Prof. Dr. Ayman A.

El-Badawy
Control Engineering
Winter 2014

German University in Cairo

Faculty of Engineering and Materials Science
Mechatronics Engineering Department

Assignment 2
Stability, Steady State error, PID

Name

Application no.

Group no.

Submission Deadline: Sunday, 23/11/2014

N.B. Please submit the assignment in this form.

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

Problem (1):
Consider the system shown in the Figure below, which represents control of the angle of a
pendulum which has no damping.

Required:
a) If the controller was chosen to be a proportional controller (i.e. D(s) = Kp), what is the system
type?
b) Will the system be able to track a ramp reference input with constant steady state error? Prove it
by calculating the steady state error.
c) What condition must D(s) satisfy so that the system can track a ramp reference input with
constant steady state error? (How many poles at the origin should D(s) have ?)
d) For a transfer function that stabilizes the system and satisfies the condition in (c), find the class of
disturbances (e.g. step, ramp, ...) that the system can reject with zero steady state error.
e) Show that although PI controller satisfies the condition in (c), it will not yield a stable closed loop
system.
f) Show that a PID controller will be able to stabilize the closed loop system and allow it to track a
ramp input with constant steady state error. What constraints must Kp, Ki, Kd satisfy to stabilize
the system in this case?
g) Discuss qualitatively and briefly the effects of small variations in the controller parameters Kp, Ki,
Kd on the system's rise time and overshoot for a unit step response.

Solution:

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

Problem (2):
Disturbance

Desired + Actual
Speed
+
+ Speed
PID
-

Solution:

If the system parameters are given by:

a) What is the transfer function of the controller?

b) Write the transfer function between the input disturbance and the actual angular speed in
terms of the controller parameters (Kp, Ki, Kd).
c) Write the transfer function between the desired angular speed and the actual angular
speed in terms of the controller parameters (Kp, Ki, Kd).
d) Using MATLAB, plot the following responses for a unit step disturbance input if the
motor is controlled by:
i. P control only.
ii. PI control only
iii. PID control.
e) Using MATLAB, plot the following responses for a unit step desired angular speed input,
if the motor is controlled by:
i. P control only.
ii. PI control only
iii. PID control.

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

f) Using MATLAB, plot the following responses for a unit step desired angular speed input
and a unit step disturbance if the motor is controlled by:
i. P control only.
ii. PI control only
iii. PID control.

The controller parameters are given by:

Show your simulation results for

Note:

To check your results, the system response for parts (d) & (e) are shown in the Next Page. You don't
have to show your results combined as shown.

Let the unused controller parameters be zero.

Hint:

To show the step response for only the specified time, read the help guide by typing in the command
window of Matlab:

>> help step

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

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 Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014

a) Response for a unit step disturbance input

b) Response for a unit step desired angular speed input