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Politecnico di Milano

Matlab Exercise: Proportional regulators

Mauricio Guzman

Matlab Exercise: Proportional regulators

Introduction
The Purpose of the lab is to get a brief introduction to the commands that
are required to generate in a computational way the graphical
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representation, and analyze the stability and the performance of feedback

control system when the system that is controlled by a proportional
regulator varies in Kp using undirect methods and direct methods, for the
following system:

Equation of motion

- k* = 4*k*L^2 - m*g*L (Depending of the values the system can be

stable , unstable or free to move along to the direction ).
Laplace domain

Results
The transfer function is:
1
-----------------------
100 s^2 + 100 s + 215.2
The values of the poles are:
ans =
-0.5000 + 1.3791i
-0.5000 - 1.3791i
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A single DOF system that have only two poles and they are C.C. The system
is stable because the real part is negative. The imaginary part represent the
natural frequency of the system.
Natural frequency: 0 =1.38rad/s=0.23Hz
Damping factor: h = 0.34 (system underdamped)
Feedback control systems
It will vary according to the type of control the type of controller P, PD, PI
Proportional control:

Proportional derivative control:

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Proportional integral control:

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Results for the differents type of control:

Proportional Control P
With K = 250 N/m
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'kp' 'Error' 'Bandw'

50 0.81146305 2.3584759
150 0.58926616 2.8230434
250 0.46259673 3.2216723
350 0.38075018 3.576291
450 0.32351173 3.8988614
550 0.28123366 4.1967519
650 0.24872862 4.4748804
750 0.22295897 4.7367218
1000 0.17709019 5.3354374
5000 0.041263998 11.178798
-----------------------------------------------------------------------------------------------------------
------------------
With K = 125 N/m
Passive system (no control)

Gm =

1
-----------------------
100 s^2 + 100 s - 284.8

Continuous-time transfer function.

Poles of the passive system (no control)

ans =

-2.2601
1.2601
We have an unstable pole.
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'kp' 'Error' 'Bandw'

50 1.2129472 0.91627432
550 -1.0739065 2.3584759
650 -0.77984666 2.8230434
750 -0.6122098 3.2216723
1000 -0.39821029 4.0505419
5000 -0.060400407 10.625579
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Proportional Derivative Control

For K = 250 N/m, and Td = 1
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'kp' 'Error' 'Bandw'

50 0.81146305 4.1817662
250 0.46259673 6.3845185
550 0.28123366 9.5145438
750 0.22295897 11.559788
1000 0.17709019 14.095613
5000 0.041263998 54.138748

With Ti = 10, zero > poles

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'kp' 'Error' 'Bandw'

50 0.81146305 37.048588
250 0.46259673 60.425804
550 0.28123366 92.532108
750 0.22295897 113.27575
1000 0.17709019 138.8797
5000 0.041263998 540.16753
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With K = 125 N/m with Td = 1

We have an unstable pole
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'kp' 'Error' 'Bandw'

50 1.2129472 32.547166
250 8.183908 0.013590858
550 -1.0739065 0.063656744
750 -0.6122098 0.12193063
1000 -0.39821029 4.6522254
5000 -0.060400407 438.97859
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Td = 10
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'kp' 'Error' 'Bandw'

50 1.2129472 32.547166
250 8.183908 0.013590858
550 -1.0739065 0.063656744
750 -0.6122098 0.12193063
1000 -0.39821029 4.6522254
5000 -0.060400407 438.97859
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Proportional Integral PI controller

K = 250 N/m, Ti = 1
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'kp' 'Error' 'Bandw'

50 0 0.21594375
250 0 2.8061852
550 0 3.9078754
750 0 4.4871316
1000 0 5.1178538
5000 0 11.079767

TI = 10
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'kp' 'Error' 'Bandw'

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50 0 0.019667298
250 0 0.084993863
550 0 3.8086219
750 0 4.4008743
1000 0 5.0422052
5000 0 11.044594
K= 125 N/m, Ti = 1
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'kp' 'Error' 'Bandw'

50 0 0.23933269
250 0 1.8976918
550 0 3.2595702
750 0 3.9239991
1000 0 4.6251819
5000 0 10.85368

Ti = 10
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'kp' 'Error' 'Bandw'

50 0 0.022494748
250 0 1.6847857
550 0 3.1366695
750 0 3.8223033
1000 0 4.5392191
5000 0 10.817516