EEL 205/PS11

EEL 205 Control Engineering

Practice Problem Set 11

1. For the system shown in Fig. P1, obtain the design condition that would make all eigenvalues real.
R 1 /L − 1/(R 2 C ) m 2/ LC
iL
P1
R L 2. Fig. P2 shows a digital control system for a two phase
vi ( t ) 1 vc R
C 2 servomotor, that has an analog transfer function

G(s) = 10
s(0.1s + 1 )
between the controlled phase voltage v and shaft position θm.

P2 Error Controller Modulator & Servomotor

sensor AC amplifier (radians)
v 10
θr 10 A/D D/A K θm
+ _ + + s (0.1 s +1)
(radians) (volts) (volts)

Speed sensor
θo
K2 0.1s 1/50

Gear
(radians)
1

a. Obtain the analog state space representation for the motor using position θm and dθm/dt as states.
d x1 0 1 x1 0
= + v
dt x2 0 −10 x2 100

b. The sampling time for the digital controller is 0.1s. Assuming that the D/A acts in a series of steps, obtain
the difference equation for the motor, as seen by the digital controller.
x 1 (k + 1) 1 1 x 1 (k) 0
= + v(k)
x 2 (k + 1) 0 0.368 x 2 (k) 100

c. Check if the digital system is completely state controllable or not.

[Yes, since the rank of the controllability matrix is 2]
d. The state feedback gain for position θm is 1/50x10xK and for speed dθm/dt it is 1/50x0.1xK2xK. For zero
input, design K and K2 such that the state after two sampling instants is always zero (essentially settling
time of 2T for the state vector).
[K = 0.05, K2 = −136.8V/rad-s−1]
e. Redefine the state variables as the output of error sensor (that is, position error) and speed. Now design K
and K2 such that for a unit step at position reference r(t), the “new” state vector is zero at the end of two
sampling instants (essentially a design for zero steady state error to step input).
[Same as part “d”.]

3. A discrete time system, and its proposed controller (to be designed) are described as
 EEL 205/PS11

x 1 (k + 1) −1/2 1 0 x 1 (k) 0
x 2 (k + 1) = 0 −1/2 1 x 2 (k) + 0 u(k)
x 3 (k + 1) 0 0 −1/2 x 3 (k) 1

x 1 (k)
u(k) = r(k) − k1 k2 k3 x 2 (k)
x 3 (k)
where r(k) is the reference external input. Design k1-k3, such that for a step input at r(k), x1(k) = r(k) when k m 3.

[k1 = −1/8, k2 = 3/4, and k3 = −3/2]

4. Determine the unstable roots of the following characteristic equations:

a. z3 − 1/2z2 − 9/10z + 9/20 = 0
[1/2, !3/2 5 ]
b. z6 − z5 + 1/2z4 − z2 + z − 1/2 = 0
[!1, !j, (1 ! j )/2 ]

5. A digital controller is installed for closed loop control of an analog plant as shown in Fig. P5. What is the
closed loop transfer function for the system as viewed from within the controller ?
z −1 (1 − e −T )(105.6 − 95.8z −1 )
(1 − z −1 e −T )(1 + 0.472z −1 ) + z −1 (1 − e −T )(105.6 − 95.8z −1 )

P5 + 105.6 − 95.8 z−1 1

r (t ) A/D D/A
_ 1 + 0.472 z−1 s ( s + 1)
y( t )
controller plant