Palestine Polytechnic University

College of Engineering
Mechanical Engineering Department

Control Systems ME 411 (4044)

Assignment No. 5

Subject: First Major Project

Due date: 20.04.2020

Name of Student: Ali Ghassan Shahin

Student Number: 175067

:‫لقد قمت بنفسي بالوصول الى الحل وإجراء الخطوات الﻼزمة وعمل أي برمجية ﻻزمة دون مساعدة خارجية وعليه أوقع‬

2020/4/20 ‫التاريخ‬ ‫علي غسان شاهين‬ ‫التوقيع‬

Hand written solution for part one:

The matlab code for section (d):

% We frist define the transfer function G(s) with gain 1

k=1;
G=zpk([],[0 -6 -10],k)
G =

1
--------------
s (s+6) (s+10)

Continuous-time zero/pole/gain model.

%By drawing the rlocus on the s-plane we can determine where the system is
%marginally stable and we can find the value of K
rlocus(G)

%the value of gain is now determined

% we find that when k is greater than 960 the system will be unstable
% when k is less than 960 the system will be stable
% when k is equal to 960 the system will be marginally stable
%the value of gain is now determined
Kn=960;
Gn=Kn*G;
T=feedback(Gn,1)
T =

960
-----------------
(s+16) (s^2 + 60)

Continuous-time zero/pole/gain model.

%Finding the poles for the K=960
pole(T)
ans = 3×1 complex
-16.0000 + 0.0000i
-0.0000 + 7.7460i
-0.0000 - 7.7460i
%There are two imaginary poles
%that means the system is marginally stable
The hand-written solution of part 2:
Figure 1:The step input and the transfer function (ees is zero)

Figure 2:The ramp input and the transfer function(ess=0.3)

The matlab code for part 3:
%we can approximate the transfer function into second-order
Kn=200;
Gn=Kn*G;
T=feedback(Gn,1)
T =

200
--------------------------------
(s+12.48) (s^2 + 3.524s + 16.03)

Continuous-time zero/pole/gain model.

pole(T)
ans = 3×1 complex
-12.4756 + 0.0000i
-1.7622 + 3.5953i
-1.7622 - 3.5953i
T=tf(200,[1 3.524 16.03])
T =

200
---------------------
s^2 + 3.524 s + 16.03

Continuous-time transfer function.

stepinfo(T)
ans = struct with fields:
RiseTime: 0.3825
SettlingTime: 2.0901
SettlingMin: 11.6652
SettlingMax: 15.1494
Overshoot: 21.4223
Undershoot: 0
Peak: 15.1494
PeakTime: 0.8625

Figure 3:The figure from the Simulink of the transient response of the system after the approximation

As shown, in the figure above Tp (T1) =0.92. In addition, Ts(T2) =2.18. There is a slight difference
between these values and the values that I calculated before. The %OS is found to be 21.3% from
the Simulink.