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Experiment 3

WEE3ED

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19 views9 pages

Experiment 3

WEE3ED

Uploaded by

chekassinakum
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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UNIVERSITY OF BUEA

FACULTY OF ENGINEERING AND TECHNOLOGY


COMPUTER ENGINEERING
FEEDBACK CONTROL SYSTEM
EEF460

EXPERIMENT 3

COURSE INSTRUCTOR: DR BAZIL

NAME MATRICULE SPECIALTY

CHE KASSINA KUM FE21A158 SE


Exercise1

Question 1: Consider the feedback system shown below. C(s) is a compensator.

7
R(s) Y(s)
C(s) 𝑆(0.5𝑆 + 1)
+_

A) The closed-loop transfer Without the compensator block C(s)

7
Consider the open loop transfer function G(s) =
𝑆(0.5𝑆+1)

G(s)
The close loop transfer function is W(s)=
1+G(s)
7
( )
W(s)= 𝑆(0.5𝑆+1)
7
(1+( ))
𝑆(0.5𝑆+1)

7
G(s) =
𝑠 2 +2𝑠+7

The matlab code


The code will plot the poles and zeros on the complex plane and display a message indicating the stability of
the system.
B) Consider the system with the compensator. Design a lead compensator such that the
dominant closed-loop poles are located at s = – 2 ± j3.
Answer:
To design a lead compensator, we place the compensator zeros at the desired dominant
closed-loop poles. Therefore, the compensator zeros will be at z = -2 ± j3.

𝑠−𝑧
The compensator transfer function can be written as: C(s)=
𝑠−𝑝
(s + 2 − j3)
By substituting the desired values, we get: C(s)= 𝑠−𝑝
To determine the location of the compensator pole p, we use the angle condition. Since the
desired poles are complex, we need to find the angle of the complex poles and the
compensator zeros.
The angle: θ = atan(Im(z) / Re(z))

3
= atan( )
2
≈ 56.31 degrees

The angle condition states that the angle contributed by the compensator zeros should be
twice the angle contributed by the compensator poles. Therefore, the angle contributed by
the compensator poles should be half of the desired angle:

θ_pole = θ / 2
= 56.31 / 2
≈ 28.16 degrees

To find the real part of the pole, we can use the magnitude condition:
|p| = |z| / tan(θ_pole)
= 3 / tan(28.16)
≈ 5.19

Therefore, the compensator pole p is located at p = -5.19.

The compensator transfer function becomes:

(s + 2 − j3)
C(s) = (s + 5.19)

c) Ploting on the same plane, the unit-step response of the original and compensated
systems using MATLAB.

From the graph the system is just stable

D) To obtain the steady-state error for the compensated and uncompensated systems, we can
use the stepinfo function in MATLAB
E) Based on the analysis and simulation result
1. Without the compensator, the closed-loop transfer function of the system led to a steady-
state error for the original system.

2. By introducing a lead compensator, the compensated system showed a reduced steady-state


error compared to the original system.

Consequently, the lead compensator was effective in improving the steady-state performance
of the system. The reduced steady-state error indicates that the compensated system reaches a
more accurate final output in response to a unit-step input.

Exercise 2
Given the open-loop transfer function G(s) = 1 / (0.5s^2), the closed-loop transfer function W(s) without the
compensator is obtained by dividing G(s) by (1 + G(s)):

G(s)
W(s)= since H(s)=1 for unity feedback
1+G(s)
1
𝑜.5𝑠2
W(s)= 1
(1+ )
𝑜.5𝑠2
1
W(s)=
0.5𝑠 2 +1
Here's the MATLAB code
Hence the system is unstable because one of the poles is located at the origin (s = 0).
b) Lead Compensator Design

1. Desired Dominant Closed-Loop Poles:

s = -1 ± j
2. Lead Compensator Transfer Function:

(s + 1 − j)
C(s) =
(s + p)
3. Determining the Pole p:

Calculate the angle contribution of the desired poles


atan(Im(s) 1
θ= = atan ≈ -0.7854 radians
Re(s)) 1

The angle contribution of the compensator poles should be half of the desired angle:
θ
Θ _pole = 2 ≈ -0.3927 radians

Find the real part of the pole:


|s| 1
|p| = = ≈ -1.2732
tan(θ_pole) tan(−0.3927)
Therefore, the compensator pole is located at p = -1.2732.

4. Compensator Transfer Function:

(s + 1 − j)
C(s) =
(s − 1.2732)

c) Unit-Step Response

MATLAB Code for Plotting Unit-Step Response:

The compensated system exhibits a faster rise time and reduced settling time compared to the
original system.

d) Unit-Step and Unit-Ramp Responses


1. MATLAB Code for Plotting Unit-Step and Unit-Ramp Responses:
The compensated system exhibits a faster response to both the unit-step and unit-ramp inputs
compared to the original system.

e) Steady-State Error
1. MATLAB Code for Calculating Steady-State Error:
f) Conclusion
The designed lead compensator successfully stabilized the originally unstable system and
improved its transient response and steady-state error. The compensated system exhibits faster rise
time, reduced settling time, and lower steady-state error for both unit-step and unit-ramp inputs.

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