ME 343 – CONTROL SYSTEMS – FALL 2008

Second Exam – October 29, 2008

Problem 1 [20%]:

Consider the plant below in a feedback loop with gain K>0.

s +1 s +1
G ( s) = = 4
( s − 1)( s + 2)( s + 10s + 34) ( s + 11s + 42 s 2 + 14 s − 68)
2 3

a- [70%] Sketch the root locus. Indicate:

1- number of branches:

number of branches = number of poles = 4

2 - relative degree of the system:

relative degree = denominator degree (n) – numerator degree (m) = 4 – 1 = 3

3- part of the real axis belonging to the locus:

All points to the left of an odd number of poles and zeros: -1< Re(s) < 1
Re(s) < -2

4- number of asymptotes if any:

number of asymptotes = relative degree = n-m = 3

e- angle and center of asymptotes if any

π
φl = (2l + 1) , l = 0,1,K, n − m − 1
n−m
π π
φ0 = , φ1 = π , φ 2 = 5
3 3

b1 − a1 ∑ poles − ∑ zeros
α= =
n−m n−m
1 − 11 (1 + (−2) + (−5 + 3i ) + (−5 − 3i )) − (−1) 10
α= = =−
3 3 3

b- [30%] Based on the root locus plot, and without making any gain computation, indicate what
answers to the following statement may be correct (there may be more than one).

The system is stable for:

1- K<K1, 2- K1<K<K2, 3- K>K2, 4- never.

Option 1 is not possible because of the unstable pole at 1. Option 3 is not possible because of the
±π/3 asymptotes. If the pole moving along the branch starting at the unstable pole at 1 enters the
LHP before the poles moving along the branches starting at the stable complex conjugate poles
enter the RHP, there will be a range of gains for which the system is stable. If not the system will
never be stable
 Root Locus
15

10

5
Imaginary Axis

-5

-10

-15
-20 -15 -10 -5 0 5
Real Axis
Problem 2 [30%]:

Consider the plant

s −1
G(s) =
s + 2s + 2
2

a- [60%] Use a lag compensator

s+z
D( s ) = , p<z
s+ p

to place the complex conjugate poles of the closed-loop system at so=-4±3i. Place the pole of the
compensator at s=-2.

Then,

Therefore,

b- [30%] Determine the gain K for which the closed-loop poles are so=-4±3i.

c- [10%] What is the increase in the DC gain of the plant?

 Problem 3 [20%]:

Sketch the approximate asymptotic Bode plot for the following system. Exaggerate the features so that is
clear if you have understood the procedure.

(−100)( s + 10)
G ( s) =
( s + 1)( s 2 + 1000 s + 1000000)
⎛ 1 ⎞⎛ s ⎞
⎜− ⎟⎜ + 1⎟
= ⎝ 1000 ⎠⎝ 10 ⎠
⎛ ⎞
(s + 1)⎜⎜ ⎛⎜ s ⎞⎟ + 2 × 0.5 s + 1⎟⎟
2

⎝ ⎝ 1000 ⎠ 1000 ⎠

Bode Diagram
Gm = 60 dB (at 0 rad/sec) , Pm = Inf
-40

0 dB/dec
-60 -20 dB/dec
20 log(1/1000)=-60dB 0 dB/dec
-80
Magnitude (dB)

single pole at ω=1

-100
single zero at ω=10 double pole at ω=1000 -40 dB/dec

-120

-140

-160
180

135 phase(-1/1000)=180 deg

Phase (deg)

90

45

0
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)
 Problem 4 [30%]:

Consider the plant G(s) with frequency response as shown in the figure below.

a- [30%] Write down the plant transfer function G(s). Hint: all the poles and zeros are powers of 10.

⎛ 1 ⎞⎛ s ⎞
⎜ ⎟⎜ + 1⎟
10 − 10 ⎠
G ( s ) = ⎝ ⎠⎝ 2
⎛ s ⎞⎛ s ⎞
⎜ + 1⎟⎜ + 1 ⎟
⎝ 1 ⎠⎝ 100 ⎠

-10

0 dB/dec
-20
-20 dB/dec

20 log(1/10) = -20 dB single pole at ω = 1

-30
0 dB/dec
-40
Magnitude [dB]

single zero at ω = 10 double pole at ω = 100

-50

-60

-70

-40 dB/dec
-80

-90

-100
-3 -2 -1 0 1 2 3 4
10 10 10 10 10 10 10 10
Frequency [rad/sec]
 0

-30

-60

-90
The zero at ω = 10 is unstable!!!
It is contributing -90 degrees
-120

-150
Phase [deg]

-180

-210

-240

-270

-300

-330

-360
-3 -2 -1 0 1 2 3 4
10 10 10 10 10 10 10 10
Frequency [rad/sec]

b- Design a lag-compensator
sT + 1
KD ( s ) = Kα , α >1
sα T + 1
to satisfy the following requirements:

1- [30%] PM ≅ 90°

It can be seen from the phase plot below that for a PM ≅ 90° we need the crossover frequency at
approximately 3 rad/sec. To have a ωc = 3 rad/sec we need to shift the magnitude phase +30 dB.
We use the static gain K for this purpose:

20 log( K ) = 30dB ⇒ K = 31.62

2- [40%] DC gain of KD(s)G(s)=30dB

With K=31.62=30 dB, we have KG(0)=10dB. We need the phase lag compensator to add another
20 dB. Then, D(0) must be equal to 20 ⇒ α=10. In order to not modify significantly the ωc (and
the PM), we place the zero of the lag compensator two decades below ωc:

1 3 100
= ⇒T =
T 100 3
 0

-10

-20

-30

-40
Magnitude [dB]

-50

-60

-70

-80

-90

-100
-3 -2 -1 0 1 2 3 4
10 10 10 10 10 10 10 10
Frequency [rad/sec]

-30

-60

-90

-120

-150
Phase [deg]

-180

-210

-240

-270

-300

-330

-360
-3 -2 -1 0 1 2 3 4
10 10 10 10 10 10 10 10
Frequency [rad/sec]