NPTEL Online Course: Control Engineering

Ramkrishna Pasumarthy

Assignment-8 Solutions
1
1. Given an open loop transfer function G(s) = (s+2)(s+3) . Design a compensator Gc (s) = K s+a
s+b . such
that the closed-loop poles at s = −1 ± j. What is the value of K in the compensator? Hints: You may
use a pole zero cancellation and also plot root locus on MATALB to verify.

Solution:

Closed poles should be at s = −1 ± j.

The characteristic equation should be s2 + 2s + 2 = 0. When this is written in unity feedback form, we
get

s2 + 2s + 2 = 0
2
1+ 2 =0
s + 2s
2
1+ =0
s(s + 2)

Therefore the open loop transfer function with compensator is given by:
2
G(s)Gc (s) =
s(s + 2)
K(s + a) 2
=
(s + 2)(s + 3)(s + b) s(s + 2)

As given in the hint, we can take a = 3 and cancel out the pole and zero as s = −3. By comparing the
rest of the terms, we get K = 2 & b = 0.
2. In Problem 1, what is the value of a in the designed compensator ?

Solution

a=3
3. In Problem 1, what is the value of b in the designed compensator ?

1
 Solution

b=0
1
4. Given an open loop transfer function G(s) = s(s+3)(s+6 , design a compensator which approximately
meets the following specifications for unit step response:
(a) The settling time is ts ≤ 5 sec
(b) The step response overshoot M p = 16.3%
(c) The steady state error to a unit ramp is 10%.
There is a proportional controller which will meet the transient specifications. Find that value of K
(proportional controller).

Solution

Draw the root locus in MATLAB using the following commands:

g = tf([1],[1 9 18 0]);
rlocus(g)
By moving the cursor on the root locus, we can find the value of K which meets the transient specifi-
cations of ts ≤ 5 sec and M p = 16.3%
K = 28 (You will get marks for writing any value between 27 and 29)
5. What is the velocity error constant Kv of the gain adjusted system?

Solution

Kv = lim sKG(s)
s→0
28
Kv = lim
s→0 s(s + 3)(s + 6)
28
Kv =
18
Kv = 1.5

(You will get marks for writing any value between 1.4 and 1.7)
6. For the gain compensated system in Problem No. 4, if we add a lag compensator, what should be the
value of β ?

2
 Solution

The value of β is given the ratio of desired Kv to the existing Kv of the system.
Kv0
β=
Kv
10
β=
1.5
∴ β = 6.66

(You will get marks for writing any value between 6 and 7)
7. In Problem No.6, if the compensator zero is added at −0.1, what should be the location of the com-
pensator pole ?

Solution

zc
β=
pc
zc
∴ pc =
β
−0.1
pc =
6.66
pc = −0.015

(You will get marks for writing any value between -0.018 and -0.013)
8. Given the plant transfer function of a servomechanism to be
10
G(s) =
s(s + 2)(s + 8)
Design a lead-lag compensator Gc (s) in unity feedback configuration to meet the following specifica-
tion for step response:
(a) M p = 16.3%
(b) The rise time tr = 0.6046 sec
(c) The steady state error to a unit ramp input must be equal 0.0125.
What is the real part of the dominant poles of the compensated system?

Solution
√
The dominant poles are calculated to be sd = −2 ± 2 3 and the corresponding characteristic equation
is s2 + 4s + 16. Therefore, the real part of the dominant pole is -2
9. In Problem No.8, we begin with design of lead compensator. What is the angle deficiency to be
contributed by the lead compensator at the desired pole locations?

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 Solution

The angle deficiency can be calculated using the angle criterion of the root locus.

φ = −180 − (−∠sd − ∠(sd + 2) − ∠(sd + 8))

 √   √   √ 
2 3 2 3 2 3
φ = −180 − (− tan−1 − tan−1 − tan−1 )
−2 −2 + 2 −2 + 8
√
 
1
φ = −180 − (−(180 − tan−1 ( 3) − tan−1 (∞) − tan−1 √ )
3
φ = −180 − (−120 − 90 − 30)
φ = 60o

10. In Problem No.9, what is the value of γ

Solution

Taking ζ from the characteristic equation of dominant poles, we calculate

θ = cos−1 (ζ ) = cos−1 (0.5) = 60o
In Problem No.9,we got φ = 60o

1
γ = (180 − θ − φ )
2
1
γ = (180 − 60 − 60)
2
γ = 30o

11. In Problem No.9, what is the location of the lead compensator zero ?

Solution

From the dominant pole characteristic equation, ωn = 4

The compensator zero is given by
sin(γ)
zc = ωn
sin(θ + γ)
sin(30)
zc = 4
sin(60 + 30)
zc = 2

Since the zero is located in the LHP, its location is -2

It can be observed that there is a pole zero cancellation that happens in the compensated system.
12. In Problem No.9, what is the location of the lead compensator pole?

4
 Solution

The compensator pole is given by

sin(γ + φ )
pc = ωn
sin(θ + γ + φ )
sin(30 + 60)
pc = 4
sin(60 + 30 + 60)
pc = 8

Since the pole is located in the LHP, its location is -8

13. In Problem No.9, what is the gain introduced by the lead compensator alone?

Solution

The open loop transfer function of the compensated system with gain K is given by:
10
KG(s)Gc (s) = K
s(s + 8)2

The root locus for the compensated system is plotted in MATLAB using the following commands:
g = tf([10],[1 16 64 0]);
rlocus(g)
√
The gain of the system for the dominant closed loop poles to be sd = −2 ± 2 3 is determined to be
19.1 which is the gain to be provided by the compensator.
(You will get marks for writing any value between 18 and 20)
The open loop
√ transfer function of the compensated system which has dominant closed loop poles
sd = −2 ± 2 3 is given by:
191
KG(s)Gc (s) =
s(s + 8)2

14. In Problem No.9, what is the velocity error constant of the lead compensated system ?

Solution

The open loop transfer function of the lead compensated system is:
191
KG(s)Gc (s) =
s(s + 8)2

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 The velocity error constant is given by:

Kv = lim sKsG(s)Gc (s)

s→0
191
Kv = lim s
s→0 s(s + 8)2
191
Kv =
64
Kv = 2.9

(You will get marks for writing any value between 2.5 and 3.5)
15. For the lead compensated system in Problem No.9, we now add a lag compensator assuming αβ = 1.
With this value of β , what is the new velocity error constant Kv ?

Solution

zc
α=
pc
2
α=
8
α = 0.25

Given that αβ = 1, we get

1
β=
α
1
β=
0.25
β =4

The new velocity error constant Kv is given by:

Kv0 = β Kv
Kv0 = 4 × 2.9
Kv0 = 11.6

(You will get marks for writing any value between 11 and 13)
16. n problem No.15, it is clear the design requirements are not met with the choice of β . We design a lag
compensator independently. What should be the value of β such that steady state error specification
is met ?

6
Solution

For the specification to be met, ess = 0.0125

1
Kv0 =
ess
1
Kv0 =
0.0125
Kv0 = 80

For Kv0 to be 80, the value of β should be:

Kv0
β=
Kv
80
β=
2.9
β = 27.59

(You will get marks for writing any value between 25 and 28)