Dynamics 2, Solutions to Tutorial 2

Since all these problems are open-end, it is difficult to provide you with all possible
control designs, which satisfy the stated criterion. Therefore, I will provide you
with one possible answer to each question.
Q1. Plot the RL plot of the uncontrolled system:
K  s 2 (s  1)  0 ,
and design the controller which makes the system stable.

This is the RL plot of the uncontrolled system

X X
X
-

To make the system stable we have to move it to the left. It can be done by adding 1 or 2 zeros. Consider the
case of adding 1 zero at a. Then
( s  a)
1 K 2 0
s ( s  1)
According to Rule 4 the angle of asymptotes will be

 k  180
2k  1 1
; 0  180  90 and  
 poles   zeros   1  (a)  a  1
3 1 2 3 1 2 2
From here we can see that if a>1, then the asymptote will start to the right from the imaginary axis, which leads
to instability, since sooner or later two branches will cross the Im axis. Thus, to make the system stable we
have to select value of 0<a<1. Then

X O X
X
-1 -a
Q2. Plot the RL plot of the uncontrolled system

K  s(s  10)  0
and try to improve the system response ts~1/n

X X
-10 -5

To increase the system’s settling time we have to move both branches to the left. It can be done by adding two
complex-conjugate zeros or adding 1 zeros far to the left from the left pole. Consider the last case with –a<-10,
then
K ( s  a)
1 0
s( s  10)
Since we have two poles and one zero, one branch will go to infinity whereas the other one will terminate at
zeros. Let a=20, then

K*

0 X X
-20 -10

Now, you can select value of K=K* and get much low value of ts. Perhaps you would like to be more specific
and find the value of K which will decrease the ts three times.
`

Q3. If we would like to have a specific value of our overshoot and frequency, we can make the RL plot go
through that point. For instance, if I want to have  which will correspond to Mp=0.4%, and I want
decrease three times the settling time I want the RL plot goes through the point s*    i  15  i5 3 ,
since -15 will correspond to my triple reduced settling time [3*(-5)] and
   / 6  tan  / 6  1 / 3   / 

Then we again introduce zero at point b, so that

K ( s  b)
1 0
s( s  10)
Since the RL plot should go through point s*, this point should satisfy this equation, or

s * s * 10s *  K (s * b)  0
which will give you two equations for real and imaginary parts:
 30i 3  10i 3  Ki 3  0  K  20
150  150  15K  Kb  0  b  15
So
K ( s  15)
1 0
s( s  10)
And the RL plot of this system is show n below

K=20


0 X X
-15 -10
Q4. K’=s3+2.4s2+1.44s=0 =>s(s+1.2)2=0

-1.6
-1.2 -0.4

To improve the Steady-State response we have to move the asymptote twice to the left!
For that we can use Lag compensator

−3.2−𝑏+𝑎
𝜎= = −4.1 => 𝑎 − 𝑏 = −5=>a=b-5
2

𝑠+𝑏−5
Thus Gc = 𝐾 𝑠+𝑏
𝑠+𝑏−5 (𝑠+0.4)
1+KGH=1+K 𝑠+𝑏 𝑠2 (𝑠+3.6)
 1.2
Q5. Plot the RL plot of the uncontrolled system

K
1 0
s  2s  9
2

and try to reduce the system maximum overshoot Mp

Comparing s 2  2s  9  s 2  2 n s  n2 will give us the following results: n  3;   1 / 3 . The latter will
correspond to Mp=33% .

X
Cos 

-1

To decrease the maximum overshoot we have to increase the damping ratio To do that we have to get
branches to intersect a line (see green line) for see Lecture 6Again, it can be done by adding zeros
either two complex-conjugate or one real far away from -1. Let a=-5, then
K ( s  5)
1 2  0 , then one branch goes to infinity, another one to zero. Then we will have something like this.
s  2s  9
You may want to be more specific and for instance, find the value of K which will provide you with at
least double increase in the damping ratio so it would be

X
Cos 

0
-5 -1