Indian Institute of Technology Gandhinagar

Department of Electrical Engineering

EE 402 Control System Lab.

B. Tech.: Electrical, Sem. : VII

SAMPLE PROBLEM

Problem: 2:The pitch attitude motion of a rigid spacecraft is described by

J=u

Where J is the principle moment of inertia and u is the input torque on

the vehicle. Consider the PD controller

Gc ( s ) =K P + K D

(a) Obtain a block diagram of the control system. Design a control

system to meet the following specifications
1. Closed-loop system bandwidth about 10 rad/s and
2. Percent overshoot less than 20% to a 10 step input.
Complete the design by developing and using an
interactive m-file script.
(b)Verify the design by simulating the response to a 10 step
input.
(c) Include a closed loop transfer function Bode plot verify that
the bandwidth requirement is satisfied.

% Part (a)
wn=4.5; zeta=0.8; K2=2*zeta*wn; K1=wn^2;
% Part (b)
num=[K2 K1]; den=[1 0 0]; sys = tf(num,den);
sys_cl = feedback(sys,[1]);
f=10*pi/180; % set-up for 10 deg step input
t=[0:.05:3];
[y,t,x]=step(f*sys_cl, t ) ;
plot(t,y*180/pi), xlabel('time [sec]'), ylabel('theta [deg]'),
grid, pause

% Part (c)
w=logspace(-1,2,400);
[mag,phase,w]=bode(sys_cl,w);
for i = 1:length(w),
magdB(i) = 20*log10(mag(1,1,i));
end
semilogx(w,magdB,[w(1) w(length(w))],[-3 -3]), grid
xlabel('Frequency (rad/sec)')
ylabel('Gain dB')

12

10

theta [deg]

0.5

1.5
time [sec]

2.5

Gain dB

-5

-10

-15

-20

-25 -1
10

10

Frequency (rad/sec)

10

10