Öğr. Gör. Dr. Emre DİNCEL Deadline: 25.12.

2024

Programming Techniques in Control (KON 307E)

Project - 2

Question 1: Step response of a second order process is given as follows.

Step Response
2.8
u(t)
2.6
c(t)
2.4

2.2
Amplitude

1.8

1.6

1.4

1.2

1
0 1 2 3 4 5 6 7 8 9 10 11 12
Time (s)

Figure 1: Step response of a second order process.

a. Calculate the overshoot, peak time and gain of the given process. Find the open-
loop transfer function. Show that for the same input signal, you obtain the same output
signal with the help of Simulink.

b. Is it possible to design a P controller such that the closed-loop system has 4 seconds of
settling time with 5% overshoot? Give your comments using the root-locus plot drawn in
MATLAB.

c. If the PID controller is given as to control the given system, find the

value of the parameter such that the minimum possible settling time (without any
overshoot) is achieved in the closed-loop (Use magnitude condition of the root-locus).

d. Calculate the overshoot and settling time of the closed-loop system (with PID controller)
using stepinfo() command of the MATLAB. Does the designed controller satisfy the
performance specifications? If not, discuss the possible reasons.
Öğr. Gör. Dr. Emre DİNCEL Deadline: 25.12.2024

Question 2:

Figure 2: An electromechanical system representation.

Consider an electromechanical system which is represented in the above figure with the
following parameters.

Parameter Value Parameter Value

kg Ω
N s/m H
N/m N/A

Answer the following questions:

a. Write the differential equation for the electrical subsystem. Solve the obtained
differential equation using Implicit Euler method between with a suitable step-
size (Note that and initial conditions are zero) and plot the solution.

b. Obtain the transfer functions of and for the electrical and

mechanical subsystems, respectively. After that plot the pole-zero map for both systems
on the same figure (using different colours).

c. It is known that is the relation between the electrical and mechanical

systems. According to this, find the transfer function of . Calculate the

approximate overshoot, settling time and peak time of the open-loop system using both
formulas and stepinfo() command and compare the results. Finally, plot the unit step
response of the open-loop system.
Öğr. Gör. Dr. Emre DİNCEL Deadline: 25.12.2024

d. Consider a closed-loop control system with unit feedback as in Figure 3. If the controller
is given as find the interval of the parameter in which all of the
closed-loop system poles are located on the left side of the line . Plot the closed-
loop pole-zero map for an arbitrary value from the resulting interval and plot the
line on the same figure (Note that ).

D1(s) D2(s)

R(s) + + Y(s)
C(s) G(s)
+ + +
-

Figure 3: A closed-loop control system with unit feedback.

e. i. First of all, assume that there is not any disturbance effect (i.e. ).
Calculate the position, velocity and acceleration error constants if the PI controller is

given as . After that calculate the steady-state errors for step and ramp

inputs with the help of the position and velocity error constants.

ii. In case of a disturbance effect in the form of calculate the steady state

errors , in a similar way, calculate the steady state errors for

and comment on the results.

f. i. Solve the previous question (e) by considering a PD controller which is given as

and comment on the results (Hint: Effects of PI and PD controller in the
steady-state).
ii. Create the block diagram given in Figure 3 on Simulink. Verify all the results you have
obtained in e.i, e.ii and f.i by providing the step/ramp responses. (Create the block
diagrams seperately under sub-systems and give suitable names to blocks in order to
improve the readability. In addition, before you apply the disturbance signals, please
wait the closed-loop system to settle its final value).

g. Consider the electrical subsystem transfer function and assume that a sinusoidal
input signal is applied to this system.
Öğr. Gör. Dr. Emre DİNCEL Deadline: 25.12.2024

i. Find the expression of the output signal in steady-state using an analytical way
(use frequency response).

ii. Use Simulink and plot the input and output signals on the same figure. Also plot the
output expression obtained in g.i on the same figure and compare the results.

(Please note that, in order to compare the results, you can use a sinusoidal source block
and set its magnitude/phase parameters as you obtained in i. If the output of the first
order system and the sinusoidal source block are the same, it means that the output
expression ( ) you have found analytically is correct)

iii. Draw the Bode plot of the electrical subsystem transfer function ( ) in MATLAB.
Comment on the resulting plot by comparing with previously obtained results (Check
the magnitude and phase plots at ).

iv. Assume that a sinusoidal noise signal ( ) with the amplitude of 0.4 and the
frequency of 100 Hz is interfering with the output of the electrical subsystem as follows.

N(s)

R(s)=1/s + Y(s)
Te(s) GF(s)
+

Figure 4: Noise interfering with the system output and filter block.

First of all, create this structure in Simulink ( in the beginning) and observe
the output of the system. After that it is aimed to design a filter

which attenuates the noise signal 10 times (it means that the effect of to the
output will be in magnitude). Find a suitable parameter for this purpose using an
analytical method (Hint: frequency response of the filter).

Using the resulting value, simulate the block diagram you created in Simulink and
verify that the effect of the noise signal is reduced as desired.