Exercise 1

Suppose we have a simple mass, spring, and damper problem. Find

1. The modeling equation of this system (F input, x output).
2. The transfer function.

Let M = 1 kg b = 10 N s/m k = 20 N/m F=1N

3. Find Open-Loop Step Response.

4. Design a proportional controller to improve the output (𝜔 =17.89).
5. Design a proportional derivative controller to improve the output (𝜁=0.56 and 𝜔 =17.89).
 Solution 1
1. The modeling equation of this system
𝑑 𝑥
𝑓=𝑀 𝑀𝑥̈ = −𝑏𝑥̇ − 𝑘 𝑥 + 𝐹 ⟹ 𝑀𝑥̈ + 𝑏𝑥̇ + 𝑘 𝑥 = 𝐹
𝑑𝑡
2. The transfer function.
Taking the Laplace transform of the modeling equation, we get
𝑀𝑠 𝑋 𝑠 + 𝑏 𝑠𝑋(𝑠) + 𝑘 𝑋(𝑠) = 𝐹(𝑠) ⟹ 𝐺 𝑠 = =

Let M = 1 kg b = 10 N s/m k = 20 N/m F = 1 N

Plug these values into the above transfer function
3. Find Open-Loop Step Response.
Create a new m-file (Matlab) and run the following code:
𝑋 𝑠 1
𝐺 𝑠 = =
𝐹 𝑠 𝑠 + 10 𝑠 + 20

• the DC gain of the plant transfer function is 1/20, so 0.05 is the final value of the output to
an unit step input.
• this corresponds to the steady-state error of 0.95, quite large indeed.
• the rise time is about one second,
• the settling time is about 1.5 seconds
4. Proportional Control
The proportional controller (Kp) reduces the rise time, increases the overshoot, and reduces the
steady-state error.
𝑋 𝑠 𝐾 𝐹 𝑠 1 𝑋 𝑠
𝐺 𝑠 = = +- 𝐾
𝐹 𝑠 𝑠 + 10 𝑠 + (20 + 𝐾 ) 𝑠 + 10 𝑠 + 20

𝜔 = 20 + 𝐾 ⟹ 𝐾 = 𝜔 − 20 = 300 𝜔 = 17.89

Let the proportional gain equal 300 and change the m-file to the following

The above plot shows that the proportional controller reduced

both the rise time and the steady-state error, increased the
overshoot, and decreased the settling time by small amount.
Proportional-Derivative Control 𝜁=0.56 and 𝜔 =17.89
Now, let's take a look at a PD control. From the table shown above, we see that
the derivative controller (Kd) reduces both the overshoot and the settling time.
The closed-loop transfer function of the given system with a PD controller is:
20 + 𝐾 = 𝜔 ⟹ 𝐾 = 𝜔 − 20 = 300
10 + 𝐾 = 2𝜁𝜔 ⟹ 𝐾 = 2𝜁𝜔 − 10 = 2 0.56 17.89 − 10 ⟹ 𝐾 = 10

This plot shows that the derivative controller reduced both

the overshoot and the settling time, and had a small effect
on the rise time and the steady-state error.
 Exercise 2
The plant consists of rotating mass with inertia J and a viscous friction b, a torque T is applied
to control the position of the mass.

1. Find the system model.

2. Find the transfer function.
3. Control the position 𝜃 using T to have 𝜁 = 0.7 (Proportional controller)

𝜃 𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 rotation

𝑇𝑜𝑟𝑞𝑢𝑒 T
Inertia: J = 10
Friction: b = 0.5
 Solution 2
1. The modeling equation of this system Desired poles
Integrator (p=0)
𝑑 𝜃
𝑇𝑜𝑟𝑞𝑢𝑒𝑠 = 𝐽 𝐽𝜃̈ = 𝑇 − 𝑏𝜃̇ ⟹ 𝐽𝜃̈ + 𝑏𝜃̇ = 𝑇 ⟹ 𝜃̈ + 0.05 𝜃̇ = 0.1 𝑇
𝑑𝑡
𝑏 1
̈
𝜃(𝑡) ̇
+ 𝜃(𝑡) = 𝑇(𝑡)
2. The transfer function
-0.05
𝐽 𝐽
𝜃 𝑠 0.1
𝑠 𝜃 𝑠 + 0.05 𝑆 𝜃 𝑠 = 0.1 𝑇 𝑠 ⟹ = System poles
𝑇 𝑠 𝑠 + 0.05 𝑠
3. System control: The open Loop Analysis(check 𝑡 ) Given the characteristic equation we calculate the
value of 𝐾 to have the desired transient response
𝑡 = = = 80 𝑠𝑒𝑐 (very slow moving system)
.
𝐶𝐿𝐶𝐸 ∶ 𝑠 + 0.05 𝑠 + 0.1𝐾
The close-Loop with Proportional controller Analysis
𝐶𝐿𝐶𝐸 𝐷𝑒𝑠𝑖𝑟𝑒𝑑 ∶ 𝑠 + 2𝜁𝜔 𝑠 + 𝜔
𝜃 𝑠 𝑇 𝑠 𝜃 𝑠
0.1 The desired specifications: 𝜁 = 0.7
+ 𝐾
- 𝑠 + 0.05 𝑠
2𝜁𝜔 = 0.05
0.1𝐾 = 𝜔
0.05
0.1𝐾 Matching 𝜔 = = 0.0357 𝑟𝑎𝑑/𝑠𝑒𝑐
0.1𝐾 2 (0.7)
𝑇 𝑠 = 𝑠 + 0.05 𝑠 =
0.1𝐾 𝑠 + 0.05 𝑠 + 0.1𝐾 𝐾 = 10 (0.0357) = 0.0127
1+
𝑠 + 0.05 𝑠
The desired poles: 𝑃 , = −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −0.025 ± 𝑗0.025
 Exercise 3

The plant G(s) is given 𝐺 𝑠 = , design a PD controller (using pole placement)

to have the desired system response: 𝝃 = 𝟎. 𝟓, and 𝑻𝒔 = 𝟏𝒔

1. Find the desired poles and give the PD controller transfer function 𝐺 (𝑠) (general
form).
2. Find the closed loop transfer function CLTF (with PD controller).
3. Find the closed loop characteristic equation CLCE.
4. Find the gains 𝐾 and 𝐾 of the PD controller.
 Solution
1. desired poles at : 𝑻𝒔 = → 𝝎𝒏 = = = 8 𝑟𝑎𝑑/𝑠𝑒𝑐
𝝃𝝎𝒏 𝝃𝑻𝒔 .
𝑠 , = −𝝃𝝎𝒏 ± 𝝎𝒏 1 − 𝝃 = −4 ± 𝑗 6.93

PD controller transfer function: 𝐺 𝑠 =𝐾 +𝐾 𝑠

( ) ( )
2. CLTF : 𝑇 𝑠 = =
( )

3. CLCE: 𝑠 + 10 𝐾 − 3 𝑠 + 10 𝐾 + 2 = 0

4. Desired CLCE: 𝑠 + 2 𝝃 𝝎𝒏 𝑠 + 𝜔 = 0

𝝃 𝝎𝒏 𝟑
PD controller Gains: 𝐾 = 𝑎𝑛𝑑 𝐾 =

𝐾 = 6.2 and 𝐾 = 1.1

 Exercise 4

Use a PI controller to control the system G s =

to meet the specifications 𝜁 = 0.7 𝑎𝑛𝑑 𝑡 < 0.5 𝑠𝑒𝑐.

 Solution
The system is type zero, it has no integrator. In order to have no steady-state error we need to add an
integrator to make the system type one.

The open Loop Analysis: the system pole at p= - 4.

satisfy the settling time
𝜁 = 0.7. 8 8
Im

4 𝜎 = 𝜁𝜔 > 8 𝜔 > = 𝜔 > 11.43.71 𝜔 = 12 𝜎>8

𝑡 = < 0.5 𝜁 0.7
𝜎 Re
The controller design: PI controller𝑦 𝑠 𝑦 𝑠 -8
𝐾 2
+- 𝐾 +
𝑠
-4
𝑠+4
System poles

𝐾
𝐾 (𝑠 + )
The PI controller can be written as: 𝐾 Zero =𝐾
𝐾 + =𝐾
𝑠 𝑠
Gain Integrator
𝐾
𝐶𝐿𝐶𝐸 ∶ 𝑠 𝑠 + 4 + 𝐾 𝑠+ =0 𝑠 + (4 + 2𝐾 ) 𝑠 + 2𝐾 = 0
𝐾
𝐷𝑒𝑠𝑖𝑟𝑒𝑑 𝐶𝐿𝐶𝐸 ∶ 𝑠 + 2𝜁𝜔 𝑠 + 𝜔 = 𝑠 + 2 0.7 12 𝑠 + 12 = 𝑠 + 16.8 𝑠 + 144 = 0

4 + 2𝐾 = 16.8 𝐾 = 6.4
2𝐾 = 144
𝐾 = 72