Universidad Nacional de Ingeniería
Universidad Nacional de Ingeniería
Facultad de Ingeniería Eléctrica y Electrónica
Solucionario de la 2da Practica Calificada
Sistemas de Control II - EE648 Q
(Ciclo academico: 2022-1)
Nuñez Ochoa Asencio
[email protected] Abstract-This solution gives us a better un-
derstanding of the topics covered in class.
I. Problem N o 1
There is a plant in a closed loop system, with
unitary feedback, for which it is desired to design
a compensator, for which a design engineer de-
termines the L.G.R. respective and this is shown
below. So, despite the limitations of not having
a conveyor, the Engineer manages to (sensibly)
work around this issue and proceeds with the Figura 1: LGR
design. Then, to learn about his management of
graphic procedures, he is asked:
SOLUTION:
a) Determine on the LGR graph the region in
which the closed-loop poles must lie that
satisfy the following requirements for a step- a) We need to calculate E using Mp, then the
ped input: angle ϕ to determinate the regions that we
need.
5 % ≤ Mp ≤ 30 % With ts we calculate the attenuation σ.
E Mp=5 % = 0,69 E Mp=30 % = 0,36
0,75seg ≤ ts(±2 %) ≤ 3seg
We calculate the angles:
ϕ Mp=5 % = arcos(E Mp=5 % ) = 46.37o
b) According to the determined region, identify
from the graph (very approximately) a pair
of complex conjugate poles that satisfy the
ϕ Mp=30 % = arcos(E Mp=30 % ) = 68.90o
requirements of point a) and that also have
the lowest damped natural frequency. what
are these poles? Now we calculate the attenuations:
σts=0,75 = 5.33 σts=3 = 1.33
c) Determine the compensator, which makes
the poles locate in the position obtained in Using the enclosed values, we graph the re-
the previous point. gion that satisfies the requests.
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13(s + 2)
G p (s) =
s(s − 11)
13(s + 2)
G p0 (s) = Gc (s)( )
s(s − 11)
13(s + 2)
| G p0 (s)|s=−3,8+ j3,98 = |Kc ( |=1
s(s − 11)
(−3,8 + j3,98)(−3,8 + j3,98 − 11)
Kc = |( |
13(−3,8 + j3,98 + 2)
(−3,8 + j3,98)(−14,8 − j3,98)
Kc = | |
13(−1,8 + j3,98)
(5,5)(15,32)
Figura 2: LGR with requirements Kc =
13(4,36)
b) We determine the poles: Kc = 1,49
II. Problem N o 2
Indicate the procedure that you would follow
to eliminate the error in the stable state of a
plant that doesn’t have poles at the origin but
does have a zero in the right half plane, with the
derivative and proportional control actions (if
you think it is necessary, use a graph to explain
more clearly).
SOLUTION:
We have:
Figura 3: Poles location (−s + z)
G p (s) = ; p ∧ p2 ∧ z > 0
(s + p1 )(s + p2 ) 1
The poles are: To eliminate the stable state error we implement
a PD-PD controller:
p1 = 3,8 + j3,8tan(46,37o )
p2 = 3,8 − j3,8tan(46,37o )
p1 = 3,8 + j3,98 p2 = 3,8 − j3,98
c) We use a proportional compensator becau-
se the chosen poles are already in the LGR, Figura 4: Block diagram
therefore to find the value of the proportio-
nal gain of the compensator we will use the
magnitude criterion. We reduce the block diagram:
K ( s + 2) (K P1 + K D1 s) G p (s)
FT = G p0 (s) =
(s + 1 + j5)(s + 1 − j5) 1 + G p (s)(K P2 + K D2 s)
K ( s + 2) −K D1 s2 +(−K P1 +K D1 z)s+K P1 z
FT = ; K = 13 G p0 (s) =
s2 + 2s + 26 (1−K D2 )s2 +( p1 + p2 −K P2 +K D2 z)s+( p1 + p2 +K P2 z)
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So as we want a pole at the origin, we make the We can appreciate in Figure 6 that the error in
independent term of the denominator 0: stable state disappears, which was our goal.
( p1 + p2 + K P2 z) = 0
− p1 p2 III. Problem N o 3
KP2 = z (1)
We can evaluate our result by taking values for In the forward compensator design procedure,
the poles and zeros of the plant. applying LGR, it is normally sought to satisfy dy-
namic characteristics that finally lead us to iden-
tify and vary the settling time and overshoot. That
p1 = 1 p2 = 2 z=1 is why you are asked:
K P1 = 2 K D1 = 0,1 K D2 = 0,1
a) How does knowing these two parameters
Taking equation (1) we calculate the value of K P2 help us to design the compensator?
K P2 = −2
b) What is sought graphically (in the complex
We take the data to a simulation in Scilab. plane), when designing the compensator?
c) Having determined the location of the com-
pensator pole and zero, what determines or
ensures the value of the compensator gain?
SOLUTION:
a) These parameters help us to find the poles
present in the characteristic equation. When
the parameters vary, they give us another
new poles which must be evaluated belon-
ging to the LGR.
Figura 5: Block diagram of problem 2 b) We find add the poles and zeros of the com-
pensator to the LGR of the system and we
also find the position that they where located.
This means that we need to use the phase cri-
teria to certificate the pertenence of the poles
and zeros in the LGR.
c) The compensator’s gain value determines
that the following criterion is met:
| G p0 (s)| = 1
Figura 6: System output without controller
This criterion is that of magnitude.
IV. Problem N o 4
The tuning methods, Ziegler and Nichols, are
based on a certain Transfer Function of the PID
controller, with a certain location of poles and
zeros. Demonstrate said location of poles and
zeros, for the case of open-loop tuning.
Figura 7: System output with PD-PD controller
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SOLUTION:
From the table we take the values we need, which
are:
1,2T L
KP = Ti = Td = 0,5L
L 0,5
We know that the controller transfer function is:
KI
Gc (s) = K P + + KD s
s
KP
KI =
Ti
K D = K P Td
Replacing the values:
1,2T 0,6T
Gc (s) = + + 0,6Ts
L sL2
0,6T 2s 1
Gc (s) = ( + 2 + s2 )
s L L
0,6T (s+1/L)2
Gc ( s ) = s
Then the problem is solved, with two zeros and a
pole at the origin.
