Classical Control

Gerulf Pedersen, Tel: 7912 7709, Email: gp@cs.aaue.dk

MM1

1 Reading
FC: 3.3-3.5, 3.7-3.7.1;

2 Content
• Introduction
• Stability
• Poles and Zeros

3 Exercise
100
1. Consider a block diagram of an analog control system as shown in the following figure: where G(s) = s(s+6)
.

R(s) + E(s) Y (s)

K G(s)
−

Y (s)
(a) Calculate the closed loop system transfer function, i.e., Gc (s) = R(s)
.
(b) If a damping ratio of ζ = 0.6 is desired for this closed-loop system, what value of K can we assign?
(c) Calculate the natural frequency ωn and poles of this closed-loop system.
(d) Plot the pole and zero locations in the s-plane of this closed-loop system using Matlab function
pzmap().
(e) Is the closed-loop system stable or not? and why?
(f) Plot the step and impulse responses of this closed-loop system using Matlab functions step() and
impulse().
(g) Instead of a damping ratio of ζ = 0.6 it is desired to have a rise time of 0.2s. Find the corresponding
value for K.
(h) What will the damping ratio of this new system be?
(i) Plot the step and impulse responses of this new closed-loop system using Matlab functions step()
and impulse().