UNIVERSIDAD POPULAR DEL CESAR – CONTROL II, GUIDED COURSE

Homework #3

For Everyone (5pts each):

1. Given a simple system with negative unity feedback

K(s+1)
𝐷 =
c (s+13)
𝑠2 + 81
𝐺(𝑠) = 𝑠2(𝑠2 + 100)

a. Find the locus of closed-loop roots with respect to K
b. Is there a value of K that will cause all roots to have a damping ratio 𝜁 greater than 0.5
c. Find the values of K that yield closed-loop poles with the damping ratio 𝜁 = 0.707
d. Use Matlab to plot the response of the resulting design to a reference input step function

2. Consider the block diagram below.

a. Write the state and output equations for the system with the state variables indicated in
the diagram.
b. Derive the transfer function from the control input u to the output y.
c. Define the controllability and observability matrices
 UNIVERSIDAD POPULAR DEL CESAR – CONTROL II, GUIDED COURSE

3. The open-loop transfer function of a unity-feedback system is

𝐾
𝐺(𝑠) = 𝑠 𝑠
𝑠 (1 + 5) (1 + 20)
a. Sketch the system block-diagram, including input reference commands and sensor noise
b. Use Bode plot sketches to design a compensator for G(s) so the closed-loop system
satisfies the following specifications:
i. The steady-state error to a unit-ramp input is less than 0.01
ii. PM > 45
iii. The steady-state error for sinusoidal inputs with 𝜔 < 0.2 rad/sec is less than
1/250
iv. Noise components introduced with the sensor signal at frequencies greater than
200 rad/sec are to be attenuated at the output by at least a factor of 100
c. Verify and/or refine your design using Matlab, including a computation of the closed-
loop frequency response to verify (iv)