2

SKEE 3143
Q.1 (a) Root locus is a graphical representation of the closed loop poles as a system
parameter such as gain is varied. (2 marks)
(b) If the number zeros and the number of poles is similar, thus the system does not
have the asymptote angle and asymptote lines. The denominator to calculate an the
asymptote angle and asymptote line is zero.
(4 marks)
(c) Check the nature of the asymptote line and asymptote angle. Calculate for the
asymptote angles, asymptote lines and asymptote line cross point.
(4 marks)
(d)
(i) For damping ratio = 0.5, the dominance poles are -0.38+j0.67 and -0.38 –
j0.67. The value of K is 1.55. Percentage overshoot is 16.2%.
(3 marks)
(ii) The value of K is 1.55. Percentage overshoot is 16.2%.
(5 marks)
(iii) For 8.1% overshoot, the dominance poles are -0.5+j0.6 and -0.5-j0.6.
(3 marks)
(iv)
Root Locus
1.5

1
)
-1

0.5
Imaginary Axis (seconds

-0.5

-1

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1)

(4 marks)
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SKEE 3143
Q.2
(a) (i) The gain margin, GM = 25.5 dB (1 mark)

(ii) The phase margin,  M = 76.5 degree (1 mark)

(iii) The phase crossover freq = 7.07 rad/s
the gain crossover freq = 0.7818 (2 marks)

(b) (i) The static error constant = 0.8 (1 mark)

(ii) The steady-state error = 1.2 (1 mark)

(c)

(4 marks)
(d)

(5 marks)
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(e)

(6 marks)
(f)

(4 marks)
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Q.3 (a) PID Controller
- improve transient and steady-state error
(2 marks)
(b)

(i)
(3 marks)

(ii)
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(8 marks)
(iii) Sketch your compensated system against the uncompensated response as
shown in Figure Q.3a. (2marks)

(c)

(i)
(2 marks)
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(ii) (3 marks)

(iii) (3 marks)

(iv) (2 marks)
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Q.4 (a) (i)
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(6 marks)
(ii)
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(3 marks)
(iii)

(2 marks)
(iv)

(6 marks)
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SKEE 3143
(b) (i)
The Cohen-Coon tuning rules use three process characteristics: process gain, dead time,
and time constant. These are determined by doing a step test and analyzing the results.

1. Place the controller (PID) and set as gain controller wait for the process to settle out.
2. Make a step change of a few percent in the controller output (CO) and wait for the process
variable (PV) to settle out at a new value. The size of this step should be large enough that the
process variable moves well clear of the process noise/disturbance level. A total movement of
five times the noise/disturbances on the process variable should be sufficient.
3. Convert the total change obtained in PV to a percentage of the span of the measuring device.
4. Calculate the process gain (gp) as follows:
gp = change in PV [in %] / change in CO [in %]
5. Find the maximum slope on the PV response curve. This will be at the inflection point (where
the PV stops curving upward and begins curving downward). Draw a line tangential to the PV
response curve through the point of inflection. Extend this line to intersect with the original
level of the PV (before the step change in CO). Take note of the time value at this
intersection.
6. Measure the dead time (td) as follows:
td = time difference between the change in CO and the intersection of the tangential line and
the original PV level.
7. Calculate the value of the PV at 63% of its total change. On the PV reaction curve, find the
time value at which the PV reaches this level.
8. Measure the time constant (Greek symbol tau) as follows:
 = time difference between intersection at the end of dead time, and the PV reaching 63% of
its total change.
9. Convert your measurements of dead time and time constant to the same time-units your
controller’s integral mode uses. E.g. controller’s integral time is in minutes, use minutes for
this measurement.
10. Do two or three more step tests and calculate process gain, dead time, and time constant for
each test to obtain a good average of the process characteristics. Use the average of those
values.
11. Calculate new tuning settings using the Cohen-Coon tuning rules from table.
(6 marks)
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(ii)
(I)

(2 marks)
(II)

(2 marks)
(III)

(2 marks)
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Q.5 (a) Let the transfer function for lead compensator: Explain the parameters (zc and pc)

1 s
s 1
1 T
Glead ( s)  Gc ( s ) 
zc
 s 1 s
T 1
Where zc < pc pc

(2 marks)
(b) Sketch the Bode plot and explain the following (i - iv)

- By adding phase lead, the phase does not fall off as quickly, so you can get the zero-db
crossing in the final system to occur at a higher frequency. Meaning will have a system
that responds quicker than the original system.

- Because the gain portion of the Bode' plot is "lifted" it will probably be possible to get a
higher DC gain, so you will have a system that has better steady state error performance.

- Overshoot
- Stability margin

Student need to sketch the lead compensator.

(i) steady-state error, (2 marks)
(ii) stability margin, (2 marks)
(iii) speed response, (2 marks)
(iv) percent overshoot. (2 marks)
(c) For Lead compensator design:

For K = 1, the Bode plot is given in Figure 5 (a) and (b)

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The required design spec. are:
Percent Overshoot = 10%, Tp = 0.1 s and Kv = 30.

Find the following to proceed with the design:

Damping Ratio = 0.591155,

Gain adjustment needed = 360 or 51.1 dB
Current Phase Margin = 21.1 degree,

Required Phase Margin = 58.6 degree,

Max additional Phase needed from compensator with Correction Factor
= 58.6 – 21.1 + 10 , (correction factor of 10 is considered)
=47.5 degree
Required Bandwidth = 45.1795,
Therefore, Beta = 0.151,
With compensator gain at max phase = 2.57 or 8.2 dB
Hence, when original system magnitude = -8.2 dB, the frequency = 30.2 rad/s
From this frequency,
Compensator zero,= 11.73, and
Compensator pole,= 77.71
𝑠
+1 77.71 𝑠+11.73
Therefore, 𝐺𝑐 (𝑠) = 11.73
𝑠 = 11.73 (𝑠+77.71)
+1
77.71

The compensated system, G(s)Gc(s) is :

Bode Diagram
100

50
System: G1
Frequency (rad/sec): 30.1
Magnitude (dB): -8.22
Magnitude (dB)

-50

-100

-150
-45

-90
Phase (deg)

System: Gf1
-135 Phase Margin (deg): 60.7
Delay Margin (sec): 0.0352
At frequency (rad/sec): 30.1
Closed Loop Stable? Yes
System: G1
-180 Phase Margin (deg): 21.1
-2 -1 0 1 Delay Margin (sec): 0.01992 3 4
10 10 10 10 At frequency (rad/sec):1018.5 10 10
Frequency (rad/sec) Closed Loop Stable? Yes

(15 marks)
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Q. (a) Transfer function of lag compensator:

6 1 s
s 1
T zc K ( s  zc )
Gc ( s)    c ; where zc  pc
s
1 s
1 s  p c
T pc
Bode plots:

Magnitude
plot
zc  pc

Phase plot

(3 marks)
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(b
)

The lag compensator reduces the high-frequency gain, while not changing
the low-frequency gain.

(3 marks)
(c) (i)
The phase margin = 55.6 degree
the percent overshoot = 12%
(3 marks)
(ii) From bode plot,
The static error constant, Kv = 10
the steady state error = 0.1
(3 marks)
(iii)
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(9 marks)
(iv)
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(4 marks)
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Appendix A

Table Q.3 The Ziegler-Nichols Table

Controller Kp TI TD

Proportional, P 0.5𝐾𝑢 ∞ 0

𝑇𝑢
PI 0.45𝐾𝑢 0
1.2
𝑇𝑢 𝑇𝑢
PID 0.6𝐾𝑢
2 8
2𝜋
Note: 𝑇𝑢 = 𝜔
𝑢

 1 
Where, GCPID ( s)  K P 1   TD s 
 TI s 

Table Q.4 The Cohen-Coon Table for First order delay time system

Controller KC TI TD

1 𝑡0 −1
Proportional, P ( ) - -
𝐾 𝜏

0.9 𝑡0 −1
PI ( ) 3.33𝑡0 -
𝐾 𝜏

1.2 𝑡0 −1 1
PID ( ) 2.0𝑡0 𝑡
𝐾 𝜏 2 0

 1 
Where, GCPID ( s)  K C 1   TD s 
 TI s 
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Appendix B

List of useful equations

2.2 4 𝜔𝑛 2
𝑇𝑟 = 𝑇𝑠 = 𝐺(𝑠) =
𝑎 𝑎 𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2

𝜋 4 −𝜋𝜁
𝑇𝑝 = 𝑇𝑠 = 2
𝜔𝑛 √1 − 𝜁2 𝜁𝜔𝑛 %𝑂𝑆 = 𝑒 √1−𝜁 × 100
%𝑂𝑆
1 −ln⁡( )
𝜁= 100
𝑒𝑠𝑠_𝑠𝑡𝑒𝑝 = 𝐾𝑝 = lim 𝐺(𝑠)
1 + 𝐾𝑝
√𝜋 2 + ln2 (%𝑂𝑆)
𝑠→0
100
2𝜁
1 ∅𝑀 = 𝑡𝑎𝑛−1
𝑒𝑠𝑠_𝑟𝑎𝑚𝑝 = 𝐾𝑣 = lim 𝑠𝐺(𝑠)
𝐾𝑣 𝑠→0 √−2𝜁 2 + √1 + 4𝜁 4

1 1−𝛽
𝑒𝑠𝑠_𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑎 = 𝐾𝑎 = lim 𝑠 2 𝐺(𝑠) ∅𝑚𝑎𝑥 = 𝑠𝑖𝑛−1
𝐾𝑎 𝑠→0 1+𝛽

𝑧𝑐
𝜔𝑚𝑎𝑥 =
√𝛽

1
|𝐺𝑐 (𝜔𝑚𝑎𝑥 )| =
√𝛽
4
𝜔𝐵𝑊 = √(1 − 2𝜁 2 ) + √4𝜁 4 − 4𝜁 2 + 2
𝑇𝑠 𝜁
𝜋
𝜔𝐵𝑊 = √(1 − 2𝜁 2 ) + √4𝜁 4 − 4𝜁 2 + 2
𝑇𝑝 √1 − 𝜁 2
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SKEE 3143
Appendix C

100
90
80
Phase Margin (degree)

70
60
50
40
30
20
10
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Damping ratio

100

90

80
Percentage Overshoots (%OS)

70

60

50

40

30

20

10

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Damping ratio