Designing Compensator Problems
Designing Compensator Problems
Designing Compensator Problems
Control Engineering
Assignment 7 Solutions
1. A Derivative Control
Solution:
A Derivative Control helps reduces the overshoot and this is explained in Lecture-1 of Module 7. It
also increases the stability of the system by preventing sudden changes through increased damping in
the system.
1
2. Consider a plant with a transfer function G(s) = (s+0.5)(s+1.5) , in a unity feedback configuration. If
we use a proportional controller what would be the value of the gain K such that the steady state error
ess = 0.273.
Solution:
Since it is type-0 system, it can track only a step input. The steady state error for step input is given
by:
1
ess =
1 + Kp
1
3. Consider a plant with transfer function G(s) = s(s+2) again with a unity feedback. Suppose we add an
K
integral control of the form s. The closed loop system
(a) Has zero steady state error
(b) Has a finite steady state error
(c) Is marginally stable
(d) Unstable [Correct]
Solution
The system becomes unstable. The reason is discussed in the Module-7 lectures. It can also be verified
through the characteristic equation or root locus plot.
60K
4. Consider a system with transfer function G(s) = s(s+6)(s+2) , in a unity feedback setting. With K = 1,
the velocity error constant of the systems is
Solution
Kv = s G(s)
s→0
60
Kv = s
s→0 s(s + 6)(s + 2)
Kv = 60/12
Kv = 5
5. For the system in problem No.4 with K = 1, suppose we add a zero (on the real axis) to the open loop
transfer function at a location s = −z. What should be the value of 0 z0 (positive value) such that the
closed loop system, with the zero, has a peak overshoot of 44.7%.
Solution
60(s+z)
With the zero added and K = 1 , the transfer function becomes: G(s) = s(s+6)(s+2)
We can plot the step response of the system for different integer values of z in MATLAB using the
following commands:
t1 = tf([60 60*z],[1 8 72 60*z]);
step(t1)
It can be found that for z = 4, the peak overshoot is close to 44.7%.
6. What is the velocity error constant of the system in problem No.5 after the zero is added at s = −z
with a gain of K = 0.5
Solution
Kv = s G(s)
s→0
60 ∗ 0.5(s + 4)
Kv = s
s→0 s(s + 6)(s + 2)
Kv = 120/12
Kv = 10
7. In problem No.5, if we add the zero at s = z, with z as obtained above, then the closed-loop system is
(a) Stable
(b) Unstable [Correct]
(c) Marginally stable
Solution
60(s−4)
With the zero added at s = 4 , the transfer function becomes: G(s) = s(s+6)(s+2)
The system is unstable. This can be verified either using the characteristic equation or root locus plot.
8. Consider the simplified model of a DC motor in unity feedback as in the figure below, where W (s) is
the disturbance torque. With B = 10, A = 2 and With a proportional controller of the form D(s) = K p ,
what would be the value of K p such that the steady state error is ess = −0.1, with the disturbance being
a unit step [Ans K p = 50 ]
Solution
Setting R(s) = 0 & D(s) = K p , the transfer function with respect to the disturbance signal W (s) is given
by:
A
C(s) B s(sτ+1)
= A
W (s) A 1 + D(s) s(sτ+1)
C(s) B A
=
W (s) A s(sτ + 1) + AK p
C(s) B
=
W (s) s(sτ + 1) + AK p
1
Given W (s) = s ; C(s) due to disturbance signal is given by:
B
C(s) = W (s)
s(sτ + 1) + AK p
1 B
C(s) =
s s(sτ + 1) + AK p
9. In problem No. 8, with the same values of A and B, If the controller is PI, D(s) = k p + ksI , what will
be the steady state error, to a unit ramp disturbance, with KI = 50. [Ans = 0.1]
Solution
1
Given D(s) = K p + KI /s and W (s) = s2
, we get
Bs
C(s) = W (s)
s2 (sτ + 1) + A(K p s + KI )
1 B
C(s) = 2
s s (sτ + 1) + A(K p s + KI )
Ke−sτd
10. A process with open loop transfer function G(s) = T s+1 is controlled by a PID controller. For this
purpose
(a) the derivative mode improves transient performance [Correct]
(b) the derivative mode improves steady state performance
(c) the integral mode improves transient performance
(d) the integral mode improves steady state performance [Correct]
Solution
The derivative mode improves transient performance and the integral mode improves the steady state
performance.
11. A PD controller is used to compensate a system. Compared to the uncompensated system, the com-
pensated system has
(a) a higher type number
(b) reduced damping
(c) higher noise amplification [Correct]
(d) larger transient overshoot
Solution
The compensated system has higher noise amplification because noise signals change rapidly resulting
in large derivative errors.
12. A control system with PD controller is shown in the figure. If the velocity error constant is Kv = 1000
and the damping ratio is 0.5, then the values of KP and KD should be ?
If the velocity error constant is Kv = 1000 and the damping ration ζ = 0.5, then the value of KP and
KD are
(a) KP = 100, KD = 0.09
(b) KP = 100, KD = 0.9 [Correct]
(c) KP = 10, KD = 0.09
(d) KP = 10, KD = 0.9
Solution
Kv = lim sG(s)H(s)
s→0
(KP + KD s)100
⇒ 1000 = lim s = 10KP
s→0 s(s + 10)
⇒ KP = 100
The characteristic equation is given by
1 + G(s)H(s) = 0
(100 + KD s)100
⇒ 1+ =0
s(s + 10)
⇒ s2 + (10 + 100KD )s + 104 = 0
2ζ ωn = 100KD + 10
KD = 0.9
13. What is the real part (rounded to the nearest integer) of the dominant poles of the system with charac-
teristic equation s3 + 7s2 + 12s + 10?
Solution
The poles are at −5, −1 ± 1 j. As dominant poles are the poles closest to the origin, −1 ± 1 j are
dominant poles and −1 is the real part of those poles.
14. Statement: Addition of a zero to a closed loop system, close to the origin on the LHP increases the
rise time of the system
(a) True
(b) False [Correct]
Solution
False because it is discussed in Lecture-1 that the addition of a zero to a closed loop system will give
faster response resulting in decrease of rise time.
15. Which of the following statements are true for a lead compensator?
(a) zero of the compensator should dominate the pole of the compensator [Correct]
(b) pole of the compensator should dominate the zero of the compensator
(c) Approximates a PI controller
(d) Approximates a PD controller [Correct]
Solution