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Assignment 1

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rania
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BELC3663 – CONTROL AND INSTRUMENTATION

SEMESTER 2 - 2023/2024
ASSIGNMENT 1
Objective:

 To design cascaded controllers via root locus techniques and Ziegler-Nichols Method
using calculation and then verify by simulation MATLAB.

Instruction for students:

1. This is a GROUP assignment. (2-3 students per group)


2. In the task, each group need to design a controller or compensator via the classical design
technique (root locus technique) and Ziegler-Nichols Method using calculation. Show
all the calculation in the report.
3. Verify your answer in 2 via MATLAB simulation.
4. Discuss the results.

1
Question:

An adaptive suspension vehicle (ASV) will be a mobility system for use in very rough terrain. It
uses a legged locomotion principle rather than wheels or tracks. An adaptive suspension vehicle
that used a legged locomotion principle. The closed-loop control of the system can be
represented as shown in Figure 1. Do the following:

1. Design a K Gain using Root Locus technique to yield percentage of overshoot (%OS)
≤ 10 % using calculation. (Use the simulation for uncompensated dominant poles
location). Then simulate using in MATLAB.
2. Design a PID using Root Locus technique to yield requirement in Table 1. Then simulate
using in MATLAB.
(Change the gain K to meet the design requirement. If the design requirement still not
redesign by changing the location of z PI (0.75¿0.9)

Table 1: Design requirement


Settling time Reduced by a factor of 2
(In simulation, +2 % is acceptable)
Percentage of Overshoot (%OS) Same in 1
Steady-state error 0

3. Design a PID using Ziegler-Nichols Method. Then simulate using in MATLAB.


4. Write a report that shows all calculation in detail. Print screen the simulation results and
Complete Table 1 to present your findings. Please discuss the results.

R(s) +¿ +¿ Y (s)
10
GC (s) 3 2
s + 14 s +43 s+28
−¿ −¿

0.2

Figure 1

2
Table 1: Performance analysis of the uncompensated and compensated systems

Compensated
Compensated
Uncompensated Uncompensated systems via
systems via Root Simulation Simulation
System System Ziegler-Nichols
Locus method (Root Locus) (Ziegler-Nichols)
(Calculation) (Simulation) Method
(Theoretical)
(Theoretical)
Transfer
function
Dominant
poles
Proportional
Gain, K P
Integral Gain,
KI
Derivative
Gain, K D
%OS
Damping ratio
Settling time
Peak Time
Steady state
error

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