Assignment 3
1. For the coupled tank system considered in Assignment 2, the control objective is to
maintain the water of tank 2 at desired level even in presence of some variation of
its output flow rate. Suppose PI controllers with feedforward action and feedbacks
from both the level sensors are to be used for this purpose. Using the system
parameters (along with pump and sensors) given in Assignment 2, design the above
controller using pole-placement technique to ensure the following in the regulation
characteristics: (i) peak overshoot (P.O)≤ 10 %, (ii) settling time (2% tolerance
band)≤ 20 𝑠𝑠, (iii) no steady-state error. Check the regulation performance of the
designed controller through simulation of both linearized and nonlinear systems in
presence of ± 10 % variation in the steady-state value of output flow rate of tank 2.
2. Given the cart-pendulum system in Assignment 2, design a first-order controller with
feedbacks from 𝜃𝜃 and 𝑥𝑥 to meet the following design specifications: (a) setting time
≤ 5 𝑠𝑠, |𝑥𝑥| ≤ 0.4 𝑚𝑚, |𝜃𝜃| ≤ 0.15 rad, control voltage |𝑢𝑢| ≤ 2.5 𝑉𝑉 after 0.5 s with
maximum initial peak of 20 V, |𝐺𝐺𝐺𝐺| ≥ 6 dB, |𝑃𝑃𝑃𝑃| ≥ 300 at the control input
channel 𝑢𝑢. Assume the DC motor used to convert voltage 𝑢𝑢 to force F is represented
by a gain of 15. Use (dominant) pole-placement based method to design the
controller and check if the performance of the above controller is met for both the
linear and nonlinear systems.
