UNITED INTERNATIONAL UNIVERSITY (UIU)

COURSE NO. EEE 402 (CONTROL SYSTEM LABORATORY)

EXPT. NO. 9

IMPROVING TRANSIENT RESPONSE BY STATE BARIABLE FEEDBACK

Task 1

Design Requirement:
Design phase-variable feedback gains to yield 15% overshoot and a settling time of
0.75 second.
5 5
Transfer function of the plant: G ( s)  
( s  5)( s  2 s  5)
2
s  7 s  15s  25
3 2

Procedure:
Step-1) Draw the Phase variable form of the uncompensated system in simulink:

Fig. 1: Phase variable setup in Simulink

Now, using linear analysis tool, fill up the characteristics in the table-1.

This sheet for Control System Laboratory has been prepared by: MK Masukur Rahman, Associate Professor, EEE, UIU.
 Fig. 2: Sample output from the LTI viewer.

Step-2) Finding desired closed loop poles:

- ln ( OS )
Find z from OS, then q . [ z   cos q ]
p 2  ln 2 OS
Find closed loop dominant poles p1,2( -s d �jwd )
Place 3rd pole at 10 times away from s d : p3 = -10 s d
Find the characteristic equation (s-p1) (s-p2) (s-p3) =0
Or, s  a2 s  a1s  a0  0
3 2
---------(1)
Find the value of a2 , a1 and a0

Step-3) Finding feedback gains from state variable:

The characteristic equation for the plant with state variable feedback is:
det(sI - ( A - BK ))  s 3  (7  k 3 ) s 2  (15  k 2 ) s  (25  k1 )  0 -------(2)

This sheet for Control System Laboratory has been prepared by: MK Masukur Rahman, Associate Professor, EEE, UIU.
 Fig. 3: Simulink setup for Phase variable form with state feedback

Now, our target is system in Fig. 3 will generate the desired pole in step-2, such that
equation (2) becomes equation (1). Compare equation (1) with (2) to find the values of
k1, k2, k3.
Insert the feedback gain k1, k2, k3 into simulink block and simulate the results.
Fill up the characteristics in table-1 for compensated system.

Table 1: Characteristics of the System response (Task-1).

Uncompensated Compensated

Dominant Poles
% OS
Ts
Tp
Other poles
Zeroes
N/A
Feedback Gains

Task 2

Design Requirement:
Design phase-variable feedback gains to yield 15% overshoot and two-fold reduction
in settling time.

This sheet for Control System Laboratory has been prepared by: MK Masukur Rahman, Associate Professor, EEE, UIU.
 ( s  6) s6
Transfer function of the plant: G ( s )  s  5 s 2  2 s  5  s 3  7 s 2  15s  25
( )( )

Procedure:
Follow the procedure of Task-1. Place 3rd desired pole at system zero (at -6). It is because
close loop zero is same as open loop zero. So placing pole at zero’s location will create pole-
zero cancellation for better 2nd order approximation. Summarize results in Table-2.

Task 3

Design Requirement:
Design phase-variable feedback gains to yield 15% overshoot and two-fold reduction
in settling time.
( s  6) s6
Transfer function of the plant: G ( s )  s  5 s 2  2 s  5  s 3  7 s 2  15s  25
( )( )
Procedure:
This problem is same as Task-2, but place the 3 rd desired pole at ‘-6.5’. Compare results with
that of step-2. Summarize results in Table-2. Comment on the difference of results between
task-2 and task-3, and about 2nd order approximation.

Table 2: Characteristics of the System response.

Uncompensated Compensated Compensated

(Task-2) (Task-3)
Dominant Poles
% OS
Ts

This sheet for Control System Laboratory has been prepared by: MK Masukur Rahman, Associate Professor, EEE, UIU.
 Tp
Other poles
Zeroes
N/A
Feedback Gains

This sheet for Control System Laboratory has been prepared by: MK Masukur Rahman, Associate Professor, EEE, UIU.