BEKC 3643!

CONTROL SYSTEMS ENGINEERING

ASSIGNMENT
LAG-LEAD COMPENSATOR DESIGN VIA
ROOT LOCUS TECHNIQUE USING MATLAB

There are three (3) tasks are given in this assignment consists
of comprehension, application, analysis and design.
Every tasks must have clear explanation and description with
the help of labelled figure/diagram.
You may use formula to determine the pole location, steady
state error and transient responses parameters. Then, verify the
results using MATLAB software.
Describe the design procedure by capturing the MATLAB
window and use arrow to indicate the specific procedure.
Discuss the findings and show that all requirements for the
compensator design have been met.
Appendices A and B may help you in completing this
assignment.
Member: Maximum four (4) students in a group

Introduction
Autonomous vehicle systems are now used to elevate and enhance the
manoeuvrability performance. By using root locus technique, design a
compensator for that system in order to achieve the bearing angle
performance specification.
Compensator
Desired
bearing angle

+
-

Steering

Vehicle dynamics

50
s2 + 10s + 50

KGc (s)

1
s(s + 5)

Actual
bearing angle

Figure 1: A simplified block diagram of self-guiding vehicles bearing angle control

Task 1: Root Locus Technique

i) Write the open loop transfer function and determine the poles/zeroes in
that system. (Hint: use tf, pole and zero in MATLAB command window)
ii) Draw the root locus of the system and from that root locus diagram,
determine the point crosses imaginary axis and break in/away point.
(Hint: use rlocus or rltool or sisotool in MATLAB command window)
Task 2: Design via Gain Adjustment Technique Gc (s) = 1
i) Analyse the systems stability and the steady state error for a ramp input.
ii) Design the feedback gain to yield a 10% overshoot for the closed loop
system by determining the value of K.
(Hint: use Design Requirements in the sisotool window)
Task 3: Design via Lag-Lead Compensator
(s + zlag )(s + zlead )
Gc (s) = Glag (s) Glead (s) =
(s + plag )(s + plead )

i) Design a lag-lead compensator so that the closed loop system will

achieve the following performance specification as shown in Table 1.
Table 1: Performance Specification of Compensated System

Performance Specification
Percent Overshoot, OS%

Less than 10%

Settling Time, T

1.5 seconds

Steady State Error for Ramp Input

Tenfold improvement from the uncompensated

system

Use Table 2 in Appendix A to represent the findings and analyse the

compensator performances in the results and discussion section.
*Assumption: Place the lead zero, zlead = -5 when designing the lead controller and place
the lag pole, plag = -0.001 when designing the lag controller.

Appendix A
Table 2: Performance Analysis of the Uncompensated and Compensated System
Uncompensated
Plant and
Compensator

Lead-Compensated

Lag-Lead-Compensated

50K
(s + zlead )
50K
(s + zlag )(s + zlead )
50K

2
2
s(s + 5)(s + 10s + 50) (s + plead ) s(s + 5)(s + 10s + 50)(s + plag )(s + plead ) s(s + 5)(s2 + 10s + 50)

Dominant Poles
Gain
Damping Ratio
Natural Frequency
Overshoot
Settling Time
Peak Time
Velocity Constant
Steady State Error

List of Formula

Appendix B