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    Homework 8

    Uploaded by

    stupac69
    This document evaluates different controller types - proportional, lag, and lead - to control a system and minimize steady state error. It analyzes each controller's phase margin and plots their bode diagrams. A step response simulation shows the lead controller has the fastest settling time with little overshoot, making it the best choice. A comparison of the system's response with and without the proportional controller shows it reduces steady state error.

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    © All Rights Reserved
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    Homework 8

    Uploaded by

    stupac69
    16 views7 pages
    This document evaluates different controller types - proportional, lag, and lead - to control a system and minimize steady state error. It analyzes each controller's phase margin and plots their bode diagrams. A step response simulation shows the lead controller has the fastest settling time with little overshoot, making it the best choice. A comparison of the system's response with and without the proportional controller shows it reduces steady state error.

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    © © All Rights Reserved

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    This document evaluates different controller types - proportional, lag, and lead - to control a system and minimize steady state error. It analyzes each controller's phase margin and plots their bode diagrams. A step response simulation shows the lead controller has the fastest settling time with little overshoot, making it the best choice. A comparison of the system's response with and without the proportional controller shows it reduces steady state error.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    16 views7 pages

    Homework 8

    Uploaded by

    stupac69
    This document evaluates different controller types - proportional, lag, and lead - to control a system and minimize steady state error. It analyzes each controller's phase margin and plots their bode diagrams. A step response simulation shows the lead controller has the fastest settling time with little overshoot, making it the best choice. A comparison of the system's response with and without the proportional controller shows it reduces steady state error.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 7

    1.

    hase Margin of steady state error

    % Phase Margin for K=25


    K =25;
    g = 4;
    num = 25;
    den = [1 25 0];
    Gp = tf(num,den);
    G = K*g*Gp;
    margin(G)

    Bode Diagram
    Gm = Inf dB (at Inf rad/s) , Pm = 28 deg (at 47 rad/s)

    60

    Magnitude (dB)

    40
    20
    0
    -20
    -40

    Phase (deg)

    -60
    -90

    -135

    -180

    10

    10

    10
    Frequency (rad/s)

    10

    2. Lag Controller with phase margin of 60 degrees

    % Lag Controller
    figure
    T = .885;
    B = 10.6;
    Lnum = [T 1];
    Lden = [B*T 1];
    Glag = tf(Lnum,Lden);
    G2 = K*Glag*g*Gp;
    margin(G2)

    Bode Diagram
    Gm = Inf dB (at Inf rad/s) , Pm = 63.8 deg (at 8.95 rad/s)

    150

    Magnitude (dB)

    100
    50
    0
    -50

    Phase (deg)

    -100
    -90

    -135

    -180

    -3

    10

    -2

    10

    -1

    10

    10

    Frequency (rad/s)

    10

    10

    10

    3. Lead Controller

    % Lead Controller
    figure
    T2 = 0.033;
    a = 0.146;
    numlead = [T2 1];
    denlead = [a*T2 1];
    Glead = tf(numlead,denlead);
    G3= K*Glead*g*Gp;
    margin(G3)

    Bode Diagram
    Gm = Inf dB (at Inf rad/s) , Pm = 65.8 deg (at 78.8 rad/s)

    40

    Magnitude (dB)

    20
    0
    -20
    -40
    -60

    Phase (deg)

    -80
    -90

    -135

    -180

    10

    10

    10

    Frequency (rad/s)

    10

    10

    4. Plotted Controllers

    Step Response

    1.5

    Amplitude

    0.5

    0.5

    1.5

    2.5

    3.5

    Time (seconds)

    The lead controller proves to be the best response. It can be seen that the proportional
    controller has a considerable amount of overshoot and the settling time happens at around .5
    seconds. While the lag controller displays a good response, the settling time is at about 2.5
    seconds which is not desirable. Finally, the lead controller displays a very fast settling time with
    very little overshoot. Therefore, the system with the lead controller performs the best.

    5. Response of the system using a proportional controller

    90

    80

    70

    60

    50

    40

    30

    20

    10

    0.2

    0.4

    0.6

    0.8

    1.2

    1.4

    1.6

    1.8

    System with proportional controller included

    System without proportional controller

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