Dr. Ayman A.

El-Badawy
Control Engineering ENME 503
Winter 2009

GUC

German University in Cairo

Faculty of Engineering and Material Science
Department of Mechatronics Engineering

Control Engineering
Assignment 2

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Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009

Problem 1

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Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009

(g) MATLAB code

%%%%%%%%%%%%%%%%%%%%%% Problem 1, Assignment 2 %%%%%%%%%%%%%%%%%%%%%%%%
clc % clear command window
clear all % clear workspace
close all % close all opened figures
k1 = [6.5e-2 .5 1.01 1 2]; % range of gain k
t = [0:0.01:100]; % time interval
for i=1:length(k1) % for loop
k = k1(i); % select a certain k
num = [.2*k]; % numerator of T.F. = thetaM / thetaR
den = [1 .104 .2*k];% denominator of T.F. = thetaM / thetaR
sys = tf(num,den); % T.F.
Subplot(3,2,i); % plot all figures together in the same window
step(sys,t); % step input to the system
grid on; % makes the grid lines on
title( sprintf('k = %1.3f', k) ); % write value of k on each figure
end % end the for loop
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% END %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009
%%%%%%%%%%%%%%%%%%%%%%%%% Output in Figure 1 %%%%%%%%%%%%%%%%%%%%%%%%%%

Figure 1

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Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009

Problem 2
(a) By making a block diagram reduction (Figure 2 to Figure 3)

Figure 2

Figure 3

kk a ( s + k I )
kk a ( s + k I )
kk a s + kk a k I
Y
G
s(s + a)
= 2
=
=
=
kk
s
k
(
+
)
R 1+ G
kk a ( s + k I ) + s ( s + a ) s + (kk a + a ) s + kk a k I
I
1+ a
s(s + a)

2 ks + 2 kk I
Y
= 2
R s + ( 2 k + 2 ) s + 2 kk I

For ka = a = 2

For P.O. = 10% = .1 = e 1

= 0.591
4.6
ts =
= 3 n = 2.594rad / sec

By comparing s 2 + ( 2k + 2) s + 2kk I with s 2 + 2 n s + n2

Coefficient of s 1 : 2k + 2 = 2 n
Coefficient of s : 2kk I =
0

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2
n

k = 0.533

k I = 6.311

Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009

Problem 3

(c)

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Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009

Problem 4
(a) For

P.O. = 16% = .1 = e 1
0.5039
1. 8
ts =
= 0.01 n 180rad / sec

= sin 1 30.2

Then, the shaded region on the s-plane is as in Figure 4 (for positive and negative Im(s)
only positive Im(s) is shown in Figure 4):

Figure 4

(b)

1) 2 n 3 Which are lines of constant radius on the s-plane.

2) sin(30 ) sin(70 ) 0.5 0.9397 Which are lines of constant angles on the
s-plane.

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Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009

Problem 5
(a) For R (put W = 0), Gsensor = 1 ,in this case H(s) = 1 (unity feedback),
G ( s ) = G plant Gcomp =

160( s + 4)
s( s + 2)( s + 30)

System type = 1 and for step input ess = 0

k v = lim sG ( s) =
s >0

32
1
3
= 10.6667 , hence for ramp input ess =
=
= 0.09375
3
k v 32

(b) For W (put R = 0), Gsensor = 1, the system will be as shown in Figure 5
Plant
W

s(s + 2)

Compensator
160

s+4
s + 30

Figure 5

160( s + 4)
1
and C ( s) = G plant =
( s + 30)
s ( s + 2)
Y
C
s + 30
T (s) =
=
=
W 1 + CD s( s + 2)( s + 30) + 160( s + 4)
1
And for step input W ( s) = , hence
s
s + 30
1
E ( s) = T ( s)W ( s ) =
. , by using the final value
s ( s + 2)( s + 30) + 160( s + 4) s

In this case D ( s ) = Gcomp =

theorem
ess = lim sE ( s ) = lim s
s >0

s >0

( s + 30)
1
30
. =
= 0.0468 0 by
s ( s + 2)( s + 30) + 160( s + 4) s 160 * 4

going back to table 4.1, we get:

- System type = 0
-

ess = 0.0468 =

Page 8 of 10

1
1+ kp

k p = 22.36

Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009
(c) For R (put W = 0)
160( s + 4)
20
and H ( s ) = Gsensor =
hence
s + 20
s( s + 2)( s + 30)

G ( s ) = G plant Gcomp =

Method 1

160( s + 4)( s + 20)

Y
G
, hence
=
=
R 1 + GH s( s + 2)( s + 20)( s + 30) + 3200( s + 4)
160( s + 4)( s + 20)
s[(s + 2)( s + 20)( s + 30) 160( s + 4)]
1 F (s) = 1
=
s ( s + 2)( s + 20)( s + 30) + 3200( s + 4) s( s + 2)( s + 20)( s + 30) + 3200( s + 4)
F (s) =

1
E ( s) = [1 F ( s )]R ( s ) , and for step input R ( s ) = , then
s
s[( s + 2)( s + 20)( s + 30) 160( s + 4)] 1
E ( s) =
. , and
s( s + 2)( s + 20)( s + 30) + 3200( s + 4) s

s 2 [(s + 2)(s + 20)( s + 30) 160( s + 4)] 1

. =0,
s >0
s( s + 2)(s + 20)(s + 30) + 3200( s + 4) s
1
By applying a ramp input R( s) = 2
s
ess = lim sE ( s) =

ess = lim sE ( s ) =
s >0

s 2 [(s + 2)(s + 20)(s + 30) 160( s + 4)] 1 2 * 20 * 30 160 * 4

. =
= 0.04375
3200 * 4
s( s + 2)( s + 20)(s + 30) + 3200( s + 4) s 2

Then by going back to table 4.1, we get:

- System type = 1
-

ess = 0.04375 =

1
kv

k v = 22.857

Method 2

G
160( s + 4)( s + 20)
=
1 + GH G s( s + 2)( s + 20)( s + 30) + 3200( s + 4) 160( s + 4)( s + 20)
160( s + 4)( s + 20)
Geq =
s[( s + 2)( s + 20)( s + 30) 160( s + 4)]

Geq =

System type = 1 and for step input ess = 0

k v = lim sGeq ( s ) =
s >0

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160 * 4 * 20
= 22.857
2 * 20 * 30 160 * 4

Dr. Ayman A. El-Badawy

Control Engineering ENME 503
Winter 2009
(d) For W (put R = 0), the system will be as shown in Figure 6

3200( s + 4)
1
and C ( s) = G plant =
( s + 20)( s + 30)
s ( s + 2)
Y
C
( s + 20)( s + 30)
T (s) =
=
=
W 1 + CD s ( s + 2)( s + 20)( s + 30) + 3200( s + 4)
1
And for step input W ( s) = , hence
s
( s + 20)( s + 30)
1
E ( s) = T ( s)W ( s ) =
. , by using the final
s( s + 2)( s + 20)( s + 30) + 3200( s + 4) s

In this case D ( s ) = Gcomp G sensor =

value theorem
ess = lim sE ( s ) = lim s
s >0

s >0

( s + 20)( s + 30)
1 20 * 30
. =
= 0.0468 0
s ( s + 2)( s + 20)( s + 30) + 3200( s + 4) s 3200 * 4

by going back to table 4.1, we get:

- System type = 0
-

ess = 0.0468 =

1
1+ kp

k p = 22.36
Plant

s(s + 2)

Compensator
160

s+4
s + 30

Sensor
Gsensor(s)

Figure 6

(e) kv increased, hence the steady state error will decrease

(f) kv is undefined in both cases since the system is type zero, and kp is the
same, hence steady state error is the same. Gsensor =1

a) For R, Gsensor =1
b) For W, Gsensor =1
c) For R, Gsensor !=1
d) For W, Gsensor !=1

System
Type
1
0
1
0

Table 1: Summary for results of problem 5

Page 10 of 10

ess to step
input
0
- 0.0468
0
- 0.0468

ess to ramp
input
0.09375
0.04375

kv

kp

10.6667

Undefined

Undefined

-22.36

22.857

Undefined

Undefined

-22.36