Control Systems

Design Home Assignment-2

Design Home Assignment-2 | 210507A

1] Show that the dynamic equations in the 𝑥, 𝑦, and 𝑧-directions are given by
(𝑀𝑥 + 𝑚)𝑥 + 𝐷𝑥 𝑥 = 𝐹𝑥
(𝑀𝑦 + 𝑚)𝑦 + 𝐷𝑦 𝑦 = 𝐹𝑦
(𝑀𝑧 + 𝑚) 𝑧 + 𝐷𝑧 𝑧 − 𝑚𝑔 = 𝐹𝑧
where 𝐹𝑥, 𝐹𝑦, 𝐹𝑧 are the driving forces and 𝐷𝑥,𝐷𝑦,𝐷𝑧 are the viscous friction
coefficients for the motions in the 𝑥, 𝑦, 𝑧 directions.
1] Travelling Motion
using Newton’s 2nd law
𝐹 = 𝑚𝑎 (x-direction)
𝐹𝑥 − 𝐷𝑥𝑥 = (𝑀𝑥 + 𝑚)𝑥
(𝑀𝑥 + 𝑚)𝑥 + 𝐷𝑥 𝑥 = 𝐹𝑥
2] Traversing Motion
Similarly, in the y-direction,
(𝑀𝑦 + 𝑚)𝑦 + 𝐷𝑦 𝑦 = 𝐹𝑦

3] Hoisting Down Motion

And when we go along z direction,
In the z-direction, we need to account for the gravitational force as well
According to Newton’s 2nd law,
𝐹 = 𝑚𝑎 (z-direction)
𝐹𝑧 + 𝑚𝑔 − 𝐷𝑧 𝑧 = (𝑀𝑧 + 𝑚) 𝑧
(𝑀𝑧 + 𝑚) 𝑧 + 𝐷𝑧 𝑧 − 𝑚𝑔 = 𝐹𝑧
Assumptions
• Load swing is negligible (𝜃𝑥, 𝜃𝑦, 𝜃𝑧 = 0) . hence neglect the angular motion
only consider linear motion.

Design Home Assignment-2 | 210507A

2] If proportional control with unity feedback is used, write the closed-loop differential
equation for each sub-control problem; travel, traverse, and hoist. Tune this controller
heuristically to achieve position tracking performance for any suitable reference position
trajectory of your own choice. How would you overcome the different challenge posed by hoist
control if the mass of the load is known sufficiently accurately in practice?.

For a proportional controller with unity feedback, the control signal 𝑢(𝑡) is given by,

𝑢(𝑡) = 𝐾𝑝 ⋅ 𝑒(𝑡)
where 𝐾𝑝 is the proportional gain and 𝑒(𝑡) is the error signal, which is the difference between the
reference signal 𝑟(𝑡) and the output of the system 𝑥(𝑡). In unity feedback,

𝑒(𝑡) = 𝑟(𝑡) − 𝑥(𝑡).

Hence : 𝐹(𝑡) = 𝐾𝑝(𝑟(𝑡) − 𝑥(𝑡). )
Where 𝐹(𝑡) is the driving force .

By considering all 3 cases separately ,& take 𝐾𝑥 , 𝐾𝑦 , 𝐾𝑧 are proportional gains for each controllers.
And 𝑟𝑥 , 𝑟𝑦 , 𝑟𝑧 are the references.

1].For Travelling Motion,

(𝑀𝑥 + 𝑚)𝑥 (𝑡) + 𝐷𝑥 𝑥 (𝑡) = 𝐹𝑥 (𝑡)

(𝑀𝑥 + 𝑚)𝑥 (𝑡) + 𝐷𝑥 𝑥 (𝑡) = 𝐾𝑥 (𝑟𝑥 (𝑡) − 𝑥(𝑡))
2].For Traversing Motion,

(𝑀𝑦 + 𝑚)𝑦(𝑡) + 𝐷𝑦 𝑦(𝑡) = 𝐹𝑦

(𝑀𝑦 + 𝑚)𝑦(𝑡) + 𝐷𝑦 𝑦(𝑡) = 𝐾𝑦 (𝑟𝑦 (𝑡) − 𝑦(𝑡))

3].For Hoisting Down Motion,

(𝑀𝑧 + 𝑚)𝑧(𝑡) + 𝐷𝑧 𝑧(𝑡) − 𝑚𝑔 = 𝐹𝑧

(𝑀𝑧 + 𝑚)𝑧(𝑡) + 𝐷𝑧 𝑧(𝑡) − 𝑚𝑔 = 𝐾𝑧 (𝑟𝑧 (𝑡) − 𝑧(𝑡))
To obtain the Closed-Loop transfer function for each sub control problem we have to get the
Laplace transform of the above 3 differential equations.

Reference Position : Origin of the Coordinate system [(0,0,0)] Initial Conditions: x(0)=y(0)=z(0)=0 ,
̇ x(0)=ẏ(0)=ż(0)=0

Take Laplace Transform for Travelling Motion equation,

Design Home Assignment-2 | 210507A

ℒ{(𝑀𝑥 + 𝑚)𝑥(𝑡) + 𝐷𝑥 𝑥 (𝑡)} = ℒ{𝐾𝑥 (𝑟𝑥 (𝑡) − 𝑥(𝑡))}
(𝑀𝑥 + 𝑚)ℒ{𝑥 (𝑡)} + 𝐷𝑥 ℒ{𝑥 (𝑡)} = 𝐾𝑥 ℒ{𝑟𝑥 (𝑡)} − 𝐾𝑥 ℒ{𝑥(𝑡)}
(𝑀𝑥 + 𝑚)[ 𝑠 2 𝑋(𝑠) – 𝑠 𝑥(0) – 𝑥’(0)] + 𝐷𝑥 [𝑠𝑋(𝑠)– 𝑥(0)] = 𝐾𝑥 𝑅𝑥 (𝑠) − 𝐾𝑥 𝑋(𝑠)
𝑋(𝑠)[ (𝑀𝑥 + 𝑚)𝑠 2 + 𝐷𝑥 𝑠 + 𝐾𝑥 ] = 𝐾𝑥 𝑅𝑥 (𝑠)

𝑋(𝑠) 𝐾𝑥
=
𝑅𝑥 (𝑀𝑥 + 𝑚)𝑠 2 + 𝐷𝑥 𝑠 + 𝐾𝑥

𝐾𝑥
𝐶𝐿𝑇𝐹𝑥 (𝑠) =
(𝑀𝑥 +𝑚)𝑠2 +𝐷𝑥 𝑠 + 𝐾𝑥

Similarly, by taking Laplace Transform for Traversing Motion equation,

𝐾𝑦
𝐶𝐿𝑇𝐹𝑦 (𝑠) =
(𝑀𝑦 +𝑚)𝑠2 +𝐷𝑦 𝑠 + 𝐾𝑦

To derive the closed-loop transfer function for hoist control while incorporating the load mass 𝑚m
into the proportional control law, we adjust the control equation to compensate for the gravitational
force acting on the load.
𝑚𝑔
(𝑀𝑧 + 𝑚)𝑧(𝑡) + 𝐷𝑧 𝑧(𝑡) − 𝑚𝑔 = 𝐾𝑧 (𝑟𝑧 (𝑡) − 𝑧(𝑡) − )
𝐾𝑧
Take Laplace Transform,
𝑚𝑔
ℒ{(𝑀𝑧 + 𝑚)𝑧(𝑡) + 𝐷𝑧 𝑧(𝑡) − 𝑚𝑔} = ℒ{𝐾𝑧 (𝑟𝑧 (𝑡) − 𝑧(𝑡) − )}
𝐾𝑧
(𝑀𝑧 + 𝑚)ℒ{𝑧(𝑡)} + 𝐷𝑧 ℒ{𝑧(𝑡)} − 𝑚𝑔ℒ{1} = 𝐾𝑧 ℒ{𝑟𝑧 (𝑡)} − 𝐾𝑧 ℒ{𝑧(𝑡)} − 𝑚𝑔ℒ{1}
(𝑀𝑧 + 𝑚)[𝑠 2 𝑍(𝑠) – 𝑠 𝑧(0) – 𝑧’(0)] + 𝐷𝑧 [𝑠𝑍(𝑠)– 𝑧(0)] = 𝐾𝑧 𝑅𝑧 (𝑠) − 𝐾𝑧 𝑍(𝑠)

𝑍(𝑠)[(𝑀𝑧 + 𝑚)𝑠 2 + 𝐷𝑧 𝑠 + 𝐾𝑧 ] = 𝐾𝑧 𝑅𝑧 (𝑠)

Design Home Assignment-2 | 210507A

 𝑍(𝑠) 𝐾𝑧
=
𝑅𝑧 (𝑠) (𝑀𝑧 + 𝑚)𝑠 2 + 𝐷𝑧 𝑠 + 𝐾𝑧
𝐾𝑧
𝐶𝐿𝑇𝐹𝑧 (𝑠) =
(𝑀𝑧 +𝑚)𝑠2 +𝐷𝑧 𝑠 + 𝐾𝑧

Travelling motion (along x axis)

Let’s Assume that ,

• 𝑀x= 600𝑘𝑔
• 𝐷x= 400𝑘𝑔
• 𝑚 = 400𝑘𝑔

‫ = )𝑠( 𝑥𝐹𝑇𝐿𝐶 ؞‬1000𝑠 2

𝐾𝑥
+400𝑠 + 𝐾𝑥

When we know the Closed-Loop transfer function, Routh’s criterion can be applied to check the
conditions for stability.

Characteristics Equation: 𝟏𝟎𝟎𝟎𝒔𝟐 + 𝟒𝟎𝟎𝒔 + 𝑲𝒙

Routh’s Array:

S2 1000 𝐾𝑥

S1 400 0

S0 𝐾𝑥

For stability 𝐾𝑥 > 0,

1
𝐾
1000 𝑥
𝐶𝐿𝑇𝐹𝑥 (𝑠) = 400 1
𝑠2 + 𝑠+ 𝐾
1000 1000 𝑥

For a critically damped system, 𝜁 = 1

400
2𝜁𝜔 = , 𝜔 = 0.2𝑟𝑎𝑑 𝑠 −1
1000

1 1
𝜔2 = 𝐾 , 0.22 = 𝐾 , 𝐾𝑥 = 40
1000 𝑥 1000 𝑥
Then ,
40
𝐶𝐿𝑇𝐹𝑥 (𝑠) =
1000𝑠 2 +400𝑠 + 40

Design Home Assignment-2 | 210507A

Mx = 600; m = 400;
Dx = 400;
kx = 40;
Sysx = tf(kx, [Mx+m Dx kx]);
step(Sysx)
grid on
s = stepinfo(Sysx)

The system exhibits a desirable non-oscillatory response with zero overshoot and steady-state
error, indicating stability. However, the rise time of 16.7917 seconds and settling time of 29.1706
seconds are unacceptably high. The prolonged duration, approximately 40 seconds, for the crane
to traverse just 1 meter along the X direction is deemed unacceptable due to the sluggish
movement.

Possible Solution: Increase Proportional Gain 𝐾𝑥:

• Increasing 𝐾𝑥 can potentially reduce both rise and settling times, improving system
responsiveness.

However, this action may introduce overshoot and oscillatory behavior, which compromise
stability.

Step Responses for some higher 𝐾𝑥 values.

Design Home Assignment-2 | 210507A

Mx = 600; m = 400;
Dx = 400;
kx = 40;

for kx = 200:200:1000;

Sysx = tf(kx, [Mx+m Dx kx]);

step(Sysx)
grid on
hold on
end

Observations

• Increasing the proportional gain 𝐾𝑥 leads to a reduction in rise time.

• However, with higher 𝐾𝑥 values, overshoot and oscillatory behavior in the step response
gradually increase.

Let’s consider the situation when Kx=500,

Design Home Assignment-2 | 210507A

Rise Time: 1.8421 seconds

Settling Time: 19.4571 seconds

Overshoot: 39.5903 %

Observations

Reduction in Rise and Settling Times:

• Comparing to the previous case, there's a noticeable reduction in both rise time and
settling time.

• This indicates an improvement in the system's responsiveness and settling behavior.

However, there's a 39.5903 % overshoot in the step response.

Design Home Assignment-2 | 210507A

Traversing motion (along y axis)
Let’s Assume that ,

• 𝑀y= 100𝑘𝑔
• 𝐷y= 40𝑘𝑔/s
• 𝑚 = 400𝑘𝑔

‫ = )𝑠( 𝑦𝐹𝑇𝐿𝐶 ؞‬500𝑠 2

𝐾𝑦
+40𝑠 + 𝐾𝑦

When we know the Closed-Loop transfer function, Routh’s criterion can be applied to check the
conditions for stability.

Characteristics Equation: 𝟓𝟎𝟎𝒔𝟐 + 𝟒𝟎𝒔 + 𝑲𝒚

Routh’s Array:

S2 500 𝐾𝑦

S1 40 0

S0 𝐾𝑦

For stability 𝐾𝑦 > 0,

1
𝐾
500 𝑥
𝐶𝐿𝑇𝐹𝑥 (𝑠) = 40 1
𝑠2 + 𝑠 + 𝐾
500 500 𝑥

For a critically damped system, 𝜁 = 1

40
2𝜁𝜔 = , 𝜔 = 0.04𝑟𝑎𝑑 𝑠 −1
500

1 1
𝜔2 = 𝐾 , 0.042 = 𝐾 , 𝐾𝑦 = 0.8
500 𝑦 500 𝑦
Then ,
0.8
𝐶𝐿𝑇𝐹𝑦 (𝑠) =
500𝑠 2 +40𝑠 + 0.8

Design Home Assignment-2 | 210507A

My = 100;
m = 400;
Dy = 40;
ky = 0.8;

Sysy = tf(ky, [My+m Dy ky]);

step(Sysy);
grid on;
% Set the x-axis range up to 350
xlim([0 350]);

Sy = stepinfo(Sysy);

Rise Time: 86.0779 seconds

Settling Time: 150.2283seconds

• Similar to the previous case, the system exhibits a non-oscillatory response with zero
overshoot and steady-state error, indicating stability.

However, the rise time and settling time are even higher than the previous case.

the crane takes long time to traverse 1m along Y direction, which is not acceptable. As in the
previous case the crane is moving very slowly.

• Increasing the proportional gain 𝐾𝑦 may reduce the rise and settling times, improving
system responsiveness.

• However, higher 𝐾𝑦 values could lead to increased overshoot and oscillatory behavior in the
step response, which compromises stability.

Design Home Assignment-2 | 210507A

My = 100;
m = 400;
Dy = 40;
ky = 0.8;

for ky = 10:10:40;
Sysy = tf(ky, [My+m Dy ky]);
step(Sysy)
grid on
hold on
end

• Similar to the previous case, increasing the proportional gain 𝐾𝑦 leads to a reduction in rise
time.

• However, with higher 𝐾𝑦 values, the overshoot and oscillatory behavior in the step response
gradually increase.

Design Home Assignment-2 | 210507A

Let’s consider the situation when Ky=25,

The rise time and the settling time has reduced when comparing to the critically damped system.
Even though the settling time has reduced it is still almost 110 seconds. But in mean time there is
overshoot in the step response.

Hoisting motion (along z axis)

Let’s Assume that ,

• 𝑀z= 100𝑘𝑔
• 𝐷z= 200𝑘𝑔/𝑠
• 𝑚 = 400𝑘𝑔

‫ = )𝑠( 𝑧𝐹𝑇𝐿𝐶 ؞‬500𝑠 2

𝐾𝑧
+200𝑠 + 𝐾𝑧

When we know the Closed-Loop transfer function, Routh’s criterion can be applied to check the
conditions for stability.

Characteristics Equation: 𝟓𝟎𝟎𝒔𝟐 + 𝟐𝟎𝟎𝒔 + 𝑲𝒛

Routh’s Array:

S2 500 𝐾𝑧

S1 200 0

S0 𝐾𝑧

Design Home Assignment-2 | 210507A

For stability 𝐾𝑧 > 0,

1
𝐾
500 𝑧
𝐶𝐿𝑇𝐹𝑧 (𝑠) = 40 1
𝑠2 + 𝑠 + 𝐾
500 500 𝑧

For a critically damped system, 𝜁 = 1

200
2𝜁𝜔 = , 𝜔 = 0.2𝑟𝑎𝑑 𝑠 −1
500

1 1
𝜔2 = 𝐾, 0.22 = 𝐾 , 𝐾𝑧 = 20
500 𝑧 500 𝑧
Then ,
20
𝐶𝐿𝑇𝐹𝑧 (𝑠) =
500𝑠 2 +200𝑠 + 20

Step Response for Kz=20

Rise Time: 16.7917 S

Settling Time: 29.1706 S

Design Home Assignment-2 | 210507A

 • According to the plot, we can observe that the crane takes nearly 40 seconds to hoist the
load 1m along Z direction.

we can increase the proportional gain Kz to obtain lower rise time and settling time

Step Responses for some higher 𝐾𝑧 values.

Mz = 100; m = 400;
Dz = 200;
for kz = 20:20:100;
Sysz = tf(kz, [Mz+m Dz kz]);
step(Sysz)
grid on
hold on
end

Let’s consider the situation when Kz=50.

50
𝐶𝐿𝑇𝐹𝑧 (𝑠) =
500𝑠 2 +200𝑠 + 50

Design Home Assignment-2 | 210507A

Rise Time: 6.1241 S

Settling Time: 18.9507 S

Overshoot: 7.6893 %

The rise time has reduced to 7.5975 seconds, indicating improved system responsiveness

Undesirable Overshoot:

• However, there is a overshoot in the step response, which is highly undesirable.

• Overshoot can lead to errors in construction works, compromising the desired

outcome.

Despite the reduced rise time, proportional control alone is insufficient to achieve the desired
outcome due to overshoot.

3] Select a PID controller or one of its variants in the continuous time domain and tune the
controller based on the step response for each sub-control problem. Assume unity feedback.
Clearly give the design steps supported by the mathematical manipulations, codes written, and
the step responses obtained.

Design Home Assignment-2 | 210507A

 • The primary issue observed in the step responses of the system when using a
proportional controller is overshoot.

• Overshoot can lead to inaccuracies and errors in system behavior,

• Steady state error is nearly zero for all step responses across different proportional
gain values for each sub-control problem.

• The absence of steady state error indicates that an Integral Controller is not
necessary for this application.

Derivative Controller:

• To address the overshoot while decreasing the rise time, a Derivative Controller
should be used in conjunction with the Proportional Controller.

• This combination, known as a PD controller, is sufficient to achieve the desired

performance without the need for an Integral Controller.

The transfer function of a PD (Proportional-Derivative) controller can be represented as:

𝐺𝑐(𝑠)=𝐾𝑝+𝑠𝐾𝑑

Where:

• 𝐺𝑐(𝑠) is the transfer function of the PD controller.

• 𝐾𝑝 is the proportional gain.

• 𝐾𝑑 is the derivative gain.

Obtaining closed loop t.f

1] for Travelling:

(𝑀𝑥 + 𝑚)𝑥 (𝑡) + 𝐷𝑥 𝑥 (𝑡) = 𝐹𝑥 (𝑡)

ℒ{(𝑀𝑥 + 𝑚)𝑥 (𝑡) + 𝐷𝑥 𝑥 (𝑡)} = ℒ{𝐹𝑥 (𝑡)}

(𝑀𝑥 + 𝑚)ℒ{𝑥 (𝑡)} + 𝐷𝑥 ℒ{𝑥 (𝑡)} = ℒ{𝐹𝑥 (𝑡)}
(𝑀𝑥 + 𝑚)[ 𝑠 2 𝑋(𝑠) – 𝑠 𝑥(0) – 𝑥’(0)] + 𝐷𝑥 [𝑠𝑋(𝑠)– 𝑥(0)] = 𝐹𝑥 (𝑠)
𝑋(𝑠)[ (𝑀𝑥 + 𝑚)𝑠 2 + 𝐷𝑥 𝑠 ] = 𝐹𝑥 (𝑠)

Design Home Assignment-2 | 210507A

 𝑋(𝑠) 1
= = 𝐺𝑝 (𝑠)
𝐹𝑥 (𝑠) (𝑀𝑥 + 𝑚)𝑠 2 + 𝐷𝑥 𝑠
𝐺𝑝 (𝑠) → 𝑝𝑙𝑎𝑛𝑡 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛

𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)
𝐶𝐿𝑇𝐹𝑥 (𝑠) =
1+𝐺𝑝 (𝑠)𝐺𝑐 (𝑠)

𝐾𝑝𝑥+ 𝐾𝐷𝑥𝑆
𝐶𝐿𝑇𝐹𝑥 (𝑠) = (𝑀 2 +(𝐷 +𝐾 )𝑠+𝐾
𝑥 +𝑚)𝑠 𝑥 𝐷𝑥 𝑝𝑥

Similarly,

2] for Traversing

𝐾𝑝𝑦+ 𝐾𝐷𝑦𝑆
𝐶𝐿𝑇𝐹𝑦 (𝑠) =
(𝑀𝑦 +𝑚)𝑠 2 +(𝐷𝑦 +𝐾𝐷𝑦 )𝑠+𝐾𝑝𝑦

3] for Hoisting
𝑚𝑔
(𝑀𝑧 + 𝑚)𝑧(𝑡) + 𝐷𝑧 𝑧(𝑡) − 𝑚𝑔 = 𝐾𝑝𝑧 (𝑟𝑧 (𝑡) − 𝑧(𝑡) − ) + 𝐾𝐷𝑧 [ 𝑟𝑧 − ż(t)]
𝐾𝑧
Taking the Laplace Transform ,

𝑚𝑔
ℒ{(𝑀𝑧 + 𝑚)𝑧(𝑡) + 𝐷𝑧 𝑧(𝑡) − 𝑚𝑔} = ℒ{ 𝐾𝑝𝑧 (𝑟𝑧 (𝑡) − 𝑧(𝑡) − )}+
𝐾𝑝𝑧
ℒ{ 𝐾𝐷𝑧 [ 𝑟𝑧 − ż(t)] }

(𝑀𝑧 + 𝑚)[𝑠 2 𝑍(𝑠)– 𝑠 𝑧(0)– 𝑧’(0)] + 𝐷𝑧 [𝑠𝑍(𝑠)– 𝑧(0)] = 𝐾𝑝𝑧 𝑅𝑧 (𝑠) −

𝐾𝑝𝑧 𝑍(𝑠)+𝑠𝐾𝐷𝑧 𝑅𝑧 (𝑠) − 𝑠𝐾𝐷𝑧 𝑍(𝑠)

Design Home Assignment-2 | 210507A

 𝐾𝑝𝑧+ 𝐾𝐷𝑧𝑆
𝐶𝐿𝑇𝐹𝑧 (𝑠) = (𝑀 2 +(𝐷 +𝐾 )𝑠+𝐾
𝑧 +𝑚)𝑠 𝑧 𝐷𝑧 𝑝𝑧

To tune a PD controller effectively, we follow these steps:

1. We start by setting the derivative gain to zero and focus on adjusting the proportional gain
only. This helps us establish a stable response without considering the derivative term.

2. We gradually increase the proportional gain until the system starts to swing back and forth,
which we call the "ultimate gain" or "critical gain".

3. Once we find this ultimate gain, we reduce the proportional gain by half. This helps us
maintain stability without the swinging motion.

4. Next, we slowly introduce the derivative gain. This helps the system respond more quickly
and reduces how much it swings back and forth.

5. Finally, we fine-tune both gains to get the response we want. We consider things like how
stable the system is, how fast it responds, and how much it swings back and forth

Tuning of the travelling motion controller

steps:

1. Start by setting the derivative gain 𝐾𝐷𝑥 to zero and observe the system's Step Response
while increasing the proportional gain 𝐾𝑃𝑥 value.

2. Choose the 𝐾𝑃𝑥 value that corresponds to a Step Response with minimal overshoot and a
shorter rise time.

3. Once the optimal 𝐾𝑃𝑥 value is determined, fix it and then increase the derivative gain 𝐾𝐷𝑥
value gradually until achieving a Step Response with zero overshoot.

Step Responses for increasing Kpx values (KDx =0)

Design Home Assignment-2 | 210507A

Step Responses for increasing KDx values (Kpx = 600)
Mx = 600; m = 400;
Dx = 400;
kp = 600;
for kd = 800:200:1400;
Sysx = tf([kd kp], [Mx+m Dx+kd kp]);
step(Sysx)
grid on
hold on
end

when KDx = 1400 can obtain a step response with zero overshoot and lower rise time .

Closed-Loop transfer function of the tuned system for Travelling Motion (along X axis)

600+ 1400𝑠
𝐶𝐿𝑇𝐹𝑥 (𝑠) =
1000𝑠 2 +1800𝑠+600

Design Home Assignment-2 | 210507A

Rise Time: 1.5024 S

Settling Time: 2.4990 S

Overshoot: 0.3950

Tuning of the traversing motion controller

steps

1. Begin by setting the derivative gain 𝐾𝐷𝑦to zero and observe the system's Step Response
while gradually increasing the proportional gain 𝐾𝑃𝑦 value.

2. Identify the 𝐾𝑃𝑦 value corresponding to a Step Response characterized by minimal

overshoot and a shorter rise time.

3. Once the optimal 𝐾𝑃𝑦 value is determined, keep it fixed and incrementally increase the
derivative gain 𝐾𝐷𝑦 value until achieving a Step Response with zero overshoot

Design Home Assignment-2 | 210507A

Step Responses for increasing Kpy values (KDy =0)

Step Responses for increasing KDy values (Kpy = 40)

My = 100; m = 400;
Dy = 40;
kp = 40;
for kd = 300:100:600;
Sysy = tf([kd kp], [My+m Dy+kd kp]);
step(Sysy)
grid on
hold on
end

Design Home Assignment-2 | 210507A

when KDy = 500 can obtain a step response with zero overshoot and lower rise time .
40+ 500𝑆
𝐶𝐿𝑇𝐹𝑦 (𝑠) =
500𝑠 2 +540𝑠+40

Design Home Assignment-2 | 210507A

Step Response for the tuned system

Rise Time: 2.1970 S

Settling Time: 3.9121 S

Overshoot: 0

Design Home Assignment-2 | 210507A

Tuning of the hoisting motion controller

Step Responses for increasing Kpz values (KDz =0)

Step Responses for increasing KDz values (Kpz = 200)

Mz = 100; m = 400;
Dz = 200;
kp = 200;
for kd = 300:100:600;
Sysz = tf([kd kp], [Mz+m Dz+kd kp]);
step(Sysz)
grid on
hold on
end

Design Home Assignment-2 | 210507A

When Kdz =500 can obtain the zero overshoot and lower rise time
200+500𝑆
𝐶𝐿𝑇𝐹𝑧 (𝑠) =
500𝑠 2 +(700)𝑠+200

Rise Time: 2.1970 S

Settling Time: 3.9121 S

Overshoot: 0

Design Home Assignment-2 | 210507A

4] Find the ranges of the values of the gains of the controller you recommended in Part-3 for which
the closed-loop system is stable.

I . Give the Bode plots for a situation when the system is stable and discuss.

ii. Give the Bode plots for a situation when the system is unstable and discuss.

iii. Give the Bode plots for the tuned system as in Part-3 and state the PM and GM.

• Travelling (along X axis)

𝐾𝑝𝑥+ 𝐾𝐷𝑥𝑆
𝐶𝐿𝑇𝐹𝑥 (𝑠) =
1000𝑠 2 +(400+𝐾𝐷𝑥 )𝑠+𝐾𝑝𝑥

Characteristic equation: 1000𝑠 2 + (400 + 𝐾𝐷𝑥 )𝑠 + 𝐾𝑝𝑥

Routh’s Array:

S2 1000 𝐾𝑝𝑥

S1 400+𝐾𝐷𝑥 0

S0 𝐾𝑝𝑥

For stability 400 + 𝐾𝐷𝑥 >0→ 𝐾𝐷𝑥 > −400 & 𝐾𝑝𝑥 > 0
• Traversing (along Y axis)
𝐾𝑝𝑦+ 𝐾𝐷𝑦𝑆
𝐶𝐿𝑇𝐹𝑦 (𝑠) = 2
500𝑠 +(40+𝐾𝐷𝑦 )𝑠+𝐾𝑝𝑦

Characteristic equation: 500𝑠 2 + (40 + 𝐾𝐷𝑦 )𝑠 + 𝐾𝑝𝑦

Routh’s Array:

S2 500 𝐾𝑝𝑦

S1 40+𝐾𝐷𝑦 0

S0 𝐾𝑝𝑦

For stability 40 + 𝐾𝐷𝑦 >0→ 𝐾𝐷𝑦 > −400 & 𝐾𝑝𝑦 > 0
• Hoisting (along Z axis)
𝐾𝑝𝑧+ 𝐾𝐷𝑧𝑆
𝐶𝐿𝑇𝐹𝑧 (𝑠) =
500𝑠 2 +(200+𝐾𝐷𝑧 )𝑠+𝐾𝑝𝑧

Characteristic equation: 500𝑠 2 + (200 + 𝐾𝐷𝑧 )𝑠 + 𝐾𝑝𝑧

Design Home Assignment-2 | 210507A

Routh’s Array:

S2 500 𝐾𝑝𝑧

S1 200+𝐾𝐷𝑧 0

S0 𝐾𝑝𝑧

For stability 200 + 𝐾𝐷𝑧 >0→ 𝐾𝐷𝑧 > −400 & 𝐾𝑝𝑧 > 0
1).Bode plots for each system when they are stable

Travelling (along X axis)

𝐾𝑝𝑥+ 𝐾𝐷𝑥𝑆
𝑂𝐿𝑇𝐹𝑥 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
(𝑀𝑥 +𝑚)𝑠2 +𝐷𝑥 𝑠
Choose Kpx = 90 & KDx = -90 (For stability 𝑲𝑫𝒙 > −𝟒0𝟎 & 𝑲𝒑𝒙 > 𝟎 )
90−90𝑠
𝑂𝐿𝑇𝐹𝑥 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
1000𝑠2 +400𝑠

Traversing (along Y axis)

𝐾𝑝𝑦+ 𝐾𝐷𝑦𝑆
𝑂𝐿𝑇𝐹𝑥 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
(𝑀𝑦+𝑚)𝑠2 +𝐷𝑦𝑠

Choose Kpy = 40 & KDy = -10 (For stability 𝑲𝑫y > −𝟒𝟎 & 𝑲𝒑y > 𝟎 )

Design Home Assignment-2 | 210507A

 40−10𝑠
𝑂𝐿𝑇𝐹𝑦 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
500𝑠2 +40𝑠

Hoisting (along Z axis)

𝐾𝑝𝑧+ 𝐾𝐷𝑧𝑆
𝑂𝐿𝑇𝐹𝑍 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
(𝑀𝑧+𝑚)𝑠2 +𝐷𝑧 𝑠
Choose Kpz = 120 & KDz = -120 (For stability 𝑲Dz > −20𝟎 & 𝑲𝒑z > 𝟎 )
120−120𝑠
𝑂𝐿𝑇𝐹𝑧 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
500𝑠2 +200𝑠

Design Home Assignment-2 | 210507A

Discussion

• Gain margins and Phase margins are both positive for the open-loop transfer functions of
each sub-control system.

• Positive gain margin indicates that the system can handle an increase in gain before
instability occurs.

• Similarly, positive phase margin suggests that the phase shift around the loop remains below
180 degrees at the unity gain frequency

• These conditions collectively contribute to system stability and robustness.

For dependable performance, particularly in applications like overhead crane position

control, this robustness is essential. Positive margins also aid in greater transient response,
less overshoot, and quicker settling times, among other aspects of dynamic performance.
They ultimately lower the risk of instability or failure by giving designers confidence in the
system's robustness against unforeseen changes or uncertainties.

(ii) Bode plots for each system when they are unstable

Travelling (along X axis)

𝐾𝑝𝑥+ 𝐾𝐷𝑥𝑆
𝑂𝐿𝑇𝐹𝑥 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
(𝑀𝑥 +𝑚)𝑠2 +𝐷𝑥 𝑠
Choose Kpx = 100 & KDx = -900 (For stability 𝑲𝑫𝒙 > −𝟒0𝟎 & 𝑲𝒑𝒙 > 𝟎 )

Design Home Assignment-2 | 210507A

 100−900𝑠
𝑂𝐿𝑇𝐹𝑥 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
1000𝑠2 +400𝑠

Traversing (along Y axis)

𝐾𝑝𝑦+ 𝐾𝐷𝑦𝑆
𝑂𝐿𝑇𝐹𝑥 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
(𝑀𝑦+𝑚)𝑠2 +𝐷𝑦𝑠

Choose Kpy = 40 & KDy = -50 (For stability 𝑲𝑫y > −𝟒𝟎 & 𝑲𝒑y > 𝟎 )
40−50𝑠
𝑂𝐿𝑇𝐹𝑦 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
500𝑠2 +40𝑠

Design Home Assignment-2 | 210507A

Hoisting (along Z axis)
𝐾𝑝𝑧+ 𝐾𝐷𝑧𝑆
𝑂𝐿𝑇𝐹𝑍 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
(𝑀𝑧+𝑚)𝑠2 +𝐷𝑧 𝑠
Choose Kpz = 120 & KDz = -400 (For stability 𝑲Dz > −20𝟎 & 𝑲𝒑z > 𝟎 )
120−400𝑠
𝑂𝐿𝑇𝐹𝑧 (𝑠) = Gp(𝑠)𝐺𝑐 (𝑠)𝐻(𝑠) =
500𝑠2 +200𝑠

Design Home Assignment-2 | 210507A

Discussion

• Both gain and phase margins are negative for the open-loop transfer functions of each
sub-control system.

• Negative margins suggest potential instability, indicating that the system's gain is too
high at certain frequencies and the phase shift exceeds 180 degrees.

• Operating close to the stability boundary, the system lacks robustness and may
become unstable due to parameter changes or external disturbances.

• Marginal stability increases the risk of unexpected behavior or instability, particularly

undesirable in applications like overhead crane position control.

• Negative margins often lead to poor dynamic performance, including excessive

overshoot, slow response time, and inaccurate tracking of reference signals.

• The system may exhibit erratic behavior or oscillations, limiting its suitability for real-
world applications.

(iii) Bode plots for for the tuned systems

Travelling (along X axis)

For the tuned system Kpx = 600 & KDx = 1400
600+1400𝑠
𝑂𝐿𝑇𝐹𝑥 (𝑠) =
1000𝑠2 +400𝑠

Design Home Assignment-2 | 210507A

Traversing (along Y axis)
For the tuned system Kpy = 40 & KDy = 500
40+500𝑠
𝑂𝐿𝑇𝐹𝑦 (𝑠) =
500𝑠2 +40𝑠

Design Home Assignment-2 | 210507A

Hoisting (along Z axis)
For the tuned system Kpz = 200 & KDz = 500
200+500𝑠
𝑂𝐿𝑇𝐹𝑧 (𝑠) =
500𝑠2 +200𝑠

Discussion
• The tuned sub-control systems exhibit infinite gain margins and larger phase margins,
close to 90 degrees.

• Specifically, the hoisting sub-control system shows a phase margin close to 90

degrees.

• Infinite gain margin signifies the system's open-loop gain can be increased
indefinitely without instability.

• It reflects high robustness against parameter variations, ensuring stability even with
uncertainties.

• A 90-degree phase margin indicates optimal stability, with the phase shift around the
loop at unity gain frequency.

• The system operates critically damped, minimizing oscillations and overshoot.

• Having both infinite gain margin and a 90-degree phase margin (or close) indicates
the highest level of stability and robustness.

Design Home Assignment-2 | 210507A

 • The system can tolerate significant parameter variations and disturbances while
maintaining stable behavior.

• This level of stability is crucial for critical applications like overhead crane position
control, where reliability and performance are paramount

5] Evaluate the closed-loop control performances of the controllers designed in Part-4 in terms
of the step response for 3 different sampling frequencies if the digital control is designed and
implemented using the indirect approach. Discuss the results [Note: here, select the sampling
frequencies so that control performance dependence on finite sampling is clearly
demonstrable]

Designing a digital PD controller using indirect approach for each sub control systems: • Travelling
sub control (along X axis)
600+ 1400𝑠
𝐶𝐿𝑇𝐹𝑥 (𝑠) =
1000𝑠2 +1800𝑠+600

Select Sampling frequencies as 10Hz, 20Hz and 1kHz to obtain the step responses of the discretized
system.

When f=10Hz
num = [1400 600];
den = [1000 1800 600];
T = 0.1;
[numd, dend] = c2dm(num, den, T, 'imp');
printsys(numd, dend, 'z')
dstep(numd,dend)

Design Home Assignment-2 | 210507A

When f=20Hz

(use T=0.05s for above matLab code)

When f =1KHz

Design Home Assignment-2 | 210507A

Traversing sub control (along Y axis)
40+ 500𝑆
𝐶𝐿𝑇𝐹𝑦 (𝑠) =
500𝑠 2 +540𝑠+40
When f=10Hz

When f=20Hz

Design Home Assignment-2 | 210507A

When f=1KHz

Hoisting sub control (along Z axis)

200+500𝑆
𝐶𝐿𝑇𝐹𝑧 (𝑠) =
500𝑠 2 +(700)𝑠+200

For f=10Hz

Design Home Assignment-2 | 210507A

For f=20Hz

For 1KHz

Design Home Assignment-2 | 210507A

Discussion

• When designing a digital controller using discrete-time PD control, the sampling frequency
significantly influences the closed-loop system's performance characteristics, such as
overshoot, settling time, and offset in the step response

• When designing a digital controller using discrete-time PD control, the sampling frequency
significantly influences the closed-loop system's performance characteristics, such as
overshoot, settling time, and offset in the step response.

• Sampling frequency affects offset by influencing the controller's ability to regulate the system
accurately. Higher frequencies allow more frequent adjustments, potentially reducing
steady-state errors. Yet, quantization errors and noise can introduce disturbances, affecting
control accuracy and contributing to offset.
• Increasing the sampling frequency significantly extends the settling time, which is highly
undesirable. Higher frequencies can amplify noise, particularly if the system is susceptible
to high-frequency disturbances. This noise interference can degrade control signal
accuracy and prolong settling time, negatively impacting system performance.

Design Home Assignment-2 | 210507A