EE5104 Tutorial 1

Question1

ADAPTIVE CONTROL TUTORIAL 1 Consider the plant Y (s) 1s Gp(s) = = U (s) (1 + s)2 under relay feedback control 1 if r y > 0 u= if r y 0 1

where the reference r = 0.

1. Use the describing function method to nd the limit cycle approximately. Hence nd the ultimate gain Ku and ultimate period Tu.

EE5104 Tutorial 1

Question2

2. Draw the phase plane trajectory of the system. Take the initial states as 0. 3. Use the result of (b) to nd Ku and Tu. 4. Compute Tu accurately. 5. Replace the relay with a gain K and determine Ku and Tu. 6. Find the describing function of the relay with amplitude M and hysteresis h.