AER509 Control System

Assignment 5 Due on April 8, 2016 Before 5 pm

G ( s)

K ( s 2 130 s 200)
( s 30)( s 2 20 s 200)

1. Given the unity feedback system with

Do the following:
a). Sketch the root locus by finding the angle of departure, imaginary-axis crossing, and break-in point.
b). Find the range of gain K that will make the system stable.
c). Find the value of gain K that yields a damping ratio of 0.707 for the system's closed-loop dominant pole,
using the search method as shown in Fig. 8.18.
d). Find the value of gain K that yields critically damped dominant poles.
G(s)

K ( s 2 5s 6)
s2 s

2. For the unity feedback system with

Do the following:
a). Sketch the root locus by finding break-in and breakaway points.
b). Please verify that s=-1+j0.686 is a closed loop pole, and find the corresponded control gain K.
c). Find the estimated percent of overshoot for the case.
d). Find the settling time and peak time for the designed closed-loop system.
e). Calculate the steady-state error for a unit ramp input for the designed closed-loop system.
For Questions 3 to 5, You can use Matlab to find the uncompensated dominant poles and K values.
G(s)

K
s s 5 s 15

3. Design a PD controller for a unity feedback system with

to reduce the settling time by a
factor of 4 while continuing to operate the system with 20% overshoot. Calculate the system performance
parameters such as K, Tp, Ts, Kv, ess, damping ratio, natural frequency, and all the closed-loop pole positions.
G(s)

4: For a unity feedback system with

K
s s 5 s 11

, do the following:

a. Find the gain K, peak time Tp, and Velocity error constant Kv for the uncompensated system to operate
with 30% overshoot.
b. Design a lag-lead compensator to decrease the peak time by a factor of 2, decrease the percent
overshoot by a factor of 2, and improve the steady-state error by a factor of 30. Specify all poles, zeros,
and gains. (Assume the zero of the lead compensator is set at -5 to make a zero-pole cancellation, and
the pole of the lag compensator is set at -0.001).
G ( s)

5: For a unity feedback system with

K
s s 4 s 6 s 10

, do the following:

a. Design a PD controller that will yield no more than 25% overshoot and no more than a 2-second settling
time for a step input, find the control gain and the third closed-loop pole.
b. Based on part a, design another PI controller to form a PID control to make a zero steady-state error for
a ramp input, estimate the new control gain K.