Exercises - 1.2.2 Linear Systems - 1.2 Basic Control - ChM012x Courseware - Edx PDF

25/06/2019 Exercises: 1.2.2 Linear systems | 1.
2 Basic Control | ChM012x Courseware | edX
Course  Section…  1.2 Bas…  Exercis…
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Exercises: 1.2.2 Linear systems

Characteristic equation
3/3 points (ungraded)
Instructions:
- Answer all questions and click Submit.
- Click ? Hint for some useful equations describing the main dynamics of the vehicle.
- Click Show Answer to check if you have understood the questions and answers
correctly.
1.2.2.Ex.1. In this exercise you are to determine the poles for some di erent systems.
Note: The answers should be written on the form "x, y" in the input elds, where x and y
can be either integer numbers or complex numbers.
Note: If the answer consists of complex numbers these should be written on the
rectangular form "a+bj" with the real unit rst and the imaginary unit second, and where a
and b are integer numbers.
1.2.2.Ex.1a. What are the poles to the system represented by the di erential equation
¨ + 2˙ + = ?
Enter the poles in the input eld below.
-1, -1  Answer: -1, -1 or -1,-1 or -1 , -1
▲Ex.1a. Explanation:
To determine the poles to the system, you need to nd the roots to the characteristic
polynomial,
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25/06/2019 Exercises: 1.2.2 Linear systems | 1.2 Basic Control | ChM012x Courseware | edX
2
( ) = + + = 0
The solution is then given by:
2
‾‾‾‾‾‾‾
= − ± −
√
2 4
In our case = 2 and = 1 , which gives us that
‾‾‾‾‾‾
2 ‾
2
2
= − ± − 1 = −1
2 √ 4
1.2.2.Ex.1b. What are the poles to the system represented by the di erential equation
¨ + 2˙ + 2 = ?
-1+j , -1-j 
Answer: -1+j, -1-j or -1+j , -1-j or -1+j,-1-j or -1-j, -1+j or -1-j,-1+j or -1-j , -1+j
▲Ex.1b. Explanation:
‾‾‾‾‾‾
2 ‾
22
= − ± − 2 = −1 ±
2 √ 4
1.2.2.Ex.1c. What are the poles to the system represented by the di erential equation
¨ + 3˙ + 2 = ?
-1 , -2  Answer: -1, -2 or -1 , -2 or -1,-2 or -2, -1 or -2,-1 or -2 , -1
▲Ex.1c. Explanation:
‾‾‾‾‾‾
2 ‾
33 3 ‾‾
1 3 1
= − ± − 2 = − ± = − ±
2 √ 4 2 √4 2 2
Submit

 Answers are displayed within the problem
Asymptotically stable
1/1 point (ungraded)
Instructions:
correctly.
1.2.2.Ex.2. Is the di erential equation ˙ = + asymptotically stable?

Select yes or no.
Yes
No 
▲Ex.2. Explanation:
The correct answer is no.
The characteristic equation is given as
( ) = ( − 1) = 0
The pole is in +1 (right half plane).
Submit
Asymptotically stable
Instructions:
correctly.
1.2.2.Ex.3. Is the di erential equation ¨ + 2˙ + = asymptotically stable?

Select yes or no.
Yes 
No
The correct answer is yes.
The characteristic equation is given as
2 2
( ) = ( + 2 + 1) = ( + 1) = 0
The equation has a double pole in -1 (left half plane).
Submit
Size of output matrix

Instructions:
correctly.
1.2.2.Ex.4. What will be the size of the output matrix if the system has 3 states, 1 input
and 2 outputs?
Select the alternative that applies.
2 × 3 
3 × 3
1 × 3
2 × 1
Ex.A. Explanation:
The correct answer is 2 × 3.
The output becomes = . So if the size of y is 2 × 1 and the size of x is 3 × 1 , then
the size of C, the output matrix, must be 2 × 3 .
Submit
Eigenvalues
Instructions:
- Click ? Hint for some useful equations describing the main dynamics of the vehicle.
correctly.
1.2.2.Ex.5. What eigenvalues does the system below have?
˙1 0 1 1 0 1
= + = [1 0] + [0]
[ ˙ ] [0 − ] [ ] [ ] [ ]
2 2 2
Note: The answer should be on the form " 1, 2 ".

Enter your answer in the input eld below.
ja  Answer: 0, -a or 0,-a or 0 , -a or -a,0 or -a, 0 or -a , 0
The eigenvalues can be determined by looking at the system matrix, , and solve the
equation det ( − ) = 0 . is given as
0 1
[0 − ]
So, the eigenvalues can be determined as:
−1
det ( − ) = det = ( + ) = 0
[0 + ]
Solving this equation gives two eigenvalues,
1 = 0, 1 = −
Submit

Closed-loop system with PI controller

0/9 points (ungraded)
Instructions:
- Click ? Hint for some useful tips for solving the problems.
correctly.
1.2.2.Ex.6. Consider a closed loop system with process dynamics and a PI controller
modeled by the di erential equations below.
( )
+ 1
( ) = 1
( )
( ) = ( ( ) − ( )) + ( ( ) − ( ))
∫
0
where
( ) is the reference signal
( ) is the control signal
( ) is the process output signal
Note: If the di erential equation is on standard form, the rst coe cient is 1 on the LHS.
Ex.6a. Derive a di erential equation, on standard form, that relates the output ( ) to the
reference ( ). Arrange the terms containing ( ) on the left hand side, with the term
with the highest order derivative to the far left. Arrange the terms containing ( ) in the
same way on the right hand side of the equation.
Starting at the far left, what is the rst coe cient at the ( ) side of the equation?
Enter the coe ecient in the input eld below.
3  Answer: 1
▲Ex.6a. Explanation:
Denote − as . Then the two di erential equations can be written as:
( )
+ 1 ( ) = 1 ( )
and
= ( ) + ( )
∫
0
Take the derivative of both equations, then we get:
2
( ) ( ) ( )
+ 1 = 1 (1)
2
and
( ) ( )
= + ( ) (2)
We now see that LHS of (1) is equal to times RHS of (2). This gives us that:
2
( ) ( ) ( )
+ 1 = 1 + 1 ( )
2
Now write as − again:
2
( ) ( ) ( ) ( )
+ 1 = 1 − 1 + 1 ( ( ) − ( ))
2
Arrange the terms so that terms containing ( ) are on the LHS and terms containing ( )
are on the RHS. The resulting second order di erential equation is:
2
( ) ( ) ( )
1 ⋅ + ( 1 + 1 ) + 1 ( ) = 1 + 1 ( )
2
If the di erential equation is on standard form, the rst coe cient is 1 on the LHS.
Ex.6b. What is the second coe cient at the ( ) side of the equation? Express the
coe cients based on the process and controller paramater symbols 1 , 1 , and .
Enter the correct expression for the coe ecient in the input eld below.
2  Answer: a_1+b_1*K_p
▲Ex.6b. Explanation:
See the explanation to Ex.6a. above.
The second coe cient on the ( ) side of the di erential equation is 1 + 1 ⋅ .
Ex.6c. What is the third coe cient at the ( ) side of the equation? Express the
coe cients based on the process and controller parameter symbols 1 , 1 , and .
4  Answer: b_1*K_i
▲Ex.6c. Explanation:
The third coe cient on the ( ) side of the di erential equation is 1 ⋅ .
Ex.6d. What is the rst coe cient at the ( ) side of the equation? Express the coe cients
based on the process and controller parameter symbols 1 , 1 , and .
5  Answer: b_1*K_p
▲Ex.6d. Explanation:
The rst coe cient on the ( ) side of the di erential equation is 1 ⋅ .
Ex.6e. What is the second coe cient at the ( ) side of the equation? Express the
coe cients based on the process and controller parameter symbols 1 , 1 , and .
3  Answer: b_1*K_i
▲Ex.6e. Explanation:
The second coe cient on the ( ) side of the di erential equation is 1 ⋅ .
Ex.6f. What is the transfer function of the process ( ) ? Express the transfer function
based on the process parameter symbols 1 , 1 and the complex variable .
Enter the correct expression for the transfer function in the input eld below.
23+2  Answer: b_1/(s+a_1)
▲Ex.6f. Explanation:
1
( ) =
+ 1
Ex.6g. What is the transfer function of the controller ( ) ? Express the transfer function
based on the controller parameter symbols , and the complex variable .
23  Answer: K_p+K_i/s
▲Ex.6g. Explanation:
( ) = +
Ex.6h. What is the transfer function of the closed system? As a rst step, express the
transfer function based on the separate transfer functions ( ) and ( ). Note! In this
particular case you should use simpli ed symbols and for the transfer functions, i.e.
skip the "(s)" when entering the expression below!
42  Answer: F*G/(1+F*G)
▲Ex.6h. Explanation:
( ) ( )
1 + ( ) ( )
or as it should be expressed in this particular problem
1 + ⋅
Ex.6i. Again, what is the transfer function of the closed system? Express the transfer
function based on the controller and process parameter symbols process and controller
parameter symbols 1 , 1 , , and the complex variable .
13 
Answer: b_1*(K_p*s+K_i)/(s*s+(a_1+b_1*K_p)*s+b_1*K_i)
▲Ex.6i. Explanation:
1
( + ) ( )
( ) ( ) + 1
= =
1 + ( ) ( ) 1
1 + ( + ) ( )
+ 1
+
1
( ) ( ) ( + )
+ 1
1
= =
+ 2
1 + ( + ) +
1 + ( ) ( ) 1 1 1
+ 1
Submit

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25/06/2019 Exercises: 1.2.2 Linear systems | 1.

2 Basic Control | ChM012x Courseware | edX

Course  Section…  1.2 Bas…  Exercis…

Audit Access Expires Jul 12, 2019

Exercises: 1.2.2 Linear systems

-1, -1  Answer: -1, -1 or -1,-1 or -1 , -1

The solution is then given by:

In our case = 2 and = 1 , which gives us that

-1 , -2  Answer: -1, -2 or -1 , -2 or -1,-2 or -2, -1 or -2,-1 or -2 , -1

 Answers are displayed within the problem

1.2.2.Ex.2. Is the di erential equation ˙ = + asymptotically stable?

The pole is in +1 (right half plane).

 Answers are displayed within the problem

1.2.2.Ex.3. Is the di erential equation ¨ + 2˙ + = asymptotically stable?

The equation has a double pole in -1 (left half plane).

 Answers are displayed within the problem

Size of output matrix

 Answers are displayed within the problem

1.2.2.Ex.5. What eigenvalues does the system below have?

Note: The answer should be on the form " 1, 2 ".

ja  Answer: 0, -a or 0,-a or 0 , -a or -a,0 or -a, 0 or -a , 0

So, the eigenvalues can be determined as:

Solving this equation gives two eigenvalues,

 Answers are displayed within the problem

Closed-loop system with PI controller

( ) is the control signal

( ) is the process output signal

Take the derivative of both equations, then we get:

Now write as − again:

23+2  Answer: b_1/(s+a_1)

or as it should be expressed in this particular problem

 Answers are displayed within the problem

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