A group report with no more than three students per group is to be handed in to explain your design procedures and simulation results. Representative graphical system outputs (clearly labeled) should be included. Appropriate discussions and conclusions should be conducted to bring out the advantages and limitations of the controllers. And most importantly, the report must be presented in a form so that it can be read with minimal difficulty from the reader/assessor's point of view. In this respect you have to exercise your judgment as to what relevant materials should be included or left out.
1. Introduction: A brief introduction to the PID controller and its motivation.
2. Specification: Simulation and determine the step response specification (rise time, settling time, oscillation frequency, damping time constant, steady state error) of the system before and after feedback is applied but without the PID controller. Use root-locus to show if it is possible to find an opened-loop gain (K) such that the system will be critically damped without the PID controller?
3. Design and analysis (60/100): Details the investigation you have done to choose the value of K's for each controller type and MATLAB/Simulink results. State the poles and zeros location for the chosen K's to prove that the system is stable. For each controller type (PD, PI and PID) use the rlocus() function to determine if the system will be unstable for large K values. Comment on your simulation results and highlight the improvement (if any) from the original uncompensated time response; explain the reason behind the improvement.