MEC 4418 Control Systems Assignment 1

Dr. Hoam Chung

S1 2016

This assignment is due at 6PM on Friday March 18th. Please submit this to the Assignment Box (marked
as MEC4418) outside of Mech & Aero. Eng. Department office, on the ground floor of building 31.
Show your work: how you did it is as important as getting the right answer. Remember to use the
assignment cover sheet.

Problem 1

(2011 Final Exam)

Consider the double integrator system:

1
s2
and assume that we have the unity-feedback structure. We want to design a lead compensator achieving
peak time Tp 0.907 sec and damping ratio = 0.5 in the form of
G(s) =

C(s) = K

s + T1
1 .
s + T

Answer following questions.

(a) Compute desired poles from the design specifications.
(b) Compute angle deficiency in degree.
(c) Find the compensator pole and zero.
(d) Compute the gain K.


Problem 2

(2012 Final Exam)

Consider the following system:

G(s) =

1
s(s + 2.55)

and assume that we have the unity-feedback structure.

We want to design a lead compensator achieving
settling time Ts = 2 sec and damping ratio = 1/ 2 in the form of
s + T1
C(s) = K
1 .
s + T
Answer following questions.

Monash University

(a) Compute the desired poles from the design specifications.

(b) Compute the angle deficiency in degree.
(c) Find the compensator pole and zero.
(d) Compute the gain K.


Problem 3

(2013 Final Exam)

Consider the following system:

G(s) =

10
s(s + 2)(s + 5)

and assume that we have the unity-feedback structure.

We want to design a lead-lag compensator achieving dominant closed-loop poles located at s = 22 3 and the static velocity error constant Kv = 50.
The compensator is in the form of
C(s) = K

1
1
T1 )(s + T2 )
1 ,
1
T1 )(s + T2 )

(s +
(s +

0 < < 1, 1 < .

Answer following questions.

(a) Compute the angle deficiency in degree.
(b) Find T1 and from the angle condition.
(c) Compute K from the magnitude condition.
(d) Compute achieving the Kv requirement.
(e) A designer chooses T2 = 10. Discuss about this choice in the viewpoint of magnitude and phase
contribution of the lag compensation part.


Problem 4
Assume a unity feedback control system, where Gc (s) is the transfer function of the compensator, and
G(s) is the transfer function of the uncompensated plant, which is given by
G(s) =

4
s(s + 0.5)

Design a lead-lag compensator Gc (s)

Gc (s) = K

s + 1/T1 s + 1/T2
s + T1 1 s + T1 2

via the root-locus technique to satisfy the following requirements: the damping ratio is 0.5, the undamped natural frequency is 5 rad/sec, and the static velocity error constant is 80 sec1 .
MEC4418

S1 2016

Monash University

(a) Find desired pole locations from the specification

(b) Compute the angle deficiency
(c) Find the pole and the zero of the lead compensator
(d) Find the value of gain K from the magnitude condition
(e) Choose and T2 so that the velocity error specification is satisfied but the angle contribution by
the lag compensator is less than 3 and the magnitude of the lag compensator is between 1 and
0.98.
(f) (MATLAB) Attach the root locus plot of the compensated system, the step response, and ramp
response. Discuss about the performance if the designed controller achieves the design specifications.


Problem 5

Use MATLAB to answer the following questions

Given a unity-feedback system with a system plant

G(s) =

1
,
s(s + 3)(s + 6)

we want to design a lead compensator achieving

20% overshoot and
a settling time of 2 seconds
(a) Create a system object of G(s) and import it into the sisotool. Draw the root locus plot of the plant,
and show desired specifications on it. Where should the desired closed-loop poles be? [Attach the
root locus plot]
(b) Suppose that we add a lead compensator with a pole at 5 and a zero at 0.8. By adjusting the
gain, you can move the closed-poles to the desired locations. Show it on the root locus plot, and
find the value of the gain. [Attach the root locus plot]
(c) Check the step response of the closed-loop system. Does this lead compensator satisfy the design
specifications? If not, why? [Attach the step response]
(d) Again using the sisotool, design a lead compensator that achieves the design specifications. (hint:
the zero of the compensator should be farther away from the -axis than the zero of the compensator above) 1) Write down the designed compensator, 2) attach the root locus of the compensated
system, and 3) verify it achieves the design specification in the step response.


MEC4418

S1 2016