ( + a ) s 2 + ( a + 4.932) + 4.932a = 0

s
3
3

3
s 2 ( s + p ) K (1 + s) = 0
4
a = 4.78 K = 23.57 p = 7.45
(85)
Design a feedback control system of Figure 2 that satisfies the following
specifications
(a) settling time (within 2% of final value) of system 3 sec
(b) damping ratio of dominant poles 0.707
(c) steady-state error for ramp input =12.5% of input magnitude.
Compute the desired parameter K1. Determine the region of closed-loop poles in the
complex plane for the design. Draw a root locus plot as K varies, and then show the
range which will satisfy the specifications.

14