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Assignment No: 1
Module Name: Control Systems
Module Code: ELEC 20005.2
Session: A
Question 1:
Part a:
1
G(s)=
s ( s+9)
G( s) 1 /(s 2 +9 s )
H ( s )= =
1+ G(s ) 1+1/(s2 +9 s)
1
H ( s )= 2
(s +9 s+1)
From above equation we get the root of transfer function with unity negative feedback as -0.1125,
-8.8875. It is the over damped system as roots are real and distinct. It has damping factor, Ᵹ>1 given by
comparing above equation with general equation below as 2 Ᵹ wn=9 and w 2n=1 which gives
w n=1andꝽ=4.5.
G ( s) w 2n
= 2
1+ G(s) ( s +2 Ᵹ w n s+w 2n)
The settling time, Peak time, %OS for G(s) is calculated using MATLAB which code is given below:
clc
clear all
s=tf('s');
G=1/(s*(s+9));
fd=feedback(G,1);
step(fd/s) %% for ramp input take step of (fd/s)
stepinfo(fd)
Step Response
100
untitled1
90
80
70
60
Amplitude
50
40
30
20
10
0
0 10 20 30 40 50 60 70 80 90 100
Time (seconds)
It gives:
Rise Time: 19.5274 sec
Settling Time: 34.8829 sec
Overshoot: 0
Peak Time: 93.7260 sec
1
( )
s
¿ lim
s → 0 1+G(s)
1
¿ lim
s→0 s+ sG(s)
1
¿ lim
s→0 1
s
s (s +a)
¿ lim s+ a
s→0
¿9
Part b:
1
G(s)=
s ( s+9)
1
G (s ) s ( s+9 )
G 1 ( s )= = ¿
1+ K f s∗G( s) Kf s
(1+ )
s ( s+ 9 )
1
¿
( s( s+ 9)+ K f s)
1
¿ 2
( s +9 s+ K f s)
G( s) K
G2 ( s )=K = 2
1+ K f s∗G(s) ( s +9 s+ K f s)
G2 ( s ) K
G 3 ( s )= =
1+ G2(s) ¿ ¿
So, the close loop transfer function for motor with tachometer in feedback and amplifier in series is derived
above.
For calculating Kf and K value for a system with %O.S=8% and settling time=1sec. we use the following
formulas for calculating zeta damping factor by using %OS
%OS
−ln ( )
100
Ᵹ=
%OS
√
π 2+ ln 2 (
100
)
−ln (0.08)
¿
√ π 2 +ln2 ( 0.08)
2.5257
¿
4.0297
¿ 0.626
Similarly we calculate wn by using settling time and Ᵹ(damping factor compute above).
Settling time (2%):
4
t s=
Ᵹ wn
4
1=
0. 626∗wn
4
w n=
0. 626
¿ 6.39 sec −1
As general close loop transfer function for second order systems with negative unity feedback is
given by
w 2n
G4 ( s )= 2 2
(s + 2Ᵹ w n s+ wn )
9+ K f =2Ᵹ w n
9+ K f =2∗0.626∗6.4
K f =−0.9872
Part c:
1
¿ lim
s→0 s+ s G 2 ( s )
1
¿ lim
s→0 K
s
s (s + ( 9+ K f ) )
1
¿
K
9+ K f
9+ K f
¿
K
9−0.9872
¿
40.8
¿ 0.196
The steady state error of compensated system is only 0.196 while that of uncompensated system was 9
which was calculated in part (a) of this question. There is significant reduction in error due to
compensation.
Part d:
clc
clear all
s=tf('s');
G2=40.8/((s^2+9*s-0.9872*s));
fd1=feedback(G2,1);
step(fd1/s)
stepinfo(fd1)
Step Response
100
90
80
70
60
Amplitude
50
40
30
20
10
0
0 10 20 30 40 50 60 70 80 90 100
Time (seconds)
It gives:
Rise Time: 0.3010 sec
Settling Time: 0.9372 sec
Overshoot: 7.9655
Peak Time: 0.6322 sec
By observing the performance parameter of compensated and uncompensated system, it is clear that
addition of compensator make prominent improvement in transients of system and its response time
decrease and system now has fast transient response. Rise, Settling and Peak time of compensated system
reduce significantly and now it is underdamped system.
Question: 2
Part a:
x2(t)
m2ẍ2
Part b:
Part a:
Step 1:
Label all branch current in figure 5
Step2:
Select state variable for energy storing component that is inductor and capacitor
d v c (t)
C =i c (t)
dt
d i L (t)
L =v L (t )
dt
Step 3:
By applying KCL on figure 5, we get
i c ( t )=i L (t ) +i L (t)
i r ( t ) =ir ( t ) +i c (t)
d v c (t )
i r ( t ) =i L ( t )+C
dt
d v c (t)
C =i r ( t ) −i L (t)
dt
ir ( t ) i L ( t )
v̇ c (t )= −
C C
v ( t ) −v c ( t ) i L ( t )
v̇ c (t )= −
RC C
v ( t ) v c ( t ) iL ( t )
v̇ c (t )= − −
RC RC RC
By putting value of R= 2Ω; C=8F in above equation, we get
v ( t ) v c ( t ) iL ( t )
v̇ c ( t )= − −
16 16 16
Similarly for
d iL ( t )
L =v L ( t )
dt
v (t )
i˙L (t)= c
L
v (t )
i˙L (t)= c
5
Part b:
−1 −1
[ ]
i˙L (t)
[ ][
v̇ c ( t )
= 16
1
5
vc ( t )
0 iL ( t )
][
16 v c ( t ) +
1
]
16 v ( t )
0
y= [ 1 1 ]
[ ]
i L (t )
−1 −1
System Matrix = A =
16
1
5
[ ] 16
0
1
Input Matrix = B = 16
0 []
Output Matrix = C = [ 1 1 ]
Part c:
Its major benefit is that it can be used for time variant, time invariant, Single input single output system
(SISO), Multi input Multi output (MIMO), Linear and non Linear systems.
A part from this it is easy to solve as it represent n order differential equations in n first order
differential equation.
Question 5:
Part a:
3 2 −1
[
A= 1 2 4
1 1 −1 ]
2 3 2 −1 2 9
[]
B= 1
−1 [ ][ ] [ ]
AB= 1 2 4 1
1 1 −1 −1
= 0
4
3 2 −1 3 2 −1 2 23
[ ][
A2 B= 1 2 4 1 2 4
][ ] [ ]
1 = 25
1 1 −1 1 1 −1 −1 5
2 9 23
[
CM = 1 0 25
−1 4 5 ]
Part b:
References