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El-Badawy
Control Engineering
Winter 2014
Assignment 2
Stability, Steady State error, PID
Name
Application no.
Group no.
1
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:
2
Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014
3
Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014
4
Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014
Problem (2):
Disturbance
Desired + Actual
Speed
+
+ Speed
PID
-
Solution:
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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.
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.
Hint:
To show the step response for only the specified time, read the help guide by typing in the command
window of Matlab:
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Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014
7
Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014
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Prof. Dr. Ayman A. El-Badawy
Control Engineering
Winter 2014