EEE-101 - Control Systems Engineering
Tutorial - 8
1. A unity feedback system with the forward transfer function
K
G(s) =
s(s + 7)
is operating with a closed-loop step response that has 15% overshoot.
(a) Using root-locus method, Design a lag compensator to improve the steady-state error to a
unit ramp input by a factor of 20.
(b) Evaluate how much improvement in steady-state error was realized.
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2. Consider a unity negative feedback system with forward path transfer function G(s) = .
(s + 4)3
(a) Find the location of the dominant closed-loop poles to yield a 1.6 second settling time and an
overshoot of 25%.
(b) If a compensator with a zero at −1 is used to achieve the conditions of Part (a), what must
be the angular contribution of the compensator pole at the second quadrant dominant pole
location?
(c) Find the location of the compensator pole.
(d) Find the compensator gain required to meet the specifications stated in Part (a).
(e) Find the location of other closed-loop poles for the compensated system.
3. Given the system of the below figure, design a PID controller so that the system can operate with
a peak time that is two-thirds that of the uncompensated system at 20% overshoot and with zero
steady-state error for a step input.
[Refer the supplementary note for PID controller design guideline and the solution]
4. Design a lag-lead compensator for the system shown in the figure below so that the system will
operate with 20% overshoot and a twofold reduction in settling time. Further, the compensated
system will exhibit a tenfold improvement in steady-state error for a ramp input.
[Refer the supplementary note for lag-lead compensator design guideline and the solution]
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5. Self-guided vehicles are used in factories to transport products from station to station. One method
of construction is to embed a wire in the floor to provide guidance. Another method is to use an
onboard computer and a laser scanning device. Bar-coded reflective devices at known locations
allow the system to determine the vehicle’s angular position. This system allows the vehicle to travel
anywhere, including between buildings. The following figure shows a simplified block diagram of the
vehicle’s bearing control system. For 11% overshoot, K is set equal to 2. Design a lag compensator
using frequency response techniques to improve the steady-state error by a factor of 30 over that
of the uncompensated system.