NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

Hard-Disk Read/Write Head Controller

Transfer function of the READ/WRITE HEAD CONTROLLER:

For some specific values of K , J and C , so Using the values J = 1 kg m2,

C = 2 Nm/(rad/sec), K = 2 Nm/rad, and Ki = 1 Nm/rad, form the transfer
function , we get

Transfer function:
1
--------------s^2 + 2s + 2

Pole Zero Plot---Root Locus---Step Response of uncompensated system.

MATLAB CODE
%open loop
%

without compensator

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****
syms s
g=1/(s^2 + 2*s + 2)
[n,d]=numden(g)
num=sym2poly(n)
den=sym2poly(d)
figure(1)
rlocus(num,den)
figure(2)
step(num,den)
figure(6)
zplane(num,den)

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

Pole Zero Plot---Root Locus---Step Response of compensated

system.
For improving steady state error we use PI compensator.
MATLAB CODE
% close loop compensator
With Compensator = K(S+a)/S = (1)(S+1)/S
syms s
g=(s+1)/((s^3 +2*s^2 + 2*s)+(s+1))
[n,d]=numden(g)
num=sym2poly(n)
den=sym2poly(d)
figure(4)
rlocus(num,den)
title('rlocus')
figure(5)
step(num,den)
title('Step response')
figure(6)
zplane(num,den)
title('pole-zero plot')

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

NAME----FARHAN HAKIM (S-3122)

ASSIGNMENT # 02
CLASS-----TELECOM - 11
CONTROL SYSTEM
*********************************************************************************
****

Step Response of compensated system.

The compensator Improves steady state error