1.

By Newtons second law

F ma

u bv ma
u bv mv&
u t bv t mv& t 1

GP s
2. Plant transfer function =
GP s

V s

U s

1
Take Laplace transformation of
U s bV s m sV s v 0 ; v 0 0

U s ms b V s
V s

1
ms b

GP s

1
ms b

U s

x t X s
Let

d x t
v t
dt

Taking Laplace transformation of the above equation

sX s x 0 V s
x 0 0
Since
sX s V s

Therefore
V s sX s
GP s

U s U s
X s

U s

1
s (ms b)

3.

R s

GP s

GC s

V s

H s 1
GP s

GC s K P

1
ms b

and
Here
V s R s V s GP s GC s
V s
R s

GP s GC s

1 GP s GC s

V s
KP
KP
1

R s
ms b
ms b
V s
R s

KP
ms b K P

m 1000kg
b 50 Ns / m

: This is the closed loop transfer function

V s
R s

KP
1000 s 50 K P

3.1

1000 s 50 K P 0
Consider

. Using Rouths stability criterion

s1

1000

s0

50 K P
50 K P 0
To be in stable region
K P 50
Therefore

KP 0
. But we know

K P 5000 K P 1500

0 K P
. Therefore for stability

K P 600

K P 100

3.2

3.3
K P 5000
No. According to the figure only
instance is acceptable when the
performance specifications are taken into considered (Steady state error < 2%). In this
case the rise time is less than a second. Therefore the acceleration of the vehicle is greater

than

10ms 2

. But due to power limitations of the engine and the drivetrain the maximum
6ms 2

acceleration attainable is
. Therefore we cant achieve the desired result practically
with using only the proportional control.

4. Consider the diagram in part 3. Since PI control is implemented

m 1000kg
b 50 Ns / m
GC s K P

KI
s

GP s

and
Here
V s R s V s GP s GC s

1
ms b

K I
K
KP I

s
s
1

R s
ms b
ms b

KP

V s

V s
R s

KP

KI
s

1000 s 50 K P

KI
s

K P 800
Given that

V s
R s

800 s K I
1000 s 2 850 s K I

Therefore
1000 s 2 850 s K I 0

Consider

. Using Rouths stability criterion

S2

1000

S1

850

S0

KI

KI

KI 0
For stability in the system

Since the necessary performance specifications are satisfied there is no need of

implementing PID control.

GC s 800

5.
s

KI
s

z 1
Tz

GC s 800

GC s

KI
z 1

Tz

800 z 1 K I Tz
z 1
1
1000 s 50

GP s
GP s

1000

1
z 1
50
Tz

Tz
1000 z 1 50Tz

GP s

V s
R s

GP s GC s

1 GP s GC s

We know
Consider
1 GP s GC s 0

800 z 1 K I Tz
Tz
0
1000 z 1 50Tz

z 1

1000 z 1 50Tz

z 1 Tz

800 z 1 K I Tz 0

z 2 1000 850T K I T 2 z 850T 2000 1000 0

1 w
1 w

When using modified Rouths criterion

Now we get
2
2
1 w 1000 850T K I T 2 1 w (1 w) 850T 2000 1000 1 w 0

w2 4000 1700T K I T 2 w 2K I T 2 1700T K I T 2 0

w2

4000 850T K I T 2

w1

2 K I T 2 1700T

w0

KIT 2

KIT 2

4000 850T K I T 2 0

For stability
2 K I T 2 1700T 0
K IT 2 0

1 ms T 1 s K I 0
According to the above 3 equations, for
,

Sampling Period

1 ms

KI
Range for
KI 0

10 ms

KI 0

100 ms

KI 0

1s

KI 0

KI 0
For all sampling time periods

KI
. Therefore we cant find values for

such that the system

KI

is stable using Modified Rouths criterion. Therefore to obtain stable values for
follow trial and error (heuristics) method.

we have to