BELC3663 – CONTROL AND INSTRUMENTATION

SEMESTER 2 - 2023/2024
ANSWER - ASSIGNMENT 1
Objective:

 To design cascaded controllers via root locus techniques and Ziegler-Nichols Method
using calculation and then verify by simulation MATLAB.

Instruction for students:

1. This is a GROUP assignment. (2-3 students per group)

2. In the task, each group need to design a controller or compensator via the classical design
technique (root locus technique) and Ziegler-Nichols Method using calculation. Show
all the calculation in the report.
3. Verify your answer in 2 via MATLAB simulation.
4. Discuss the results.

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Question:

An adaptive suspension vehicle (ASV) will be a mobility system for use in very rough terrain. It
uses a legged locomotion principle rather than wheels or tracks. An adaptive suspension vehicle
that used a legged locomotion principle. The closed-loop control of the system can be
represented as shown in Figure 1. Do the following:

1. Design a K Gain using Root Locus technique to yield percentage of overshoot (%OS)
≤ 10 % using calculation. (Use the simulation for uncompensated dominant poles
location). Then simulate using in MATLAB.

2. Design a PID using Root Locus technique to yield requirement in Table 1. Then simulate
using in MATLAB.

Table 1: Design requirement

Settling time Reduced by a factor of 2
Percentage of Overshoot (%OS) Same in 1
Steady-state error 0

3. Design a PID using Ziegler-Nichols Method. Then simulate using in MATLAB.

4. Write a report that shows all calculation in detail. Print screen the simulation results and
Complete Table 1 to present your findings. Please discuss the results.

R(s) +¿ +¿ Y (s)
10
GC (s) 3 2
s + 14 s +43 s+28
−¿ −¿

0.2

Figure 1

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 Table 1: Performance analysis of the uncompensated and compensated systems

Uncompensated Uncompensated Compensated systems Compensated systems via

Simulation Simulation
System System via Root Locus method Ziegler-Nichols Method
(Root Locus) (Ziegler-Nichols)
(Calculation) (Simulation) (Theoretical) (Theoretical)
Transfer
function
4.5226 43.172
10
=4.317
3.58(s+0.1)(s+5.14)
s
33.65 1+ (1
0.479 s
+0.12 s ) 2.6(s+ 0.85)(s+5.14 )
s
Dominant poles −1.7+ j2.02 −1.7+ j2.02 −3.4+ j 4.23 −2.5 4 + j 3.25
Proportional
Gain, K P
4.5226 4.317 3 .58 ( 0.1+5.14 ) =18.76 33.65 2.6 ( 0. 85+5.14 )=15.57
Integral Gain, 33.65
KI - - 3 .58(0.1 ×5.14 )=1.84 =70.25 2.6 (0. 85× 5.14)=11.36
0.479
Derivative
Gain, K D
- - 3 .58 33.65 ×0.12=4.038 2.6

%OS 8% 6.8% 8% 9.45%

Damping ratio 0.6266 0.645 0.6266 0.616

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Settling time =2.35 2.38 1.175 1.3
1.7

π π
=1.56 =0.74
Peak Time 1.68 4.23 0.864
2.02

Steady state 0.398

error
1−0.593=0.407 0 0 0 0

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Design PID controller via Root Locus Method

R(s) +¿ +¿ Y (s)
10
GC (s) 3 2
s + 14 s +43 s+28
−¿ −¿

0.2

R(s) +¿ Y (s)
10
GC (s) 3 2
s + 14 s +43 s+28+10 (0.2)
−¿

R(s) +¿ 10 Y (s)
GC (s) 3 2
s + 14 s +43 s+30
−¿

Poles location : −1 ,−3 ,−10

Design Gain Controller (Uncompensated)

Calculation
Determine the sd (un comp) - choose %OS = 8% (from simulation sd (uncomp)=−1.7+ j2.02 )
Design K
Find K

K= | (s +1)(s +3)(s +10)

10 | s=−2.25+ j 3.41

K=4.5226

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Find steady-state error

4.5226(1 0)
K p=lim KG ( s )=¿ =1.5 075 ¿
s →0 (1 ×3 ×10)

1 1
e ss = = =0.399
1+ K p 1+1. 51

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Simulation

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Design PID Controller (Compensated) via Root Locus
Calculation
Determine the sd (comp) =¿ - based on design requirement.
T s (uncomp) 2.35
T s (comp )= = =1.175
2 2

Using T s (comp ), we can find

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ζ ω n= =3.4
1.175

Given %OS=8 % , ∴ ζ=0.577

3.4
ω n= =5.43
0. 6266

So, ω d=ωn √ 1−ζ 2=5.43 √ 1−0.62662=4.23

Therefore,

sd (comp) =−3.4+ j 4.23

Calculate the angle of θ zpd

−3.4+ j 4.23
.

θ3
θ zpd θ1 θ2
O X X X
−Z pd=¿ −10 −3 −1

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 −1 4.23
θ1=tan =32.66 °
1 0−3.4

−1 4.23
θ2=180 ° −tan =95.4 °
3.4−3

−1 4.23
θ 4=180 °−tan =119.57 °
3.4−1

Apply the formula

∑ θ z −¿ ∑ θ p=−180° ¿

θ zpd =−180 ° + ( 247.63 ° )=67.63 °

Find the location of z PD

−1 4.23
θ zpd =tan =67.63 °
z pd−3.4
Z pd =5.14

Design PI

K (s +0.1)
G PI (s)=
s

Determine K for PID

K=
| 1
G ( s) H ( s ) | |
s=sd
¿
( s+1)(s +3)(s +10)(s)
|
10( s+5.14)( s+ 0.1) s=−3.4 + j 4.23

K=3.58

Write the PID transfer function

3.58 (s +0.1)(s +5. 14)

G PID (s)=
s

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 3.57 (1 0 )( 0.1 ) ( 5.14 )
K p=lim KG ( s )=¿ =∞ ¿
s →0 0 ( 1 ×3 ×10 )

1 1
e ss = = =0
1+ K p 1+ ∞

Simulation: PID Controller (Compensated) via Root Locus

Table 1: Design requirement (Simulation)

Settling time (In simulation, +2 0 % is acceptable)
1.175 +0.235 = 1.41

Percentage of Overshoot (%OS) ≤ 10 %

Steady-state error 0

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Design PID Controller (Compensated) via Ziegler-Nichols
Calculation

Find the closed-loop transfer function

10 1M
T 1 ( s) = 3 2
s +14 s + 43 s +30

10 K 2M
T ( s )= 3 2
s +14 s + 43 s +30+10 K

Construct RH table

s
3
1 43

s
2
14 30+10 K

s
1
602−30−10 K
14

s
0
30+10 K

602−30−10 K
>0
14
572
K<
10
K <57.2
∴ K critical=57.2

Find theω c 0
2
1 4 s +3 0+10 K =0
2
1 4 s +3 0+10 (57.2)=0
s=± j6.56
∴ ωc 0=6.56 rad/s

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Calculate
K ult =57.2

2π 2π
T ult = = =0. 958
ωc 0 6.56

Use the table to find

K ult 57.2
K p= = =33.65
1.7 1.7
T ult 0.958
T i= = =0. 479
2 2
T ult
T d= =0.12
8

(
G PID ( s )=K p 1+
1
Tis ) (
+T d s =33.65 1+
1
0. 479 s
+0. 12 s )

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Simulation: PID Controller (Compensated) via Ziegler-Nichols

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