Laboratory 2 Proportional Control Workout Tasks Assignment

Assignment Task

Task 2.1 Closed Loop Step Response - Parameters

Determine the following parameters of the step response measured for the milestone of this laboratory:

• delay time
• rise time
• overshoot
• settling time (5%)

Task 2.2 Closed Loop Transfer Function

Determine the transfer function of the closed-loop proportional position feedback-controlled DC servo motor using the frequency domain response measurements (see Laboratory 1 for details on how to do this, use the fft method to determine the individual magnitude and phase data points). Create a Bode plot of the closed loop frequency response measurements (x) and of the determined closed-loop transfer function as a line (both in one plot).

Task 2.3 Closed Loop Step Response – Measured and Simulated

Simulate a step response of this experimentally determined closed-loop transfer function and compare it to the measured step response plot. Both step responses should be presented in one figure.

Task 2.4 Root Locus Plot

Using the Matlab function rlocus( ), plot the root locus of this system using the open loop transfer function determined in Laboratory 1. Calculate the location of the poles for which the overshoot is 16%. Determine the necessary position feedback gain at that location using rlocfind( ). Ensure the root locus plot is properly scaled (circles should be round). Make a plot of the root locus plot, which includes the gain determined with rlocfind()

Task 2.5 Closed Loop Bode Plot – Measured and Simulated

Make a Bode plot showing the:

• experimentally determined closed-loop transfer function above
• theoretical closed loop transfer function based on the location of the poles determined with rlocfind( ) above.

Present the two responses in one Bode plot.

Task 2.5 Critical Analysis

Comment on the following:

• the difference between the measured step response and the simulated step response derived from the closed loop transfer function
• the difference between the experimentally determined proportional feedback gain and the gain determined using rlocfind( )
• the difference between the experimentally determined closed loop frequency response and the closed loop frequency response based on the open loop model derived in Laboratory 1 using the gain determined wit

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