Control Systems-I (Comprehensive Assignment)
Instructions: You have to utilize MATLAB for all of the questions
Root Locus (10 marks)
1. Sketch the Root Locus
Given the open-loop transfer function:
G(s)H(s) = K / [s(s+2)(s+4)]
- Sketch the root locus.
- Determine the breakaway and break-in points.
- Find the value of K for which the system becomes marginally stable.
2. Effect of Adding a Zero
Given:
G(s)H(s) = K(s+3) / [s(s+2)(s+5)]
- Sketch the root locus.
- Compare the root locus with and without the zero at s = -3.
3. Root Locus with Complex Poles
G(s)H(s) = K / [(s^2 + 2s + 2)(s+1)]
- Sketch the root locus.
- Determine the angle of departure from the complex poles.
4. Root Locus Design
Design a compensator such that the dominant poles of the closed-loop system lie at s = -2 ± j2.
Given:
G(s) = K / [s(s+4)]
Bode Plot (10 marks)
1. Sketch the Bode Plot
For the transfer function:
G(s) = 10 / [s(s+10)]
- Sketch the magnitude and phase plots.
- Determine the gain crossover frequency and phase margin.
2. Bode Plot with Lead Compensator (Try to understand the term compensator
and connect it with your notes.. We had discussed it)
Given:
G(s) = (s+10) / [s(s+1)]
- Sketch the Bode plot.
- Identify the effect of the zero at s = -10.
3. Determine Transfer Function from Bode Plot
A Bode plot shows a slope of -20 dB/dec starting at 1 rad/s and -40 dB/dec starting at 10 rad/s.
- Estimate the transfer function.
- Sketch the corresponding Bode plot.
4. Gain and Phase Margins
Given:
G(s) = 100 / [s(s+5)(s+10)]
- Sketch the Bode plot.
- Determine the gain margin and phase margin.
PID Controller – Ziegler-Nichols Method (10 marks)
1. Ultimate Gain and Period
A system exhibits sustained oscillations when the proportional gain Ku = 50 and the oscillation
period Pu = 2 seconds.
- Determine the PID parameters using the Ziegler-Nichols tuning rules for:
- P Controller
- PI Controller
- PID Controller
2. Tuning a PID Controller
Given the open-loop transfer function:
G(s) = 1 / [s(s+2)]
- Perform a step response test to estimate the ultimate gain and period.
- Use Ziegler-Nichols tuning to design a PID controller.
3. Simulation-Based Tuning
A plant is modeled in MATLAB/Simulink and shows sustained oscillations at Ku = 80, Pu = 1.5
seconds.
- Calculate the PID parameters using Ziegler-Nichols.
- Discuss the expected behavior of the system with these parameters.
4. Compare Tuning Methods
For a system with transfer function:
G(s) = 10 / [s^2 + 3s + 10]
- Tune the PID controller using:
- Ziegler-Nichols method
- Trial-and-error method (You can utilize MATLAB)
- Compare the performance in terms of rise time, overshoot, and settling time.
Real-Time Systems for PID Controller (5 marks)
1. Suspension System
Design a PID controller for a suspension system modeled by the transfer function as derived in
the class- Use the Ziegler-Nichols method to tune the PID parameters.
2. Dual Mass Spring Damper System
Consider any example of the dual mass spring damper system and implement the following
things:
- Perform a step response test to estimate the ultimate gain and period.
- Use Ziegler-Nichols tuning to design a PID controller.
3. DC Motor
Design a PID controller for a suspension system modeled by the transfer function as derived in
the class-
- Use the Ziegler-Nichols method to tune the PID parameters.