Hochschule Ulm University of Applied Sciences Preparation for Final Exam - Solutions Describe using your own words:

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1. How can we assess whether the closed loop control system is stable or not?(2)

If the plant is stable we can use the simple Nyquist criterion: We draw the frequency response locus of the open loop. If the critical point is always on the left side of the frequency response locus of the open loop then the closed loop is stable.

2. What is the yquist plot? (4)

In a Nyquist plot we plot the imaginary part of the frequency response as a function of its real part. If the critical point is always on the left side of the plot, the control system is stable.

3. Describe the behaviour of the different parts of a PID-controller. (6) a) P-controller: The P-controller with gain KP,c is amplifying the error signal by a factor of KP,c. This amplified signal is the input of the process. If the chosen gain is too high, the control system may become unstable. b) I-controller: The I-controller with time constant Ti,c integrates the error signal of a time interval of length Ti,c. In this way the controller will respond to small deviations of the control systems output to the reference signal.

c) D-controller: The D-controller with time constant Ti,c will compute the derivative of the error signal with respect of time. In this way the controller will respond to fast changes of the error signal, e.g. if a step input is applied or in case of disturbancies.

Hochschule Ulm University of Applied Sciences Preparation for Final Exam - Solutions 4. The transfer functions of 2 dynamical systems are:
G1 ( s ) = 2s 3 and G2 ( s ) = . 3s + 9 5s + 5

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a) What type of element corresponds to system 1 and to system 2? (2)

system 1 : DT1-element; system 2: PT1-element

b) What is the transfer function, if the 2 elements are connected in series? Is this system stable? (4)

G s ( s ) = G1 ( s ) G2 ( s ) =

2s 3 3s + 9 5 s + 5 1 2s 3 15 s + 3 s + 1 both have negative real part => stable

= 2 poles:

p1 = -3 ; p2 = -1

c) What is the transfer function, if the 2 elements are connected in parallel? Is the system stable?

G s ( s ) = G1 ( s ) + G2 ( s ) =

2s 3 + 3s + 9 5 s + 5 1 2s 1 3 = + 3 s + 3 5 s +1 1 10 s (s + 1) + 9(s + 3) = 15 (s + 1)(s + 3)

1 10s 2 + 10s + 9s + 27 15 (s + 1)(s + 3) 2 1 10s + 19s + 27 = 15 (s + 1)(s + 3) =

2 poles:

p1 = -3 ; p2 = -1

both have negative real part => stable

Hochschule Ulm University of Applied Sciences Preparation for Final Exam - Solutions

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5. A PT2-plant with G P ( s ) =

1 1 = and an I-controller (T1 s + 1)(T2 s + 1) (5s + 1)(7 s + 1)

GC ( s ) =

1 T1,c s

1 build up a unity negative feedback system. 12s

a) Calculate the spectral magnitude characteristics and the spectral phase characteristics for the open loop system.
Transfer function: 1 1 (5s + 1)(7 s + 1) 12s 1 1 GOL ( s ) = 2 35s + 12 s + 1 12 s 1 GOL ( s ) = 3 420 s + 144 s 2 + 12 s GOL ( s ) = G P ( s ) GC ( s ) =

Frequency Response: GOL (i ) =

1 1 = 2 2 420i 144 + 12i 144 + i 12 420 3

3

Trick 3:

G=

1 c + id

G =

1 c2 + d 2

; tan =

d c

GOL (i ) =

( 144 ) + (12 420 )

2 2

3 2

tan ( ) =

12 420 3 3 105 2 = + 36 144 2

b) Write down the transfer function of the closed loop control system and its system parameters. (4)

1 2 420s 3 + 144s 2 + 12s 1 Gcl ( s ) = 420s + 144s + 12s = 3 2 3 1 420s + 144s + 12s 420s + 144s 2 + 12s + 1 1+ 420s 3 + 144s 2 + 12s
3

System parameters: a 3 = 420; a 2 = 144; a1 = 1; a 0 = 1; b3 = 0; b2 = 0; b1 = 0; b0 = 1;

Hochschule Ulm University of Applied Sciences Preparation for Final Exam - Solutions

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6. A plant with the transfer function G P ( s ) =

3 shall be controlled. The plant and (6s + 3) the controller build up a unity negative feedback system. Check, if the transfer function of the closed loop control system will fulfill the requirement Gcl ( s 0) = 1 ,

a) if we use a P-controller: transfer function of a P-controller: G P ,C ( s ) = K P ,C

G o ( s ) = GC ( s ) G P ( s ) = K P , C 3 1 = K P ,C (6s + 3) (2s + 1) 1 K P ,C Go ( s ) (2s + 1) (2 s + 1) Gcl ( s ) = = 1 (2 s + 1) 1 + Go ( s ) 1 + K P ,C (2s + 1) K P ,C Gcl ( s ) = 2 s + 1 + K P ,C

Gcl ( s = 0) =

K P ,C 0 + 1 + K P ,C

K P ,C 1 + K P ,C

The requirement cannot be fulfilled with a finite gain of the controller. We will have a constant control error in steady state. Therefore a P-controller is not a good choice for this plant.

b) if we use an I-controller:

transfer function I-controller: G I ,C ( s ) =

1 TI ,C s

G o ( s ) = GC ( s ) G P ( s ) =

1 TI ,C

3 1 1 = s (6s + 3) TI ,C s (2s + 1)
1 TI ,C s (2 s + 1) TI ,C s (2 s + 1)

1 TI ,C s (2 s + 1) Go ( s ) Gcl ( s ) = = 1 1 1 + Go ( s ) 1+ TI ,C s (2 s + 1) Gcl ( s ) =

TI , C

1 s (2s + 1) + 1 1 2 s + T I ,C s + 1
2

Gcl ( s ) =

TI , C

Gcl ( s = 0) =

TI ,C

1 =1 2 0 + TI ,C 0 + 1

The requirement is fulfilled.

Hochschule Ulm University of Applied Sciences Preparation for Final Exam - Solutions

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7. The transfer function of a plant is: G P ( s ) = 2 with GC ( s ) = not.

s+2 . It is controlled by a controller s+3

6 . How can we find out whether the unity feedback system is stable or s

First we have to check whether the plant is stable itself: The transfer function of the plant is: G P ( s ) = 2 s+2 s3

This transfer function has 1 pole: p1 = s = -3 pole has negative real part This plant is stable. Therefore we can apply the Simple Nyquist criterion: we have to check if the critical point is on the left of the frequency response locus. If this is true, the closed loop will be stable even if the open loop system is not stable.

8. In the following diagram we see the frequency response locus of an open loop control system. Is the closed loop control system stable? a) Im b) Im

-2

-1

Re

-1

-0,5

0,5

Re

stable

x not stable

x stable

not stable

Hochschule Ulm University of Applied Sciences Preparation for Final Exam - Solutions

Prof. Dr. A. Beckmann Control Technology Page 6

9. Find out from the Bode plots the gain margin and the phase margin of each control system. Bode Diagram a) 60
40 Magnitude (dB) Phase (deg) 20 0 -20 -40 -90

-135

-180

-225 -1 10

10 Frequency (rad/sec)

10

Gain margin: - 10 dB Phase margin: - 40 Is the system stable? No

b)
Magnitude (dB) 10 0 -10 -20 -30 270 225 180 Phase (deg) 135 90 45 0 -45 -90 -1 10 10 Frequency (rad/sec)
0

Bode Diagram

10

Gain margin: + 25 dB Is the system stable? Yes

Phase margin: + 90