MM403 CONTROL SYSTEMS

TERM PROJECT SOLUTION

Prepared by Nurdan Bilgin

Ouestion 1
(Adapted from Ogata,Modern Control Engineering 4th. Edition B-3-4). Consider
industrial automatic controllers whose control actions are proportional,Proportinal+Integral,
Proportinal+Derivative, Proportinal+Integral+Derivative. The transfer functions of these
controllers can be given, respectively, by

)

Where U(s) is the laplace transform of u(t), the controller output, and E(s) the Laplace
transform of e(t), the actuating error signal. Sketch u(t) versus t curves for each of the four
types of controllers when the actuating error signal is
a.) e(t)= unit step function
b.) e(t)=unit ramp function
c.) e(t)=unit acceleration function.
i.) Use Matlab to sketch u(t) versus t curves for each of the four types of controllers in time
domain for a given data sets in Table 1.
ii.) Use SIMULINK blocks and obtain u(t) for each of the four types of controllers for a given
data sets in Table 1.

Table 1. Data Sets
1. Set 2. Set 3. Set 4. Set
K
p
(Proportional Gain) 4 20 4 4
T
i
(Integral Time) 2 2 5 2
T
d
(Derivative Time) 0.8 0.8 0.8 2

Solution 1 Total 25 points
i.) 12.5 points
clear all;close all;clc;
DataSet=[4 2 0.8; 20 2 0.8;4 5 0.8;4 2 2];
syms s Kp Ti Td;GivenErrorInputs=[1/s 1/s^2 1/s^3];
for i=1:4
Kp=DataSet(i,1);Ti=DataSet(i,2);Td=DataSet(i,3);
GivenController=[Kp Kp*(1+1/(Ti*s)) Kp*(1+(Td*s))
Kp*(1+1/(Ti*s)+(Td*s))];
for j=1:3
Es=GivenErrorInputs(1,j);
for k=1:4
Us=Es*GivenController(1,k);ut=ilaplace(Us);figure;ezplot(ut)
end;
end;

end;


ii.) Solution is not given since it is very easy. (12.5 points)

Question 2.
The following block diagram is commonly referred to as the canonical representation of a
typical feedback control system.

Figure 1.
Where,

:combined dynamics of controller and actuator.

:Dynamics of plant
:Dynamics of measuring device

a. Define the relation between inputs and output.
b. If the H(s) is a typical first order sensor , D(s) is equal to zero and plant transfer function is
given as

Design a controller

,
The controller must be satisfy the steady state error is zero for below inputs.
i. Step Input
ii. Ramp Input
iii. Acceleration input
c. Find the transfer function

i. Plot the response of the system for a given input as

ii. Discuss whether the system is stable or not. Verify your opinion.

d. Ogata 4th. Ed. Page 293, Given a summary table as

Step Input
r(t)=1
Ramp Input
r(t)=t
Acceleration Input

Type 0 system

Type 1 system
0

Type 2 system
0 0

Explain this table clearly.



Solution 2 (Total 12.5 points)

a.) 3.5 points.

(( )

]

b.) 4 points
You can find the error-input relation as below with a same way in a.

]

According to given table,
i.) For step input, minimum Type 1 system is necessary for zero steady state error. So

can
be a proportional controller.
ii.) For ramp input, minimum Type 2 system is necessary for zero steady state error. So

can
be a Integral controller.
iii.) For acceleration input, minimum Type 3 system is necessary for zero steady state error. So

can be

.
c.) 1 points (Note that: It is my fault that is a little more difficult. So, Points were decreased for
c section.
i.
Let

Open Loop Transfer Function

For the given input

,
From table, we can say easily error goes to infinity.
the response of the system for a given input with a matlab script as
clear all;close all;clc;
syms s t
G1=1/s^2;
G2=10/(s*(s+1)*(s+2));
H=1/(s+1);
r=1/6*t^3+1/2*t^2+t+10;
R=laplace(r);
TFun=G1*G2/[1+G1*G2*H];
Tfs=simple(TFun);
Rs=simple(R);
Tfs=vpa(Tfs,4); % 4 digits precision
Rs=vpa(Rs,4); % 4 digits precision
C=Tfs*Rs
Output as
C=((10.0*s + 10.0)*(10.0*s^3 + s^2 + s + 1.0))/(s^4*(s^6 + 4.0*s^5 +
5.0*s^4 + 2.0*s^3 + 10.0))
Matlab is not powerfull for inverse laplace function s we can use Mathematica as

ii.
We can say easily from plot that the system is not stable.
d.) This table shows us the relationships between Type number of the OLTF (Open Loop
Transfer Function), Input r(t) and steady state error. It is very useful for more information
see Ogata., (4 points)




































Question 3

a. Explain the following concepts briefly but clearly. Redraw the figure 1 according to this
concepts.

- Servo Characteristic of a control system
- Regulator Characteristic of a control system

b. Explain the Sensitivity term briefly but clearly. Drive the sensitivity equation. Discuss the
sensitivity equation for large loop gain.
c. Consider the speed control of a disk by using a DC electric motor. The mass moment of inertia
of the disk is J, the voltaje applied to the motor [manipulated input] is u(t), and torque output
of the motor is given by

Where is the rotational speed of the motor shaft. Assume that the voltage applied to the
motor is changed suc that
[

]

Where

represents the desired disk speed [Note that (2) implies P-control]. Here,

and should be thought of the voltages due to a potentiometer and tachometer with unity
gains.
Determine the range of K such that, at steady state, uncertainity in does not exceed
due to uncertainity in

and uncertainity in

for

(where h(t)
is unit step input.)

Solution 3 Total 12.5 points
a. (4.5 points)
- Servo Characteristic of a control system: All inputs must be zero except R(s). [i.e.,
D(s)=0 and W(s)=0]. Then Figure 1 can be redrawn as


- Regulator Characteristic of a control system. All inputs must be zero except D(s).
[i.e., R(s)=0 and W(s)=0]. Then Figure 1 can be redrawn as



b. (4 points)
Sensitivity: Some of the parameters in control systems may change in time due to aging, wear,
manufacturing tolerances, etc. In some cases, their numerical values can not be known exactly,
causing a certain amount of uncertainity. It is therefore desirable to design the control systems
as INSENSITIVE as possible to changes in system parameters.
SENSITIVITY of a system to a system parameter is defined as the ratio of the percentage
change in the system transfer function to the percentage change in the parameter under
consideration;
For the standard control system as below,


(

+
=
(

+
=
+
=
+
= =
) ( ) ( 1
) (
) (
) (
) (
) ( ) ( 1
) (
) (
) (
) ( ) ( 1
) (
) (
) ( ) ( 1
) (
) (
) (
) (
s H s G
s G
d
s R
s dC
s R
s H s G
s G
d s dC
yield sided two the of derivative
s R
s H s G
s G
s C
s H s G
s G
s R
s C
s M


Assume that the changes or uncertainities in feedforward and feedback transfer functions are
given as dG and dH, respectively. If the resulting total change in C is dC, then
( )
( )
( )
GH
GH
S : H to y Sensitivit
GH
S : G to y Sensitivit
Therefore,
GH
GH
H
dH
GH G
dG
H
H
GH
GdH
GH G
dG
G
GH
GH
dH G dG
R
C
R
dC
G
GH
GH
HdG GdH G GH dG
R
dC
C
R
GH
HdG GdH G GH dG
R
dC
M
H
M
G
S S
M
H
M
G
+
=
+
=
+

+
=
+

+
=
(

=
(

+
+ +
=
(

+
+ +
=
1
1
1
1 1
1
1 1
1 1
1
1
1
) ( ) 1 (
1
) ( ) 1 (
2
2
2
2



c. The same question is in the lecture note so it is not given here again. (4 points)
Question 4
a. Explain the terms Stability or Asyptotic Stability, Marginal Stability and Instability(1.5
points)
Solution for a.
An LTI system is ABSOLUTELY STABLE iff the real parts of all its poles are negative.
If any of the poles has positive real part or if multiple roots lie on the imaginary axis and
all other in the LHP (left half plane) then the system is called UNSTABLE.
If any of the poles is located on the j-axis with no poles located on the right hand
complex plane, then the system is called MARGINALLY STABLE.
b. Fill the given table, and explain briefly why. (donot solve the characteristic equation) (2
points each 0.125)
Transfer Function G(s)
In Time domain
g(t)
The system is
unstable/marginall
y
stable/asimptotical
ly stable
Explanation and
Poles and zeros
locations.
E
x
a
m
p
l
e
s
:

Unit step
marginally stable
Single, unrepeated
pole on imaginary
axis.

Unit ramp
unstable
Two repeated poles on
imaginary axis. Or
Acc. to Hurwitz
criterion there is
missing term s

unstable Positive real pole.

Asimptotically
stable
negative real pole.

Asimptotically
stable
negative real pole.

Marginally stable
Single, unrepeated
pole on imaginary
axis.

Marginally stable
Single, unrepeated
pole on imaginary
axis.

unstable
Two repeated poles on
imaginary axis. Or
Acc. to Hurwitz
criterion there is
missing term s

unstable
Acc. to Hurwitz
criterion

Marginally stable
Single, unrepeated
pole on imaginary
axis.

Marginally stable
Single, unrepeated
pole on imaginary
axis.

unstable
Two repeated poles on
imaginary axis.

stable From Routh criterian

unstable
Two repeated poles on
imaginary axis.

Marginally stable
Single, unrepeated
pole on imaginary
axis.

unstable
Acc. to Hurwitz
criterion

Marginally stable
Single, unrepeated
pole on imaginary
axis.

Marginally stable
Single, unrepeated
pole on imaginary
axis.

unstable
Acc. to Hurwitz
criterion

stable negative real pole.

c. Use Routh criterion and specify the system asimptotically stable, marginally stable or
unstable. If the system is unstable, how many root is positive. (donot solve the characteristic
equation) (0.75 points)

Transfer Function G(s)
The system is
unstable/marginally
stable/asimptotically
stable
Explanation and
Poles and zeros locations.

Stable
No sign change. Negative
real poles

Unstable Acc. to Hurwitz criterion

Marginally stable
Single, unrepeated pole on
imaginary axis.

d. For the given PI control system (Figure 2), determine the allowable region in the K, T
i

parameter plane such that the system is stable. Plot the allowable region using MATLAB (4
points)

Figure 2
Solution for d:
(

Characteristic Equation is

From Hurwitz Criteria

From Routh Criteria

-10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
K
T
i
Allowable Region
clear all;clc;close all;
K=[-10:0.1:-0.1];
for i=1:100
Ti(i)=-K(i)/(5*(4-K(i)));
end
plot(K,Ti)

e. Consider again figure 2. Determine the allowable region in the K, Ti parameter plane such that
stability margin
s
1. Plot the allowable region using MATLAB (4 points)
Solution For e;

s
1 s=z-1

From Hurwitz criteria

and
From Routh Criteria

f. compare the areas came from d and e. Which area is larger. How do you prove your
results are consistent. (1.25 points)
Solution For f;
There is no net areas for each region in d and e. The region in d is bigger than the region in e.
This is an expected result. Because the stability margin reduces to solution interval.

























Question 5
-10 -9 -8 -7 -6 -5 -4 -3
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Allowable .region
clear all;clc;close all;
K=[-3:-0.1:-10];
for i=1:71
Ti(i)=K(i)/(6+3*K(i));
end
plot(K,Ti);hold
on;plot(K,zeros(1,71));plot
(K,ones(1,71))



Figure 3
a. Figure 3 is obtained from the matlab code as

% Transient Response Specification%
% Natural Frequency is 2 and Damping Ratio is 0.5 %%
sys=tf([4],[1,2,4]);
step(sys)

Redraw this graph and show on the graph, Delay time (t
d
), Rise time (t
r
), Peak time (t
p
), Settling
time (t
s
), Maximum overshot (as a fraction
p
). (2.5 points)

Solution exists in the lecture note, so it is not given

b. Above 5 parameters constitude measures for basically two aspects of the system: Speed of the
response and Relative stability. (2.5 points)
i.) Which one/ones represents the speed of the response
ii.) Which one/ones represents relative stability
iii.) Which one/ones represents both speed and relative stability

Solution of b
i.) time (t
d
), Rise time (t
r
), Peak time (t
p
) represents the speed of the response
ii.) Maximum overshot (as a fraction
p
) represents relative stability
iii.) Settling time (t
s
) represents both speed and relative stability




0 1 2 3 4 5 6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
c. Plot the step response graph of the given transfer function. Interpret the graphs with the
mentioned parameters above. (2.5 points)
1

Solution for c
This script gives all figures;
clear all;clc;close all;
Num=[5 5;-1 1; 1 1; 1 1;1 1;-1 1;0 10;0 1];
Den=[2 3 1;2 3 1;1 1.6 1;1 1 1;1 0.2 1; 1 1.6 1;1 0 1; 1 0 1];
for i=1:8
sys=tf(Num(i,:),Den(i,:));
figure;step(sys);
end
1. First order graph. So some parameter is not applicable

2. Second order but it is reverse because of value on the numerator. All parameter is
available
3. Second order
4. Second order
5. We can see oscillation
6. It is also reverse
7. And 8. is marginally stable
d. For given transfer function: (2.5 points)

Plot the step response graph. Does it look like one of the above? Explain this situation.
Solution for d
It is seen as fig 5
e. For the same system (mass positioning servo system) , two block diagram are given (2.5
points)

Figure 4a

Figure 4b

i. According to Figure 4a, Find K
0
and T
r
for a given design condition M
p
=10% and t
p
=1 sec.
Solution exists in the lecture note, so it is not given but Answer; K
0
=15.13 and T
r
=0.303
ii. According to Figure 4b, Find K
0
and T
d
for a given design condition M
p
=10% and t
p
=1 sec.
Solution exists in the lecture note, so it is not given but Answer; K
0
=4.22 and T
r
=0.896
iii. Compare and interpret your results.
Solution: Main difference is numerator dynamics; it increase the speed but decrease the
relative stability.






























Question 6.

a. Consider a Linear time invariant , stable system as (1.75 points)

If Input is

where , h(t) unit step function, A
x
: Amplitude, : frequency, and is phase angle.
Determine the solution form of the steady state part of the output.
Solution for a;
If Input is

then [

]
It is very easy because only Amplitude of the sine wave changes and it has a phase difference. In
steady state i.e

b. What is the meaning of the Phase lead, Phase lag, Magnification factor terms. Determine
M() and () for a given transfer function as

. (1.75 points)
Solution for b;
If the phase difference is positive is called Phase Lead and if it is negative then Phase lag.
Magnification Factor (or Amplitude ratio)=

where r represents real part and i represents imaginary part.

|| |

] [

]
c. For a given transfer function (1.75 points)

Find M() and () .
Solution for c;
|| |

| |

+ [

]





d. Plot the Bode graph of the below basic factors with using Matlab command Bodeplot.
Compare your result and lecture notes. Are there any differences? If you say yes, what is the
differences. Additionally, compare the(7), (8) and (9). They are different from eachother and
the others. What is the differences. (1.75 points)
1
2
3

4
5

6
7

Solution for d
We can draw the figures easily with a matlab as a given script.
clear all;clc;close all;
Num=[0 0 10;0 0 -100;0 0 1;0 1 0;0 0 1;0 1 1;1 6 36;0 0 1;0 0 4];
Den=[0 0 1;0 0 1;0 1 0;0 0 1;0 1 1;0 0 1; 0 0 1;1 6 36; 1 0.8 4];
for i=1:9
sys=tf(Num(i,:),Den(i,:));
figure;bode(sys);%Bodegraph;
end

If we compare our results and lecture notes we can a difference in first order term (5 and 6) .
Actually, there is no corner, break or cut off frecuency,

, (The frequency at which the low

and high frequency asymtotes meet. It can be shown that

)






0
5
10
15
20
25
30
35
40
M
a
g
n
i t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
0
45
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
Exact
Exact
Slope=20 dB/decade
Slope=45 deg/decade
(7), (8) and (9) are different from eachother and the others. The difference is between (7)
and (8)

The difference is between (8) and (9)

















-100
-50
0
50
100
M
a
g
n
i t
u
d
e

(
d
B
)
10
-1
10
0
10
1
10
2
-180
-90
0
90
180
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
s
2
+ 6 s + 36
1/s
2
+ 6 s + 36
-80
-60
-40
-20
0
20
M
a
g
n
i t
u
d
e

(
d
B
)
10
-1
10
0
10
1
10
2
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
1/s
2
+ 6 s + 36
Low Frequency Asymptote
High Frequency Asymptote
slope=-40 dB/decade
slope=-90/ deg/decade
=0.5
=0.2
1/s
2
+ 0.8 s + 4

10

e
n
e
n
e
n
/10

e
n 10

e
n
e
n
/10

e. Plot the bode graph of given the transfer functions as, (1.75 points)

but follow the procedure given in example.
Example:
( )
( )( ) 36 6 1
6 . 0 12
) (
2
+ + +
+
=
s s s s
s
s G
( )
( ) ( ) ( )
( ) 36 1
6 6
1
6 . 0 1
6 . 0
12
36 6 1
6 . 0 12
) (
2
2
|
|
.
|

\
|
+ + |
.
|

\
|
+
|
.
|

\
|
+
=
+ + +
+
=
e e
e e
e
e e e e
e
e
j j
j j
j
j j j j
j
j G
( )
|
|
.
|

\
|
|
.
|

\
|
+ + +
|
.
|

\
|
+
=
2
6 6
1 1
6 . 0
1 2 . 0
) (
e e
e e
e
e
j j
j j
j
j G
( )
Factor] [Quadratic 6 Frequency Corner
j j
5.)
Factor] Constant [Time 1 Frequency Break j 4.)
origin the at pole j 3.)
Factor] Constant [Time 0.6 Frequency Break
j
2.)
K 1.)
: Factors Basic
|
|
.
|

\
|
|
.
|

\
|
+ +
+
+
=
2
6 6
1
1
6 . 0
1
2 . 0
e e
e
e
e

2
2
2
2
2
2
6 6
1 log 20 1 log 20 log 20
6 . 0
1 log 20 14
6 6
1 log 20 1 log 20 log 20
6 . 0
1 log 20 2 . 0 log 20 ) ( log 20
|
.
|

\
|
+
(
(

|
.
|

\
|
+ + |
.
|

\
|
+ + =
|
.
|

\
|
+ + + + + =
e e
e e
e
e e
e e
e
e
j

j j
j j
j
j G

2
2
6
1
6
90
6 . 0
6 6
1 1
6 . 0
1 2 . 0 ) (
|
.
|

\
|

=
|
.
|

\
|
+ + Z + Z Z + Z + Z = Z
e
e
e
e
e e
e e
e
e
-1 -1 -1
tan tan tan
j j
j j
j
j G
Shift Phase

Solution for e

solution is very straightforward as in example so it is not given. But some students ask me
how we draw this figure with matlab. You may use as the following script.

clear all;clc;close all;
C=[0 0 1;0 0.5 0;1 0 0;0 1 1;0.75 0.75 0];
Num=[0 0 0.2;0 0 1;0 1/0.6 1;0 0 1;0 0 1];
Den=[0 0 1;0 1 0;0 0 1;0 1 1;1/36 1/6 1];
for i=1:5
sys=tf(Num(i,:),Den(i,:))
hold on;bode(sys);%Bodegraph;
annotation('textarrow',[0.2+0.1*i 0.2+0.1*i],[0.6+0.01*i
0.7+0.01*i],'TextEdgeColor','none','String',{'20log[j\omega]'},'Color
',C(i,:));
end
bode(tf([12 7.2],[1 7 42 36 0]));

You must some make up. So it can be seen more beatiful.










10
-2
10
-1
10
0
10
1
10
2
-270
-180
-90
0
90
P
h
a
s
e

(
d
e
g
)
Bode Diagram
Frequency (rad/sec)
-100
-80
-60
-40
-20
0
20
40
50
M
a
g
n
i
t
u
d
e

(
d
B
)
20log|1+jw/0.6|
20log|1/jw|
20log|0.2|
20log|QF|
20log|1+jw|
f. Using first order factors, determine the transfer function G(s) corresponding to the following
magnitude diagram. (2 points)

Solution of f

Frequency, [rad/s] Slope change Transfer Function
Low(<0.1) +40 dB/dec (constant) G

(s)=s
2

0.2 +40 dB/dec to -20 dB/dec

1 -20 dB/dec to 20 dB/dec

10 20 dB/dec to -20 dB/dec

g. Check your results are found in f with (1.75 points)

Transfer function:

Solution of g:
clc;close all;clear all;
sys=tf([125 250 125 0 0],[5/4 103/4 2803/20 7801/100 76/5 1]);
bode(sys);


10
-2
10
-1
10
0
10
1
10
2
-40
-30
-20
-10
0
10
20
M
a
g
n
i t u
d
e
(
d
B
)
Bode Diagram
Frequency (rad/sec)