ECE 486, Fall 08 MIDTERM EXAM 1 Wednesday, Oct Ist YOUR NAME: _SJOLUTLOWS crave: 38 _j3s 1. 6 points) Consider the linear system (with input w and output y) given by the differential equation y+ 3y° +29 + 39+ 2y = au 1s this system stable? Justify your answer! Note: yl denotes the k-th derivative of y. Ganeker Cai (S84 BSD S 4asr DV) = 6s-OV48) > ws. So) UG SBS AVS BsrewW RN coche of Sts RB S3rds Bessa ae postwe, need Roh ~ Wer is iN to deter ~e_ Stasi . ee So => XH D DA sop Chongea 2 DQ ele eRne ~ Taskatle|!2, (10 points total) Consider the unity feedback loop with plant P(s) = controller C(s) = A. Assume throughout that all initial conditions are zero, setae: and the proportional y > “Tia ls) ay b) (2 points) For what range of val ryt Orbe, ='\e 's of Kis the closed loop system stable? 3° jotte©) (8 points) Suppose we want the closed loop system to be underdamped, with peak time tp < 2 seconds. Provide a qualitative sketch (ie., with axis points marked) of the admissible pole locations. in the complex plane. ee = Tt 2an wa = avea> © Closed lwolp pokes are Sven Yoo, S264 DPW for underdorip 2 second order SAE: Admess de cea. MMe ya Notes Be not cllowed' d) (3 points) For what range of values of KC is the closed loop system underdamped, with peak time ty $ 2m seconds? closed tocip \eles Ore rocks of sth S+ +l D> ss —6t Ge ar Se a Bor ndarchonpad sipler, vont conyire cong le poles > ke >) poles ~3t ‘yn ue-\ \ for hb, ned Te3. (22 points total) Consider the standard unity feedback configuration with reference r, output y, tacking error e, and disturbance d, with plant P(s) = zr. Assume throughout that all initial eonditions a Leds! a) (8 points) We would like to design the controller C(s) so that the steady state tracking error for a parabolic input r(t) =12,t > 0, is at most 0.5 (when d = 0). You have two kinds of controllers to choose from: P or PID. Which controller would you use, and why? WS track E, we nem a system tape coh 2. Pls) ong hes ore Pale ak oR, fo oe ated anothe pole fom the _Cwhreller > choose TP] b) (6 points) Suppose we choose the PID controller C(s) = Ko#+Kes+Ki, For r(t) = ,t > 0, and = 0, derive an expression for the steady state tracking error in terms of the gains Kp, Kip and/or Ky What conditions (if any) must the gains satisfy in order to achieve a steady state tracking error of less than 0.52 \ 1 20) mee wl) . 2 1 + yaks €O: Seas * W aq, Se sr ezic Rts) Sr (QMS + eg KE inode Fo tree, HE ned atatetlhs DP veg?-2, ke FO, Kr 7O Caaka) te 2 ex fh qe Under Yrese colts, — freching error to vGby= 4G 2 xo SEs) em. 3s 24) 2. 3 eee ee, S Els re, %: - : 2 5 trko)s+ keer©) (6 points) With C(s) = Sete suppose that we want the closed loop poles to be at 4 = “1,2, a, where «is some positive real number. For r(t) = @,t> 0 and d= value of a in order to achiove a stoady state tracking error of less than 0.5? ( answer from part b)). Closed lode denomna bor CS4D CoD Ove = (S435+2)Gxe) passes + Bes ~~ ASsH2DW = Se (reds + ais +2e_ compering bo closed loolp denamnotor wh COS, we bore |, what is the minimum, Hint: you will need your 4 ) >d) (4 points) With C(s) = Ke+Kes+Kr what is the transfer function from d to y (with r = 0)? Leave your answer in terms of Kp, Kp and Ky (ie., do not substitute numerical values for these gains) ~qo: PO . Se Oo eMC) Te s a cee | 0 (with r=0)? Is this eontrol system good at rejecting step disturbances? : slele espnse = Tynld)s CPC Breaky a ae dy lo gon © get ak sheody slede dhstorb one *€ eget Lon for stejps \