## Optional Experiment

This experiment is optional. Completion of this experiment will help you to learn more in real time control and also, if included in the lab report, will attract extra marks. This experiment is short and can be completed in class time if you are quick to do all other experiments.

The aim of this experiment is to:
-  Use frequency reposnse techniques to design controllers
-    Use root locus design techniques to control the motor

Note: The results of this experiment are dependent on how well you were able to model the motor in experiments 2 and 3.

From your comparisons of your model to the actual system performance done at the end of experiment 2 and experiment 3, choose the motor position transfer function that most accurately describes the motor.

Task 1:

Visit the Control Tutorials at http://ctms.engin.umich.edu/ and study the DC Motor Position: CONTROL Root locus section for controller design by clicking on MOTOR POSITION at the top and root locus on the left under CONTROL. Design a compensator that has the form:

Determine K, a, and b so that the motor in conjunction with the controller has a closed loop pole at s = -10 + 14i.

Simulate the step response of the closed loop controlled motor position transfer function with this controller and record the output.

Run a Simulink model testing the controller being used with the physical motor. Record your observations and comment on how similar it is to the simulated response.

Measure rise time, overshoot, settling time, error constants, phase margin, gain margin, resonant frequency and peak of the closed-loop system.

Task 2:

Visit the Control Tutorials at http://ctms.engin.umich.edu/ and study the DC Motor Position: CONTROL Root locus section for controller design by clicking on MOTOR POSITION at the top and root locus on the left under CONTROL. Design a compensator that has the form:

Determine K, a, and b so that the motor in conjunction with the controller has a phase margin of 70 degree and a velocity constant no less than 270

Simulate the step response of the closed loop controlled motor position transfer function with this controller and record the output.

Run a Simulink model testing the controller being used with the physical motor. Record your observations and comment on how similar it is to the simulated response.

Measure rise time, overshoot, settling time, error constants, phase margin, gain margin, resonant frequency and peak of the closed-loop system.