University of Houston – College of Technology

ELET 4304 Control Systems – FA20

Assignment A2 10 pts Due Th 10/1

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Consider the following automatic feedback control system for a fixed-field, armature-controlled DC Motor where
𝐺𝑐 (𝑠) is the controller transfer function

Where Ω𝑟 (𝑠) is a reference signal, e.g., a step command, and 𝐸(𝑠) is the error signal; 𝐺𝑐 (𝑠) is a controller block to
𝛺𝑚 (𝑠) 91.92
be designed; and 𝐺𝑚 (𝑠) = 𝐸𝑎 (𝑠)
= 𝑠+7.76

1. Suppose the controller is a proportional gain 𝑮𝒄 (𝒔) = 𝑲𝒄 > 𝟎

91.92
Ω𝑚 (𝑠) 𝐾𝑐 91.92𝐾𝑐
𝑠+7.76
i. Find the closed-loop Transfer Function = 91.92 =
Ω𝑟 (𝑠) 1+𝐾𝑐 𝑠+7.76+91.92𝐾𝑐
𝑠+7.76

ii. Choose a value of 𝐾𝑐 > 0, and find the analytical expression for the motor speed 𝜔𝑚 (𝑡), 𝑡 > 0, when
𝜔𝑟 (𝑡) = 𝑅0 𝑢𝑠 (𝑡). Simulate the system and plot the step response. Compare/contrast with the OPEN
LOOP MOTOR RESPONSE

The Closed-Loop DFQ is: (𝑝 + 𝑎0 )𝜔𝑚 = 𝑏0 𝑅0 ; 𝑡 > 0; 𝑎0 = 7.76 + 91.92𝐾𝑐 ; 𝑏0 = 91.92𝐾𝑐

The total solution has the functional form: 𝜔𝑚 (𝑡) = 𝐾1 𝑒 −𝑎0 𝑡 + 𝐾2 , 𝑡 ≥ 0

𝑏0 𝑅0 𝑎0 𝜔𝑚0 −𝑏0 𝑅0
Plug in 𝐾2 ⇒ 𝑎0 𝐾2 = 𝑏0 𝑅0 ⇒ 𝐾2 = 𝑎0
. Use IC: 𝜔𝑚 (0) = 𝜔𝑚0 = 𝐾1 + 𝐾2 ⇒ 𝐾1 = 𝜔𝑚0 − 𝐾2 = 𝑎0

𝒂𝟎 𝝎𝒎𝟎 −𝒃𝟎 𝑹𝟎 𝒃𝟎 𝑹𝟎
Then, 𝝎𝒎 (𝒕) = 𝒆−𝒂𝟎 𝒕 + , 𝒕 ≥ 𝟎 Here you can plug in any value of gain 𝐾𝑐 and IC 𝜔𝑚0
𝒂𝟎 𝒂𝟎

If you prefer to use Laplace Transforms, then:

(𝑝 + 𝑎0 )𝜔𝑚 = 𝑏0 𝑅0 𝑢𝑠 (𝑡) → 𝑠Ω𝑚 (𝑠) − 𝜔𝑚0 + 𝑎0 Ω𝑚 (𝑠) = 𝑏0 Ω𝑟 (𝑠)

𝑏0 𝜔𝑚0
(𝑠 + 𝑎0 )Ω𝑚 (𝑠) = 𝑏0 Ω𝑟 (𝑠) + 𝜔𝑚0 ⇒ Ω𝑚 (𝑠) = Ω𝑟 (𝑠) +
𝑠 + 𝑎0 𝑠 + 𝑎0
Inverse LT each term:
𝑏0 𝑅0 𝜔 𝑚0 𝐴1 𝐴2 𝐴 𝐴1 𝐴 𝑏0 𝑅0 𝒃𝟎 𝑹𝟎
+ 𝑠+𝑎 = + + 𝑠+𝑎3 = + 𝑠+𝑎4 ⇒ 𝐴1 = ; 𝐴4 = − + 𝜔𝑚0
𝑠+𝑎0 𝑠 0 𝑠 ⏟
𝑠+𝑎0 0 𝑠 0 𝑎0 𝒂𝟎
𝑐𝑜𝑚𝑏𝑖𝑛𝑒 𝑖𝑛𝑡𝑜 𝑜𝑛𝑒

𝒃𝟎 𝑹𝟎 𝒂𝟎 𝝎𝒎𝟎 −𝒃𝟎 𝑹𝟎
Then 𝝎𝒎 (𝒕) = + 𝒆−𝒂𝟎 𝒕 , 𝒕 ≥ 𝟎, as before
𝒂𝟎 𝒂𝟎

For example if 𝜔𝑚0 = 0, we just deal with the Nominal TF, and
91.92𝐾𝑐 𝑹𝟎
𝝎𝒎 (𝒕) = (𝟏 − 𝒆−(𝟕.𝟕𝟔+𝟗𝟏.𝟗𝟐𝑲𝒄 )𝒕 ), 𝒕≥𝟎
7.76 + 91.92𝐾𝑐
 The Open-Loop DFQ on the other hand is: (𝑝 + 7.76)𝜔𝑚 = 91.92𝐾𝑐 𝑅0 ; 𝑡 > 0 ; then the zero IC case leads to
the OL speed response
91.92𝐾𝑐 𝑹𝟎
𝝎𝒎 (𝒕) = (𝟏 − 𝒆−𝟕.𝟕𝟔𝒕 ), 𝒕≥𝟎
𝟕. 𝟕𝟔
The most striking difference is the change in the characteristic root from

OL at 𝑠 = −7.76 to CL at 𝑠 = −(7.76 + 91.92𝐾𝑐 )

So we see how feedback enables the time constant to be made much smaller by properly choosing the gain 𝐾𝑐 .
1 1
For example, OL 𝜏 = 7.76 = 0.129 𝑠𝑒𝑐; and for 𝐾𝑐 = 2 ⇒ 𝜏 = 7.76+91.92∗2 = 5.22 𝑚𝑠𝑒𝑐

iii. What is the steady-state value of 𝜔𝑚 (𝑡)? Use the Final Value property of Laplace Transforms
91.92𝐾𝑐 𝑹𝟎 91.92𝐾
From 𝝎𝒎 (𝒕) = (𝟏 − 𝒆−(𝟕.𝟕𝟔+𝟗𝟏.𝟗𝟐𝑲𝒄 )𝒕 ), it’s clear that 𝜔𝑚 𝑠𝑠 = lim 𝜔𝑚 (𝑡) = 7.76+91.92𝐾
𝑐
𝑅0
7.76+91.92𝐾𝑐 𝑡→∞ 𝑐

91.92𝐾𝑐 𝑅0 91.92𝐾𝑐
Using the final value property of LT: lim 𝑠 Ω𝑚 (𝑠) = lim 𝑠 = 𝑅 as before.
𝑠→0 𝑠→0 𝑠+7.76+91.92𝐾𝑐 𝑠 7.76+91.92𝐾𝑐 0

91.92𝐾𝑐
The OL response on the other hand reaches a steady-state speed 𝜔𝑚 𝑠𝑠 = lim 𝜔𝑚 (𝑡) = 𝑅0
𝑡→∞ 7.76

Simulations follow for 𝐾𝑐 = 2, 𝜔𝑚0 = 0

91.92∗2
The steady-state error is predicted to be 𝑒𝑠𝑠 = 𝑅0 − 𝜔𝑠𝑠 = 1.23 − 7.76+91.92∗2 (1.23) = 0.0498 This is verified in the
graph. The drastic difference between the OL and CL time constants is also clear in the two responses.

iv. Discuss the effect of 𝐾𝑐 on the unit step response and on the steady-state error. Can 𝐾𝑐 be made
arbitrarily large? What happens with the magnitude of 𝑒𝑎 (𝑡) as 𝐾𝑐 is made larger?
91.92𝐾
𝑐
From 𝜔𝑚 𝑠𝑠 = lim 𝜔𝑚 (𝑡) = 7.76+91.92𝐾 𝑅0 where we see it approaches the reference value 𝑅0 as the controller
𝑡→∞ 𝑐
gain 𝐾𝑐 increases. However, there are practical limitations to how large 𝐾𝑐 can be as discussed in class: for example,
the fact that the error signal 𝑒(𝑡) = 𝑟(𝑡) − 𝑐(𝑡) is amplified by the gain 𝐾𝑐 which in turn becomes the voltage 𝑒𝑎 (𝑡)
applied to the motor, then it’s clear that the gain cannot be arbitrarily large.
 𝐸 (𝑠)
v. Obtain a plot of 𝑒𝑎 (𝑡). Hints: 1) 𝑒𝑎 (𝑡) = 𝐾𝑐 (𝜔𝑟 (𝑡) − 𝜔𝑚 (𝑡)) ; 2) find Ω𝑎 (𝑠) and solve the DFQ
𝑟

1
To simplify, let 𝜏 = 7.76+91.92𝐾 Then by simple substitution:
𝑐

91.92𝐾 𝑅
𝑐 0
𝑒𝑎 (𝑡) = 𝐾𝑐 [𝑅0 − 7.76+91.92𝐾 (1 − 𝑒 −(7.76+91.92𝐾𝑐 )𝑡 )]
𝑐

𝑒𝑎 (𝑡) = 𝐾𝑐 𝑅0 𝜏 [7.76 + 91.92𝐾𝑐 𝑒 −𝑡/𝜏 ]

First, verify the steady-state values match. Also note the initial value
𝑒𝑎 (0) can be quite large because of the 𝐾𝑐2 term. So, we clearly see
that if 𝐾𝑐 is too large, then the applied voltage could easily be out of
margins.

𝑲𝒄
2. Let 𝑮𝒄 = , 𝑲𝒄 > 𝟎 and repeat.
𝒔
𝐾𝑐 91.92
Ω𝑚 (𝑠) 𝑠 𝑠+7.76 91.92𝐾𝑐
i. Find the closed-loop Transfer Function = 𝐾 91.92 = 𝑠2 +7.76𝑠+91.92𝐾
Ω𝑟 (𝑠) 1+ 𝑐 𝑐
𝑠 𝑠+7.76

Side note this TF is of the form we are currently studying, nominal or prototype second order system
Ω𝑚 (𝑠) 𝜔2
Ω𝑟 (𝑠)
= 𝑠2 +2𝜁𝜔𝑛 𝑠+𝜔2
𝑛 𝑛

ii. Choose a value of 𝐾𝑐 > 0, and find the analytical expression for the motor speed 𝜔𝑚 (𝑡), 𝑡 > 0, when
𝜔𝑟 (𝑡) = 𝑅0 𝑢𝑠 (𝑡). Simulate the system and plot the step response. Compare/contrast with the OPEN
LOOP MOTOR RESPONSE

The Closed-Loop DFQ is: (𝑝2 + 7.76𝑝 + 91.92𝐾𝑐 )𝜔𝑚 = 91.92𝐾𝑐 𝑅0 ; 𝑡 > 0;

For 𝐾𝑐 = 2, the characteristic roots are:

>> roots([1 7.76 91.92*2])

-3.8800 +12.9918i ; -3.8800 -12.9918i

The total solution has the functional form: 𝜔𝑚 (𝑡) = 𝐾1 + 𝐾2 𝑒 −3.88𝑡 cos(12.99𝑡 + 𝜙), 𝑡 ≥ 0

Plug in 𝐾1 ⇒ 91.92𝐾𝑐 𝐾1 = 91.92𝐾𝑐 𝑅0 ⇒ 𝐾1 = 𝑅0 . Hence, we already see the steady state error is zero, a
considerable improvement over the previous design.

Assume zero IC and use them to find the remaining two

constants 𝐾1 , 𝜙. To emphasize they are not needed in
this course, use Matlab to get a graph without having to
find the constants:

>> num=91.92*Kc*R0;
>> den=[1 7.76 91.92*Kc];
>> G=tf(num,den)
G=
226.1
--------------------
s^2 + 7.76 s + 183.8
>> step(G),grid
 1 1
The time constant is 𝜏 = = 0.2577 𝑠𝑒𝑐, which is slower than the OL 𝜏 = = 0.129. Now we also have to
3.88 7.76
deal with an overshoot, which may or may not be acceptable. So, this controller seems to be doing worse. We
will see that this is a very typical feature in control design: fixing the transient response (overshoot, settling
time) and fixing the steady state error are usually conflicting requirements.

The Open-Loop DFQ on the other hand is: 𝑝(𝑝 + 7.76)𝜔𝑚 = 91.92𝐾𝑐 𝑅0 ; 𝑡 > 0 ; then the zero IC case leads
to the OL speed response

𝝎𝒎 (𝒕) = 𝑲𝟏 + 𝑲𝟐 𝒕 + 𝑲𝟑 𝒆−𝟕.𝟕𝟔𝒕 , 𝒕≥𝟎

Which results in an unstable response, so we discard it.

iii. What is the steady-state value of 𝜔𝑚 (𝑡)? Use the Final Value property of Laplace Transforms

This was discussed in the previous item showing 𝜔𝑚 (𝑡) → 𝑅0 , and the steady-state error is zero.

iv. Discuss the effect of 𝐾𝑐 on the unit step response and on the steady-state error. Can 𝐾𝑐 be made
arbitrarily large? What happens with the magnitude of 𝑒𝑎 (𝑡) as 𝐾𝑐 is made larger?

There are always practical limitations to how large 𝐾𝑐 can be as discussed in part 1). Here in addition, increasing the
gain 𝐾𝑐 has the effect of increasing the frequency of oscillations 𝜔𝑑 of the damped sinusoid cos(𝜔𝑑 𝑡) which may or
may not be acceptable.
𝐸 (𝑠)
v. Obtain a plot of 𝑒𝑎 (𝑡). Hints: 1) ; 2) find Ω𝑎 (𝑠) and solve the DFQ
𝑟

The easiest way to find it is by using

𝐾𝑐
𝐸𝑎 (𝑠) 𝑠 𝐾𝑐 (𝑠+7.76)
= 𝐾 91.92 = and Matlab:
Ω𝑟 (𝑠) 1+ 𝑐 𝑠2 +7.76𝑠+91.92𝐾𝑐
𝑠 𝑠+7.76

>> num=Kc*R0*[1 7.76];

>> den=[1 7.76 91.92*Kc];
>> Gea=tf(num,den)
Gea =

2.46 s + 19.09
--------------------
s^2 + 7.76 s + 183.8

>> step(Gea),grid

𝐾𝑐 (𝑠+7.76) 𝑅0 7.76𝐾𝑐 𝑅0 1.23

Side note: verify 𝑒𝑎 𝑠𝑠 = lim 𝑠 𝑠2 +7.76𝑠+91.92𝐾𝑐 𝑠
= 91.92𝐾𝑐
= 7.76 ∗ 91.92 = 0.103
𝑠→0