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Unformatted text preview: Compensators Q UESTION 1 For the closedloop system in Figure 1 with ( 29 1 = s G C and ( 29 2 5 4 5 G s s s = + + , complete the following: a. Sketch the Root Locus Diagram. Qualitatively describe the closedloop system stability and transient characteristics for 0 < K < . b. Calculate K such that the steadystate error for a unit step input is 0.15. c. For the value of K calculated in part b, simulate the closedloop system for r ( t ) = 1 and plot y ( t ), e ( t ), and u ( t ). d. For the value of K calculated in part b, calculate the closedloop pole locations. For each complex conjugate pair, determine its natural frequency and damping ratio. For each real pole, determine its time constant. Turn in your Matlab code. G(s) KG C (s) U(s) R(s) +- Y(s) E(s) Figure 1 There are m = 0 finite openloop zeros There are n = 2 finite openloop poles located at 2 j- There are n = 2 branches and n m = 2 branches go to infinity The Root Locus is not on the real axis The asymptote realaxis intercept is [ ] [ ] 2 2 2 a j j n m - +--- = = -- Compensators...
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This note was uploaded on 02/01/2012 for the course MECH ENG 279 taught by Professor Landers during the Spring '11 term at Missouri S&T.
- Spring '11