MEC 522

MAC JULY 2014

Problem Based Learning (Total Mark is 10)

Course: MEC 522 Control Systems
Course Outcome: CO2 Work individually or in a group to conduct problem based learning
experiment correctly through established procedures and approach. [PO10, LO5, SS3] {A3}
Problem
One arm of a space robot is shown in Figure 1 (a). The block diagram for the control of the arm
is shown in Figure 1 (b). The transfer function of the motor and arm is
G(s) =
(a) If G(s) = K, determine the gain necessary for an overshoot of 4.5%, and plot the step
response.
(b) Design a proportional plus derivative (PD) controller using the ITAE method and n =
10. Determine the required Gp(s).
(c) Design a PI controller and pre-filter using the ITAE method.
(d) Design a PID controller and a pre-filter using the ITAE method with n = 10.
(e) Determine the effect of a unit step disturbance for each design. Record the maximum
value of y(t) and the final value of y(t) for the disturbance input.
(f) Determine the overshoot, peak time, and settling time (with a 2 % criterion) step R(s) for
each design above.
(g) The plant is subject to variation due to load changes. Find the magnitude of the sensitivity
at = 5. |STG (j5)|, where
T=
(h) Based on the results of part (e), (f), and (g), select the best controller.

MEC 522

MAC JULY 2014

Figure 1: Space Robot Control

Note

1) ITAE method:
ITAE t e(t ) dt
- For your information, you0 can find ITAE in website or Modern Control System
by Richard Dorf.
2) First, find the transfer function for the system
3) Then apply Kp, Ki and Kd for controller.
4) You can use MATLAB to draw the graph.
5) Pre-filter refer to Gp(s)
6) You can record all data in Table.
7) Please follow the concept Engineering Problem Solving Method (EPSM)

Good Luck
Have a nice day
Sebaik-baik manusia adalah manusia yang menyenangkan orang lain dan bukan
menyusahkan orang lain.
"Barangsiapa yang membawa mudarat maka Allah akan memudartkan
dirinya sendiri, sesiapa yang menyusahkan orang lain, Allah akan
menyuasahkannya pula"
(Riwayat Abu Daud, no 3635, 3/315; Ahmad, 3/453 ; Tirmidzi : Hasan Gharib ; Syeikh
Syuaib, Hasan Bi Syawahidi