UNIVERSITY OF NAIROBI

DEPARTMENT OF ELECTRICAL AND INFORMATION ENGINEERING

FEE 482 CONTROL SYSTEMS B

COMPUTING SIMULATION EXERCISES

Before attempting these exercises, the students should familiarize themselves with the
COMMANDS and OPERATION ENVIRONMENTS of the MATLAB simulation package,
particularly the CONTROL SYSTEM TOOLBOX functions.

1. TRANSIENT RESPONSE
(a) Simulate a second order system with over-damped (ζ = 2), critically damped (ζ = 1),
and under-damped response (ζ = 0.5). Use 𝜔𝑛 = 3 rad/sec. Verify your results using a
unit step input. In the under-damped case, indicate the peak response and the
frequency at which it occurs.

(b) Determine the unit step response and steady state error (where possible) of unity
feedback systems with the following open-loop transfer functions. The horizontal and
vertical axes should be chosen to convey maximum information.

500
(i) G(s) =
(1+0.1𝑠)(1+0.5𝑠)

𝐾
(ii) G(s) = ; try different values of K
𝑠(1+0.1𝑠)(1+0.5𝑠)

10𝐾
(iii) G(s) = ; try different values of K
𝑠(𝑠²+4𝑠+200)

(iv) Comment on your results for the above.

Note: Use the transfer function model using zeros, poles and gain in the Control System
Toolbox.
2. ROOT LOCI
(a)
(i) Determine the root locus diagram for a unity feedback system whose open-
loop transfer function is

𝐾 (𝑠+9)²
G(s) =
(𝑠+1)³

(ii) If the open-loop zeros lie at s = -9.1 rather than at s = -9, what effect does this
have on the diagram?

(iii) Similarly, what happens if the open-loop zeros are at s = -8.9

(iv) Comment on your results for the above.

(b)
(i) Draw the root locus diagram for

𝐾
G(s) =
𝑠(𝑠+4)

(ii) How is the diagram affected when a cascade (series) compensator of the form
𝑠+2
is employed within a unit feedback loop?
𝑠+4

3. BODE PLOT
(a) A system has an open-loop transfer function

30(𝑠+0.5)
G(s) =
𝑠²(𝑠+5)(𝑠+3)
Find its gain and phase margins
 (b) Given the open-loop transfer function

3(𝑠+1)
G(s) =
𝑠(𝑠+𝛼 )

Find the value of α which results in a gain cross-over frequency of 𝜔𝑛 = 100 rad/sec
if the system is connected in a unity feedback loop.

4. NYQUIST PLOT
For a system with an open-loop transfer function

(𝑠+𝑏)
G(s) = where 0 < b < 10.
𝑠(𝑠+1)²
Find three different forms which a Nyquist plot can take.

Note: All MATLAB commands and diagrams MUST be shown clearly.