The writeup due date will be announced in class. Only one writeup is required per group. A formal format is not required, but be sure to address the following issues. Include all your work in the writeup and justify all your answers. Tabulate results wherever appropriate.

- Plant Identification
- Given your open loop step response, calculate the gain and time constant (K and ).
- Write the open loop transfer function of the amp-motor-tach system with the numerical values you obtained (watch units!).

- Controller Design
- Draw the region of the complex plane in which closed-loop poles will satisfy the design criteria. Circle the minimally acceptable pole locations and verify that these agree with the desired closed-loop poles used in lab.
- Use the sketching rules to draw a root locus of the compensated system. Be sure to calculate asymptotes and break-out point. (show your work for this)

- Controller Circuit
- Derive the transfer function of the controller circuit. Show that it cvorresponds to equation (5).
- Show your calculations for funding the resistor values used in lab.

- Closed-Loop Response
- Find the closed-loop transfer function. What are the poles and zeros? Verify that the poles lie in the proper locations. Do you expect the desired poles to be dominant?
- Compare your measured SS error, Tp, Ts, and %OV to the desired response parameters.
- The response was probably not as expected. What caused this?
- Simulate the closed-loop system's step response using the
*step*command in Matlab. Compare SS error, Tp, Ts, and %OV to that obtained in lab. - Calculate the expected SS ramp error. Compare this to what you observed.
- How well did the control system reject disturbances? What gives it this ability?

**Lab 4 - Motor Speed Control with Lead Compensator and Integral Control**

This document was generated using the **LaTeX**2`HTML`
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The translation was initiated by Jonathan E Luntz on Wed Apr 30 12:07:22 EDT 1997

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Thu Apr 16, 1998