Analysis of the Original System:

Open loop transfer function of the system is

The step response of CLTF is shown below:
) (
) 00 ! 0 )( "" ! #$"" (
%& ! #%
) (
) (
s G
s s s s H
s V
=
+ +
=
%& ! #% ) 00 ! 0 )( "" ! #$"" (
%& ! #%
+ + +
=
s s s
CLTF
Figure #: Transient 'esponse of Original System
Fig! # shows the original system has a un(er)(ampe( response with many oscillations! *t
has a pea+ time of "!,s an( it has o-ershoot of ,%!$.! *t reaches stea(y state at ",0s with
amplitu(e of #!
Figure : 'oot Locus of the Original System
Fig! illustrates the root locus of the original system! The system is unstable for any -alue
of gain/ 0!
*n or(er to impro-e the transient response/ a 1roportional)2eri-ati-e (12) controller is
re3uire( to be a((e( to the system so that the settling time/ pea+ time an( percentage
o-ershoot can be re(uce(!
2esign Calculation of 12 Controller:
4e re(uce settling time/ Ts to 0!5s an( o-ershoot to #0.!
To obtain new pole/ :
new
s
where !
. #0 . = OS
# ! 0

#
=

e
5,# ! 0 =
= =

&% ! 5" 5,# ! 0 cos
#

s # T
s
=
#
'e
6
=
6 'e =
6% ! 5 &% ! 5" tan 6 * = =
m
6% ! 5 6 j s
new
=
) 00 ! 0 )( "" ! #$"" (
) ( %& ! #%
) ( ) ( 7
+ +
+
=
s s s
z s K
s G s
c D
PD

#$0
) 00 ! 0 )( "" ! #$"" (
) ( %& ! #%
=
+ +
+

s s s
z s K
c D

= + + + #$0 ) 00 ! 0 ( ) "" ! #$"" ( ) ( s s s z s

c
6% ! 5 6 j s s
new
= =
= + #$0 # ! #% #& ! 0 " ! #% ) (
c
z s
= + %# ! & ) (
c
z s
x
6% ! 5
%# ! & tan =
&# ! # = x
&# ! 5 ) &# ! # ) 6 ) = =
c
z
substitute
8ence/
'esult91erformance of the System with 12 controller:
) 00 ! 0 )( "" ! #$"" (
) &# ! 5 ( %& ! #%
) ( ) ( 7
+ +
+
=
s s s
s K
s G s
D
PD
# : ) ( ) ( 7 : = s G s
PD
#
) 00 ! 0 )( "" ! #$"" (
) &# ! 5 ( %& ! #%
=
+ +
+
s s s
s K
D
6% ! 5 6 j s s
new
= =
5 ! $&$ =
D
K
) &# ! 5 ( 5 ! $&$ + = s G
PD
) 00 ! 0 )( "" ! #$"" (
&# ! 5 )( 5 ! $&$ ( %& ! #%
) ( ) ( 7
+ +
+
=
s s s
s
s G s
PD
) 00 ! 0 )( "" ! #$"" (
) &# ! 5 ( % ! #6%66
+ +
+
=
s s s
s
s s s
s
%%& ! " "" ! #$""
% ! $"%0 % ! #6%66
"
+ +
+
=
Figure ": Transient 'esponse of the System with 12 Controller
Fig! " illustrates the system with 12 compensator ga-e an un(er(ampe( response! The
pea+ time an( settling time were impro-e( to 0!"6#s an( #!0"s respecti-ely! The settling
time was close( to the (esigne( -alue (#!0s)! The o-ershoot of the system was re(uce( to
5!6.! 8ence/ the system with the (esigne( 12 controller is more stable with lesser
oscillation/ smaller o-ershoot an( able to reach stea(y state faster compare( to original
system! The system is stable for all -alue of gain/ 0 as there is no locus locate( on the
right)half plane as shown in Fig! 6!
Figure 6: 'oot locus of the system with 12 compensator