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Lab2 Computer Controlled Sys

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Lab2 Computer Controlled Sys

Uploaded by

ayfa180120046
Copyright
© © All Rights Reserved
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People’s Democratic Republic of Algeria

Ministry of Higher Education and Scientific Research.

University M’hammed BOUGARA – Boumerdes


Institute of Electrical and Electronic Engineering.

EE-459: COMPUTER CONTROLLED SYSTEMS

Lab work # 2: The root Locus | Bode plot Design Method.

Students:
FAHAM Aya group 3
SAOULI Nihed group 3
BENZINA Douaa group 2

Instructor:
Dr.KACED.

Fall, 2024.
INTRODUCTION:
This lab focuses on two key methods in control system design: Root Locus and
Bode plot techniques. Root Locus shows how system poles change with feedback
gain, affecting stability and response, while Bode plots analyze system behavior in
the frequency domain. Using MATLAB's “control System Designer” tool, we
applied the Root Locus and the Bode plot methods to design and analyze
controllers.
PART I:
1) given the system shown in the fig.1 :

Figure 1 : Bloc Diagram of a positioning servomechanism

1. a) The root locus of the positioning servomechanism was sketched for K under
the condition of no tachometer feedback (KT=0).

Figure 2: the root locus with K=0


1. b) for K=16: the transient parameters of the transfer function found by the
MATLAB command “stepinfo” are as follows:

Figure 3: the transient response parameters

1.c) For 𝐾 = 16, drawing the root locus with respect to 𝐾𝑇:

Figure 4: root locus for K=16

1.d) finding 𝐾𝑇, for 𝑀𝑝 = 0.05 and all the resultant values of 𝑡𝑟 and 𝑡𝑠 using the
MATLAB command “stepinfo”:
For Kt = 3.6 we have : Mp=0.412, tr= 0s , ts= 1.7s as shown in the figure below.

Figure 5: the resultant values of stepinfo

PART II:
Given the following transfer function:

2.a)
Approximating the plant transfer function G(s) by assuming m≈0 and setting M=1,
k=1, b=0.1, and D(s)=K.
We notice that the system is not stable for any value of K. Hence the system
performance specifications can not be changed by varying K.
Figure 6: the step response plot

2.b) changing the controller to 𝐷(𝑠) = 𝐾(𝑠 + 𝑧) a PD controller we get :

Figure 7: the system performance after changing the controller

Choosing k = 37, and z= 5. For these values the specifications were satisfied as
shown in the command window of the MATLAB software.
The following figure gives a good visualization of specifications:
Figure 8: system parameters visualization

K p(s + z)
2.c) The transfer function for 𝐷(𝑠)= 𝑠+1
for Z=5 , p = 250 .

• The root locus:

Figure 9: root locus and step response plots


• now checking the step response parameters:

Figure 10: stepinfo of the PID controller

PART III:
Determine the range of K for which the closed-loop systems are stable for each of
the cases below by using the “controlSystemDesigner” tool.

𝐊(𝐬+2)
1) KG(s)= .
𝐬+20

For K=1

Figure 11: root locus and step response for G1


• For this case food wherever the value of K the system is always stable since
we have a single zero and a single pole that is finite and hence always stable.
Hence. The system is stable wherever the value that k takes.

𝐊
2) KG(s)= (𝐬+10)(𝐬+20)^2

For K=1

Figure 12: the step response and the root locus for G2 for K=1

For K= 34537

Figure 13: the step response and the root locus for G2 for K=34537
• We observe that, at this particular value of K, the root locus crosses the jω-
axis, indicating that the system is marginally stable. At this point, the system
remains stable, but as K increases beyond this value, the poles move into the
right-half plane, making the system unstable.
Hence. The system is stable for k ranges from 0 to 34537.

For K>34537

Figure 14:the step response and the root locus for G2 for K > 34537

• This system is overdamped and exhibits continuous oscillations. We are


slightly away from the jω-axis and shifting toward the right half of the plane,
indicating that the poles are in the right half plane, and the system is stable
now.
𝐊(𝐬+10)(𝐬+1)
2) KG(s)= (𝐬+100)(𝐬+20)3

For K=1
Figure 15:the step response and the root locus for G3 for K=1

As shown from the root locus plot, this system remains stable, with poles in the left
half-plane (LHP), even though the root locus crosses the jω-axis, which would
typically indicate marginal stability. Despite this, the system is still considered
stable, as the poles do not enter the right half-plane (RHP).

Figure 16: the step response and the root locus for G3 for K>1

• As the gain Increases, the system remains stable. When K is set to a very
high value, the system's step response behaves as shown above, and although
the system parameters are not optimal, the system becomes stable at some
point of time.
Hence. The system is stable for k ranges from 0 to infinity.
Conclusion
In this lab, we learned to use Root Locus for controller design and developed
practical skills with the MATLAB controlSystemDesigner tool. The root locus
method enabled us to analyze system stability and understand how varying the gain
K affects the system's poles. By visualizing pole movements and system responses,
we gained valuable insights into achieving the desired performance and stability.

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