5 views

Uploaded by IshanSane

t7soln

save

- Robust High Fidelity Needle insertion in soft tissues implemented on a teleoperation system.pdf
- Applied Mathematics and Sciences.docx
- Atos industrial valves
- IJMPERDFEB20177
- On Internal Stability and Unstable Pole-Zero Cancellations
- Robust Guaranteed Cost Output Feedback Control for Uncertain Discrete Fuzzy Systems With State and Input Delays
- 1-s2.0-0005109891900524-main
- DC Motor Modeling
- Tesis
- Transfer Function
- Notes on Control Systems 02.doc
- tunning_controllers.pdf
- Ppt0000.ppt
- 00000767_On the Iterative Learning Control Theory for Robotic Manipulators
- rptInstructionPlan (7)
- Inv Kokotovic
- InTech-Matlab a Systems Tool for Design of Fuzzy Lmi Controller in Dc Dc Converters
- capitulo_14
- Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure Control
- 04118389
- A Vision-Based Formation Control Framework
- 3.Aerospace.applicaitons.part1
- Control
- st rev f
- InTech-Robust Control Using Lmi Transformation and Neural Based Identification for Regulating Singularly Perturbed Reduced Order Eigenvalue Preserved Dynamic Systems
- Stabilization of Flapping-Wing Micro-Air Vehicles in Gust EnvironmentsPaper Single Space
- PDC Digi-BS
- Gain-scheduling_CSTR Klatt & Engell_1998
- Control Search
- 2016 December Barcelona Conference Program
- Stewart Mcglashan
- Grape Marc
- Akshay Mehta
- Swara Chintamani
- BBPJ6U(1)
- Docs INSG Insight 23 Global Ebike Market
- Constantine Kosma s
- Pune
- g Irishka Bra
- 2006 Hyder Consulting Report
- Strategic Hedging for Grain Processors
- 03 - Robert Boyd
- g Xy Resources Anthony Tse Interview
- UserMa1e2
- KURADEBhagwant (Bhupesh)
- Daniela Desormeaux Interview 5-20-14
- World Bank if c Doing Business in India
- AAA Business Plan.docx
- Engineering Sector in India
- AIBCDFAT2011
- Mcs 2015 Lithi
- Docs INSG Insight 23 Global Ebike Market
- 092512 Australia India Business Council 25sept12_0
- AIBCDFAT2011
- Accenture India Out Look 2009
- 143 en Tissot
- 092512 Australia India Business Council 25sept12_0
- 2012 Using Mfa for Sd
- “Global Trade Information Services”
- Chemical and Petrochemical Industry in India

You are on page 1of 6

Tutorial 7 Solutions

**Feedback Control Systems
**

1. Consider the following heat exchanger. The flow rate of the process fluid (Fi)

is acting as a disturbance.

Process

Fluid

To

TI

Condensate

TC

Tset

Steam

(a) Draw a block diagram of the temperature feedback control loop.

d(s)

Tset(s)

ε(s)

C(s)

Gc

ym(s)

Gd

To(s)

m(s)

Gf

Gp

Gm

**(b) Draw a simplified block diagram of the feedback control loop.
**

d(s)

Tset

ε(s)

Gc

C(s)

Gd

To

Gp

ε(s). C(s).(c) Develop the transfer function between the outlet temperature (To) and the Process flow (Fi). by combining equations 1 through 5. Tset (s ) = 0 Eliminate all the intermediate variables. (d) Develop the transfer function between the outlet temperature (To) and the set point (Tset). Then write down the overall closed-loop transfer function. Similar to part (c). The characteristic equation is the denominator of the closed-loop transfer functions: 1 + G p G f Gc Gm . m(s) and ym(s). its deviation variable is zero. if we let d(s) = 0 and combine equations 1 through 5. the closed loop transfer function between the set point and the outlet temperature results. The result is To (s ) = G p G f Gc [− Gm To (s )] + Gd d (s ) To (s ) Gd = d (s ) 1 + G p G f Gc G m # This is the closed-loop transfer function between the process flow and the outlet temperature. G p G f Gc To (s ) = Tset (s ) 1 + G p G f Gc G m # The overall closed loop transfer function can now be written as To (s ) = G p G f Gc 1 + G p G f Gc G m Tset (s ) + Gd d (s ) 1 + G p G f Gc Gm # (e) Write down the characteristic equation of the loop. To (s ) = Gd d (s ) + G p m(s ) …(1) y m (s ) = G mTo (s ) …(2) ε (s ) = Tset (s ) − y m (s ) C (s ) = Gc ε (s ) …(3) …(4) m(s ) = G f C (s ) …(5) Next we assume that the set point does not vary – that is.

the response oscillates continuously with constant amplitude (Fig. then eat 0 as t ∞ . then eat ∞ as t ∞ . Output Output Time Time Figure 1a Figure 1b. • If a < 0. Thus. and eatsin(βt+φ) decays to zero in an oscillating manner with decreasing amplitude (Fig.(f) Qualitatively explain what is observed if the poles of the transfer function are complex conjugates. sin(βt+φ) is a periodic. 1b). . Complex conjugate poles. such as p1 and p2. p1 = a + bi and p2 = a . Complex poles always appear in conjugate pairs. while the behavior of eat depends on the value of the real part a. oscillating function. Output Time Figure 1c.bi. 1a). then eat = 1 for all times. • If a = 0. 1c). and eatsin(βt+φ) grows to infinity in an oscillating manner (Fig. These roots give rise to terms such as eat sin(βt+φ). • If a > 0. and eatsin(βt+φ) = sin(βt+φ).

1 For stable closed-loop responses the root. Assume that Gm = Gf =1. − 2K c − 1 ≤ 0 0. S3 S2 S1 S0 10 2 2 − 10(K c − 5) 2 (Kc –5) 1 (Kc –5) 0 0 0 0 . must be negative i. we get s= − (1 + 2 K c ) =0 0. 2 (b) Firstly we write the characteristic equation of the system: 1 + Gc G f G p Gm = 0 1 + K c ⋅1⋅1⋅ 1 =0 10 s + 2 s 2 + s − 5 3 Rewriting this as the characteristic equation: 10 s 3 + 2s 2 + s + (K c − 5) = 0 Using the Routh-Hurwitz array as follows.e. In each case find the range of values of the proportional gain Kc that will produce stable closed-loop responses. in each case.1s + (1 + 2 K c ) = 0 Solving. Also identify the characteristic equation.2.1 Kc < − 1 is the range of values for Kc for which the system response is stable. (a) Firstly we write the characteristic equation of the system: 1 + Gc G f G p Gm = 0 1 + K c ⋅1⋅1⋅ 2 =0 0. Each of the following two systems is controlled with a proportional feedback controller.1s + 1 Rewriting the characteristic equation as 0. s.

find the closed-loop transfer function between the output C and setpoint R. Then. s 4 + 4 s 3 + 6 s 2 + 4s + (1 + K ) = 0 C .2 which gives the following range of stability 5 ≤ K c ≤ 5. therefore there is must be no sign change and so Kc − 5 ≥ 0 and 2 − 10(K c − 5) ≥0 2 Kc ≥ 5 and K c ≤ 5.2 3. For the control system below.All values in the first column must be positive for a stable closed-loop response. R + 1 (s + 1)3 K - 1 (s + 1) The closed-loop transfer function between C and R is: G p G f Gc C = = R 1 + G p G f Gc Gm K 1+ K 1 (s + 1)3 1 1 (s + 1) s + 1 3 So the closed-loop transfer function will be: C K (s + 1) K (s + 1) = = 4 4 3 R (s + 1) + K s + 4s + 6s 2 + 4 s + (1 + K ) Therefore the characteristic equation of the system will be.

. 16 − 4 K ≥0 5 K ≤4 K ≥ −1 and. therefore. 1+ K ≥ 0 At K = 4. which are s = ± j.(a) Determine the value of K above which the system is unstable. s 4 + 4s 3 + 6s 2 + 4s + 5 = 0 or. the system is on the verge of instability. (s 2 )( ) + 1 s 2 + 4s + 5 = 0 Therefore the poles of the system which are located on the imaginary axis are the roots of (s2 + 1). To find the amount of K which makes the system unstable. The other two poles are the roots of (s2 + 4s + 5). (b) Determine the value of K for which two of the roots are on the imaginary axis. which are s = -2 ± j. and determine the values of these imaginary roots and the remaining two roots. all the elements in the first column must be positive. the characteristic equation will be. At K = 4. use the Routh-Hurwitz array as follows: S4 S3 S2 S1 1 4 5 16 − 4 K 5 1+K S0 6 4 1+K 0 1+K 0 To have a stable system.

- Robust High Fidelity Needle insertion in soft tissues implemented on a teleoperation system.pdfUploaded bysamim_kh
- Applied Mathematics and Sciences.docxUploaded byAnonymous wGbPz3Y
- Atos industrial valvesUploaded byM S Gokul
- IJMPERDFEB20177Uploaded byTJPRC Publications
- On Internal Stability and Unstable Pole-Zero CancellationsUploaded byManu
- Robust Guaranteed Cost Output Feedback Control for Uncertain Discrete Fuzzy Systems With State and Input DelaysUploaded byivy_publisher
- 1-s2.0-0005109891900524-mainUploaded byMohammad Mahdi Mozaffar
- DC Motor ModelingUploaded bykakavietnam9
- TesisUploaded byGustavo Adolfo Rodriguez
- Transfer FunctionUploaded byChelsea Martinez
- Notes on Control Systems 02.docUploaded byMaisam Abbas
- tunning_controllers.pdfUploaded byJuan Pablo Martin
- Ppt0000.pptUploaded byHaider Zaman
- 00000767_On the Iterative Learning Control Theory for Robotic ManipulatorsUploaded bygoegoes
- rptInstructionPlan (7)Uploaded bySrijan Prabhakar
- Inv KokotovicUploaded byOwais Khan
- InTech-Matlab a Systems Tool for Design of Fuzzy Lmi Controller in Dc Dc ConvertersUploaded byJaredRojas
- capitulo_14Uploaded byLeonardo Olan Valdivieso
- Control of IC Engine: Design a Novel MIMO Fuzzy Backstepping Adaptive Based Fuzzy Estimator Variable Structure ControlUploaded byAI Coordinator - CSC Journals
- 04118389Uploaded bymipanduro7224
- A Vision-Based Formation Control FrameworkUploaded byMarcos Teixeira
- 3.Aerospace.applicaitons.part1Uploaded byJason Chiang
- ControlUploaded bymoabdoly
- st rev fUploaded byLaza Urosevic
- InTech-Robust Control Using Lmi Transformation and Neural Based Identification for Regulating Singularly Perturbed Reduced Order Eigenvalue Preserved Dynamic SystemsUploaded byDmitriy Otstavnoy
- Stabilization of Flapping-Wing Micro-Air Vehicles in Gust EnvironmentsPaper Single SpaceUploaded bybhatiamanavgmail
- PDC Digi-BSUploaded byJ Yo T Xtracommon
- Gain-scheduling_CSTR Klatt & Engell_1998Uploaded byVitorDiego
- Control SearchUploaded byNicole Hardy
- 2016 December Barcelona Conference ProgramUploaded byBahadır Akbal

- Stewart McglashanUploaded byIshanSane
- Grape MarcUploaded byIshanSane
- Akshay MehtaUploaded byIshanSane
- Swara ChintamaniUploaded byIshanSane
- BBPJ6U(1)Uploaded byIshanSane
- Docs INSG Insight 23 Global Ebike MarketUploaded byIshanSane
- Constantine Kosma sUploaded byIshanSane
- PuneUploaded byIshanSane
- g Irishka BraUploaded byIshanSane
- 2006 Hyder Consulting ReportUploaded byIshanSane
- Strategic Hedging for Grain ProcessorsUploaded byIshanSane
- 03 - Robert BoydUploaded byIshanSane
- g Xy Resources Anthony Tse InterviewUploaded byIshanSane
- UserMa1e2Uploaded byIshanSane
- KURADEBhagwant (Bhupesh)Uploaded byIshanSane
- Daniela Desormeaux Interview 5-20-14Uploaded byIshanSane
- World Bank if c Doing Business in IndiaUploaded byIshanSane
- AAA Business Plan.docxUploaded byIshanSane
- Engineering Sector in IndiaUploaded byIshanSane
- AIBCDFAT2011Uploaded byIshanSane
- Mcs 2015 LithiUploaded byIshanSane
- Docs INSG Insight 23 Global Ebike MarketUploaded byIshanSane
- 092512 Australia India Business Council 25sept12_0Uploaded byIshanSane
- AIBCDFAT2011Uploaded byIshanSane
- Accenture India Out Look 2009Uploaded byIshanSane
- 143 en TissotUploaded byIshanSane
- 092512 Australia India Business Council 25sept12_0Uploaded byIshanSane
- 2012 Using Mfa for SdUploaded byIshanSane
- “Global Trade Information Services”Uploaded byIshanSane
- Chemical and Petrochemical Industry in IndiaUploaded byIshanSane