EN5001 – Electronic Control

Systems

Department of Electronic and Telecommunication Engineering

University of Moratuwa

Assignment 3 – Loop Shaping

B.D.S.G.Weerasooriya 198393C
R.M.J.Ranathunga 198384B

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a) Designing a servo system step by step in order to achieve a bandwidth of 20 rad/s, phase
margin of 45o and steady state 1% error. The open loop plant is as follow.

3(𝑠 + 3)
𝐺(𝑠) =
(𝑠 + 4)(𝑠 2 + 3𝑠 + 20)
b)
Step 1 - Gain and phase plot

MATLAB code for plotting the gain and phase.

Bode plot for the open loop controlled plant

Figure 1 – Bode plot

Step 2 - Bandwidth adjustment

K can be calculated as follows.

𝐾|𝐺(𝑗𝜔)|𝜔 = 20 = 1
𝑘 = 129.3
Corresponding MATLAB code for bandwidth adjustment

Gain and phase response of bandwidth adjusted system

G1

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Figure 2 – Gain and phase
response
c)
Step 3 - Phase margin adjustment

∠𝐺(𝑗𝜔)𝜔 = 20 = −168°
𝑃ℎ𝑎𝑠𝑒 𝑚𝑎𝑟𝑔𝑖𝑛𝑒 = 180° − 168° = 12°
𝐴𝑑𝑑𝑖𝑡𝑖𝑜𝑛𝑎𝑙 𝑝ℎ𝑎𝑠𝑒 𝑟𝑒𝑞𝑢𝑖𝑟𝑒𝑚𝑒𝑛𝑡 = 𝑝ℎ𝑎𝑠𝑒 𝑚𝑎𝑟𝑔𝑖𝑛𝑒 − 12° = 33°

To have an additional phase a lead compensator has to be used.

(𝑠 + 𝑧𝑙𝑒 )
(𝑠 + 𝑝𝑙𝑒 )
20 𝑧𝑙𝑒
33° = tan−1 ( ) − tan−1 ( )
𝑧𝑙𝑒 20
There for approximately
𝑧𝑙𝑒 = 10.8
Pole of the lead compensator
202
𝑝𝑙𝑒 = = 37
𝑧𝑙𝑒

MATLAB code for lead compensator

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Gain and phase response for the lead compensator

Figure 3 – Lead compensator

response

Step 4 - Adjust Lead compensator gain Kle to unity

Following equation can be used to calculate the lead compensator gain

(𝑠 + 10.8)
|𝐶𝑙𝑒 (𝑗20)| = 𝑘𝑙𝑒 | |
(𝑠 + 37)
𝑘𝑙𝑒 = 1.85

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Adding the lead compensator to the controlled plant

G1
G2
G

G2

G1

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Figure 4 – Gain and phase response of the controlled plant with lead compensator
d)
Step 5 - Steady state error correction (Lag compensator)

𝐸(𝑠) = 𝑅(𝑠) − 𝑌(𝑠)

𝐸(𝑠) = 𝑅(𝑠) − 𝐸(𝑠)𝐶𝑙𝑒 (𝑠)𝐾𝐺(𝑠)
1
𝐸(𝑠) = 𝑅(𝑠)
1 + 𝐶𝑙𝑒 𝐾𝐺(𝑠)

Steady state error for unit step input R(s) = 1/s;

𝑒𝑠𝑠 = 0.087
This value is not acceptable. Because it should be less than 0.01.

Step 6 – Introducing Lag compensator for the system

𝑠 + 𝑧𝑙𝑎
𝐶𝑙𝑒 =
𝑠 + 𝑝𝑙𝑎

𝑠 + 0.95
𝐶𝑙𝑒 =
𝑠 + 0.1

MATLAB code for the lag compensator

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Figure 5 – Frequency response of the Lag compensator

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Adding lag compensator to the controlled plant

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Final output

G3 G1
G2
G

G1
G2
G3

Figure 6 – Frequency response of the controlled plant for 20 rad/s bandwidth, 45 o phase margin and
ess = 0.01

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e) Using the Simulink tool the above designed system is tested and

Figure 7 – Simulink model of the controlled system

Bellow graph shows the tracking response of the servo system for time varying reference

Figure 8 – Tracking response

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