Queensland University of Technology

School of Electrical and Electronic Systems

Engineering
EEB511 Tutorial on Classical Control Theory
Question 1
For each of the following characteristic equations determine the values of k for which the system is
stable.
(a)
(b)
(c)
(d)

3 + 32 + 3 + 1 + k = 0
4 + 63 + 112 + 6 + k = 0
3 + 3k2 + (k + 2) + 4 = 0
4 + 43 + 132 + 36 + k = 0

Question 2
Obtain a root locus plot for the following open loop transfer function Use rltool to obtain the plot.

GH (s ) =

k
(s + 8) s + 6s + 13

Question 3
For the open loop transfer function in Question 2 determine using Matlab/Simulink
(a) the system gain when the damping ratio is 0.707
(b) the time domain characteristic for the dominant roots for the gain estimated in (a)
(c) the gain and phase margins for the gain found in (a)

Question 4
Consider the control system shown in Figure 1 below.

r(t)

+
GC(s)
-

k
(s + 0.5)(s + 2)

c(t)

Figure 1
(a) Estimate the performance (damping ratio, settling time and position error constant for this system
with any compensation GC(s)
(b) Design a lead compensator GC(s) such that
Damping ratio = 0.6
Settling time <2.0 sec
Position Error Constant >10