Prac 8 memo:

Homework question 1

Ts=2 sec

Overshoot=20%

Ess (ramp)=0.1

Desired closed loop poles: s_cl=-2+-j2.6911

4
𝑡𝑠 =
𝜎
∴𝜎=2

ln2 𝑀𝑝
𝜁=√ 2 = 0.5965
𝜋 − ln2 𝑀𝑝

𝜎 2
∴ 𝜔𝑛 = = = 3.3529
𝜁 0.5965

𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2 = 2.6911

Proportional controller:

𝑠(𝑠 + 3)(𝑠 + 6)
𝐾=| |
1 𝑠=−2+𝑗2.6911

Lag controller:
1
𝐾𝑣 𝑛𝑒𝑤 = = 10
𝑒𝑠𝑠
𝐾𝑣 𝑜𝑙𝑑 = lim 𝑠𝐺(𝑠)
𝑠→0
𝜔𝑛
Place the zero: 𝑧 = 10
𝐾
Place the pole: 𝑝 = 𝐾 𝑣 𝑜𝑙𝑑 𝑧
𝑣 𝑛𝑒𝑤

𝑠+𝑧
Therefore 𝐷(𝑠) = 𝐾 𝑠+𝑝
Homework Question 2:

𝐾𝑣 𝑛𝑒𝑤 = 50
𝐾𝑣 𝑜𝑙𝑑 = lim 𝑠𝐺(𝑠)
𝑠→0

𝜔𝑛 = √10
𝜔𝑛
Place the zero: 𝑧 = 10
𝐾
Place the pole: 𝑝 = 𝐾 𝑣 𝑜𝑙𝑑 𝑧
𝑣 𝑛𝑒𝑤

𝑠+𝑧
Therefore 𝐷(𝑠) = 𝑠+𝑝

Homework Question 3:

Damping=0.5

Natural freq=5

Ess=0.02

Desired closed loop poles: s=-2.5+-4.33j

Lead controller: use the phase condition to determine the phase the controller must contribute.
Notice that a phase of more than 60 degrees is required, so use two identical controllers.

Place the zero to cancel the stable pole at s=-2

Use the phase condition to place the pole. Use the magnitude condition to calculate the gain to
place the CL poles at the desired position

Lag controller:
1
𝐾𝑣𝑛𝑒𝑤 = = 50
𝑒𝑠𝑠
𝐾𝑣𝑜𝑙𝑑 = lim 𝑠𝐷𝑙𝑒𝑎𝑑 (𝑠)𝐺(𝑠)
𝑠→0
𝜔𝑛
Place the zero: 𝑧 =
10
𝐾
Place the pole: 𝑝 = 𝑘 𝑣𝑜𝑙𝑑 𝑧
𝑣𝑛𝑒𝑤
Question 1:

a)

𝑀𝑟 = 8𝑑𝐵
𝑟𝑎𝑑
𝜔𝑟 = 5
𝑠
𝑟𝑎𝑑
𝜔𝐵𝑊 = 7.5
𝑠
𝐷𝐶 𝑔𝑎𝑖𝑛 = 6𝑑𝐵
8
20𝑙𝑜𝑔𝑀𝑟 = 8, 𝑡ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝑀𝑟 = 1020 = 2.512
6
20𝑙𝑜𝑔𝐾 = 6, 𝑡ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝐾 = 1020 = 2
B)
1
𝑀𝑟 ≈ , 𝑡ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝜁 = 0.2
2𝜁
𝜔𝑛 ≈ 𝜔𝑟 = 5 𝑟𝑎𝑑/𝑠
C)
1.8
Rise time: 𝑡𝑟 = 𝜔 = 0.36
𝑛

𝜋 𝜋
Peak time: 𝑡𝑝 = =
𝜔𝑑 𝜔𝑛 √1−𝜁 2

𝜁𝜋
−
√1−𝜁2
Overshoot:𝑀𝑝 = 𝑒
4
2% settling time: 𝑡𝑠 =
𝜁𝜔𝑛

Question 2:

A) The gain crossover frequency 𝜔𝑐 is the frequency where the gain plot crosses the 0dB line.
Therefore 𝜔𝑐 = 2 𝑟𝑎𝑑/𝑠

Gain margin is the amount that the gain plot is below the 0dB line at the frequency where
the phase plot is -180 degrees. Therefore GM=6dB
Phase margin is the number of degrees the phase plot is from -180 degrees at the frequency
where the gain plot is 0dB. Therefore PM=100 degrees

B) The bandwidth of the closed loop system 𝜔𝐵𝑊 will be approximately equal to the gain
crossover frequency 𝜔𝑐 of the open loop system. Therefore 𝜔𝐵𝑊 ≈ 𝜔𝑐 = 2𝑟𝑎𝑑/𝑠
The damping ratio 𝜁 of the closed loop system is related to the phase margin PM of the open
loop system
𝑃𝑀
𝜁=
100
C) The low frequency asymptote of the open loop Bode plot is flat (0dB/decade), therefore it is
a Type 0 system.
 D) Since it is Type 0, steady-state tracking error will be finite for a step response, infinite for
both the ramp and the accelerating reference.
For a step,
20𝑙𝑜𝑔 𝐾𝑝 = 12
12
𝐾𝑝 = 1020
1
𝑒𝑠𝑠 =
1 + 𝐾𝑝

Now we change the gain K value: This shifts the magnitude plot down by: 20 log 𝐾 = −5𝑑𝐵

You can now re-do the above with the new magnitude plot.

Question 3:

Follow same method used above