Polytechnic University of Puerto Rico

Department of Electrical & Computer Engineering and Computer Science

EE 5610 - Control System Design
Nov / 11 - Feb / 12
Team Assignment - 50 points
-----------------------------------------------------------------------------------------------------------------------------------------------Section HM - Due by December 19, 2011
-----------------------------------------------------------------------------------------------------------------------------------------------Situation # 1 (20 pts.):
You have two open loop processes with negative unity feedback:

Gp(s) =

Gp(s) =

s(s + a)(s + b)

K
(s + c)(s + d)

Using the software tools available, perform the following tasks:

Part A: Time Domain Analysis

1. Plot the root locus with the position of the closed loop poles for a damping ratio of .5. Also
indicate the required open loop gain K, which will be used for the rest of the problem (2 plots).
2. Plot the closed loop time response due to a step test input. Show the values of the maximum
overshoot (Mp) and the 2% settling time (ts). Remember that the settling time is taken with
respect to the steady state value (2 plots). Comment whether the third closed loop pole affect
seriously the closed loop time response (i.e if p >> n). Explain what you see in your
conclusions.
3. Plot the steady state error to a step and a ramp test input (4 plots).

Part B: Open Loop Frequency Domain Analysis

1. Plot the open loop frequency response indicating phase (P.M.) and gain (G.M.) margins as well
as the phase (PC) and gain (GC) crossover frequencies. Use the dB scale. Indicate how you
can obtain the static error constants on the same plot (2 plots).
2. Use the Nyquist plot to find the same information (2 plots).
3. Use the Nichols plot to find the same information (2 plots).

Part C: Closed Loop Frequency Domain Analysis

Plot the closed loop frequency response indicating the peak frequency (m), the peak value (Mm),
and the bandwidth (BW). Use the dB scale (2 plots).

Part D: Conclusions
Develop your own conclusions (1 page). Information for each team is given two pages ahead.
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Situation # 2 (15 pts.):

A second order low-pass analog filter transfer function is described below:

H(s) =
s

+ 2n s + n

Perform the following tasks:

Part # A: Frequency Response of H(s)

Show the logarithmic frequency response plot based on the s-domain transfer function H(s). Show
on the same plot the expression of the filter transfer function (1 plot).

Part # B: Frequency Response of H(z)

Show the logarithmic frequency response plot of the z-domain equivalent (a digital filter) transfer
functions using these projection methods:

Method # 1: Backward Integration Rule

Method # 3: Bilinear Method

Method # 2: Forward Integration Rule

Method # 4: Direct Pole-Zero Mapping

It is required for each case to apply three different sampling periods, in order to demonstrate how
the sampling effects affect the frequency response. Select a good frequency range (with command
logspace) to compare all cases. Please write on the plot page the expression of H(z) for purposes
of identification of each case (12 plots).

Part # C: Conclusions
Develop your own conclusions (1 page). Compare responses based on the z-domain filter
projections with the original one in the s-domain. Information for each team is in the next page.

Important Note:
It would be good to compare all frequency responses based on the same scale (both magnitude and
frequency range). In order to make good observations, it is recommended to have a fixed magnitude range
for all plots, for example, between -60 to 20 dB. You have to decide the best frequency range that fits your
needs.
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Situation # 3 (15 pts.):

Two open loop processes with negative unity feedback:

Gp(s) =

Gp(s) =

(s + a)

K
s(s + b)

Determine:
a. The Zero-Order Hold (ZOH) equivalent for the open loop transfer function of each process. Use
sampling periods (Ts) of .04 and .004 seconds for both systems. Show all four models (1 page).
b. The root locus plot with the position of the closed loop poles and the maximum value of K
needed to reach the stability margin. Indicate on the same plot the process transfer function.
You should also express the range of stability gains for each discretized process model (4 plots).
c. The open loop Bode plot under limit conditions of part b. Show P.M., G.M., GC, PC. Indicate
on the plot the process transfer function (4 plots). Remember that any information above the
frequency value of / Ts rad /sec is useless.
d. Obtain the Nichols plot under the same circumstances.
limitations explained in part c (4 plots).

Take in account the frequency

e. Establish the relationship between the stability range and the sampling frequency. Develop your
own conclusions (1 page). Information for each team is in the next page.
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Polytechnic University of Puerto Rico

Department of Electrical & Computer Engineering and Computer Science
EE 5610 - Control System Design
Nov / 11 - Feb / 12
Team Assignment Evaluation Sheet
-----------------------------------------------------------------------------------------------------------------------------------------------Design Team: _______
Quarter: WI11
-----------------------------------------------------------------------------------------------------------------------------------------------Homework Evaluation (50 pts.):
Situation # 1 (20)
Part a:
Part b:
Part c:
Part d:

_______ (05 pts.)

_______ (05 pts.)
_______ (05 pts.)
_______ (05 pts.)

Situation # 2 (15)
Part a:
Part b:
Part c:

_______ (02 pts.)

_______ (08 pts.)
_______ (05 pts.)

Situation # 3 (15)
Part a:
_______ (03 pts.)
Part b:
_______ (03 pts.)
Part c:
_______ (03 pts.)
Part d:
_______ (03 pts.)
Part e:
_______ (03 pts.)
-----------------------------------------------------------------------------------------------SUB-TOTAL:

_______ (50 pts.)

------------------------------------------------------------------------------------------------------------------------------------------------

Instructor:
Signature:__________________________

Date:____________

------------------------------------------------------------------------------------------------------------------------------------------------

DESIGN TEAMS
Design Team # 1:
Design Team # 2:
Design Team # 3:
Design Team # 4:
Design Team # 5:
Design Team # 6:
Design Team # 7:

Luis Castro & Carlos Fargas

Julio Irizarry & Rodrigo Rivera
Luis Lasanta & Luis Ramos
Orlando Lpez & Angel Villanueva
Jo-Luis Lpez & Romy Reyes
Eddy Malav & Elizabeth Oliveras
Jos Moll

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ASSIGNMENT VALUES
Situation # 1
-1

Team
1
2
3
4
5
6
7

-1

a (sec )
2
2
2
3
3
4
4

-1

b (sec )
5
10
20
10
15
10
15

c (sec )
4
4
4
3
3
2
2

-1

d (sec )
20
15
10
15
10
20
10

Situation # 2
Team
1
2
3
4
5
6
7

n (rad/sec)

1
1.25
1.6
2
2.5
4
6.4

.4
.6
.5
.3
.6
.2
.3

Ts (secs)
.04, .4, 4
.025, .25, 2.5
.025, .25, 2.5
.02, .2, 2
.02, .2, 2
.01, .1, 1
.005, .05, .5

Situation # 3
Team
1
2
3
4
5
6
7

-1

a (sec )
1
2
3
4
5
6
8

-1

b (sec )
9
8
6
5
4
3
2

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