A block diagram representation of a pantograph control system is given

below.
a. What is the type of this control system?
b. Is this a conditionally stable system? (the answer is ‘yes’) Explain
why using the asymptotes of root locus
c. Sketch a root locus. Determine all critical points (imaginary root,
break-in & break-off points, arrival and departure angles where
applicable, multiple roots if any, and the corresponding values of K)
d. Obtain the Bode and Nyquist plots and determine the gain and phase
margins (you may use Matlab). Interpret these margins in terms of the
parameter K.
e. Find the gain K to yield a closed loop response that has a 38% over
shoot.
f. Estimate the dominant settling time and damping ratio for the
response designed in (e).
g. Use matlab to plot the closed loop step response for the value of K
found in (e). Compare these values to those predicted in (f).
h. Design a cascade lag compensator to improve the steady state error by
the team-specific (given below) factor without appreciably affecting
the % OS.
i. Compare the responses of the designs (e) and (h), showing clearly the
improvement in steady state error.

Pantaograph
controller actuator dynamics
spring
Fin K 1 Fout
D
100
D
1000 GD
( s) DD
82300
D D D D

0.7883( s 53.85)
G( s) 2
(s 15.47 s 9283)( s 2 8.119s 376.3)
 Team factor
A 5
B 8
C 10
D 12
E 15
F 20
G 18
H 16
I 11
J 9
K 19
L 5
M 7
N 9
O 6

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Grade distribution:

a: 5%
b: 5%
c: 15%
d: 20%
e: 20%
f: 5%
g: 5%
h: 20%
i: 5%

Report: 10%
==========
Total: 110%
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