ASSIGNMENT #2

1- A stabilized precision rate table uses a precision tachometer and DC direct drive torque
motor yielding an open-loop transfer function given by:
( )

)(

It is required to maintain a steady state accuracy of 0.1 % for the speed control. The phase margin is
45deg.
a. Design a lag compensator to achieve the required specifications.
b. Design a lead compensator to achieve the required specifications.
c. Simulate using SIMULINK, for a unit step velocity input, for the following:
a) The uncompensated unity feedback system.
Plot the velocity output and error signal.
b) The system with the lag compensator.
Plot the velocity output, error signal, and the lag compensator control signal.
c) The system with the lead compensator.
Plot the velocity output, error signal, and the lead compensator control signal.
d) Compare and discuss the 3 simulation results.
2- Given ( )

, is

( )

implementable? Given ( )

is

( )

implementable?
3- Consider a plant with transfer function ( )

a. Find an implementable overall transfer function that has all poles at -2 and has a zero
position error.
b. Find an implementable overall transfer function that has all poles at -2 and has zero
velocity error. Is the solution unique? Do you have to retain s+3 in G0(s)? Find two
sets of solutions: One retains s+3 and the other does not.
4- a. Consider a plant with transfer function ( )

. Design an ITAE zero-position-

error optimal system of degree 1. It is required that the actuating signal due to a unit-step
reference input have a magnitude less than 10.
b. Consider a plant with transfer function ( )

. Design an ITAE zero-position-

error optimal system of degree 2. It is required that the actuating signal due to a unitstep reference input have a magnitude less than 10.
c. Compare their unit-step responses