ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-1. Let a component h(t) of a larger system have impulse response h(t) = e 20 t u(t). Let the component h(t) be connected to form the larger system shown below:

p(t)

x(t)

h(t)

y(t)

If x(t) = u(t) and G = 8, then compute and plot y(t) over 0 t 0.2 second.

DETAILED

SOLUTION:

Work this problem using the s-domain block diagram of the system in the problem statement. This s-domain diagram is shown below:

P(s)

+ X(s)

H(s)

Y(s)

From the s-domain diagram, we see that Y (s) is given by Y (s) = G H(s) P (s) where P (s) is the dierence between input and output P (s) = X(s) Y (s) Substituting (b) into (a) thus gives Y (s) = G H(s) X(s) Y (s) Multiply out the terms in (c)to obtain Y (s) = G H(s) X(s) G H(s) Y (s) (d) (c) (b) (a)

Using (d), get all the Y (s) terms on the left side and all the X(s) terms on the right side, producing Y (s) 1 + G H(s) = G H(s) X(s) Solving (e) for Y (s) then gives Y (s) = G H(s) X(s) 1 + G H(s) (f ) (e)

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-1.

(cont.)

With x(t) = u(t) and h(t) = e 20 t u(t) from the problem statement we obtain the following s-domain expressions: 1 1 X(s) = , H(s) = (g, h) s s + 20 Using G = 8 from the problem statement, substitute (g) and (h) into (f ), obtaining 8 1 s + 20 8 s 1+ s + 20 1 8 s + 20 + 8 s 8 s (s + 28)

Y (s) =

(i)

To nd y(t), rst expand Y (s) from (i) in a partial fraction expansion: Y (s) = 8 s (s + 28) = A B + s s + 28 (j)

Multiply both sides of (j) by s(s + 28) to obtain 8 = A (s + 28) + B s Evaluate (k) at s = 0 to obtain A= and evaluate (k) at s = 28 to obtain B= Substituting (l) and (m) into (j) then gives Y (s) = 0.286 0.286 s s + 28 (n) 8 = 0.286 28 (m) 8 = 0.286 28 (k)

(l)

The time-domain output y(t) is then given by taking the inverse Laplace transform of (n), giving the desired form for the answer: y(t) = 0.286 1 e 28 t u(t) (o)

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-3. Let a slow system have impulse response h(t) = 5 e 5 t u(t). Let the unit step u(t) be input to h(t). Compute and plot the output of this system over the range 0 t 1.

DETAILED

SOLUTION:

This problem is easy to work in the s-domain. The Laplace transforms of the input x(t) and impulse response h(t) from the problem statement are given by X(s) = 1 , s H(s) = 5 s+5 (a, b)

Using (a) and (b), the Laplace transform of the output is therefore Y (s) = X(s) H(s) = 5 s (s + 5) (c)

The result in (c) can be rewritten using a partial fraction expansion as Y (s) = 1 1 s s+5 (d)

Taking the inverse Laplace transform of both sides of (d) then gives the desired answer: y(t) = 1 e 5 t u(t) (e)

This output is plotted in the graph at the end of the detailed Solution to Problem 6-4.

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-4. Let the system h(t) from Prob. 6-3 now be connected in the feedback conguration of the gure in Prob. 6-1. Let the input to the feedback system be x(t) = u(t). Compute and plot (on the same graph) the output of the feedback system over 0 t 0.2 when the gain G given by: (a) G = 1, (b) G = 10, (c) G = 100 .

DETAILED

SOLUTION:

The control loop from Problem 6-1 is applicable here, and the s-domain block diagram is shown below:

P(s)

+ X(s)

H(s)

Y(s)

The output Y (s) of the closed-loop system shown above is given from the Notes and Problem 6-1 as G H(s) X(s) (a) Y (s) = HC (s) X(s) = 1 + G H(s) where Hc (s) is the Closed-Loop transfer function. With h(t) = 5 e 5 t u(t) given in the problem 1 5 . Additionally, the input x(t) = u(t), from which X(s) = . statement, we know that H(s) = s+5 s Substituting this H(s) and X(s) into (a) then gives 5G 5G s+5 = HC (s) = 5G s + 5G + 5 1+ s+5 If x(t) is the unit step, then X(s) = 1/s. Substituting this X(s) and (b) into (a) then gives Y (s) = 5G s(s + 5G + 5) (c)

(b)

Use partial fraction expansion on (c) to obtain the following: Y (s) = G 1 1 G + 1 s s + 5G + 5 (d)

Now take the inverse Laplace transform of both sides of (d) to show that y(t) is given by y(t) = G G+1 1 e 5 ( G+1 ) t u(t) (e)

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-4.

(cont.)

We can now compute and plot y(t) as given in (d) for the G values in parts (a) through (e). For G = 1 in equation (d) we have y(t) = 1 1+1 1 e 5 ( 1+1 ) t u(t) = 0.5 1 e 10 t u(t)

For G = 10 in equation (d) we have y(t) = 10 10 + 1 1 e 5 ( 10+1 ) t u(t) = 0.91 1 e 55 t u(t)

For G = 100 in equation (d) we have y(t) = 100 100 + 1 1 e 5 ( 100+1 ) t u(t) = 0.99 1 e 505 t u(t)

These plots, along with the original system output without feedback, are shown in the gure below:
G=100 1 0.9 .99 G=10 No Feedback (Prob. 63) 0.5 G=1

t=0 .002

.02

.1

t=.2

As can be seen in the gure, increasing G causes the output of the closed loop system to rapidly approach the unit step. In actual systems, G may be limited by practical constraints such as power dissipation, structural integrity, etc.

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

1 . Let H(s) receive the s2 bounded amplitude input x(t) = u(t). For stability, the amplitude of the output y(t) should be bounded in response to the bounded amplitude input. Demonstrate that H(s) is either stable or unstable. 6-7. Let a system H(s) have the transfer function given by H(s) =

DETAILED

SOLUTION:

We can use the following property for Laplace transforms: If G(s) g(t) , then 1 G(s) s
=t

g( ) d
=0

(a)

Suppose a system q(t) has an impulse response which is a unit step, that is, q(t) = u(t) Q(s) = 1 s (b)

The transfer function H(s) in the problem statement is related to the Q(s) in (b) by H(s) = 1 Q(s) s (c)

Therefore, the right side relation in (a) says that h(t) is related to q(t) by
=t

h(t) =
=0

q( ) d

(d)

Since (b) has given q(t) = u(t), we have q( ) = u( ) = 1, 0 and therefore (d) becomes
=t =t

h(t) =
=0

u( ) d =
=0

(e)

Evaluating (e) then gives h(t) as h(t) = t, t 0 0, else = t u(t) (f )

From (f ) we see that the impulse response grows unbounded, implying the system is unstable. Therefore, we do not even have to consideEr the unit step input to determine stability of the system. However, we will do this on the following page to give us more experience using transform relations. This will show specically that the output is amplitude-unbounded, even though the input is the amplitude-bounded unit step.

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-7.

(cont.)

If the input is the unit step, then the output is given by multiplication in the s-domain : Y (s) = X(s) H(s) = 1 H(s) s (g)

Taking the inverse transform of (g) and using the property expressed in (a) thus gives
=t

y(t) =
=0

h( ) d

(h)

From (f ) we have h(t) = t u(t). Therefore, h( ) = u( ) and (h) becomes

=t =t

y(t) =
=0

u( ) d

=
=0

(i)

Performing the integral in (i) then provides y(t) = 1 2 2

=t =0

0.5 t2

(j)

Since this output began at t = 0, we can use the unit step to quantify the output for all time t: y(t) = 0.5 t2 u(t) (k)

Equation (k) shows that the output grows unbounded as t increases. Hence we have an unbounded output in response to the bounded unit step input. Therefore, the system is unstable.

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-10. The feedback system below has the closed loop transfer function HC (s) = Y (s)/X(s) :

X(s)

P(s)

1 _

Y(s)

s2 7s+10

The input is x(t) = u(t), a unit step. (a) Compute the simplest math form for p(t), where p(t) is the inverse Laplace transform of P (s). (b) Plot p(t) over 0 < t < 1 .

DETAILED (a)

SOLUTION :

Compute the simplest math form for p(t) .

To obtain P (s), use s-domain algebra on the gure in the problem statement. From the gure we see that P (s) = X(s) (7s + 10) Y (s) (a) 1 P (s) (b) s2 We need an expression for P (s) in terms of X(s). Therefore, substitute (b) for Y (s) into (a), giving Y (s) = P (s) = X(s) (7s + 10) 1 P (s) s2 (c) But the gure also shows that

Get all the P (s) terms on one side of (c) and all the X(s) terms on the other : P (s) 1 + Solving (d) for P (s) then gives s2 X(s) (e) s2 + 7s + 10 Since x(t) = u(t) from the problem statement, we have X(s) = 1/s and therefore (e) becomes P (s) = P (s) = s2 s ( s2 + 7s + 10 ) = s (s + 5) (s + 2) = 1.67 0.67 s+5 s+2 (f ) 7s + 10 = X(s) s2 (d)

where we have used partial fraction expansion to obain the last result on the right side of (f ). Taking the inverse transform of equation (f ) then gives p(t) = L1 1.67 s+5 L1 0.67 s+2 (g)

Evaluating each of the inverse transforms in (g) then gives the desired solution : p(t) = 1.67 e 5 t 0.67 e 2 t u(t) (h)

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

6-11. The feedback system below has closed-loop transfer function HC (s) = Y (s)/X(s) :

X(s)

1 _

Y(s)

s2
F(s)

The closed-loop impulse response of the above system is hc (t) = 0.1429 e 3 t e 10 t Compute the simplest math s-domain form for the feedback processing function F (s).

u(t).

DETAILED

SOLUTION:

From the notes, we know that the closed-loop transfer function Hc (s) is given by HC (s) = G H(s) 1 + G F (s) H(s) (a)

From the gure in the problem statment we observe the following relations : G=1, H(s) = 1 s2 (b)

Substituting the relations in (b) into the right side of (a) then gives G H(s) 1 + G F (s) H(s) 1 s2 F (s) 1+ 2 s

(c)

Multiply right side of equation (c) by s2 to give the following useful form G H(s) 1 + G F (s) H(s) Substituting (d) into (a) then gives the following : HC (s) = 1 s2 + F (s) (e) = s2 1 + F (s) (d)

The closed-loop transfer function Hc (s) can be obtained by taking the Laplace transform of the impulse response hc (t) given in the problem statement : Hc (s) = L{ hc (t) } = 0.1429 0.1429 s+3 s + 10 (f )

ECE 301 - Fa2012

Solutions - Set 6: Control Systems

10

6-11.

(cont.)

Therefore, substituting (f ) into (e) obtains the following : 0.1429 0.1429 s+3 s + 10 = s2 1 + F (s) (g)

Adding the two terms together on the left side of (g) then gives 1 s2 + 13 s + 30 You can see that equation (h) is satised if F (s) = 13 s + 30 (i) = 1 s2 + F (s) (h)