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Control

The document presents a series of questions related to control systems, specifically focusing on the implications of a pure integrator in the plant affecting control performance, stability analysis through pole evaluation, and designing a proportional control gain for a robot boat to meet specific transient performance specifications. It includes theoretical consequences of control performance based on proportional gain, the assessment of system damping through pole analysis, and the requirement to numerically determine an appropriate gain to achieve desired rise time and overshoot. The questions guide the reader through practical applications in a Matlab simulation environment.

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11 views3 pages

Control

The document presents a series of questions related to control systems, specifically focusing on the implications of a pure integrator in the plant affecting control performance, stability analysis through pole evaluation, and designing a proportional control gain for a robot boat to meet specific transient performance specifications. It includes theoretical consequences of control performance based on proportional gain, the assessment of system damping through pole analysis, and the requirement to numerically determine an appropriate gain to achieve desired rise time and overshoot. The questions guide the reader through practical applications in a Matlab simulation environment.

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© © All Rights Reserved
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QUESTION 2

The plant from rudder deflection to heading angle contains a pure integrator because rudder deflection
controls yaw rate, which must be integrated to obtain heading angle. What is the theoretical
consequence of the plant containing this integrator as regards control performance?

a. The closed-loop system will only exhibit zero steady-state error for a step change in desired heading if
the proportional gain is sufficiently low.

b. The closed-loop system will always exhibit a non-zero steady-state error for a step change in desired
heading, regardless of the proportional gain.

c. The closed-loop system will only exhibit zero steady-state error for a step change in desired heading if
the proportional gain is sufficiently high.

d. The closed-loop system will always exhibit zero steady-state error for a step change in desired
heading, regardless of the proportional gain.
QUESTION 3

It is important to understand the characteristics of any control desgin that we make, and be able to
recognise different types of dynamic behaviour.

Set the proportional control gain kp=1 in the robot boat Matlab script and check the poles of the closed
loop system (denoted Gy in the Matlab script), i.e. the transfer function from reference to heading.

Interpret the poles to decide if the closed loop system is overdamped, underdamped, critically damped
or undamped?

a. Underdamped

b. Undamped

c. Critically damped

d. Overdamped

QUESTION 4

We need to be able to check the stability of any control system design. We can do this by checking the
value of the poles, specifically whether the real part of all poles is positive or negative. Set the
proportional gain in the robot boat simulation to kp=10.
What is the value of the real part of the pole of the closed loop transfer function Gy, i.e. from reference
to heading (to 2 decimal places)?
Note, ensure you have the correct sign, positive or negative, for this answer.

QUESTION 5

We need to be able to design a controller to a performance specification.

You are given the following tranisent performance specification for the robot boat:
• Rise time should be less than 1.5 seconds

• Overshoot should be less than 40%

Design a proportional control gain, kp (to 2 decimal places), that meets this specification for the robot
boat.

Hint: the value of kp is somewhere in the range from 0.5 to 3.5. You will need to find the gain kp to 2
decimal places to meet the performance specification. You are expected to search out the correct gain
numerically by trial and error. The Matlab function stepinfo should help.

10 points

Save Answer

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