Ali Herssi

Bloc 4 Challenge
Introduction:
In the last challenge we have linearized our system and through that we have seen the advantages and drawbacks of
linearization. In this challenge we want to replace linear differential equation by simpler algebraic equation which are
called transfer functions. These transfer functions which are an input output description of the behavior of our system
are simpler to solve than linear differential equations.
Analytically:

−𝐾𝑃1 −𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)

𝑑 𝑃̃ 𝑃̃ 1
[ 𝑚1 ] = [ −1 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) ] [ 𝑚1 ] + [ ] 𝑢̃ ⇔ 𝑥̃̇ = 𝐴𝑥̃ + 𝐵𝑢̃
𝑑𝑡 𝛿 ̃
𝛿 0
𝜏 𝜏
Or alternatively:
𝑑
𝑃̃ = (−𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))𝛿̃ − 𝐾𝑃1 𝑃̃ 𝑚1 + 𝑢
̃
𝑑𝑡 𝑚1
𝑑 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 1
𝛿̃ = ( ) 𝛿̃ − 𝑃̃
𝑑𝑡 𝜏 𝜏 𝑚1
In Laplace
𝑠 × 𝛿̃ (𝑠) − 𝛿̃ (0) = (−𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))𝛿̃(𝑠) − 𝐾𝑃1 𝑃̃ ̃
𝑚1 (𝑠) + 𝑈(𝑠)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 1
𝑠 × 𝑃̃ ̃
𝑚1 (𝑠) − 𝑃𝑚1 (0) = ( ) 𝛿̃ (𝑠) − 𝑃̃ (𝑠)
𝜏 𝜏 𝑚1
We assume that the system was at an equilibrium, thus:
𝛿(0) = 𝛿̅ ↔ 𝛿̃ (0) = 0
𝑃𝑚1 (0) = ̅̅̅̅̅
𝑃𝑚1 ↔ 𝑃̃ 𝑚1 (0) = 0
Then
𝑠 × 𝛿̃ (𝑠) = (−𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))𝛿̃ (𝑠) − 𝐾𝑃1 𝑃̃ ̃
𝑚1 (𝑠) + 𝑈(𝑠)
| || |
𝐵12 𝐸1 𝐸2 cos(𝛿) 1
𝑠 × 𝑃̃ 𝑚1 (𝑠) = ( ) 𝛿̃ (𝑠) − 𝑃̃ (𝑠)
𝜏 𝜏 𝑚1
̃
𝑃𝑚1 (𝑠)
̃(𝑠)is my input and 𝑃̃
Say 𝑈 𝑚1 (𝑠) is my output. Then the transfer function 𝐺(𝑠) = 𝑈̃ (𝑠)
1+𝜏×𝑠
𝛿̃ (𝑠) = 𝑃̃
𝑚1 (𝑠) × (1)
𝐵12 𝐸1 ||𝐸2 | cos(𝛿)
|
So
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑃̃𝑚1 (𝑠) 𝜏
𝐺(𝑠) = = (2)
𝑈̃(𝑠) 2 (1 + 𝜏𝐾 𝐵 |
𝑃2 12 1𝐸 || 𝐸 2 | cos(𝛿)) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠 + ×𝑠+
𝜏 𝜏
𝛿̃ (𝑠) 𝐾𝑠
𝐺(𝑠) = =
̃(𝑠) 𝑠2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 ²
𝑈
By identification:
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝐾𝑠 =
𝜏
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝜔𝑛 = √
𝜏
1 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 1
𝜉 = × (𝐾𝑃1 + )×
2 (−𝜏) | || |
√𝐵12 𝐸1 𝐸2 cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝜏
In order to check the validity of our transfer function we have used matlab and the jacobian matrices (A,B,C and D)
from the previous bloc challenge in order to create a transfer function which we compared to the one above. As transfer
function matched it means that our transfer function is correct.

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Ali Herssi
0 ∀ 𝑡 < 0−
Say we are interested in the 𝛿̃ (𝑠) response to a step input 𝑢̃(𝑡) = {
𝐾 ∀ 𝑡 > 0+
The Laplace transform of the step function with amplitude K is:
𝐾
̃(𝑠) = ℒ{𝑢̃(𝑡)} =
𝑈
𝑠
In the Laplace domain, we have then that
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝜏 𝐾
𝑃̃𝑚1 (𝑠) = ( )×
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 ) 𝑠
𝑠2 + × 𝑠 + 12 1 2
𝜏 𝜏
First order approximation (s=0):
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑃̃
𝑚1 (𝑠) 𝜏
𝐺(𝑠) = =
̃
𝑈(𝑠) (1 + 𝜏𝐾 𝐵 | 𝐸 ||𝐸 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠2 + 𝑃2 12 1 2
× 𝑠 + 12 1 2
𝜏 𝜏
𝑃̃𝑚1 (𝑠) 𝐾1
𝐺(𝑠) = = 2
̃
𝑈(𝑠) 𝑠 + 2𝜉𝜔 𝑛 𝑠 + 𝜔𝑛
2

By identification:

𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)

𝐾1 =
𝜏
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝜔𝑛 = √
𝜏
| || |
1 (1 + 𝜏𝐾𝑃2 𝐵12 𝐸1 𝐸2 cos(𝛿)) 1
𝜉= × ×
2 𝜏 | || |
√𝐵12 𝐸1 𝐸2 cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝜏
1
𝐺(0) =
(𝐾𝑃1 + 𝐾𝑃2 )
𝐾2
𝐺(0) =
𝜉𝜔𝑛
Then
𝐾2 = 𝐺(0) × 𝜉𝜔𝑛
1 1 (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))
𝐾2 = × × (3)
(𝐾𝑃1 + 𝐾𝑃2 ) 2 𝜏
So
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))
(𝐾𝑃1 + 𝐾𝑃2 )2𝜏
𝐺̂ (𝑠) =
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))
𝑠+
2𝜏
Inner loop design
PI controller:
𝐾𝐼
𝑠+
𝐾𝑃
𝐺𝑐 (𝑠) = 𝐾𝑃 ×
𝑠
Control System
𝑅1 (𝑠) + 𝐸(𝑠) ̃(𝑠)
𝑈 𝑌෨1 (𝑠)
𝐺𝑐 (𝑠) 𝐺̂ (𝑠)
>

Sensor

𝐻(𝑠) = 1

Figure 1 Inner loop diagram 2

Ali Herssi
Here 𝑅1 (𝑠) represents 𝑃1𝑠𝑒𝑐 , 𝑌෨1 (𝑠) represents 𝑃𝑚1 from our system.
In open loop with approximation 𝐺̂ (𝑠):
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾2
𝐺𝑐 (𝑠) × 𝐺̂ (𝑠) = 2
𝑠 + 𝜉𝜔𝑛 𝑠
̂
In closed loop with approximation 𝐺 (𝑠):
𝑅1 (𝑠) 𝐺𝑐 (𝑠)𝐺̂ (𝑠)
𝐺̂𝑐𝑙 (𝑠) = = (4)
𝑌̃1 (𝑠) 1 + 𝐺𝑐 (𝑠)𝐺̂ (𝑠)𝐻(𝑠)
𝐾2 𝐾𝑃 𝑠 + 𝐾2 𝐾𝐼
𝐺̂𝑐𝑙 (𝑠) =
(1 + 𝜏𝐾𝑃2 𝐵12 𝐸1 ||𝐸2 | cos(𝛿))
|
𝑠2 + ( + 𝐾2 𝐾𝑃 ) 𝑠 + 𝐾2 𝐾𝐼
2𝜏

𝜔2
( 𝑛𝑐𝑙 ) (𝑠 + 𝑎)
𝑎
𝐺̂𝑐𝑙 (𝑠) = 2 2
𝑠 + 2𝜉𝑐𝑙 𝜔𝑛𝑐𝑙 𝑠 + 𝜔𝑛𝑐𝑙
By identification:
𝜔𝑛𝑐𝑙 = √𝐾2 𝐾𝐼
𝐾𝐼
𝑎=
𝐾𝑃
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) 𝐾2 𝐾𝑃 1
𝜉𝑐𝑙 = ( + )×
4𝜏 2 √𝐾2 𝐾𝐼
−𝜉𝜋
√1−𝜉 2
𝑃. 𝑂. = 100𝑒
If we fix 𝑃. 𝑂. = 5%
2
5
−ln ( )
( 100 )
𝜋
𝜉= 2 = 0.69 (5)
5
−ln ( )
1+( 100 )
𝜋
√
If we fix 𝑇𝑝 = 65𝑚𝑠
𝜋
𝜔𝑛 × 𝑇𝑝 =
√1 − 𝜉 2
𝜋
𝜔𝑛 = = 4340.36𝑟𝑎𝑑/𝑠
1 × 10−3 × √1 − 0.692
With
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))
𝐾2 =
(𝐾𝑃1 + 𝐾𝑃2 )2𝜏
𝜔𝑛𝑐𝑙 = √𝐾2 𝐾𝐼
Then
2
𝜔𝑛𝑐𝑙
𝐾𝐼 =
𝐾2
To reduce the effect of the zero on the system we need:
|𝑎| ≥ 10𝜉𝜔𝑛
𝐾𝐼
| | ≥ 10𝜉𝜔𝑛
𝐾𝑃
|𝐾𝐼 |
|𝐾𝑃 | ≤
10𝜉𝜔𝑛
In open loop with precise 𝐺(𝑠):

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Ali Herssi
𝐾𝐼
𝑠+ 𝐾1
𝐾𝑃
𝐺𝑐 (𝑠) × 𝐺(𝑠) = 𝐾𝑃 × ×
𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2
𝑠2
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
𝐺𝑐 (𝑠) × 𝐺(𝑠) =
𝑠3 + 2𝜉𝜔𝑛 𝑠2 + 𝜔𝑛2 𝑠

In closed loop with precise 𝐺(𝑠):

(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
+ 2𝜉𝜔𝑛 𝑠2 + 𝜔𝑛2 𝑠
𝑠3
𝐺𝑐𝑙 (𝑠) = (6)
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
1+ 3
𝑠 + 2𝜉𝜔𝑛 𝑠2 + 𝜔𝑛2 𝑠
𝐾1 𝐾𝑃 𝑠 + 𝐾1 𝐾𝐼
𝐺𝑐𝑙 (𝑠) =
(1 + 𝜏𝐾 𝐵 |
𝑃2 12 1𝐸 ||𝐸 2 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠3 + × 𝑠2 + ( 12 1 2 + 𝐾1 𝐾𝑃 ) 𝑠 + 𝐾1 𝐾𝐼
𝜏 𝜏

Simulation:
a) Open loop transfer functions
We first want to verify our precise open loop transfer function as well as our approximate open loop transfer function.
To do this, we use the transfer function bloc in Simulink which allow us to represent our system, and allow us to
obtain the following results:

Figure 2 Open loop Pm results for various systems

As we can see in the figure above the result for the nonlinear system, linear system and precise transfer function are
identical as they have the same pic time and an overshoot. We can also remark that the approximated transfer function
gives us a result that is very similar but that doesn’t have an overshoot as we have a first order system.
So, from this simulation we can see that the usage of a first order approximation is viable as it reacts very similarly to
our other systems.

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Ali Herssi
b) Inner loop Design
We then proceed to repeat the same process with the transfer function we have calculated for our close loop system. In
order to test these transfer function, we added a PI controller to our open loop system.
We then tested our different system and as we can see the in the figure 3, we can witness some oscillations from our
approximated and precise transfer function at the start of the oscillation, but when we have the step change at 3 second
the precise transfer function has the same reaction as the nonlinear and linear systems. We can also see that the
approximated transfer function is in accordance with the design of Kp and Ki which allow it to reach it’s peak time at
65ms and has a max overshoot of less than 5%

Figure 3 Close loop system results

We can say that our approximation worked as it not only respects the design that we wanted for our system but it also
converges with the others systems.

Conclusion:
In conclusion we have seen that in order to have an easier representation of our system we can use transfer function,
that can be adapted in case we want to add controllers. They also allow us to design the different parameters of our
system with controller such as the peak time or the overshoot percentage. These transfer functions can also get
complicated really quickly with third or second order transfer functions, but we can also use an approximation to the
order below using a step input which allow us to have an easier transfer function while having similar reaction from
our systems.

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Annexe A :
First equation:
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 1
( ) 𝛿̃ (𝑠) = 𝑠 × 𝑃̃ ̃
𝑚1 (𝑠) + 𝑃𝑚1 (𝑠) (1)
𝜏 𝜏
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 1
( ) 𝛿̃ (𝑠) = 𝑃̃ 𝑚1 (𝑠) × (𝑠 + ) (1)
𝜏 𝜏
1 𝜏
𝛿̃ (𝑠) = 𝑃̃ 𝑚1 (𝑠) × (𝑠 + ) × (1)
𝜏 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
1+𝜏×𝑠
𝛿̃ (𝑠) = 𝑃̃𝑚1 (𝑠) × (1)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
Second equation

𝑠 × 𝛿̃ (𝑠) = (−𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))𝛿̃ (𝑠) − 𝐾𝑃1 𝑃̃ ̃

𝑚1 (𝑠) + 𝑈(𝑠) (2)
1+𝜏×𝑠
𝑠 × 𝑃̃𝑚1 (𝑠) ×
𝐵12 𝐸1 ||𝐸2 | cos(𝛿)
|
1+𝜏×𝑠
= (−𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑃̃ 𝑚1 (𝑠) × − 𝐾𝑃1 𝑃̃ ̃
𝑚1 (𝑠) + 𝑈(𝑠)
𝐵12 𝐸1 ||𝐸2 | cos(𝛿)
|
𝑠 + 𝜏 × 𝑠2 1+𝜏×𝑠
𝑃̃
𝑚1 (𝑠) × = (−𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑃̃ 𝑚1 (𝑠) × − 𝐾𝑃1 𝑃̃ ̃
𝑚1 (𝑠) + 𝑈(𝑠)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑠 + 𝜏 × 𝑠2 1+𝜏×𝑠
𝑃̃𝑚1 (𝑠) × + (𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑃̃ 𝑚1 (𝑠) × + 𝐾𝑃1 𝑃̃ ̃
𝑚1 (𝑠) = 𝑈(𝑠)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑠 + 𝜏 × 𝑠2 1+𝜏×𝑠
𝑃̃
𝑚1 (𝑠) × ( + (𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × + 𝐾𝑃1 ) = 𝑈 ̃(𝑠)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑠 + 𝜏 × 𝑠2 (𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) + (𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑠
𝑃̃
𝑚1 (𝑠) × ( + + 𝐾𝑃1 ) = 𝑈 ̃(𝑠)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑠 + 𝜏 × 𝑠2 + (𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) + (𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑠 𝐾𝑃1 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑃̃
𝑚1 (𝑠) × ( + )
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
=𝑈 ̃(𝑠)
2
𝜏 × 𝑠 + (𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) + (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑠 + 𝐾𝑃1 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑃̃
𝑚1 (𝑠) × ( )
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
=𝑈 ̃(𝑠)
𝜏 × 𝑠2 + (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑠 + 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑃̃𝑚1 (𝑠) × ( )=𝑈 ̃(𝑠)
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑃̃𝑚1 (𝑠) 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝐺(𝑠) = =
̃
𝑈(𝑠) 2
𝜏 × 𝑠 + (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) × 𝑠 + 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)
𝑃̃𝑚1 (𝑠) 𝜏
𝐺(𝑠) = =
̃
𝑈(𝑠) (1 + 𝜏𝐾 𝐵 | 𝐸 ||𝐸 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠2 + 𝑃2 12 1 2
× 𝑠 + 12 1 2
𝜏 𝜏
Third equation :
𝐾2 = 𝐺(0) × 𝜉𝜔𝑛 (3)
1 1 (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) 1
𝐾2 = × × ×
(𝐾𝑃1 + 𝐾𝑃2 ) 2 𝜏 | || |
√𝐵12 𝐸1 𝐸2 cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝜏
𝐵12 |𝐸1 ||𝐸2 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
×√
𝜏
1 1 (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿))
𝐾2 = × ×
(𝐾𝑃1 + 𝐾𝑃2 ) 2 𝜏

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Fourth equation :
𝑅1 (𝑠) 𝐺𝑐 (𝑠)𝐺̂ (𝑠)
𝐺̂𝑐𝑙 (𝑠) = = (4)
𝑌̃1 (𝑠) 1 + 𝐺𝑐 (𝑠)𝐺̂ (𝑠)𝐻(𝑠)
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾2
𝑠2 + 𝜉𝜔𝑛 𝑠
𝐺̂𝑐𝑙 (𝑠) =
(𝐾 𝑠 + 𝐾𝐼 )𝐾2
1 + 𝑃2
𝑠 + 𝜉𝜔𝑛 𝑠
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾2
𝐺̂𝑐𝑙 (𝑠) = 2
𝑠 + 𝜉𝜔𝑛 𝑠 + (𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾2
𝐾2 𝐾𝑃 𝑠 + 𝐾2 𝐾𝐼
𝐺̂𝑐𝑙 (𝑠) = 2
𝑠 + 𝜉𝜔𝑛 𝑠 + 𝐾2 𝐾𝑃 𝑠 + 𝐾2 𝐾𝐼
𝐾2 𝐾𝑃 𝑠 + 𝐾2 𝐾𝐼
𝐺̂𝑐𝑙 (𝑠) = 2
𝑠 + (𝜉𝜔𝑛 + 𝐾2 𝐾𝑃 )𝑠 + 𝐾2 𝐾𝐼
𝐾2 𝐾𝑃 𝑠 + 𝐾2 𝐾𝐼
𝐺̂𝑐𝑙 (𝑠) =
(1 + 𝜏𝐾 𝑃2 12 𝐸1 ||𝐸2 | cos(𝛿))
𝐵 |
𝑠2 + ( + 𝐾2 𝐾𝑃 ) 𝑠 + 𝐾2 𝐾𝐼
2𝜏

𝜔2
( 𝑛𝑐𝑙 ) (𝑠 + 𝑎)
𝑎
𝐺̂𝑐𝑙 (𝑠) = 2 2
𝑠 + 2𝜉𝑐𝑙 𝜔𝑛𝑐𝑙 𝑠 + 𝜔𝑛𝑐𝑙
Fifth equation:
−𝜉𝜋
2
5 = 100𝑒 √1−𝜉 (5)
−𝜉𝜋
5 2
= 𝑒 √1−𝜉
100
−𝜉𝜋
5 2
ln ( ) = ln (𝑒 √1−𝜉 )
100
−𝜉𝜋 5
= ln ( )
√1 − 𝜉 2 100
2
2 5
𝜉 −ln ( )
( ) =( 100 )
√1 − 𝜉 2 𝜋
2
5
𝜉2 −ln ( )
=( 100 )
1 − 𝜉2 𝜋
2
5
−ln ( )
𝜉2 = ( 100 ) × (1 − 𝜉 2 )
𝜋
2 2
5 5
−ln ( ) −ln ( )
𝜉2 = ( 100 ) − ( 100 ) 𝜉 2
𝜋 𝜋
2 2
5 5
−ln ( ) −ln ( )
𝜉2 + ( 100 ) 𝜉 2 = ( 100 )
𝜋 𝜋
2 2
5 5
−ln ( ) −ln ( )
𝜉 2 (1 + ( 100 ) ) = ( 100 )
𝜋 𝜋

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Ali Herssi
2
5
−ln ( )
( 100 )
𝜋
𝜉2 = 2
5
−ln ( )
1+( 100 )
𝜋

2
5
−ln ( )
( 100 )
𝜋
𝜉= 2 = 0.69
5
−ln ( )
1+( 100 )
𝜋
√
Sixth equation:
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
𝑠3+ 2𝜉𝜔𝑛 𝑠2 + 𝜔𝑛2 𝑠
𝐺𝑐𝑙 (𝑠) = (6)
(𝐾 𝑠 + 𝐾𝐼 )𝐾1
1+ 3 𝑃
𝑠 + 2𝜉𝜔𝑛 𝑠2 + 𝜔𝑛2 𝑠
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
𝐺𝑐𝑙 (𝑠) = 3
𝑠 + 2𝜉𝜔𝑛 𝑠2 + 𝜔𝑛2 𝑠 + (𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
𝐺𝑐𝑙 (𝑠)
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
=
1 (1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) 1 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠3 + 2 × × × × 𝜔𝑛 𝑠2 + 12 1 2 𝑠 + (𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
2 𝜏 𝜔𝑛 𝜏
(𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
𝐺𝑐𝑙 (𝑠) =
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠3 + × 𝑠 2 + 12 1 2 𝑠 + (𝐾𝑃 𝑠 + 𝐾𝐼 )𝐾1
𝜏 𝜏
𝐾1 𝐾𝑃 𝑠 + 𝐾1 𝐾𝐼
𝐺𝑐𝑙 (𝑠) =
(1 + 𝜏𝐾 𝐵 | 𝐸 ||𝐸 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠3 + 𝑃2 12 1 2
× 𝑠 2 + 12 1 2 𝑠 + 𝐾1 𝐾𝑃 𝑠 + 𝐾1 𝐾𝐼
𝜏 𝜏
𝐾1 𝐾𝑃 𝑠 + 𝐾1 𝐾𝐼
𝐺𝑐𝑙 (𝑠) =
(1 + 𝜏𝐾𝑃2 𝐵12 |𝐸1 ||𝐸2 | cos(𝛿)) 𝐵 |𝐸 ||𝐸 | cos(𝛿) × (𝐾𝑃1 + 𝐾𝑃2 )
𝑠3 + × 𝑠2 + ( 12 1 2 + 𝐾1 𝐾𝑃 ) 𝑠 + 𝐾1 𝐾𝐼
𝜏 𝜏