HW ID: 316

To: Jesse Roll, ME 375 Lab TA

From: Glenda Hernandez, Undergraduate ME Student
Subject: Pre-lab 2
Date: Monday, February 8, 2016

The purpose of this summary is to present the findings from Pre-lab 2. The purpose of this
experiment will be to familiarize myself with pole placement controller design and the effect of
that it can have on both stable and unstable systems.
Section 4.1
1. What are the locations of the open-loop poles of G(s)? Draw these by hand as "X"s on the
complex plane.
3 5
The locations of the open-loop poles of G(s) are 2 .
2

See the attachment (page 1).

2. Draw the desired closed-loop pole locations as squares on the same complex plane.
See the attachment (page 1).
3. What is the closed loop transfer function and closed loop characteristic equation of the
system?
() ()
The closed loop transfer function is = 1+() . The closed loop characteristic equation is
()

() () + () () = ( 2 + 3 + 1)( + ) + ( + ) = 3 + (3 + ) 2 +
(3 + + ) + ( + ).
4. What is the desired closed loop characteristic equation of the system?
The desired closed loop characteristic equation of the system is 3 + 16 2 + 85 + 250.
5. Solve for the unknown controller coefficients by comparing like powers of s in your
characteristic equations from parts 3 and 4. Show all of your work.
See attachment (page 1).
6. Put the series of equations from part 5 into matrix form, i.e. define the A matrix, x vector, and
y vector shown in (6). Solve this matrix system using LabVIEW, MATLAB, or a calculator to
verify that you get the same answers as above.
See attachment.
 HW ID: 316

7. Write out the actual closed loop transfer function and solve for the pole locations to check that
they are at the desired locations. Where are the zeros? Draw these poles as "X"s on the same
complex plane and zeros as "O"s.
()() 45+237
The actual closed loop transfer function is = 1+()() = 3 +162 +85+250. Work is shown on
attachment (page 2). The pole locations are -10, -34i. The zero is at -237/45.
8. Repeat the procedure above, this time for a system given by (8). Is this open-loop system
stable when given a step input?
No it is not stable.
a. What are the locations of the open-loop poles of G(s)? Draw these by hand as "X"s on
the complex plane.
The locations of the open-loop poles of G1(s) are 0 and -2. See the attachment (page 3).
b. Draw the desired closed-loop pole locations as squares on the same complex plane.
See the attachment (page 3).
c. What is the closed loop transfer function and closed loop characteristic equation of the
system?
() ()
The closed loop transfer function is = 1+() . The closed loop characteristic equation is
()

() () + () () = ( 2 + 2)( + ) + ( + ) = 3 + (2 + ) 2 +
(2 + ) + ().
d. What is the desired closed loop characteristic equation of the system?
The desired closed loop characteristic equation of the system is 3 + 16 2 + 85 + 250.
e. Solve for the unknown controller coefficients by comparing like powers of s in your
characteristic equations from parts 3 and 4. Show all of your work.
See attachment (page 3).
f. Put the series of equations from part 5 into matrix form, i.e. define the A matrix, x
vector, and y vector shown in (6). Solve this matrix system using LabVIEW, MATLAB, or a
calculator to verify that you get the same answers as above.
See attachment.
g. Write out the actual closed loop transfer function and solve for the pole locations to
check that they are at the desired locations. Where are the zeros? Draw these poles as "X"s on the
same complex plane and zeros as "O"s.
()() 57+250
The actual closed loop transfer function is = 1+()() = 3 +162 +85+250. The pole locations
are -10, -34i. The zero is at -250/57. See attachment (page 4).
 HW ID: 316

Section 4.2

12.

14. What happens to the combined system response as this pole is moved to the left and right?
 HW ID: 316

The combined response system looks more like a first order system as the pole is moved to the
right and looks like a second order system as the pole is moved to the left.
15. What happens to the location of the zero in the combined system as this pole is moved to the
left and right?
When you go to the left, the systems amplitude increases. When you go to the right, the
systems amplitude decreases to the point where it looks like a y = -sqrt(x).
16. At approximately what pole locations (there are two) does the zero and pole overlap?
They overlap at -2.62 and -0.4387.
17. What happens to the response when the pole is very close to the imaginary axis, i.e.
s < 0.11? Where is the zero for pole locations this close to the imaginary axis?
The response goes from an inverted y=sqrt(x) to a second order response system. The zero is at
0.4.
19. What happens to the response of the combined system as these poles move to the left and
right (away from and towards the imaginary axis) and up and down (away from and towards the
real axis)?
When the poles move to the left, there is not much change in the response system. When the
poles move to the right, there isnt much change, either. When the poles move up, the amplitude
increases and when the poles move down then it looks like an inverted y=sqrt(x).
20. Repeat steps 8-19 for the second open-loop system analyzed in Section [4.1] (8). Make sure
to provide required screen shots and answer all questions for this system as well.
 HW ID: 316

14. What happens to the combined system response as this pole is moved to the left and right?
The combined response system looks more like an inverted y=sqrt(x) as the pole is moved to the
right and looks like a second order system as the pole is moved to the left.
15. What happens to the location of the zero in the combined system as this pole is moved to the
left and right?
 HW ID: 316

When you go to the left, the zero doesnt change. When you go to the right, the zero increases.
16. At approximately what pole locations (there are two) does the zero and pole overlap?
They overlap at -0.9116 and -0.7934.
17. What happens to the response when the pole is very close to the imaginary axis, i.e.
s < 0.11? Where is the zero for pole locations this close to the imaginary axis?
The response goes from an inverted y=sqrt(x) to a second order response system. The zero is at
0.
19. What happens to the response of the combined system as these poles move to the left and
right (away from and towards the imaginary axis) and up and down (away from and towards the
real axis)?
When the poles move to the left, the amplitude increases in the response system. When the poles
move to the right, it looks like an inverted y=sqrt(x). When the poles move up, the amplitude
increases. When the poles move down, it looks more like a half dome as shown in Figure A.

Figure A: Half dome

Section 4.3
HW ID: 316