BELC 3663 Ch1-2

ANSWER EXERCISE CHAPTER 1-2

QUESTION 1

A high-performance jet aircraft with an autopilot control system has a unity feedback and
control system, as shown in Figure Q1(a). The system operates with a simplest 𝐾 gain controller
and the root locus of the system is shown in Figure Q1(b), respectively. Answer the question
below:

(i) Design the K gain controller for a damping ratio of 0.23. Then, prove the settling time
is less than 2.5 seconds.

(ii) Design a controller to improve the steady-state error half of the K gain controller system
you have designed in (i) for a step input. Then, justify your controller achieving the
design requirement.

+ 𝑌(𝑠)
𝑅(𝑠) 1
𝐾
(𝑠 + 2)(𝑠 + 10)(𝑠 + 14)
−

Figure Q1(a)
 BELC 3663 Ch1-2

𝜁 = 0.23

𝑗9.4

−2.2

Figure Q1(a)
 BELC 3663 Ch1-2

Answer Q1(i)

The dominant poles (𝑆𝑑 ) location is obtained from the root locus. From this 𝑆𝑑 , we can
calculate the settling time as the following.

ζ =0.258 𝑠𝑑 = −2.2 + 𝑗9.4 Design the gain 𝐾 = 1710.7

4 4 Since 𝑇𝑠 < 2.5𝑠, so it prove that 𝐾 gain

𝑇𝑠 = = = 1.8𝑠. controller able to achieve the design
ζ𝜔𝑛 2.2
requirement

Answer Q1(ii)

The most suitable controller is Lag controller.

𝐾(𝑠 + 𝑧𝑙𝑎𝑔 )
𝐺𝑙𝑎𝑔 (𝑠) =
(𝑠 + 𝑝𝑙𝑎𝑔 )

1. Find the static error constant and steady-state error for uncompensated system.

1710.7 1
𝐾𝑝(𝑜𝑙𝑑) = = 6.11 𝑒𝑠𝑠(𝑢𝑛𝑐𝑜𝑚𝑝) = = 0.14
(2 × 10 × 14) 1 + 6.11

2. Evaluate steady-state error and static error constant for compensated system based on
requirement.
𝑒𝑠𝑠(𝑢𝑛𝑐𝑜𝑚𝑝) 1
𝑒𝑠𝑠(𝑐𝑜𝑚𝑝) = 𝐾𝑝(𝑛𝑒𝑤) = −1
2 𝑒𝑠𝑠(𝑐𝑜𝑚𝑝)
0.14
𝑒𝑠𝑠(𝑐𝑜𝑚𝑝) = = 0.07 1
2 𝐾𝑝(𝑛𝑒𝑤) = − 1 = 13.29
0.07
 BELC 3663 Ch1-2

3. Design lag compensator. Student can choose any value for 𝑧𝑙𝑎𝑔 or 𝑝𝑙𝑎𝑔 and calculate the
other one.
Choose, 𝑝𝑙𝑎𝑔 = 0.1 13.29
𝑧𝑙𝑎𝑔 = × 0.1 = 0.22
𝐾𝑝(𝑛𝑒𝑤) 𝑧𝑙𝑎𝑔 6.11
=
𝐾𝑝(𝑜𝑙𝑑) 𝑝𝑙𝑎𝑔

4. Determine K value and write the transfer function.

1
𝐾=| |
𝐺 (𝑠)𝐻(𝑠) 𝑠=𝑠𝑑
1737.2(𝑠 + 0.22)
(𝑠 + 0.22) 𝐺𝑙𝑎𝑔 (𝑠) =
𝐾=| | (𝑠 + 0.1)
(𝑠 + 0.1)(𝑠 + 2)(𝑠 + 10)(𝑠 + 14)
𝑠=𝑠𝑑

𝐾 = 1737.2

Justify
1737.2 × 0.23 1
𝐾𝑝(𝑛𝑒𝑤) = = 14.27 𝑒𝑠𝑠(𝑐𝑜𝑚𝑝) = = 0.07
(2 × 10 × 14 × 0.1) 1 + 14.27

Achieve design requirement.

 BELC 3663 Ch1-2

QUESTION 2

Antiskid braking systems present a challenging control problem, since brake/automotive

system parameter variations can vary significantly and environmental influences. The objective
of the antiskid system is to regulate wheel slip to maximize the coefficient of friction between
the tire and road for any given surface. A simplified model of braking system is represented in
Figure Q2 with a plant transfer function,

1
𝐺 (𝑠 ) =
(𝑠 + 𝑎)(𝑠 + 𝑏)(𝑠 + 𝑐)

Where normally 𝑎 = 1, 𝑏 = 4 and 𝑐 = 12.

+ 𝑌(𝑠)
𝑅(𝑠) 𝐺(𝑠)
𝐺𝑐 (𝑠)
−

Figure Q2

(a) Design a compensator system for a step input to make the steady-state error to become
less or equals 0.02, settling time 𝑇𝑠 is 1 seconds or less and percentage overshoot less than
15%.
(b) Is the controller you designed in (a) achieve the objective in term of steady-state error.
Give a comment and proof.
 BELC 3663 Ch1-2

Answer Q2(a)

Suggestion: Lag-Lead Compensator.

Justification:
Since the design requirement to improve the steady-state and transient response so the most
suitable compensator is LAG-LEAD.

Design -
𝐾(𝑠 + 𝑧𝑙𝑎𝑔 )(𝑠 + 𝑧𝑙𝑒𝑎𝑑 )
𝐺𝐿𝐸𝐴𝐷−𝐿𝐴𝐺 (𝑠) =
(𝑠 + 𝑝𝑙𝑎𝑔 )(𝑠 + 𝑝𝑙𝑒𝑎𝑑 )

First design Lead Compensator,

1. Find the 𝑠𝑑(𝑐𝑜𝑚𝑝) = −ζ 𝜔𝑛 + 𝑗𝜔𝑑
Based on design requirement, 𝑇𝑠(𝑐𝑜𝑚𝑝) < 1𝑠
For calculation, I choose 𝑇𝑠(𝑐𝑜𝑚𝑝) = 0.8𝑠 (student can choose any suitable value)
Using 𝑇𝑠(𝑐𝑜𝑚𝑝) , we can find
4
ζ 𝜔𝑛 = =5
0.8
Design requirement percentage overshoot (%OS) equal or less than 15%.
For calculation, I choose 10% (students can choose any suitable value)
𝑂𝑆
−ln(% 100)
ζ= = 0.5912
√𝜋 2 + ln2 (% 𝑂𝑆 )
100

5
𝜔𝑛 = = 8.4580
0.5912

So, 𝜔𝑑 = 𝜔𝑛 √1 − ζ2 = 8.4580√1 − 0.59122 = 6.8219

Therefore,
𝑠𝑑(𝑐𝑜𝑚𝑝) = −5 + 𝑗6.8219
 BELC 3663 Ch1-2

2. We choose 𝑧𝑙𝑒𝑎𝑑 = 4
Calculate the angle of 𝜃𝑝𝑙𝑒𝑎𝑑

.
−5 + 𝑗6.8219

𝜃𝑝𝑙𝑒𝑎𝑑 𝜃2 𝜃1
X X X
−𝑃𝑙𝑒𝑎𝑑 −12 −1
=

6.8219
𝜃1 = 180° − tan−1 = 120.4°
5−1

6.8219
𝜃2 = tan−1 = 44.3°
12 − 5

Apply the formula

∑ 𝜃𝑧 − ∑ 𝜃𝑝 = −180°

𝜃𝑝𝑙𝑒𝑎𝑑 = 180° − 120.4° − 44.3° = 15.3°

3. Find the location of 𝑝𝑙𝑒𝑎𝑑

6.8219
𝜃𝑝𝑙𝑒𝑎𝑑 = tan−1 = 15.3°
𝑝𝑙𝑒𝑎𝑑 − 5

𝑝𝑙𝑒𝑎𝑑 = 29.94

4. Calculate the 𝐾𝑙𝑒𝑎𝑑

1
𝐾𝑙𝑒𝑎𝑑 = | |
𝐺 (𝑠)𝐻(𝑠) 𝑠 = −5 + 𝑗6.8219

𝐾𝑙𝑒𝑎𝑑 = |(−5 + 𝑗6.8219 + 1)(−5 + 𝑗6.8219 + 12)(−5 + 𝑗6.8219 + 29.94)|

𝐾𝑙𝑒𝑎𝑑 = 1991.6
 BELC 3663 Ch1-2

Then design Lag Compensator

𝐾𝑝(𝑛𝑒𝑤) 𝑧𝑙𝑎𝑔 𝑧𝑙𝑎𝑔

= =
𝐾𝑝(𝑙𝑒𝑎𝑑) 𝑝𝑙𝑎𝑔 0.1

Find 𝐾𝑝(𝑙𝑒𝑎𝑑)
1991.6
𝐾𝑝(𝑙𝑒𝑎𝑑) = lim = 5.54
𝑠→0 (𝑠 + 1)(𝑠 + 12)(𝑠 + 29.94)

Find 𝐾𝑝(𝑛𝑒𝑤)
1
𝑒𝑠𝑠(𝑛𝑒𝑤) = 0.02 =
1 + 𝐾𝑝(𝑛𝑒𝑤)
1
𝐾𝑝(𝑛𝑒𝑤) = − 1 = 49
0.02

Choose 𝑝𝑙𝑎𝑔 = 0.1

𝐾𝑝(𝑛𝑒𝑤) 49 𝑧𝑙𝑎𝑔
= =
𝐾𝑝(𝑙𝑒𝑎𝑑) 5.54 0.1

49
𝑧𝑙𝑎𝑔 = × 0.1 = 0.88
5.54

Find K

1
𝐾=| |
𝐺 (𝑠)𝐻(𝑠) 𝑠 = −5 + 𝑗6.8219

(−5 + 𝑗6.8219 + 0.1)(−5 + 𝑗6.8219 + 1)(−5 + 𝑗6.8219 + 12)(−5 + 𝑗6.8219 + 29.94)

𝐾=| |
(−5 + 𝑗6.8219 + 0.88)

𝐾 = 2099

Or you can assume 𝐾 for lag-lead ≈ 𝐾 for lead ≈ 1991.6

2099(𝑠 + 0.88)(𝑠 + 4)
∴ 𝐺𝐿𝐸𝐴𝐷−𝐿𝐴𝐺 (𝑠) =
(𝑠 + 0.1)(𝑠 + 29.94)
 BELC 3663 Ch1-2

Answer Q2(b)
Proof:
Calculate the steady-state error with lag-lead compensator.

2099(𝑠 + 0.88)(𝑠 + 4)
𝐾𝑝(𝑙𝑎𝑔−𝑙𝑒𝑎𝑑) = lim = 51.41
𝑠→0 (𝑠 + 0.1)(𝑠 + 29.94)(𝑠 + 1)(𝑠 + 4)(𝑠 + 12)

1 1
𝑒𝑠𝑠(𝑙𝑎𝑔−𝑙𝑒𝑎𝑑) = = = 0.019
1 + 𝐾𝑝(𝑙𝑎𝑔−𝑙𝑒𝑎𝑑) 1 + 51.41

Comment:
Yes, the design objective is achieved because the steady-state error after the implementation of
lead-lag compensator is 0.019 which is less that the design requirement (0.02).
 BELC 3663 Ch1-2

QUESTION 3

Given a system as shown in Figure Q3 with a plant transfer function,

1
𝐺 (𝑠 ) =
𝑠3 + 17𝑠 2 + 64𝑠 + 47

+ 𝑌(𝑠)
𝑅(𝑠) +
𝐺𝑐 (𝑠) 𝐺(𝑠)
−

Figure Q3

Design a compensator system for a step input to make the steady-state error to become less or
equals 0.01, settling time 𝑇𝑠 is 1 seconds or less and percentage overshoot less than 15%.

Answer Q3(a)

Suggestion: Lag-Lead Compensator.

Justification:
Since the design requirement to improve the steady-state and transient response so the most
suitable compensator is LAG-LEAD.

Design -
𝐾(𝑠 + 𝑧𝑙𝑎𝑔 )(𝑠 + 𝑧𝑙𝑒𝑎𝑑 )
𝐺𝐿𝐸𝐴𝐷−𝐿𝐴𝐺 (𝑠) =
(𝑠 + 𝑝𝑙𝑎𝑔 )(𝑠 + 𝑝𝑙𝑒𝑎𝑑 )
 BELC 3663 Ch1-2

First design Lead Compensator,

1. Change the block diagram to become

+ 𝑌(𝑠)
𝑅(𝑠) 𝐺1 (𝑠)
𝐺𝑐 (𝑠)
−

1 1
𝐺1 (𝑠) = =
(𝑠 3 + 17𝑠 2 + 64𝑠 + 47) + 1 𝑠 3 + 17𝑠 2 + 64𝑠 + 48

1
𝐺1 (𝑠) =
(𝑠 + 1)(𝑠 + 4)(𝑠 + 12)

2. Find the 𝑠𝑑(𝑐𝑜𝑚𝑝) = −ζ 𝜔𝑛 + 𝑗𝜔𝑑

Based on design requirement, 𝑇𝑠(𝑐𝑜𝑚𝑝) < 1𝑠
For calculation, I choose 𝑇𝑠(𝑐𝑜𝑚𝑝) = 0.8𝑠 (student can choose any suitable value)
Using 𝑇𝑠(𝑐𝑜𝑚𝑝) , we can find
4
ζ 𝜔𝑛 = =5
0.8

Design requirement percentage overshoot (%OS) equal or less than 15%.

For calculation, I choose 15% (students can choose any suitable value)
𝑂𝑆
−ln(% 100)
ζ= = 0.5169
√𝜋 2 𝑂𝑆
+ ln2 (% 100)

5
𝜔𝑛 = = 9.673
0.5169

So, 𝜔𝑑 = 𝜔𝑛 √1 − ζ2 = 9.673√1 − 0.51692 = 8.28

Therefore, 𝑠𝑑(𝑐𝑜𝑚𝑝) = −5 + 𝑗8.28

 BELC 3663 Ch1-2

3. We choose 𝑧𝑙𝑒𝑎𝑑 = 4
Calculate the angle of 𝜃𝑝𝑙𝑒𝑎𝑑

.
−5 + 𝑗8.28

𝜃𝑝𝑙𝑒𝑎𝑑 𝜃2 𝜃1
X X X
−𝑝𝑙𝑒𝑎𝑑 −12 −1
=

8.28
𝜃1 = 180° − tan−1 = 115.8°
5−1

8.28
𝜃3 = tan−1 = 49.8°
12 − 5

Apply the formula

∑ 𝜃𝑧 − ∑ 𝜃𝑝 = −180°

𝜃𝑝𝑙𝑒𝑎𝑑 = 180° − 115.8° − 49.8° = 14.4°

4. Find the location of 𝑝𝑙𝑒𝑎𝑑

8.28
𝜃𝑝𝑙𝑒𝑎𝑑 = tan−1 = 14.4°
𝑝𝑙𝑒𝑎𝑑 − 5

𝑝𝑙𝑒𝑎𝑑 = 37.25

5. Calculate the 𝐾𝑙𝑒𝑎𝑑

1
𝐾𝑙𝑒𝑎𝑑 = | |
𝐺 (𝑠)𝐻(𝑠) 𝑠 = −5 + 𝑗8.28

𝐾𝑙𝑒𝑎𝑑 = |(−5 + 𝑗8.28 + 1)(−5 + 𝑗8.28 + 12)(−5 + 𝑗8.28 + 37.25)|

𝐾𝑙𝑒𝑎𝑑 = 3319.68
 BELC 3663 Ch1-2

Then design Lag Compensator

We choose 𝑝𝑙𝑎𝑔 = 0.1

𝐾𝑝(𝑛𝑒𝑤) 𝑧𝑙𝑎𝑔 𝑧𝑙𝑎𝑔

= =
𝐾𝑝(𝑙𝑒𝑎𝑑) 𝑝𝑙𝑎𝑔 0.1

Find 𝐾𝑝(𝑙𝑒𝑎𝑑)
3319.68
𝐾𝑝(𝑙𝑒𝑎𝑑) = lim = 7.42
𝑠→0 (𝑠 + 1)(𝑠 + 12)(𝑠 + 37.25)

Find 𝐾𝑝(𝑛𝑒𝑤)
1
𝑒𝑠𝑠(𝑛𝑒𝑤) = 0.01 =
1 + 𝐾𝑝(𝑛𝑒𝑤)
1
𝐾𝑝(𝑛𝑒𝑤) = − 1 = 99
0.01

𝐾𝑝(𝑛𝑒𝑤) 99 𝑧𝑙𝑎𝑔
= =
𝐾𝑝(𝑙𝑒𝑎𝑑) 7.42 0.1

99
𝑧𝑙𝑎𝑔 = × 0.1 = 1.33
7.42

Find K

Assume 𝐾 for lag-lead ≈ 𝐾 for lead ≈ 3319.68

3319.68(𝑠 + 1.33)(𝑠 + 4)
∴ 𝐺𝐿𝐸𝐴𝐷−𝐿𝐴𝐺 (𝑠) =
(𝑠 + 0.1)(𝑠 + 37.25)