University of KwaZulu-Natal

Discipline of Electrical, Electronic and Computer Engineering

ENEL 4CS: Control Systems II
QFT Group Assignment

Released: 4th May 2023. Due: 10.00hrs on 22nd May, 2023 Total Mark: 70

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Instructions:

1. This is a group assignment. Every group member is expected to actively participate and
contribute to the solution activities. There is a possibility that after submission and due
marking, every group member would be required to defend their individual contribution(s) to
the group work before the individual marks would be finalised.
2. Group meetings may take place both in contact form and in an online format.
3. Before you begin to attempt the solution to the assignment, review the QFT notes available
on the course Moodle webpage; especially my power point presentation, and Prof. Ed Bodje’s
notes on tracking.
4. Each group may have four group members.
5. Group bookings would be created online on Moodle, so that students can select a group just
like it has been done for labs. You would also be able to check who else belongs to your group.
6. Each group may select one problem from the sample of six transfer functions given below.

Sample of Transfer functions:

𝑲𝒔 𝑲 𝑲
1. 𝑷(𝒔) = 2. 𝑷(𝒔) = 3. 𝑷(𝒔) =
(𝒔+𝟓)(𝒔+𝒂) 𝒔(𝒔+𝒂) (𝒔+𝟓)(𝒔+𝒂)

𝑲 𝟓 𝟏𝟎𝒔
4. 𝑷(𝒔) = (𝒔+𝒂) 5. 𝑷(𝒔) = (𝒔+𝒂)(𝒔+𝒃) 6. 𝑷(𝒔) = (𝒔+𝒂)(𝒔+𝒃)

In this assignment, we shall implement the key steps required in the design of the compensator 𝑮(𝒔)
for the plant 𝑷(𝒔) , without actually producing the expression for 𝑮(𝒔), since we do not have the
QFT software to help our efforts at finalising the design. The study system is subject two variable
parameters and two disturbances (𝒅𝟏 (𝒔) and 𝒅𝟐 (𝒔)), as shown in Figure 1.

Figure 1: QFT design

 You are required to:
1. Select one of the above six transfer functions for your group work. Each group must
inform the class rep of their choice, so that she can pass to me a final list for all the
groups by 16.00hrs on Monday, 8th May 2023. [1]

2. Using the second-order indices of performance (in the time domain), specify the desired
performance requirement for your chosen system in terms of the damping factor 0.4 <
𝜉 < 0.65, the natural frequency 𝜔𝑛 , the settling time 𝑡𝑠𝑠 , the peak time 𝑡𝑝 and the rise
time 𝑡𝑟 . Based on the specified performance indices, write the second-order, closed-
𝜔𝑛2
loop transfer function 𝑇𝑅𝑈 (𝑠) = 2 2 . Note that the closed-loop transfer
𝑠 +2𝜉𝜔𝑛 +𝜔𝑛
𝑛 𝜔2
function is derived from an open-loop transfer function 𝐺𝑅𝑈 (𝑠) = 𝑠(𝑠+2𝜉𝜔 , such that
) 𝑛
𝐺𝑅𝑈 (𝑠) 2
𝜔𝑛
𝑇𝑅𝑈 (𝑠) = 1+𝐺 = 𝑠2 +2𝜉𝜔 2 . Now using the open-loop transfer function 𝐺𝑅𝑈 (𝑠),
𝑅𝑈 (𝑠) 𝑛 +𝜔𝑛
evaluate the velocity error of the specified system. Then, adjust the values for 𝜉 𝑎𝑛𝑑 𝜔𝑛
in 𝐺𝑅𝑈 (𝑠) until you obtain a steady-state velocity error in the range 0.05 ≤ 𝑒𝑉 ≤ 0.01
. Using the final values of 𝜉, 𝜔𝑛 , calculate the peak overshoot 𝑀𝑝 , the phase margin 𝜑𝑀
and the resonant peak 𝑀𝑟 indicated by the desired performance. Note: 𝑀𝑝 , 𝜑𝑀 and 𝑀𝑟
will also form part of the U-stability of the system. [8]

3. Now, select two negative constant 𝜎1 𝑎𝑛𝑑 𝜎2 , and form an open-loop transfer function
𝜎1 𝜎2
𝐺𝑅𝐿 (𝑠) = ))
. The closed-loop form of this function yields
𝑠(𝑠−(𝜎1 +𝜎2
𝜎1 𝜎2 𝜎 𝜎
𝑇𝑅𝐿 (𝑠) = = (𝑠−𝜎 1)(𝑠+𝜎
2
. [3]
𝑠2 −(𝜎1 +𝜎2 )𝑠+𝜎1 𝜎2 1 )2

4. Using MATLAB, obtain and plot the step responses of 𝑇𝑅𝑈 𝑎𝑛𝑑 𝑇𝑅𝐿 on the same Bode
chart. Adjust the values of 𝜎1 𝑎𝑛𝑑 𝜎2 until the settling times of the two transfer
functions are close. Add ‘grid’ or scale-calibration unto you Bode plot. [4]

5. In the actual implementation of the QFT-based controller, both 𝑇𝑅𝐿 (𝑠) and 𝑇𝑅𝑈 (𝑠) must
be adjusted. One way of adjusting these two transfer functions uses the value of 𝜔𝑛
used in specifying the desired system performance ( as in the last part of section (2)).
Hence, select 𝑎 ≥ 𝜔𝑛 , and |𝑎3 | = 𝜔𝑛 > 𝑎2 = 𝑎1 > 𝜉𝜔𝑛 . Based on these additional
(𝜔 2 ⁄𝑎)(𝑠+𝑎)
𝑛
parameters, the modified 𝑇𝑅𝑈 (𝑠) = 𝑠2 +2𝜉𝜔 2 . The modified 𝑇𝑅𝐿 (𝑠) =
𝑛 +𝜔𝑛
𝑎1 𝑎2 𝑎3
. Do the Bode plots of 𝑇𝑅𝑈 (𝑠)𝑎𝑛𝑑 𝑇𝑅𝐿 (𝑠) on the same Bode chart.
(𝑠+𝑎3 )(𝑠+𝑎2 )(𝑠+𝑎1 )
Also complete Table 1.

𝜔(𝑟𝑎𝑑. 𝑠𝑒𝑐 −1 ) 0.1 0.5 1 10 20 50 100 250 100

𝛿𝑅 (𝑗𝜔)
= 20𝑙𝑜𝑔|𝑇𝑅𝑈 |
− 20𝑙𝑜𝑔|𝑇𝑅𝐿 |
Table 1: Evaluation of 𝛿𝑅 (𝑗𝜔).
 Note that 𝛿𝑅 (𝑗𝜔 is a very important array or vector, in the design of the
pre-filter. [10]

6. Now, select limits for the variable parameters (K,a,b) in the group transfer function,
and draw the parameter plane or the parameter rectangle for your system. [2]

7. Select six sets of parameter values on the boundary of the parameter plane for your
chosen system. [2]

8. Substitute the six set of parameters into the group’s chosen P(s) to obtain six different
plants 𝑃1 (𝑠), 𝑃(𝑠), 𝑃3 (𝑠), 𝑃4 (𝑠), 𝑃5 (𝑠), 𝑃6 (𝑠) . [3]

9. For each of the following frequencies [ 𝜔 (𝑟𝑎𝑑. 𝑠𝑒𝑐.−1 ) = 0.1, 0.5, 1, 10, 20, 50,
100, 250, 1000], evaluate the magnitude responses of each of the six plants. At 𝜔 =
0.1𝑟𝑎𝑑. 𝑠𝑒𝑐 −1 , plot on a Nichols chart the six magnitudes obtained from
𝑃1 (𝑠), 𝑃(𝑠), 𝑃3 (𝑠), 𝑃4 (𝑠), 𝑃5 (𝑠), 𝑃6 (𝑠). Join these six points by lines. Then repeat the
magnitudes plots on the Nichols chart when 𝜔 = 0.5𝑟𝑎𝑑. 𝑠𝑒𝑐 −1 and join the points by
lines again. Repeat this process for the rest of the above values of 𝜔. These magnitudes
plot of 𝑃1 (𝑠), 𝑃(𝑠), 𝑃3 (𝑠), 𝑃4 (𝑠), 𝑃5 (𝑠), 𝑃6 (𝑠), repeated at the different frequencies on
the Nichols chart are called the plant templates. [12]

10. Take note the transfer function 𝑃𝑖 which is consistently located at the bottom left corner
of each of the templates at all the frequencies. Select this as the nominal plant 𝑃0 . [2]

11. Now, evaluate the transfer functions of the disturbance 𝑑1 (𝑠)𝑎𝑛𝑑 𝑑2 (𝑠). [2]

12. Plot the magnitude responses of the two disturbance on the above Nichols chart, given
that the magnitude of the disturbances |𝑑1 | = |𝑑2 | = 0.01. [4]

13. Sketch the U-stability region of your study system on the Nichols chart. [4]

14. Make a sketch of the expected open loop gain 𝐿 = 𝐺𝑃0 (𝑠) on the . [5]

15. Write a report, containing the names and student numbers of group members, the initial
transfer function P(s) the group selected, and the findings due to steps (2)-(14). Discuss
your findings innovatively. The report may not exceed twelve pages. Report is due, by
email, not later than 10.00hrs on 22nd May 2023.