INGENIERÍA DE CONTROL 2 (201210) - TIME RESPONSE, CONTROLLERS AND

STABILITY

Rafael E. Vasquez, Ph.D.

Facultad de Ingenierı́a Mecánica
Universidad Pontificia Bolivariana
Medellı́n, Colombia
rafael.vasquez@upb.edu.co

Problem 1 (E4.9 from [1])

One small submersible vehicle has a depth-control system
as illustrated in Figure 1.

FIGURE 2. Feedback control system E4.10.

Problem 3 (AP4.4 from [1])

An armature-controlled DC motor with tachometer feedback
is shown in Figure 3. Assume that Km = 10, J = l and Ra = 1.
FIGURE 1. Depth-control system.

(a) Determine the closed-loop transfer function T (s) =

Y (s)/R(s).
(b) Determine the steady-state error due to a disturbance
Td (s) = 1/s.
(c) Calculate the the response y(t) for a step input R(s) = 1/s
when K = K2 = 1 and 1 ≤ K1 ≤ 10. Select K1 for the fastest
response.
FIGURE 3. DC motor with feedback.

Problem 2 (E4.10 from [1])

Consider the feedback control system shown in Figure 2.
(a) Determine the steady-state error for a step input in terms of
the gain, K.
(b) Determine the overshoot for the step response for 40 ≤ K ≤
400.
(c) Plot the overshoot and the steady-state error versus K.
(a) Determine the required gain, K, to restrict the steady-state
error to a ramp input (v(t) = t for t > 0) to 0.1 (assume that
Td (s) = 0).
(b) For the gain selected in part (a), determine and plot the error,
e(t) due to a ramp disturbance for 0 ≤ t ≤ 5 seconds.

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Problem 4 (E5.10 from [1]) Problem 6 (P5.3 from [1])
A second-order control system has the closed-loop transfer A laser beam can be used to weld, drill, etch, cut, and mark
function T (s) = Y (s)/R(s). The system specifications for a step metals, as shown In Figure 5(a). Assume we have a work re-
input follow: quirement for an accurate laser to mark a parabolic path with a
closed-loop control system, as shown in Figure 5(b). Calculate
(1) Percent overshoot P.O. < 5%. the necessary gain to result in a steady-state error of 5 mm for
(2) Settling time Ts < 4s. r(t) = t 2 cm.
(3) Peak time Tp < 1s.

Show the permissible area for the poles of T (s) (in the plane of
s) in order to achieve the desired response. Use a 2% settling
criterion to determine settling time.

Problem 5 (P5.1 from [1])

An important problem for television systems is the jumping
or wobbling of the picture due to the movement of the camera.
This effect occurs when the camera is mounted in a moving truck
or airplane. The Dynalens system has been designed to reduce
the effect of rapid scanning motion; see Figure 4. A maximum
scanning motion of 25◦ /s is expected. Let Kg = Kt = 1 and as-
sume that τg is negligible. FIGURE 5. Laser beam control.

(a) Determine the error of the system E(s).

(b) Determine the necessary loop gain Ka Km Kt , when a 1◦ /s
steady-state error is allowable.
(c) The motor time constant is τm = 0.40 s. Determine the nec-
essary loop gain so that the settling time (to within 2% of the
final value of vb ) is less than or equal to 0.03 s.
Problem 7 (AP5.2 from [1])
A closed-loop system is shown in Figure 6. Plot the response
to a unit step input for the system for τz =0,0.05,0.1, and 0.5.
Record the percent overshoot, rise time, and settling time (with
a 2% criterion) as τz varies. Describe the effect of varying τz .
Compare the location of the zero −1/τz , with the location of the
closed-loop poles.

FIGURE 6. System with a variable zero.

Problem 8 (E6.15 from [1])

A system has a characteristic equation

q(s) = s6 + 9s5 + 31.25s4 + 61.25s3 + 67.75s2 + 14.75s + 15 = 0.

FIGURE 4. Camera wobble control. (a) Determine whether the system is stable, using the Routh-
Hurwitz criterion.
(b) Determine the roots of the characteristic equation.

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Problem 9 (P6.1 from [1]) a human arm’s mechanical strength under the control of the hu-
Utilizing the Routh-Hurwitz criterion, determine the stabil- man intellect, the resulting system will be superior to a loosely
ity of the following polynomials: integrated combination of a human and a fully automated robot.
Extenders are defined as a class of robot manipulators that extend
(a) s2 + 5s + 2
the strength of the human arm while maintaining human control
(b) s3 + 4s 2 + 8s + 4
of the task.The defining characteristic of an extender is the trans-
(c) s3 + 2s2 − 6s + 20
mission of both power and information signals. The extender
(d) s4 + s3 + 2s2 + 12s + 10
is worn by the human; the physical contact between the extender
(e) s4 + s3 + 3s2 + 2s + K
and the human allows the direct transfer of mechanical power and
(f) s5 + s4 + 2s3 + s + 6
information signals. Because of this unique interface, control of
(g) s5 + s4 + 2s3 + s2 + s + K
the extender trajectory can be accomplished without any type of
Determine the number of roots, if any, in the right-hand plane. If joystick, keyboard, or master-slave system.The human provides
it is adjustable, determine the range of K that results in a stable a control system for the extender, while the extender actuators
system. provide most of the strength necessary for the task. The human
becomes a part of the extender and “feels” a scaled-down version
of the load that the extender is carrying. The extender is distin-
Problem 10 (E6.8 from [1]) guished from a conventional master-slave system; in that type of
Designers have developed small, fast, vertical-takeoff fighter system, the human operator is either at a remote location or close
aircraft that are invisible to radar (stealth aircraft). This aircraft to the slave manipulator, but is not in direct physical contact with
concept uses quickly turning jet nozzles to steer the airplane. The the slave in the sense of transfer of power. An extender is shown
control system for the heading or direction control is shown in in Figure 8(a). The block diagram of the system is shown in
Figure 7. Determine the maximum gain of the system for stable Figure 8(b). Consider the proportional plus integral controller
operation.
KI
Gc (s) = KP +
s

Determine the range of values of the controller gains KP and KI ,

such that the closed-loop system is stable.

FIGURE 7. Aircraft heading control.

Problem 11 (E6.12 from [1])

A system has the third-order characteristic equation

s3 + as2 + bs + c = 0,

where a, b, and c are constant parameters. Determine the nec-

essary and sufficient conditions for the system to be stable. Is it
possible to determine stability of the system by just inspecting
the coefficients of the characteristic equation?

Problem 12 (AP6.7 from [1])

A human’s ability to perform physical tasks is limited not by FIGURE 8. Extender robot control.
intellect but by physical strength. If, in an appropriate environ-
ment, a machine’s mechanical power is closely integrated with

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Problems 13-18 Problem 15
The diagram shown in Figure 9 represents a feedback con- For the system in Figure 9, the process transfer function is
trol system. given by

50
R(s) Y(s)
G(s) = ,
Gc (s) G(s) (s + 1)(0.5s + 1)
Controller Plant
KI
H(s) the controller is integral Gc (s) = , and H(s) = 1.
s
(a) Determine the ultimate gain KIu using the Routh-Hurwitz
FIGURE 9. General feedback system. criterion.
(b) Verify the value of KIu using the direct substitution method
and determine the oscillation period of the marginally stable
response.

Problems 13
For the system in Figure 9, the process transfer function is Problem 16
given by For the system in Figure 9, the process transfer function is
given by
50
G(s) = , 50
(s + 1)(0.5s + 1) G(s) = ,
(s + 1)(0.5s + 1)

the controller is proportional Gc (s) = KP , and H(s) = 1.  

(a) Determine the closed-loop transfer function T (s) =
Y (s)/R(s) and the characteristic equation.
(b) Determine the values of KP that lead to an overdamped,
critically-damped, and underdamped behavior when the in-
put is a unit step. Can the system become unstable?
(c) Determine y(t) when KP =0.16, 0.25 and 0.5, when the input
is a unit step.
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the controller is PI: Gc (s) = Kc 1 + , and H(s) = 1.
τI s
(a) Determine the ultimate gain Kcu and the ultimate period as
functions of the integral time τI .
(b) Tune the controller parameters using the Ziegler–Nichols
method and determine the system response when the input
is a unit step.

Problem 17
Problem 14 For the system in Figure 9, the process transfer function is
For the system in Figure 9, the process transfer function is given by
given by
2.5
G(s) = ,
6(1 − s) (5s + 1)(0.8s + 1)(0.2s + 1)
G(s) = ,
(s + 1)(0.5s + 1)
the controller is proportional Gc (s) = KP , and H(s) = 1.
the controller is proportional Gc (s) = KP , and H(s) = 1. (a) Determine the ultimate gain KPu and the ultimate period.
(b) Use the Ziegler–Nichols to determine a quarter decay ratio
(a) Determine the closed-loop transfer function T (s) =
for: a P controller, a PI controller, and a PID controller.
Y (s)/R(s) and the characteristic equation.
(b) Determine the values of KP that lead to an overdamped,
critically-damped, and underdamped behavior when the in-
REFERENCES
put is a unit step. Can the system become unstable?
[1] Dorf, R. C., and Bishop, R. H., 2011. Modern Control Sys-
(c) Determine y(t) when KP =0.16, 0.25 and 0.5, when the input
tems, 12th ed. Prentice Hall.
is a unit step.