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FACULTY OF ENGINEERING
INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA
CONTROL SYSTEM
LABORATORY MANUALS
EXPERIMENT NO: 3
2.0 INTRODUCTION
Stability is the most important system specification. Unstable closed-loop systems
are generally of no practical use.
Therefore, the following statement defines stability and instability for a system:
a. A system is stable if every bounded input produces a bounded output.
b. A system is stable if the poles of the closed-loop transfer function are located
in the left hand side of the s-plane.
c. A system is unstable if the poles of the closed-loop transfer function are
located in the right-hand side of the s-plane and / or poles of multiplicity
greater than one on the imaginary axis.
d. A system is marginally stable if it has only imaginary axis poles of multiplicity
1 and closed-loop poles in the left half plane.
For low order systems, it is easy to find the poles, and then determine that stability
by observing the pole position in the s-plane. But for higher-order systems it is
difficult to find the poles without the help of computer. However, Routh-Hurwitz
criterion can be used to find how many poles are in the right hand side of the s
plane by calculating how many sign change in the first column of the Routh-
Hurwitz table. Routh-Hurwitz criterion also can be used to find the range of
variable gain K for which a close loop system is stable.
1
3.0 PROCEDURE
1. Consider the following open loop transfer function:
G1 (s ) =
0. 1
2s + s 2 + 2s
3
G 2 (s ) =
1
2s + s 2 + 2s
3
G 3 (s ) =
100
2s + s 2 + 2s
3
4. Notice that the denominator of G1, G2 and G3 are the same. Only the
numerator changes. Therefore, we can represent the whole system by the
following:
1
K
Step 2s3+s2+2s
Sum Gain Scope
Transfer Fcn
2
b. Use Routh-Hurwitz criterion to determine the range of K that makes the
system stable. Show your derivation.
4.0 APPLICATION
A robot arm called Soft Arm can be used as part of a system to feed people with
disabilities. The arm uses a pneumatically controlled actuator called rubbertuator.
The actuator contracts and expands to drive the arm that feeds the person. A video
camera provides the sight of the robot. The control system guides the spoon at a
distance from the mouth.
A much, much simplified block diagram for the robot arm is shown below.
3
Justify your selection of K value by observing the rise time, percentage
over shoot, and steady state error. Are they suitable for the intended
application? Modify the value of K if necessary.
c. Select a value of K in unstable region.
Simulate a step response of the system.
d. Select a value of K in marginally stable region.
Simulate a step response of the system.
5.0 REPORT
Write a report based on your results and observations.