R(s) + E(s) G(s) C(s)

H(s)
G(s) transfer funciton is given below;

K
G(s) = (is written using by hand)
(s + 4)(s + 6)(s + 10)

Closed loop transfer function T(s);

𝐾 ∗ 𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐾 ∗ 𝐺(𝑠) ∗ 𝐻(𝑠)
K= gain, H(s)= 1(unity feedback)
𝐾
K ∗ G(s) ∗ H(s) = , | K ∗ G(s) ∗ H(s)|=1
(𝑠+4)(𝑠+6)(𝑠+10)

Root locus drawing:

+
K G(s)
R(s ) - E (s) C(s)

H(s)
1
K*G(s) ∗ H(s) = (İmaginary axis)
(s + 4)(s + 6)(s + 10)
𝜉 = 0.404
Poles are = -4,-6,-10 Ts -2.564 + 5.813i, K=466.99
Zero is = empty uncompensated pole(on root locus&on ksi)
Desired pole location(out of root locus&on ksi)
-2 + j4.534, (need to compensated)
-2 113.8°

-10 -6 -4 (reel axis)

∑ 𝑝𝑜𝑙𝑒𝑠−∑ 𝑧𝑒𝑟𝑜𝑠 −20−0

𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑃𝑜𝑙𝑒𝑠−𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑍𝑒𝑟𝑜𝑠
= 3−0
=-6.67(centroid)
Angle of ashymtodes: 60°,180°,300° , 𝐾 = 𝑙4 𝑥𝑙6 𝑥𝑙10 =275.5182805 (not compansed yet)
𝑙10 = 9.195496506 ,𝑙6 = 6.046251401 , 𝑙4 = √(4 − 2)2 + (4,534)2 =4.955517733
 466.99
𝐾 ∗ 𝐺(𝑠) =
(𝑠 + 4) ∗ (𝑠 + 6) ∗ (𝑠 + 10)

Calculating Mathematical Functions:

Values of system which is wanted to design control system on homework.2:

Ts ≤ 2 sec. {Settling Time}

%OS≤ %25 {Percentage OverShoot}
Critical point for ;Ts = 2 sec. , %OS=%25
𝑂𝑆
ln(% )
100
𝜉=− ,
√𝜋 2 +ln 2(%𝑂𝑆/100)
ln(25)
𝜉=− = 0.4037127519 ,(0 ≤ 𝜉 < 1 => (𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 ℎ𝑎𝑣𝑒 𝑡𝑜 𝑏𝑒 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑐𝑜𝑛𝑗𝑢𝑔𝑎𝑡𝑒𝑠
√𝜋 2 +ln 2(25)

and under-damped case);

𝑝1 , 𝑝2 = − 𝜉𝜔𝑛 ∓ 𝑗𝜔𝑛 √1 − 𝜉 2
𝜉
𝜃 = 180° − cos −1 ( )
√1 − 𝜉 2

𝜔𝑑 = 𝜔𝑛 √1 − 𝜉 2
ln(0.02√1−𝜉 2 )
{Ts = − 𝜉 𝜔𝑛

2
%OS = 𝑒 −(𝜉𝜋/√1−𝜉 ) 𝑥100}

𝑒 −𝜉𝜔𝑛 𝑡 𝜉
ʮ𝑠𝑡𝑒𝑝 (𝑡) = 1 − (cos(𝜔𝑑 𝑡 − 𝜑)) , 𝜑 = tan−1 ( )
√1−𝜉 2 √1−𝜉 2

𝑝1 , 𝑝2 = −2.000489522 ∓ 𝑗4.533469487 (points are desired which out of root locus,dominant poles for
design)

𝜃 = 180 − cos−1 (𝜉/√1 − 𝜉 2 ) ≅113.8°

𝜔𝑑 = 𝜔𝑛 √1 − 𝜉 2 = 4.533469487
ln(0.02√1−0.40371275192 )
{2 = − 0.4037127519𝜔𝑛

𝜔𝑛 = 4.955229956
𝜉𝜔𝑛 = 2.000489522
√1 − 𝜉 2 =0.9148857928
2
%OS = 𝑒 −(𝜉𝜋/√1−𝜉 ) 𝑥100 = %25}

0.404
𝜑 = tan−1(√1−0.4042 )=23.81048667°

𝑒 −4.955229956𝑡
ʮ𝑠𝑡𝑒𝑝 (𝑡) = 1 − (cos( 4.533469487𝑡 − 23.81048667°))
0.9148857928
ʮ𝑠𝑡𝑒𝑝 (𝑡) = 1 − 1.093032603 𝑒 −1.528890292𝑡 (cos( 4.533469487𝑡 − 23.81048667°))
(At Time domain)

G(s) of zero steady-state erros is given below,

For unit input;
1 1
𝑒∞ = 𝑒𝑠𝑡𝑒𝑝 (∞) = = = 0.3394673192
1 + lim 𝐺(𝑠) 1 + 1.945791667
𝑠→0

For ramp input;

1 1
𝑒∞ = 𝑒𝑟𝑎𝑚𝑝 (∞) = = = ∞(𝑠𝑦𝑠𝑡𝑒𝑚 𝑖𝑠 𝑢𝑛𝑑𝑠𝑡𝑎𝑏𝑙𝑒 𝑓𝑜𝑟 𝑟𝑎𝑚𝑝 𝑖𝑛𝑝𝑢𝑡)
lim 𝑠𝐺(𝑠) 0
𝑠→0

Therefore, we must apply to 𝐺𝑐 (s) (compensator) for G(s) is decreased ramp errors .
Maybe it should be an integrator(1/S) ,

1
𝑒∞ = 𝑒𝑟𝑎𝑚𝑝 (∞) = = 0.5139296344(𝑛𝑜𝑤 𝑠𝑦𝑠𝑡𝑒𝑚 𝑖𝑠 𝑠𝑎𝑡𝑏𝑙𝑒 𝑓𝑜𝑟 𝑟𝑎𝑚𝑝 𝑖𝑛𝑝𝑢𝑡)
lim 𝑠𝐺𝑐 (s)𝐺(𝑠)
𝑠→0
Compensating calculation :

R(s) + G(s) C(s)

𝐺𝑐 (s)
-
H(s)

(−4−6−10)−0 −20
𝜎= = the angle of the line intersect at -20/3
3−0 3

−𝜃1 − 𝜃2 − 𝜃3 + 𝜃𝑧𝑐 − 𝜃𝑝𝑐 = (2𝑘 + 1)180°=-66.2°-48.58°-29.54°+𝜃𝑐 -113.8°

The aim that is catching the symmetrical(for reaching the desired point) on root locus, so for canceling
pole-zero, we can add the two zeros and one integrator on root locus and also we can add 1/S(integrator
)for editing steady-state erorrs (s=-10,s=-5.88---,1/S). System is now never unstable. And system root locus
is so close the desired point , if system has K which values given below; {%24.5(%OS), 1,7 sec(Ts).}

A new value of :

3.15∗(1+0.17s)∗(1+0.1s) 1
𝐺𝑐 (𝑠) = , K=466.99 , G(s)= (𝑠+4)∗(𝑠+6)∗(𝑠+10)
,
(𝑠)

T(s)=C(s)/R(s) closed loop unity feedback.

PID design (K1=15.88,K2=58.82,K3=25.01)

𝜉 = 0.404

-10 -5.88

-10 -6 -4
 %MATLAB COMMANDS:

>> numg= [1];

deng=poly([-4 -6 -10]);

g=467*tf(numg,deng)

g=

467

--------------------------

s^3 + 20 s^2 + 124 s + 240

Continuous-time transfer function.

>> rlocus(g)

Kp=dcgain(g);

step_err=1/(1+Kp)

step_err =

0.3395

Kv=dcgain(g);
ramp_err=1/Kv

ramp_err =

0.5139

>> gc=467*zpk([-5.8828 -10],[0],[3.15])

gc =

1471.1 (s+5.883) (s+10)

-----------------------

Continuous-time zero/pole/gain model.

C=pid(gc)

C=

Kp + Ki * --- + Kd * s

with Kp = 2.34e+04, Ki = 8.65e+04, Kd = 1.47e+03

>> nums=[1]; %gs

dens=poly([-4 -6 -10]);

gs=467*tf(nums,dens)

gs =

467

--------------------------

s^3 + 20 s^2 + 124 s + 240

Continuous-time transfer function.

>> num=[0.017 0.27 1];

den=[1 0];

>> gc=3.15*tf(num,den)

gc =

0.05355 s^2 + 0.8505 s + 3.15

-----------------------------

Continuous-time transfer function.

>> Ts=feedback(gs,1)

Ts =

467

--------------------------

s^3 + 20 s^2 + 124 s + 707

Continuous-time transfer function.

stepinfo(Ts)

ans =

RiseTime: 0.2333

SettlingTime: 1.5577

SettlingMin: 0.6073

SettlingMax: 0.8258

Overshoot: 25.0218

Undershoot: 0

Peak: 0.8258

PeakTime: 0.5641

>> step(Ts)

hold on

>> T=feedback(series(gc,gs),1)
T=

25.01 s^2 + 397.2 s + 1471

---------------------------------------

s^4 + 20 s^3 + 149 s^2 + 637.2 s + 1471

Continuous-time transfer function.

stepinfo(T)

ans =

RiseTime: 0.2963

SettlingTime: 1.6857

SettlingMin: 0.9335

SettlingMax: 1.2451

Overshoot: 24.5147

Undershoot: 0

Peak: 1.2451

PeakTime: 0.6997

>> step(T)

>> hold off

Gcs=series(gc,gs)
Gcs =

25.01 s^2 + 397.2 s + 1471

------------------------------

s^4 + 20 s^3 + 124 s^2 + 240 s

Continuous-time transfer function.

>> Kp=dcgain(Gcs);

>> step_err=1/(1+Kp)

step_err =

rlocus(Gcs)
As a result:

UNCOMPENSATED COMPENSATED(PID) VERIFYING(MATLAB)

PLANT AND 𝐾 K ∗ (s + 10) ∗ (s + 5.8824)
(𝑆 + 4) ∗ (𝑆 + 6) ∗ (𝑆 + 10) (𝑠 + 4) ∗ (𝑠 + 6) ∗ (𝑠 + 10) ∗ (𝑠)
COMP.

DOM. POLES -2.564 + 5.813i -2.353 ∓5.335i -2+4.534

K 466.99 1471.1
𝝃 0.404 0.404 0.404
𝝎𝒏 6.347 𝟓. 𝟖𝟐𝟒
%OS %25 %25(%24.5) %25
TS(SETTLING) 1.56 sec. 2 sec.(1.7 sec)
𝒆𝒔𝒕𝒆𝒑 (∞) 0.4656 0 0
EXTERNAL POLE None 0(integrator)
ZERO None -5.8824,-10
COMMENTS Second order
Approx ok.