Assignment (CEP)
SUBJECT: LINEAR CONTROL SYSTEMS
TERM: SPRING 2026
INSTRUCTOR: ENGR. JANNAT BAKHT
CREDIT HOURS: 3(THEORY)+1(LAB)
SEMESTER: 6 TH
Sr. CLO Domain Taxonom PLO
No y Level
1 Apply Laplace transform and state space Cognitiv C3 1
techniques to model electrical, e
mechanical, and electromechanical
systems.
2 Analyze the system’s performance Cognitiv C4 2
parameters i-e transient response, steady e
state error, sensitivity, and stability.
3 Design of compensators/controllers to Cognitiv C5 3
improve transient and steady-state e
performance of different systems
according to given specifications.
Question 1[CLO-3, 20 marks]
Design appropriate compensator(s) / controller(s) to improve both transient and steady-
state performance
Problem Statement (Specific, Control Systems Context)
1- Industrial Control System Challenges
Industrial plants, power generation units, and automated manufacturing systems in Pakistan are
facing serious control performance issues due to:
• Poor transient response (high overshoot and long settling time)
• Large steady-state errors in tracking reference inputs
• Instability under varying operating conditions
• Sensitivity to parameter variations and disturbances
• Inadequate stability margins leading to oscillations
2- Limitations of Uncompensated Control Systems
Traditional uncompensated feedback systems are not capable of:
• Meeting strict transient performance specifications (overshoot, rise time, settling time)
• Reducing steady-state error for ramp or varying reference inputs
• Maintaining sufficient gain and phase margins
• Achieving robustness against disturbances and plant uncertainties
• Providing stable operation over a wide operating range
3- Consequences of Poor Controller Design
The absence of properly designed compensators/controllers results in:
• Excessive oscillations and instability
• Slow system response
• Poor tracking accuracy
• Increased energy consumption and mechanical stress
• Reduced lifespan of equipment
Question
A unity feedback control system has the open-loop transfer function:
K
G(s)=
s (s+ 4)(s+10)
Design appropriate compensator(s) (Lead, Lag, or Lag–Lead controller) to improve the transient
and steady-state performance of the system such that the following specifications are satisfied:
• Percent overshoot M p ≤10 %
• Settling time T s (2 %)≤2 seconds
• Steady-state error for a unit ramp input e ss ≤ 0.05
• Phase margin ≥ 45°
• Gain margin ≥ 6 dB
Your design should:
• Analyze the uncompensated system
• Determine required dominant pole locations
• Design suitable compensator(s)
• Justify design analytically
• Verify results using Root Locus, Bode Plot, and Step Response
• Compare uncompensated and compensated system performance
1. Literature Review and Problem Identification (Analyze)
In this section, students are required to review existing controller design techniques used in
linear control systems for improving system performance. The review should include lead
compensators, lag compensators, lag–lead compensators, and PID controller tuning methods,
along with classical design approaches based on root locus and frequency response techniques.
The analysis should explain how these controllers improve transient response characteristics
such as rise time, percent overshoot, and settling time, while also enhancing steady-state
accuracy and stability margins. Students must critically examine the limitations of
uncompensated systems, including excessive oscillations, slow response, large steady-state error,
and poor gain and phase margins. Based on this analysis, the control performance problem of the
given unity feedback system
K
G ( s )= must be clearly identified, and the necessity of designing an appropriate
s ( s +4 )( s+10 )
compensator to meet the specified performance requirements should be justified.
2. Mathematical Modeling (Analyze and Develop)
In this part, students must develop the mathematical framework required for controller design
and performance evaluation. This includes deriving the closed-loop transfer function of the unity
feedback system and modeling the transient response specifications using second-order system
approximations. The relationship between damping ratio, natural frequency, percent overshoot,
and settling time must be established to determine the desired dominant pole locations. Steady-
state error analysis should be performed using appropriate error constants, particularly the
velocity error constant for ramp input. Frequency-domain modeling must also be carried out to
analyze gain margin and phase margin using Bode plot concepts. The developed mathematical
model should clearly demonstrate how compensator pole-zero placement affects system stability,
transient performance, and steady-state accuracy, and it should provide a basis for comparing
uncompensated and compensated system behavior.
3. Engineering Design and System Development (Design)
In this section, students are required to design appropriate compensator(s), such as a lead, lag, or
lag–lead controller, to ensure that the system satisfies the given specifications for percent
overshoot, settling time, steady-state error, gain margin, and phase margin. The design process
should include selection of suitable compensator type, analytical calculation of compensatory
parameters, and modification of the root locus and frequency response characteristics.
MATLAB-based verification through step response analysis, root locus plots, and Bode diagrams
should be performed to validate the design. The final system must demonstrate clear
improvement in transient response, reduction in steady-state error, enhancement of stability
margins, and overall robustness. A comparative discussion between the uncompensated and
compensated systems should be included to highlight the effectiveness of the proposed controller
design.
5. Engineering Justification and Validation (Evaluate and Justify)
• System Reliability
• Dynamic Performance Improvement
• Steady-State Accuracy
• Robustness and Stability Margins
• Cost Effectiveness and Practical Implementation
• Suitability for Industrial Applications in Pakistan
• Validation through Simulation and Analysis
CEP Attribute Description
Depth of Requires advanced knowledge of linear control systems, compensator design
Knowledge techniques (lead, lag, lag–lead), transient and steady-state analysis, stability
(WP1) criteria, root locus, frequency response methods, and mathematical modeling.
Depth of Analysis Analyze system performance, design compensators, and validate
required (WP3) improvements using simulations.
Rubric Table (Total = 100%)
Good (70– Satisfactory
Criteria Excellent (85–100%) Poor (<55%)
84%) (55–69%)
Good review;
Literature Comprehensive review of Limited review;
problem Poor or missing
Review and controller design techniques; weak problem
identified; review; unclear
Problem clear gap identified; strong identification;
design problem
Identification justification for compensator limited
approach definition
(20%) selection justification
mostly justified
Accurate and complete
Mostly correct Basic modeling; Incorrect,
modeling of closed-loop
Mathematical modeling; incomplete incomplete, or
system, transient response,
Modeling minor derivations or missing
steady-state error, and
(20%) analytical weak mathematical
stability margins with proper
errors justification model
derivations
Good (70– Satisfactory
Criteria Excellent (85–100%) Poor (<55%)
84%) (55–69%)
Complete and technically
sound Basic design;
Mostly correct Incorrect or
compensator/controller some
Controller design; minor incomplete
design meeting all specifications
Design (30%) calculation or controller
specifications; correct not fully
validation gaps design
parameter calculation and satisfied
validation
Mostly clear Poor
Presentation Professional report with
presentation; presentation;
and clear diagrams (Root Locus, Acceptable but
minor unclear analysis
Engineering Bode, Step Response), lacks clarity or
formatting or and weak
Judgment tables, and sound technical depth
explanation engineering
(10%) engineering reasoning
issues reasoning
Deliverables
Students must submit a complete Compensator/Controller Design Report including:
Literature review of controller design techniques
Problem formulation and performance specifications
Mathematical modeling of the system (transient, steady-state, stability analysis)
Controller/compensator design (Lead, Lag, or Lag–Lead)
Engineering justification and validation (simulation and analysis)
Results, comparison with uncompensated system, and conclusions