P1.

Pole-Zero Map
2.5
sd = (1 + j 2)
2

1.5

0.5

0
P -2.15
-0.5
-18 -16 -14 -12 -10 -8 -6 -4 -2 0

  2   2  1  2 
(i)   180 
 2  180  tan 1     tan 1    tan  
  1   (2.15  1)   ( P  1) 
Thus,
P = 17.36 [10 marks]

s  2.15 1 s 2 ( s  17.36)
(ii) GC ( s )  K K   35.71 [5 marks]
s  17.36 GP ( s )GC ( s ) s ( s  2.15) s
d d

C ( s) GC ( s )GP ( s ) 35.71( s  2.15)

(iii)   3
R ( s ) 1  GC ( s )GP ( s ) s  17.36 s 2  35.71s  76.78
s 3  17.36 s 2  35.71s  76.78  ( s  1  j 2)( s  1  j 2)( s  d )  ( s 2  2s  5)( s  d )
5d  76.78  d  15.36
Thus, the closed-loop poles are:
15.36 (could be ignored)
[6 marks]
1  j 2 (Dominant)

(iv) No, as it is too fast (far to the left), from the dominant dynamics [2 marks]

(v) Yes, as it is somewhat close to the dominant dynamics [2 marks]

(vi) Without Gc(s), the closed-loop is unstable; thus, ess =  [2 marks]

36.24( s  2.15) 1
With Gc(s), KV  lim sGC ( s )GP ( s )  lim    ess   0 [2 marks]
s 0 s 0 s ( s  17.6) KV
  2   2 
(vii)    180  2  180  tan 1     tan 1 
Pole-Zero Map

 2.5

  1   (a  1)  sd = (1 + j 2)
2
Thus,
a = 2.5 [3 marks] 1.5

1 s2 1
GC ( s )  K ( s  2.5)  K   2
GP ( s )GC ( s ) s ( s  2.5) s 0.5
d d

[3 marks]
0
-a
-0.5
-3 -2 -1 0
P2.
1  K  K
(i) ess  0.025  K v   40  lim s     K  200 [5 marks]
ess s 0
 s( s  1)( s  5)  5

(ii) PM  40  5 (Safety Margin)  45   PM  0.75 rad/s

10 10
T   13.33 [5 marks]
PM 0.75

(iii) Mag(  0.75)  32.5 db  20 log     42.17 [5 marks]

Ts  1 13.33s  1
GC ( s )  K  200
 Ts  1 562.26 s  1

Bode Diagram
Gm = 15.2 dB (at 2.14 rad/sec) , Pm = 38.9 deg (at 0.753 rad/sec)
100
System: untitled1
Frequency (rad/sec): 0.75
50 Magnitude (dB): 32.5
Magnitude (dB)

-50

-100

-150
-90

-135
System: untitled1
Frequency (rad/sec): 0.75
Phase (deg)

Phase (deg): -135

-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

C ( s) Gc ( s )GP ( s ) 200(as  1) 200(as  1)

(iv)   2  4
R ( s ) 1  Gc ( s )GP ( s ) s ( s  1)( s  5)  200(as  1) s  6 s  5s 2  200as  200
3

Using Routh Table:

s4 1 5 200
3
s 6 200a
s2 30-200a 1200
1
s 2
-4000a +600a-720
s0 1200
The highlighted expression is -ve for all real values of a; thus, the system is always unstable.
Hence, no value for a could be found, i.e. a PI controller won’t work [5 marks]
P3.
6 6K
(i) GP ( s )   TF ( s )  3  K max  10
s  6 s  11s  6
3 2
s  6 s  11s  6(1  K )
2

s 3  6 s 2  11s  6(1  K cr )  s 3  6s 2  11s  6(1  K cr )

 j 3  6 2  11 j  6(1  K cr )  0
 6(1  K cr )  6 2   j 11   2   0
 K cr   2  1  10

 2  11    3.32   2 [12 marks]
 Pcr   1.895
 
K P  0.6 K cr  6
KP
Ti  0.5 Pcr  0.95  K I   6.33
Ti
Td  0.125 Pcr  0.237  K D  K PTd  1.42

(ii) Using the parallel PID form

 1  6 
6 1   0.24 s   
C ( s)  0.95s   ( s  1)( s  2)( s  3)  8.53( s  2.11) 2
  4
R( s)  1  6  s  6 s 3  19.5s  42 s  38
1  6 1   0.24 s   
 0.95s   ( s  1)( s  2)( s  3) 
The closed-loop system has:
1. Two identical zeros at s = -2.11 [2 marks]
2. A c/cs equation: s 4  6 s 3  19.5s  42 s  38 [4 marks]

Using the I-PD form, will result in the same c/cs equation, while canceling the zeros; Thus, the
closed-loop system has:
1. No zeros [4 marks]
2. A c/cs equation: s 4  6 s 3  19.5s  42 s  38 [3 marks]
P4.
(i)
 K ( s  a )( s  b)   2 
C ( s) GC ( s )GP ( s)  s   s( s  4) 
   
R ( s) 1  GC ( s)GP ( s )  K ( s  a)( s  b)   2 
1    s ( s  4) 
 s  
2 K ( s  a )( s  b) 2 K ( s  a)( s  b)
 2  3 2 [4 marks]
s ( s  4)  2 K ( s  a )( s  b) s  s  4  2 K   s  2 K (a  b)   2 Kab
Num( s) Num( s )
  3
( s  1) ( s  10) s  12 s 2  21s  10
2

Thus,
2 K ( s  a )( s  b) Num( s )
 3
s  s  4  2 K   s  2 K (a  b)   2 Kab s  12 s 2  21s  10
3 2

4  2 K  12   K 4 [8 marks]
 
2 K (a  b)  21  a  2 (0.625)
2 Kab  10  b  0.625 (2)

(ii)
 K ( s  4) ( s  b)   2  2 K ( s  b)
GC ( s )GP ( s )    
 s   s ( s  4)  s2
 2 K ( s  b) 
C ( s) GC ( s )GP ( s )  s2  2 K ( s  b)
    2
R ( s) 1  GC ( s)GP ( s )  2 K ( s  b)  s  2 Ks  2 Kb
1  
 s2
Num( s ) Num( s )
  2
( s  1) 2
s  2s  1
Thus,
2 K ( s  b) Num( s )
 2
s  2 Ks  2 Kb s  2 s  1
2

[5 marks]
2K  2   K  1
 
2 Kb  1 b  0.5

Zero: -0.5 and Poles: -1, -1

The zero is very close to the dominant dynamics; hence it will affect the transient performance,
and the expected critically damped system will not be obtained! [2 marks]

 
K ( s  a )( s  b) Ks  K ( a  b) s  Kab
2  1  1  
(iii)   K ( a  b) 1    s
s s   a b s  ab  
  ab  
PID Parameters Design of Part (i) Design of Part (ii)
KP 10.5 4.5
Ti 2.1 2.25
Td 0.381 0.222
[6 marks]