MARKS

EEE350
CONTROL SYSTEMS
2017-2018

ASSIGNMENT 2
Name ID
FATIN IZZATI BINTI MOHAMAD 130502
ABDUL HADI
NUR AFIQAH BTE JUNIZAN 130520
Penalties for Plagiarism: Those who are caught to copy or allow others to copy part of or
the entire work will have to 'share' their marks for this assignment (i.e. if there are 'n'
reports that are similar, the marks will also be divided by 'n').

Deadline: 10th November 2017 (4.30pm)

Please submit to the administration office.

Date of submission:

_________________
Lecturer:

Dr Nur Syazreen Ahmad

 LAB 2

Aims of the experiment:

To study the dynamics of closed-loop systems when subject to step input
To observe the dynamics of the systems when proportional controls are included
To design controllers to meet certain performance requirements

For questions that involve calculations, you may either type or handwrite the solutions in a reasonably
neat and coherent way. Marks will not be given for unreadable work. You may also adjust the size of the
answer box to fit in all your solutions.

PART A: Closed-loop response with proportional control

a) What is the (closed-loop) transfer function between Y s and Rs (in terms of K )? Denote this as
T2 s .
b) Let K 2 , calculate the steady-state gain of T2 s .

c) Let Rs be a unit step input. Calculate the steady-state error for the closed-loop response when
K 2.

d) The proportional control can be used to increase the speed of a first order system. Find the values
of K such that the time constant of the closed-loop system is less than 0.05s (show by calculation).
e) Let Cs be a proportional controller with a constant gain K 2 , and T2 s as the closed-loop
transfer function. Let yT 2 be its output and plot the step responses of T2 s and G2 s in the same
figure.

Figure 1.1: Graph of yg vs t and graph of yT2 vs t

Figure 1.2: Code for Graph of yg vs t and graph of yT2 vs t

f) Plot the relationship between the steady-state error and the gain (i.e. ess vs K), and the relationship
between the time constant and the gain (i.e. vs K ). Make a conclusion on the results.

Figure 1.3: Graph of steady state error and time constant against k

Figure 1.4: Codes for graph of steady state error and time constant against k
g) From the previous step, verify your result in part (d) above. (i.e. the values of K such that the time
constant of the closed-loop system is at most 0.05s).
h) Plot (in the same figure) the step responses of the closed-loop system when K 0.5,2,5,10 and 20.

Figure 1.5: Step response of system T2 at difference values of k

Figure 1.6: Codes for step response of system T2 at difference values of k

i) For what values of K is the steady-state error zero? Explain your answer.
PART B: Closed-Loop System with PID Control

Figure 3: A simplified closed-loop system with PID controller

In some cases, only the combination of P and I or P and D terms are useful to achieve the desired
performance specifications. The values of , and can be theoretically calculated to compensate
the plant in order to achieve the desired performance of the system.

TASKS

a) Let in 2 () in Figure 3 be the same light bulb model from Part A above. Starting with the
combination of P and I terms, i.e. let the controller be represented. Depending on your skills, begin
with either PI or PD controller, and obtain the closed loop transfer function in terms of and (for
PI control), or and (for PD control).
b) Using the approximation

12 4.6
= and =

and assuming that there is no zero in the closed-loop transfer function, calculate the range of and
(for PI control), or and (for PD control) that can meet the desired specications above (i.e. (i)-
(iii)).
c) Within the range in (b), choose appropriate values of and (for PI control), or and (for PD
control), and plot the step response using MATLAB/Simulink (copy and paste the codes and/or figures
below), and show the values of , and . (Note: If you are using MATLAB only, copy and paste
the codes and figures into the box below, but if you are using Simulink and MATLAB, copy and paste
the Simulink model and figures into the box below)

Figure 3.1: Matlab code for the simulation

Figure 3.3: Matlab simulation

d) You may not achieve all the desired specifications via previous calculations since the closed-loop
system contains a zero (i.e. what you have done is just approximation using a second order system
without zero). Let the values in (c) be your first experiment (i.e. Experiment 1) to simulate the step
response the your closed-loop system. Vary the values so that all the desired specifications can be
met. Use Table 1 below to show how the values of , and can change the peak overshoot,
settling time and steady-state error, show (and number) the plots to verify your experiments.

Experiment Figure
number
0 Open-loop system x x

1 9 100 0 0 4.368 0.4912 3.3

2 10 100 0 0 0.6302 0.4619 3.4

3 11 110 0 0 0.3829 0.4360 3.5

4 12 120 0 0 0.1942 0.4132 3.6

5 13 130 0 0 0.07663 0.3926 3.7

6 14 140 0 0 0.0198 0.3739 3.8

7 15 150 0 0 0.00227 0.3569 3.9

Figure 3.4 : kp=10 and ki=100

Figure 3.5 : kp=11 and ki=110

Figure 3.6 : kp=12 and ki=120

Figure 3.7 : kp=13 and ki=130

Figure 3.8 : kp=14 and ki=140

 Figure 3.9 : kp=15 and ki=150

e) Discuss your results.