Tasks:

Question 1:  Determine the desired damping ratio and natural frequency based on the specifications assigned to you

Question 2:  Determine the compensator parameters in s-domain
The motor control system in the s-domain is shown in Figure 2-2.

Question 3: Determine the digital compensator using Tustin’s bilinear transformation Set the sampling period 𝑇𝑠 = 1 ms, and apply Tustin’s Bilinear Transformation to transfer your designed compensator from s-domain to z-domain.

Question 4: Simulate your final system and print out the results 

Comment on the simulation result on how the compensator has improved the system’s response.

Followings are required for submission of this part A:
• Your answer for Question 1 to 3
• Final system block diagram (use the Simulink block diagram)
• Simulation result (overview) from Simulink, which shows the transition part of the signal till its beginning of steady state and not longer than that. Indicate (use cursor in Simulink) the steady-state value, steady-state error.
• Enlarged simulation curve clearly shown the overshoot and settling time (use the Simulink ursor to do all this)
• Complete the m-file listing of your program in Question 4.
• All submission must be in pdf file format, other format (JPEG, Word, etc) will not be marked and you will be given zero mark.