UNIVERSIDAD AUTÓNOMA DEL CARIBE

CONTROL CLÁSICO
Parcial 2

1. Given G  s    s  3 s  2  s  s  2  s  3 , which of the following G0  s  are

implementable? In the cases of implementable G0  s  , find the corresponding controller and

simulate the close loop control system.

s2 s3 s2

a. b. b.
s  s  2 s s6
2
s  4s  4
2

s 2  2s  8 s2
c. d.
s 4  4s 2  3s  6 s  4s  2
3

2. Consider the plant with transfer function G  s    s  3 s  s  2  .

a. Find an implementable overall transfer function that has all poles at -2 and has zero
position error. Find the corresponding controller and simulate the close loop control
system.
b. Find an implementable overall transfer function that has all poles at -2 and has zero
position error. Is the choice unique? Do you have to retain s  3 in G0  s  ? Find
two sets of solutions: One retains s  3 and the other does not. Find the
corresponding controllers and simulate the close loop control system.

Consider the plant with transfer function G  s   2 s .

2
3.
a. Design an overall system to minimize the quadratic performance index with q  4 . What
are positions error and velocity error?
b. Design a quadratic optimal system that is as fast as possible under the constraint
that the actuating signal (output of the controller) due to a step-reference input must
have a magnitude less than 5.
c. Plot the poles of G0  s  as a function of q in item b.

4. Consider the plant with transfer function G  s   1 s  s  1 . Find an implementable transfer

function to minimize the ITAE criterion and have zero position error. It is also required that the
actuating signal due to a unit-step references input have a magnitude less than 10.

5. Repeat problem 4 with the exception that overall system is required to have zero velocity error.