Further Control Systems

Engineering

Student’s name: Nguyen Dinh Minh Hai

Student ID: 21ED10124
Unit Assessor: Dr. Vu Van Phong

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Table of Contents
Task 1: Basic Concepts of the Automatic Control System.................................................................... 4
1.1 ....................................................................................................................................................... 4
Part a .............................................................................................................................................. 4
Part b.............................................................................................................................................. 4
Part c .............................................................................................................................................. 7
Part d.............................................................................................................................................. 9
Task 2: Mathematical Models of the Control System ......................................................................... 10
2.1.1 .................................................................................................................................................. 10
Part a ............................................................................................................................................ 10
Part b............................................................................................................................................ 10
2.1.2 .................................................................................................................................................. 13
Part a ............................................................................................................................................ 13
Part b............................................................................................................................................ 14
2.2 ..................................................................................................................................................... 15
2.3 ..................................................................................................................................................... 18
Part a ............................................................................................................................................ 18
Part b............................................................................................................................................ 18
2.4 ..................................................................................................................................................... 20
Part a ............................................................................................................................................ 20
Part b............................................................................................................................................ 21
Task 3: Transient Response and stability Analysis ............................................................................. 22
3.1 ..................................................................................................................................................... 22
Part a ............................................................................................................................................ 22
Part b............................................................................................................................................ 22
3.2 ..................................................................................................................................................... 23
Part a ............................................................................................................................................ 23
Part b............................................................................................................................................ 24
Part c ............................................................................................................................................ 25
Part d............................................................................................................................................ 26
3.3 ..................................................................................................................................................... 27
Part a ............................................................................................................................................ 27
Part b............................................................................................................................................ 27

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 Part c ............................................................................................................................................ 28
Part d............................................................................................................................................ 28
3.4 ..................................................................................................................................................... 29
Part a ............................................................................................................................................ 29
Part b............................................................................................................................................ 30
Task 4: PID controller design .............................................................................................................. 33
4.1 ..................................................................................................................................................... 33
4.2 ..................................................................................................................................................... 35
Part a ............................................................................................................................................ 35
Part b............................................................................................................................................ 36
Part c ............................................................................................................................................ 37
4.3 ..................................................................................................................................................... 38
Part a ............................................................................................................................................ 38
Part b............................................................................................................................................ 40
Part c ............................................................................................................................................ 42
4.4 ..................................................................................................................................................... 44
Part a ............................................................................................................................................ 44
Part b............................................................................................................................................ 46
Part d............................................................................................................................................ 48
Part e ............................................................................................................................................ 49
References ............................................................................................................................................ 51
Turnitin ................................................................................................................................................ 52

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Task 1: Basic Concepts of the Automatic Control System
1.1
Part a
Definition of Control and Automatic Control:

- Control: Control refers to the process of managing or influencing a system's behavior to achieve
desired outcomes. This can involve adjusting inputs, parameters, or variables to maintain stability,
optimize performance, or reach a specific target. For example, adjusting the volume on a television
to maintain a comfortable listening level is a form of control.
- Automatic Control: Automatic control, also known as control automation or self-regulation, is a
subset of control engineering where systems are designed to operate with minimal or no human
intervention. Automatic control systems use sensors to monitor system variables, actuators to make
adjustments, and controllers to process the information and decide on the necessary actions.
- Example of Automatic Control: An example of automatic control is a thermostat in a heating
system. The thermostat senses the temperature of the room (input), compares it to the desired
temperature (setpoint), and automatically controls the furnace (actuator) to turn on or off as needed
to maintain the set temperature.

Part b
Structure of a Typical Automatic Control System:
A control system is a mechanism for regulating the operation of a particular process or device.
Three primary components comprise it: an actuator, a controller, and a sensor. The sensor converts
a physical quantity into an electrical signal, such as temperature, pressure, or position. This signal
is processed by the controller, which then produces an output signal that controls the actuator. The
actuator is a mechanical component responsible for converting the controller's output signal into a
tangible operation, such as regulating the speed of a motor, opening or closing a valve, or turning
a motor on or off.

Figure 1.1.1: Structure of a Typical Automatic Control System

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List the typical components and their function:
*Plant:
- Function: The plant is the physical system being controlled to produce a specific desired output.
It is designed to perform particular functions, such as controlling the motion of a mechanical
system or regulating a biological process. The plant can be monitored and regulated using a
graphical user interface (GUI) and custom software.
- Examples: Examples of plants include refrigerators, speed control systems, boilers, steering
systems, and industrial process control systems. For instance, a DC motor can be controlled to
manage its angular position, velocity, and torque.

Figure 1.1.2: Speed control system

*Sensors:
- Function: Sensors, also known as transducers, measure physical changes like temperature,
pressure, light, or motion and convert these changes into electrical signals. These signals provide
feedback to the controllers, enabling the system to continuously operate and reach the desired
result.
- Examples: Common sensors in a control system include temperature sensors, pressure sensors,
light sensors, motion sensors, and humidity sensors.

Figure 1.1.3: Temperature sensor

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*Controllers:
- Function: Controllers adjust the behavior of the dynamic system based on the feedback received
from the sensors. They quickly respond to errors but may not completely eliminate steady-state
errors. Controllers process the error signal, which is the difference between the desired setpoint
and the actual output, and make necessary adjustments.
- Example: There are three primary types of controllers: Proportional Controller (P-Controller),
Derivative Controller (D-Controller), and Integral Controller (I-Controller).

Figure 1.1.4: PID controller

*Actuators:
- Function: Actuators implement the actions determined by the controller. They convert the control
signals received from the controller into physical actions that adjust the system. Actuators are
critical in various applications, including automation, machinery, the medical industry, and
automobiles.
- Example: Actuators can be classified based on the power they use (hydraulic, pneumatic,
electrical, magnetic, mechanical) and the type of motion they produce (linear and rotary).

Figure 1.1.5: Pneumatic

*Feedback:
- Function: The feedback loop connects the output of the plant from the sensors back to the
controller's input. This loop allows the controller to continuously adjust itself based on the sensor
signals, helping to guide the system towards stability. The feedback system reduces disturbances
and improves stability.

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- Example: Feedback can be positive or negative. Negative feedback helps stabilize the system by
reducing the difference between the setpoint and the actual output.

Figure 1.1.6: Feedback

Part c
Difference between Closed-loop and Open-loop Systems:
+ Closed-loop System: A closed loop control system, also known as a feedback control system, is
one that continuously monitors its output and makes adjustments based on feedback to maintain
the desired output. In this type of system, the actual output is compared with the desired output
(setpoint), and any discrepancies (errors) are corrected by the controller. The key feature of a
closed loop system is the feedback loop, which ensures that the system can respond to changes and
disturbances to keep the output at the desired level.
Advantages Disadvantages
- Complexity: Closed loop systems are
- Accuracy: Continuous feedback allows
more complex and require additional
for precise control of the output, reducing
components, such as sensors and feedback
errors.
mechanisms.
- Cost: The increased complexity and
- Efficiency: Improved regulation of the
additional components typically result in
system often results in better efficiency
higher costs for design, implementation,
and optimized performance.
and maintenance.
- Potential for Instability: If not properly
- Stability: Negative feedback in closed
designed, closed loop systems can become
loop systems helps stabilize the system,
unstable, leading to excessive oscillations
minimizing oscillations and fluctuations.
or even system failure.

+ Example: A cruise control system in a car is a closed-loop system. The system monitors the car's
speed (output) and adjusts the throttle automatically to maintain a constant speed set by the driver
(input).

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 Figure 1.1.7: Cruise control system block diagram

+ Open-loop System: An open loop control system operates without feedback. It performs its
function based solely on the initial settings and inputs provided, without adjusting for changes or
disturbances in the output. This type of system is simpler and often less expensive, but it lacks the
accuracy and adaptability of closed loop systems. Because it does not monitor or respond to the
actual output, it cannot correct any errors that occur.

Advantages
- Simplicity: Open loop systems are
simpler in design and easier to implement,
requiring fewer components.
- Cost-Effective: With fewer components
and less complexity, open loop systems
are generally less expensive to build and
maintain.
- Fast Response: The absence of feedback
processing allows for a quicker response
to control actions.
Disadvantages
- Lack of Accuracy: Without feedback,
open loop systems cannot correct errors or
adapt to changes, leading to less precise
control.
- Inflexibility: Open loop systems cannot
adjust to changes in the environment or
disturbances, which can result in poor
performance under varying conditions.
- No Error Correction: Any deviations
from the desired output go uncorrected,
potentially leading to significant errors
over time.

+ Example: A washing machine operating in a timer-based mode (where cycles run for a
predetermined duration regardless of load conditions) is an open-loop system. The machine runs
through its cycles based on the set time, regardless of whether the clothes are clean or not.

Figure 1.1.8: Washing machine block diagram

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Part d

Based on figure 1
- Water level sensor: used to detect and measure the level of water in a tank
- Pneumatic valve: used to control the flow of fluids. These valves regulate the flow of fluids or
by opening, closing, or partially obstructing the passage through which the fluid travels
- Central controller: Used to operate and control the entire system
- Power supply: An electrical power source for the pneumatic valve, water level sensor and the
controller
 This is a closed-loop system because this can be identified by the presence of a feedback loop.
In a closed-loop system, the output of the system is measured by a sensor and fed back to the
controller. The controller uses this feedback to adjust the input to the system in order to maintain
the desired output. In the case of the water level control system, the sensor measures the water
level in the tank. The controller compares this measurement to the desired water level and adjusts
the inflow valve accordingly. This feedback loop helps to ensure that the water level in the tank
remains constant even if there are disturbances, such as changes in the inflow or outflow

The figure below shows the block diagram of level-liquid control system:

Figure 1.1.9: Block diagram of level-liquid control system

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Task 2: Mathematical Models of the Control System
2.1.1

Part a
M is the mass; K is the spring-constants, and b is the viscous friction coeffection of the daspot.
X1(t) is the displacement of mass M, respectively and are output. f(t) is the input. Find the
transfer function of the above system.

We may formulate the mathematical equations as follows:

Using Newton’s second law, consider the block M:
∑ 𝐹 = 𝑚𝑎
Applying this law to the present system obtaining:

2
𝑑 𝑥1(𝑡)
𝑚 2 + 𝑏𝑣(𝑡) + 𝑘𝑥1 (𝑡) = 𝑓(𝑡)
𝑑𝑡

Taking the Laplace transfer function:

 𝑚𝑠 2 𝑋1 (𝑠) + 𝑏𝑠𝑋1 (𝑠) + 𝑘𝑋1 (𝑠) = 𝐹 (𝑠)
Combining terms and rearranging the equation:
 𝐹 (𝑠) = 𝑋1 (𝑠). (𝑚𝑠 2 + 𝑏𝑠 + 𝑘)
Taking the ratio of 𝑋 (𝑠) to 𝐹 (𝑠), the transfer function of the system to be:

𝑋1 (𝑠) 1 1
= =
𝐹(𝑠) 𝑚𝑠 2 +𝑏𝑠+𝑘 𝑠2 + 0,15𝑠 + 0,1

Part b
Simulate this system by Matlab with f=1; M=1kg; K=0.1; b=0.15;

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Figure 2.1.1.1. Code for solving transfer function

Figure 2.1.1.2. Step Response

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 Figure 2.1.1.3. Block diagram

Figure 2.1.1.4. Output signal after simulating

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2.1.2

Part a
Determine the transfer function of the above system in which 𝒗𝒊 (𝒕) is the input voltage and
𝒗𝒐 (𝒕) is the output voltage.
Using Kirchhoff ’s voltage law to the loop:
𝑉𝑖 (𝑡) − 𝑉𝑅1 (𝑡) − 𝑉𝐿 (𝑡) − 𝑉𝑅2 (𝑡) = 0
Since 𝑣𝑜 (𝑡) is across 𝑣𝑅2 (𝑡), we can rewrite the KVL equation as:
 𝑉𝑖 (𝑡) − 𝑉𝑅1 (𝑡) − 𝑉𝐿 (𝑡) − 𝑉𝑜 (𝑡) = 0

𝑑𝑖(𝑡)
 𝑉𝑖 (𝑡) − 𝑅1 𝑖 (𝑡) − 𝐿 𝑑𝑡 − 𝑅2 𝑖(𝑡) = 0

𝑑𝑖(𝑡)
 𝑉𝑖 (𝑡) − (𝑅1 + 𝑅2 )𝑖(𝑡) − 𝐿 𝑑𝑡 = 0

Laplace transfer function:

 𝑉𝑖 (𝑠) = (𝑅1 + 𝑅2 )𝐼(𝑠) + 𝐿𝑠𝐼(𝑠)
 𝑉𝑖 (𝑠) = (𝑅1 + 𝑅2 + 𝐿𝑠). 𝐼(𝑠)

𝑉𝑖 (𝑠)
 𝐼 (𝑠 ) =
𝑅1 +𝑅2+𝐿𝑠

Have 𝑉𝑜 (𝑠) = 𝑅2 𝐼(𝑠)

𝑉 (𝑠)
 𝑉𝑜 (𝑠) = 𝑅2 𝑅 +𝑅𝑖 +𝐿𝑠
1 2

𝑉𝑜 (𝑠) 𝑅2 2
Transfer function: 𝐻 (𝑠) = = =
𝑉𝑖 (𝑠) 𝑅1 + 𝑅2 + 𝐿𝑠 𝑠+4

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Part b
Simulate this system by Matlab/Simulink using sine wave 𝑽𝒊 (𝒕)

Figure 2.1.2.1. Block diagram

Figure 2.1.2.2. Output signal

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2.2
Consider a Pneumatic Controller showed in Fig. 4

The Pneumatic Controller is modeled under block-diagram in Fig. 5

𝑷𝒄(𝒔)
Please find the transfer function 𝑮(𝒔) = 𝑬(𝒔) of the above system
Solution:

Figure 2.2.1. The first transfer step

First step
𝐻1 (𝑠) is found as below:

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 𝑃𝐼 (𝑠) 1 𝑇1 (𝑠)+1
𝐻1 (𝑠) = = 1 =
1 + 𝑃𝐼 (𝑠)𝑃𝐼𝐼 (𝑠) 1+ 𝑇1 (𝑠)+2
𝑇1 (𝑠) + 1

Figure 2.2.2. The second transfer step

Second step:
𝐻2 (𝑠) is found as below:
1 𝑇1 (𝑠)+1 1 𝑇1 (𝑠)+1
𝐻2 (𝑠) = 𝐻1 (𝑠) 𝑇 (𝑠)+1 = =
𝑑 𝑇1 (𝑠)+2 𝑇𝑑 (𝑠)+1 (𝑇1 (𝑠)+2)(𝑇𝑑 (𝑠)+1)

Figure 2.2.3. The third transfer step

Third step:
𝐻3 (𝑠) is found as below:
𝑎 𝐴 𝑎𝐴 𝑎𝐴
𝐻3 (𝑠) = ( )( ) = =
𝑎+𝑏 𝑘𝑠 (𝑎+𝑏)𝑘𝑠 𝑎𝑘𝑠 +𝑏𝑘𝑠

Figure 2.2.4. The fourth transfer step

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Fourth step:
𝐻4 (𝑠) is found as below:
𝑎𝐴 𝑇 (𝑠)+1
𝐻4 (𝑠) = (𝐻3 (𝑠)). (𝐻2 (𝑠)) = ( ).( ( ) 1 )
𝑎𝑘𝑠 +𝑏𝑘𝑠 (𝑇1 𝑠 +2)(𝑇𝑑(𝑠)+1)
𝑇1(𝑠).𝑎𝐴 + 𝑎𝐴
=
[𝑎𝑘𝑠 +𝑏𝑘𝑠 ].[𝑇1𝑇𝑑𝑠2+𝑇1𝑠+2𝑇𝑑𝑠+2]

Figure 2.2.5. The firth transfer step

Firth step:
𝑏 𝑏𝑘
𝐺 (𝑠) = (𝑎+𝑏) . 𝑘 = 𝑎+𝑏
So, the transfer function below:
𝑏𝑘
𝑃𝑐 (𝑠) 𝐺(𝑠) 𝑎+𝑏
𝐺 (𝑠) = 𝐸(𝑠) = = 𝑇1 (𝑠).𝑎𝐴 + 𝑎𝐴 𝑏𝑘
1+𝐻4 (𝑠).𝐺(𝑠) 1+[ ].
2
[𝑎𝑘𝑠 +𝑏𝑘𝑠 ].[𝑇1 𝑇𝑑 (𝑠) +𝑇1 (𝑠)+2𝑇𝑑(𝑠)+2] 𝑎+𝑏
2
𝑏𝑘.[𝑎𝑘𝑠 +𝑏𝑘𝑠 ].[𝑇1 𝑇𝑑(𝑠) +𝑇1 (𝑠)+2𝑇𝑑(𝑠)+2]
= 2
[𝑎𝑘𝑠+𝑏𝑘𝑠 ].[𝑇1 𝑇 (𝑠) +𝑇1 (𝑠)+2𝑇 (𝑠)+2].(𝑎+𝑏)+(𝑇1 (𝑠).𝑎𝐴 + 𝑎𝐴).𝑘
𝑑 𝑑

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2.3

Part a
Determine the closed-loop transfer function of the above system manually
Consider a closed-loop control system above:
We have:
1 1
𝐺 (𝑠 ) = 2 , 𝐻 (𝑠) = 𝑠+2
𝑠 +𝑠+4

 closed-loop transfer function of the above system:

1
𝐺(𝑠) 𝑠2 +𝑠+4 𝑠+2
𝐶 (𝑠) = 1+𝐺(𝑠).𝐻(𝑠) = 1 1 = 3
1+( 2 ).( ) 𝑠 +3𝑠2+6𝑠+9
𝑠 +𝑠+4 𝑠+2

Part b
Using Matlab software, determine the transfer function of the closed-loop systems
Determine the transfer function using MATLAB software:

Figure 2.3.1. Transfer function result

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Figure 2.3.2. Output signal

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2.4

Consider a system illustrated in Fig.2.4.1. u(t) are the external force (inputs); and y(t) is the
displacement of m.

Part a
Please determine the mathematical model under state-space equation.
Using Newton’s second law, consider the block M:
∑ 𝐹 = 𝑚𝑎
Applying this law to the present the u(t) system:
𝑚. 𝑦(𝑡) = −𝑏. 𝑦(𝑡) − 𝑘. 𝑦(𝑡) + 𝑢(𝑡)
We have:
𝑚𝑦̈ (𝑡) + 𝑏𝑦̇ (𝑡) + 𝑘𝑦(𝑡) = 𝑢(𝑡) (*)
We assign
𝑥1 (𝑡) = 𝑦(𝑡), 𝑥2 (𝑡) = 𝑦̇ (𝑡), with 𝑥1 (𝑡), 𝑥2 (𝑡) are two state variables
After replacing to (*) we get:
 𝑥1̇ (𝑡) = 𝑥2 (𝑡)

𝑏 𝑘 1
 𝑥2̇ (𝑡) = − 𝑚 𝑥2 (𝑡) − 𝑚 𝑥1 (𝑡) + 𝑚 𝑢(𝑡)

 𝑦(𝑡) = 𝑥1 (𝑡)
Then we have the matrix form:

𝑥1̇ (𝑡) 0 1 𝑥 (𝑡) 0

[ ]=[ 𝑘 𝑏 ] × [ 1 ] + [ 1 ] 𝑢(𝑡)
𝑥2̇ (𝑡) −𝑚 −𝑚 𝑥2 (𝑡) 𝑚

𝑥1 (𝑡)
𝑦 (𝑡 ) = [ 1 0] [ ]
𝑥2 (𝑡)

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 According to above formula we can obtain state equation:
𝑥̇ (𝑡) = 𝐴𝑥(𝑡) + 𝐵𝑢(𝑡)
{
𝑦(𝑡) = 𝐶𝑥(𝑡) + 𝐷𝑢(𝑡)
So, the results of state space equation are:

0 1 0
𝐴=[ 𝑘 𝑏] 𝐵 = [1] 𝐶 = [1 0] 𝐷=0
−𝑚 −𝑚 𝑚

Part b
Please simulate the system using Matlab/Simulink with inputs are step signal m= 1, b=0.1,
k=0.15.
0 1 0
Let m = 1, b = 0,1 and k = 0,15, we have: 𝐴 = [ ] 𝐵 = [ ] 𝐶 = [1 0] 𝐷 = 0
−0,15 −0,1 1

Figure 2.4.1. State-space equation by using Matlab Simulink

Figure 2.4.2. Output signal of state-space equation

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Task 3: Transient Response and stability Analysis
3.1

1
Where 𝐺 (𝑠) = 4𝑠 + 𝑎 , a is the last number of your student ID (if your last number of the student
ID is zero, please select a = 2).

Part a
Determine the settling time with 2% criterion.
According to student ID: 21ED10124
1
 𝐺 (𝑠) = 4𝑠 + 4
4
𝑇= =1
4
According to the problem: determine the settling time with 2% criterion (𝜀 = 2% = 0,02)
From the recipe:
1 1
𝑡𝑠 = 𝑇 ln ( 𝜀 ) = 1. ln (0,02) ≈ 3,912
So, the settlement time with the 2% criterion is 3,912

Part b
Simulate the system in Matlab with unity step signal

Figure 3.1.1. Output signal of the transfer function by using Matlab Simulink

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3.2
Consider the Hubbe Space Telescope is modelled in Fig.33. Analyses the behavior and response
of this system

Part a
Ignore the effect of the disturbance, please determine the transfer function between Y(s) and
R(s).

The first transfer step:

1
Applying transfer function to and 𝐾1 (𝑠) closed loop, we have:
𝑠2
1
𝑠2 1
𝐺1 (𝑠) = =
1 + 12.𝐾1𝑠 𝑠2 + 𝐾1𝑠
𝑠
We have an equivalent system:

Figure 3.2.1. First transfer step

Applying the second transfer function to the closed loop, we have:
1 𝐾
𝐺2 (𝑠) = 𝐺1 (𝑠). 𝐾 = .𝐾 =
𝑠2 + 𝐾1𝑠 𝑠2 + 𝐾1𝑠

We have an equivalent system:

Figure 3.2.2. Final transfer step

23
So, the transfer function between Y(s) and R(s) is:
𝐾
𝑌(𝑠) 2
𝑠 + 𝐾1 𝑠 𝐾
𝐺(𝑠) = = 𝐾 =
𝑅(𝑠) 1+ 2 𝑠 2 + 𝐾1 𝑠 + 𝐾
𝑠 + 𝐾1 𝑠

Part b
Find K and K1 such that the overshoot is 15%, settling time with 5% criterion is 4s.

We have the transformation form with the 5% criterion as:

𝐾 𝐾𝜔2𝑛 1
𝐺 ′ (𝑠 ) = 2 = 2 2 (𝜔𝑛 = 𝑇 , 0 < 𝜉 < 1)
𝑇𝑠 + 2𝜉𝑇𝑠 + 1 𝑠 + 2𝜉𝜔𝑛𝑠 + 𝜔𝑛
By dividing both the denominator and numerator by K, we have:
𝐾 1
 𝐺 (𝑠 ) = =
𝑠2 + 𝐾 1𝑠 + 𝐾
1 2 1
𝐾𝑠 + 𝐾𝐾1𝑠 + 1

So, we have:
1 1
𝑇2 = 𝑇=
𝐾 √𝐾

1
 𝜔𝑛 = 𝑇 = √𝐾
𝐾1
𝐾 𝐾1 𝐾 𝐾
Have 2𝜉𝑇 = 𝐾1 𝜉 = 𝐾 = 𝐾.2𝑇 = 12 = 1
21 𝐾. 2√𝐾
√𝐾 √ 𝐾

Applying percentage overshoot (POT), we have:

𝜉𝜋
(− )
𝜉𝜋 √1 2
𝑃𝑂𝑇 = 𝑒𝑥𝑝 (− ) . 100% = 𝑒 −𝜉 . 100% (*)
√1 2
−𝜉

Substituting POT = 15% into equation (*), we have:

𝜉𝜋
(− )
√1 2
𝑒 −𝜉 . 100% = 15%

𝐾1
𝜋
−
2√𝐾
𝐾 2
√1 −( 1)
2√𝐾 )
 𝑒( = 0,15 (**)

24
Have settling time with 5% criterion is 4s:
3
 𝑡𝑠 = 𝜉𝜔 = 4
𝑛

3 6
4= 𝐾 =𝐾
( 1 ).(√𝐾) 1
2√𝐾

6
 𝐾1 = 4 = 1,5

6
Substituting 𝐾1 = 4 = 1,5 into (**), we have:

1,5 𝜋
−
2√𝐾
2
√1 – ( 1,5 )
2√𝐾 )
𝑒( = 0,15
1,5
𝜋
2√𝐾
 − = ln(0,15)
2
√1 – ( 1,5 )
2 𝐾
√

2
2,25(𝜋2+(ln(0,15))
𝐾 = 2
4(ln(0,15))

 𝐾 ≈ 2,1
So, the value of 𝐾 = 2,1 and 𝐾1 = 1,5

Part c
With obtained 𝑲 and 𝑲𝟏 , please find the steady state error with the unity step signal.
We have transfer function as:
𝐾
𝐺2 (𝑠) = 2 (***)
𝑠 + 𝐾1𝑠
Substituting 𝐾1 = 1,5 and 𝑘 ≈ 2,1 into (***)

2,1
𝐺2 (𝑠) =
𝑠2 + 1,5𝑠

2,1
𝑘𝑝 = lim =∞
𝑠→0 𝑠2 + 1,5𝑠

Applying the steady-state error formula, we have:

1
 𝑒𝑠𝑠 = =0
1 + 𝑘𝑝

25
Thus, the steady state error for a step input is 0.

Part d
Simulating the system in Matlab with input is a unity step signal.

Figure 3.2.3. Block diagram

Figure 3.2.4. Output signal

26
3.3

Part a
Find the poles and zeros of the closed-loop system in Fig.
First, the transfer function of the system is:
𝑠+5 𝑠+5
2
2𝑠 + 4𝑠 + 3
2
2𝑠 + 4𝑠 + 3 𝑠2 + 6𝑠 + 5
𝐺 (𝑠 ) = 1 𝑠+5
= 2 = 3 2
1 + (𝑠+1 )( ) (2𝑠 + 4𝑠 + 3)(𝑠+1)+(𝑠+5) 2𝑠 + 6𝑠 + 8𝑠 + 8
2
2𝑠 + 4𝑠 + 3 2 + 4𝑠 + 3)(𝑠 + 1)
(2𝑠

 The poles of the closed-loop system:

𝑠 = −2
1
2𝑠 3 + 6𝑠 2 + 8𝑠 + 8 = 0  𝑠 = − 2 + 1,322𝑖
1
{ 𝑠 = − 2 − 1,322𝑖

 The zeros of the closed-loop system:

𝑠 = −1
𝑠 2 + 6𝑠 + 5 = 0  {
𝑠 = −5

Part b
Plot the poles and zeros on the complex plane using Matlab.
Code:

Figure 3.3.1. Code for Matlab/Simulink

27
 Figure 3.3.2. Poles and Zeros plot

Part c
Based on the position of poles on the complex plane, please check the stability of the system.

Based on the figure 3.3.2, all the position of the poles on the complex plane are on the left hand
side so the system is stable.

Part d
Simulate the system with unity step input by Matlab/Simulink. Analyze the obtained results

Figure 3.3.3. Output signal

28
3.4
Consider the eye surgery system using laser in Fig..

𝟐
Where 𝑮(𝒔) = 𝒔(𝒔 + 𝟏)(𝒔+𝟒) , 𝑮𝑷 (𝒔) = 𝑲𝒑

Part a
Please determine conditions of parameters of P controller such that the system is stable
according to the Routh-Hurwirtz criterion.

We have:
2
𝐺(𝑠) = 𝑠(𝑠 + 1)(𝑠+4)

2𝐾𝑝 2𝐾𝑝
 𝐻 (𝑠) = 𝐺 (𝑠). 𝐺𝑃 (𝑠) = 𝑠(𝑠 + 1)(𝑠+4) =
𝑠 +5𝑠2+4𝑠
3

The following is the characteristic equation for the above system:

1 + 𝐻 (𝑠 ) = 0
2𝐾𝑝
 1 + 𝑠(𝑠 + 1)(𝑠+4) = 0

 𝑠 3 + 5𝑠 2 + 4𝑠 + 2𝑘𝑝 = 0

29
The Routh-Hurwirtz table formula:

Table 1: Routh-Hawirt table formula

So, we have:

𝑠3 1 4

𝑠2 5 2𝑘𝑝

1 1
𝑎3 = 𝑠1 4 − × 2𝑘𝑝
5 5

𝑠0

Table 2: Routh-Hawirt table

To stabilize this system.

We have:
2𝑘𝑝 > 0 𝑘𝑝 > 0
{ 1 { 1
4 − 5 × 2𝑘𝑝 > 0 4 − 5 × 2𝑘𝑝 > 0

So: 0 < 𝑘𝑝 < 10

The system will be stable if 𝑘𝑝 is greater than 0 and less than 10.

Part b
Select two values of Kp, one satisfies the Routh-Hurwirtz condition and another is not, then
using Matlab to simulate above system with two valules of Kp. The input signal is unitiy step
input signal. Based on the simulation results, please evaluate the stability of the system with
P controller when the parameter of P controller is determined based on the Routh-Hurwirtz
criterion.

30
 Figure 3.4.1. Block diagram Figure 3.4.2. Change 𝐤 𝐩 values

Double-click the Gain block to open the parameter window to change and modify each term
inside the Gain block as shown in Figure 3.4.1. I set stop time at 50.

* With 𝒌𝒑 = 3

Figure 3.4.3. Output signal

Because the output is constrained, the system remains stable, as illustrated in Figure 3.4.3. This
means that once the system reaches steady-state, the output remains consistent despite any
disturbances or changes in system parameter values. Additionally, it confirms that KP satisfies the
Routh-Hurwitz criteria.

31
* With 𝒌𝒑 = 15

Figure 3.4.4. Output signal

The figure shows that the system is unstable, as depicted in Figure 3.4.4, because the outputs
change regardless of disturbances or variations in system parameter values. Additionally, it
demonstrates that KP fails to satisfy the Routh-Hurwitz criteria. Simulation data indicates that the
proposed double-loop structure method performs better than the conventional single-loop PID
controller technique adjusted using the Routh-Hurwitz criteria.

32
Task 4: PID controller design
4.1

* PID controller:

Figure 4.1.1. PID controller block diagram

A PID (Proportional – Integral – Derivative) controller is a device that control engineers employ
to regulate temperature, flow, pressure, speed, and other process variables in industrial control
systems. PID controllers are the most precise and stable controllers, as they employ a control loop
feedback mechanism to regulate process variables. One established method of directing a system
towards a target position or control parameters is PID control. It is almost universally used as a
temperature control method and is employed in a variety of scientific and chemical processes, as
well as automation. PID control ensures that the actual output of a process is as close to the target
or setpoint output as possible.

* The roles of the P, I, D of PID control in the control system

The PID controller is a widely used control mechanism in industrial control systems. It consists
of three terms: Proportional (P), Integral (I), and Derivative (D), each contributing uniquely to the
control process.

- Proportional (P): The proportional term produces an output that is proportional to the current
error value. It helps to reduce the overall error by providing a control action that is directly
proportional to the error. A higher proportional gain can lead to a faster response but can also cause
the system to become unstable if set too high.
- Integral (I): The integral term is concerned with the accumulation of past errors. By integrating
the error over time, it ensures that any residual steady-state error is eliminated. This term helps to
drive the error to zero but can introduce a lag in the system's response and may cause overshooting
or oscillations if not tuned properly.
- Derivative (D): The derivative term predicts future error based on its rate of change. It provides
a control action that is proportional to the rate of change of the error. This helps to dampen the
system response and improve stability by counteracting the overshoot caused by the proportional

33
and integral terms. However, if the derivative gain is too high, it can lead to noise amplification
and erratic control actions.

* Example: home temperature control systems:

Figure 4.1.2. Home temperature control systems

The PID (Proportional-Integral-Derivative) controller is essential for maintaining indoor

temperatures in household temperature control systems. This controller constantly compares the
set temperature (target) to the room temperature (process variable) in a residential heating system.

The controller adjusts heating output based on the immediate difference between the current
temperature and the setpoint. The heating system increases output proportionally if the room is
significantly colder than desired.

After that, the integral component addresses long-term setpoint deviations. To maintain the
desired room temperature, it gradually adjusts the heating output to account for prolonged
temperature variations.

Additionally, the derivative element predicts temperature changes. It anticipates temperature

spikes and drops by analysing temperature change and adjusting the heating system.

These components are coordinated by the PID controller to optimise heating system performance.
This maintains comfortable indoor temperatures and maximises energy efficiency. This meticulous
regulation improves the living environment by reducing temperature fluctuations and energy
consumption, proving PID control's validity in residential temperature management.

34
4.2

1
Where 𝐺(𝑠) = , and input 𝑅(𝑠) is the unity step signal.
𝑠2 +3𝑠+5

Part a
Let 𝒌𝒊 = 0, 𝒌𝒅 = 0, using the Simulink to simulate the system with 𝒌𝒑 = 1, 5, 10, 200, based on
these simulation results, please give the comments the effects of 𝒌𝒑 to the response of the
system.

Before simulating the system. Firstly, we create block diagram through the figure below:

Figure 4.2.1. Block diagram

35
 Figure 4.2.2. Output signal

In this figure, the system is simulated with Ki = 0 and Kd = 0, while varying the Kp values of 1,
5, 10, and 200. The results show that with Kp = 1, the system responds very slowly with no
overshoot and takes a long time to stabilize, indicating an overdamped system with low
responsiveness. As Kp increases to 5, the system shows moderate overshoot with some
oscillations, a shorter settling time compared to Kp = 1, and the system reaches steady state more
quickly. With Kp = 10, the system has higher overshoot and more pronounced oscillations
compared to Kp = 5 , taking longer to settle, indicating a more responsive but less stable behavior.
Finally, with Kp = 200, the system exhibits very large overshoot and significant oscillations, taking
a long time to stabilize, showing highly unstable behavior due to the excessive proportional gain.

Part b
Let 𝒌𝒑 = 10, 𝒌𝒅 = 0, using the Simulink to simulate the system with 𝒌𝒊 = 0.1, 1, 20, 50, based
on these simulation results, please give the comment the effects of 𝒌𝒊 to the response of the
system.

Figure 4.2.3. Output signal

36
 In this figure, the system is simulated with Kp = 10 and Kd = 0, with Ki values of 0.1, 1, 20, and
50. The results show that when Ki = 0.1, the system is stable with small oscillations and gradually
reaches a steady state without much overshoot. With Ki = 1, the oscillations increase slightly, and
the system remains stable but takes longer to reach a steady state and has a bit more overshoot. As
Ki increases to 20, the oscillations become larger and last longer, making the system less stable
and taking more time to settle. Finally, with Ki = 50, the oscillations are very large and do not
diminish, indicating that the system is unstable and does not reach a steady state. Overall, as Ki
increases, the system responds faster but becomes less stable, with greater oscillations and
overshoot.

Part c
Let 𝒌𝒑 = 10, 𝒌𝒊 = 10, using the Simulink to simulate the system with 𝒌𝒅 = 0.1, 1, 5, 15, based
on these simulation results, please give the comment the effects of 𝒌𝒅 to the response of the
system.

Figure 4.2.4. Output signal

In this figure, the system is simulated with Kp = 10 and Ki = 10, while varying the Kd values of
0.1, 1, 5, and 15. The results show that with Kd = 0.1, the system has significant overshoot and
oscillations, taking a long time to stabilize. With Kd = 1, the overshoot decreases, and the
oscillations are less compared to Kd = 0.1, with a shorter settling time. When Kd increases to 5,
the system has almost no overshoot and quickly reaches a steady state, with minimal oscillations,
indicating a well-damped response. Finally, with Kd = 15, the system responds very slowly with
no overshoot, the rise time is significantly increased, and it takes longer to reach a steady state,
showing an over-damped behavior.

37
4.3

in which
𝟏 𝟏
𝑮𝑷𝑰𝑫 (𝒔) = 𝑲𝑷 (𝟏 + 𝑻 𝒔 + 𝑻𝑫 𝒔) is PID controller and 𝑮(𝒔) = 𝐬(𝐬+𝟐)(𝐬+𝟔) is the plant.
𝑰
Part a
Based on the Ziegler-Nichols method, determine the parameter of the PID controller (Kp,
TI, TD).

From this block diagram we have:

Figure 4.3.1. Block diagram

We have
𝐾𝑃
𝐺(𝑠) = 𝑠(𝑠+2)(𝑠+6)

𝐶(𝑠) 𝐾𝑃
 =
𝑅(𝑠) 𝑠(𝑠+2)(𝑠+6)+𝐾𝑃

As a consequence, the characteristic equation of the closed-loop system is:

𝑠 3 + 8𝑠 2 + 12𝑠 + 𝐾𝑃 = 0
The value of each level of 𝑠 𝑛 will be represented in the table of techniques Routh Hurwitz below:

𝑠3 1 12

𝑠2 8 𝐾𝑃

96 − 𝐾𝑃
𝑠1
8

𝑠0

To stabilize this system.

We have:

38
 𝐾𝑃 > 0 𝐾 >0
{96−𝐾𝑃 { 𝑃
>0 𝐾𝑃 < 96
8
The range of 𝐾𝑃 for stability: 0 < 𝐾𝑃 < 96
 𝐾𝑐𝑟 = 96
To obtain 𝜔𝑐𝑟
 8𝑠 2 + 𝐾𝑝 = 0
 8𝑠 2 + 96 = 0
 𝑠 2 = −12
 𝑠 = ±√12𝑗
 𝜔𝑐𝑟 = √12

2𝜋 2𝜋 𝜋
𝑇𝑐𝑟 = 𝜔 = =
𝑐𝑟 √12 √3

Following that, we get the Ziegler Nichols 2 technique table:

Type of controller 𝐾𝑃 𝑇𝐼 𝑇𝐷 𝐾𝐼 𝐾𝐷

P 0,5𝐾𝑐𝑟 ∞ 0 0 0

0,54𝐾𝑐𝑟
PI 0,45𝐾𝑐𝑟 0,83𝑇𝑐𝑟 0 0
𝑇𝑐𝑟

1,2𝐾𝑐𝑟
PID 0,6𝐾𝑐𝑟 0,5𝑇𝑐𝑟 0,125𝑇𝑐𝑟 0,075𝐾𝑐𝑟 𝑇𝑐𝑟
𝑇𝑐𝑟

From table of method Ziegler Nichols 2 above, we have:

PID controller:
𝐾𝑃 = 0,6𝐾𝑐𝑟 = 0,6.96 = 57,6
𝜋
𝑇𝐼 = 0,5𝑇𝑐𝑟 = 0,5 × = 0,9069
√3

𝜋
𝑇𝐷 = 0,125𝑇𝑐𝑟 = 0,125 × = 0,2267
√3

1,2𝐾 1,2×96
𝐾𝐼 = 𝑇 𝑐𝑟 = 𝜋 = 63,513
𝑐𝑟
√3

𝜋
𝐾𝐷 = 0,075𝐾𝑐𝑟 𝑇𝑐𝑟 = 0,075 × 96 × = 13,059
√3

39
After all of that, the PID's transfer function will be as follows:

1 1
 𝐺𝑃𝐼𝐷 (𝑠) = 𝐾𝑃 (1 + 𝑇 𝑠 + 𝑇𝐷 𝑠) = 57,6 (1 + 0,9069𝑠 + 0,2267𝑠)
𝐼
2
13,05792(𝑠+2,206)
= 𝑠

𝐶(𝑠) 13,05792𝑠 2 +57,6115𝑠+63,5455

 =
𝑅(𝑠) 𝑠 4 +8𝑠 3+25,05792+57,6115𝑠+63,5455

Part b
Simulate the system without and with the PID controller and evaluate these simulation
results.

Without PID controller:

Figure 4.3.2. Block diagram

Figure 4.3.3. The graph obtained by Simulink

40
With PID controller:

Figure 4.3.4. Block diagram

Figure 4.3.5. The graph obtained by Simulink

The system coupled to the PID controller stabilizes early and passes the step value (step=1)
quicker. The absence of a PID controller leads the system to take a lengthy time to achieve the step
value (step=1), potentially causing system instability.

41
 Figure 4.3.6. Step plot

Part c
If with the PID controller, the overshoot of the system is 40% or more, please carry out the
fine-tuning the parameters of the PID controller to reduce the overshoot is approximately
25%.

Using PID tuning function:

Figure 4.3.7. Tuning the parameters to reduce the overshoot

42
 Figure 4.3.8. Updating parameter to the PID block

Figure 4.3.9. The result after updating

After installing the tuning PID controller, the modulated signal requires K P = 21,3535, K I = 3,0851
and K D = 5,0717, which reduces the overshoot to 25%. Resolution time is faster with 10.4 seconds
for tuned response and 6,09 for block response.

43
4.4
The DC motor in Fig. 15 is modelled in the following transfer function:

Where 𝒊 is the current, 𝜽 is rotational angle, 𝜽̇ is the angular rate of the load, 𝒗 is the input
voltage, and 𝒚 = 𝜽 is output. The parameters of the DC motor are:
𝑹 = 𝟐. 𝟎 (𝐖), 𝑳 = 𝟎. 𝟓(𝐇), 𝒌𝒎 = 𝟎. 𝟎𝟏𝟓 (𝐭𝐨𝐫𝐪𝐮𝐞 𝐜𝐨𝐧𝐬𝐭𝐚𝐧𝐭), 𝒌𝒃 = 𝟎. 𝟎𝟏𝟓(𝐞𝐦𝐟 𝐜𝐨𝐧𝐬𝐭𝐚𝐧𝐭)
𝒌𝒇 = 𝟎. 𝟐(𝐍𝐦𝐬), 𝑱 = 𝟎. 𝟎𝟐 (𝐤𝐠. 𝐦𝟐 )

Part a
Determine the transfer function of the DC motor with voltage input v and output angle θ

This system included:

- 𝑅 = 2,0 (Ω)
- 𝐿 = 0,5 (H)
- 𝐾𝑚 = 0,015 Nm/A
- 𝐾𝑓 = 0,2 (Nms)
- 𝐾𝑏 = 0,015 (V/rad/s)
- 𝐽 = 0,02 (kg. m2 )

KVL in electrical Circuit:

𝑑𝑖
𝑉 (𝑡) = 𝐿 𝑑𝑡 + 𝑅𝐼𝑎 (𝑡) + 𝑒(𝑡)

With 𝑒(𝑡) = 𝑘𝑏 𝜔(𝑡)

𝑑𝑖 𝑑𝜃
 𝑉 (𝑡) = 𝐿 𝑑𝑡 + 𝑅𝐼 (𝑡) + 𝑘𝑏 𝑑𝑡

Applying Laplace transform:

 𝑉 (𝑠) = 𝐿𝑠𝐼(𝑠) + 𝑅𝐼(𝑠) + 𝑘𝑏 𝜔(𝑠)

44
 𝑉 (𝑠) = 𝐿𝑠𝐼(𝑠) + 𝑅𝐼(𝑠) + 𝑘𝑏 𝑠𝜃(𝑠)
 𝑉 (𝑠) = (𝐿𝑠 + 𝑅)𝐼 (𝑠) + 𝑘𝑏 𝑠𝜃(𝑠)
The torque equations:
2
𝑑 𝜃 𝑑𝜃
𝐽 𝑑𝑡 + 𝐾𝑓 𝑑𝑡 = 𝐾𝑚 𝐼(𝑡)

Applying Laplace transform:

 𝐾𝑚 𝐼 (𝑠) = 𝐽𝑠 2 𝜃(𝑠) + 𝐾𝑓 𝑠𝜃(𝑠)

𝐽𝑠2 𝜃(𝑠)+𝐾𝑓𝑠𝜃(𝑠)
 𝐼 (𝑠 ) = (2)
𝐾𝑚

From (1) and (2), we have:

𝐽𝑠2𝜃(𝑠)+𝐾𝑓𝑠𝜃(𝑠)
 𝑉 (𝑠) = (𝐿𝑠 + 𝑅) + 𝑘𝑏 𝑠𝜃(𝑠)
𝐾𝑚

𝐿𝑠+𝑅 𝐿𝑠+𝑅
 𝑉 (𝑠 ) = (𝐽𝑠 2 𝜃(𝑠)) + (𝐾𝑓 𝑠𝜃 (𝑠)) + 𝑘𝑏 𝑠𝜃(𝑠)
𝐾𝑚 𝐾𝑚

𝐿𝑠+𝑅 𝐿𝑠+𝑅
 𝑉 (𝑠) = 𝜃(𝑠) [ 𝐾 𝐽𝑠 2 + 𝐾 𝐾𝑓 𝑠 + 𝑘𝑏 𝑠]
𝑚 𝑚

Transfer function:

𝜃(𝑠) 1 1
𝐺 (𝑠) = 𝑉(𝑠) = 𝐿𝑠+𝑅 𝐿𝑠+𝑅 = 𝐾𝑏 𝑠
𝐽𝑠 2 + 𝐿𝑠+𝑅 2 𝐿𝑠+𝑅
𝐾𝑚 𝑚𝐾 𝐾𝑓 𝑠+𝑘𝑏 𝑠 𝐾𝑚 𝐽𝑠 + 𝐾𝑚 𝐾𝑓 𝑠+ 𝐾𝑚 𝐾𝑚

𝐾𝑚
= 2
(𝐿𝑠+𝑅).𝐽𝑠 +(𝐿𝑠+𝑅).𝐾𝑓𝑠+𝐾𝑏𝑠𝐾𝑚

𝐾𝑚
= 2
(𝐿𝑠+𝑅)(𝐽𝑠 +𝐾𝑓𝑠)+𝐾𝑏𝑠𝐾𝑚

𝐾𝑚
=
𝑠((𝐿𝑠+𝑅)(𝐽𝑠+𝐾𝑓)+𝐾𝑏𝐾𝑚)

Applying 𝑅 = 2,0, 𝐿 = 0,5, 𝐾𝑚 = 0,015, 𝐾𝑏 = 0,015, 𝐾𝑓 = 0,2, 𝐽 = 0,02 into transfer function:

45
 0,015
 𝐺 (𝑠 ) =
𝑠((0,5𝑠+2)(0,02𝑠+0,2)+0,015.0,015)

0,015
=
0,01𝑠3+0,14𝑠2+0,400225𝑠

Part b
Develop a block diagram for a closed-loop system to control DC motor with PID controller.

Using Simulink, the block diagram of the system is obtained for a closed-loop system using a PID
controller to regulate a DC motor:

Figure 4.4.1. Block diagram with PID controller

Figure demonstrates that the orientation of the histogram is growing, and the chart continues to
show a mild increasing trend from the step value (step = 1) forward.

Part c
Applying the PID auto-tuning of Matlab/Simulink to design a PID controller to control the
position of the DC motor to track the step signal.

The PID tuner option can be found in the PID block.

Figure 4.4.2. The PID tuner

The results of the adjustment are shown below:

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 Figure 4.4.3. Control Parameter

Figure 4.4.4. Tuned response

As illustrated in the image above, the correction system reduces the overshoot by 71.7% and
shortens the settling time to 3.05 seconds. By adjusting the parameters of the PID blocks, the
system signal aligns with the reference signal, which in this case is a step signal. This ensures that
the motor position corresponds to the input stepper signal.

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 Figure 4.4.5. Motor response after turning

Part d
Simulating the system with and without the PID controller by Matlab/Simulink and compare
the simulation results of these two cases.

The figure below shows the comparison of the output system signal in 2 cases with and without
PID controller:

Figure 4.4.6. Block diagram of motor system

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 Figure 4.4.7. The graph obtained by Simulink

In Figure 4.4.7, the system with a PID controller stabilizes rapidly and reaches the step value (step
= 1) more quickly. Conversely, without a PID controller, the system takes a longer time to reach
the step value (step = 1), which could potentially result in system instability.

Part e
Assume that the DC motor is connect to a load with moment Mt. Carry out the simulation
with three cases: Case 1 without disturbance ( Mt=0), Case 2 with Mt=0.1, and Case 3
increase the disturbance ( Mt=1). Evalulate the disturbance rejection of this PID controller.

Due to the need to increase shuffling for three cases, three replication systems were created and
compared, as shown in the figure below:

Figure 4.4.8. Block diagram

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 Figure 4.4.9. Disturbance rejection of PID controller

Based on the figure 4.4.9, the PID controller shows varying disturbance rejection capabilities
depending on the level of disturbance. In the case with no disturbance (Mt=0), the system's
response (green line) quickly stabilizes at a value of around 5. With a small disturbance (Mt=0.1),
the system (red line) stabilizes at a value of around 7 after approximately 9 seconds, indicating
good disturbance rejection. However, when the disturbance is increased (Mt=1), the system's
response (purple line) stabilizes at around 25 after approximately 9 seconds, showing a significant
increase in stabilization time and a clear reduction in disturbance rejection capability.

50
References
- DABNEY, J.B. and HARMAN, T.L. (2003) Mastering Simulink. Prentice Hall.
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controls [Accessed 24 June 2024].
- Carwow, 2023. What is Cruise Control?. [online] Available at:
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- Alliance Laundry Systems LLC, 2015. Washing Machine Control System and Methods.
[online] Available at: https://www.freepatentsonline.com/y2015/0211168.html [Accessed 24 June
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Turnitin

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