Attribution Non-Commercial (BY-NC)

29 views

Attribution Non-Commercial (BY-NC)

- C13-1-An-Li-ROBIO
- Modern Control Theory
- Cybernetics, Servosystem Theory by Petrovic
- Mechatronics Foundational Technical Skills
- Adaptive Control UnitI
- VJ14 Day2 GRUVI
- EB 881 D Rev A1.pdf
- Total Notes
- Smith Pagina 9
- Ruzlaini Ghoni %28cd7272%29 - Chap 3
- Ironless Motors Manual
- an01fa
- NegativeFeedbackCircuits.pdf
- The International Journal of Computational Science, Information Technology and Control Engineering (IJCSITCE)
- Https Www.suit.Edu.pk Uploads Past Papers Control Systems - EE3211
- CS Pr#3,Excrcise
- 296-1124-1-PB.pdf
- steady_quad.pdf
- Hydraulic_Presses_UK.pdf
- Development Log

You are on page 1of 7

Example1

K

G (s) = .

s ( s + 1)

K

Y ( s) G( s) s ( s + 1) K K

= = = = 2 .

R(s) 1 + G (s) K s ( s + 1) + K s + s + K

1+

s ( s + 1)

Example 2

a) Determine the transfer function from ‘r’ to ‘y’.

b) Determine the transfer function from ‘w’ to ‘y’.

To obtain the transfer function between ‘r’ to ‘y’, assume ‘w’ to be equal to zero.

Therefore the block diagram reduces to,

1

MEEN 364 Parasuram

Lecture 19, 20 August 25, 2001

( K1 + K 2 s) 10 10( K 1 + K 2 s )

G (s) = ⋅ = .

s s ( s + 1) + 20 s ( s 2 + s + 20)

10( K 1 + K 2 s )

Y ( s) G( s) s ( s 2 + s + 20) 10( K 1 + K 2 s )

= = = 3 .

R(s) 1 + G (s) 10( K 1 + K 2 s ) s + s + s (20 + 10 K 2 ) + 10 K 1

2

1+

s ( s 2 + s + 20)

To obtain the transfer function between ‘w’ and ‘y’, assume ‘r’ to be equal to zero. Hence

the block diagram reduces to,

For the above block diagram the open loop transfer function is

10 10

G (s) = = 2

s ( s + 1) + 20 s + s + 20

and the feedback transfer function is given by

K1 + K 2 s

H ( s) = .

s

2

MEEN 364 Parasuram

Lecture 19, 20 August 25, 2001

10

2

Y ( s) G( s) ( s + s + 20) 10s

= = = 3 .

W ( s) 1 + G( s) H ( s) 10 K 1 + K 2 s ( s + s + s (20 + 10 K 2 ) + 10 K 1 )

2

1+ 2 ⋅

( s + s + 20) s

Example 3

s +1

G (s) = .

s + s2

3

s +1

Y ( s) G( s) 2 3s +1

= = s +s = 3 .

R(s) 1 + G (s) s + 1 s + s 2

+ s + 1

1+ 3

s + s2

s +1 s3 + s2

E ( s) = R(s ) − Y ( s) = R(s ) − R ( s ) = R ( s ).

s3 + s2 + s + 1 s3 + s2 + s +1

Therefore the steady state error for the system can be obtained by applying the final value

theorem as

ess = lim sE ( s ).

s −>0

Therefore,

s3 + s2

ess = lim s R( s ).

s − >0 s3 + s2 + s +1

For a unit step input, we have R( s ) = 1 , therefore the steady state error is

s

3 2

s +s 1 s3 + s2 1

ess = lim s ⋅ 3 ⋅ = lim =0= .

s − >0 2 3 2

s + s + s + 1 s s −>0 s + s + s + 1 1+ K p

3

MEEN 364 Parasuram

Lecture 19, 20 August 25, 2001

K p → ∞.

s2

s3 + s2 1 s2 + s 1

ess = lim s. 3 2

. 2 = lim 3 2

=0= .

s − >0 s + s + s +1 s s − > 0 s + s + s +1 Kv

K v → ∞.

s3

s3 + s2 1 s +1 1

ess = lim s. 3 2

. 3 = lim 3 2

=1= .

s − >0 s + s + s +1 s s − > 0 s + s + s +1 Ka

Therefore,

K a = 1.

Example 4

The block diagram shown below shows a control system in which the output member of

the system is subject to a disturbance. In the absence of a disturbance, the output is equal

to the reference. Investigate the response of this system to a unit step disturbance.

Since we are interested in the response of the system to a unit step disturbance, assume

the reference input to be equal to zero. Therefore the block diagram reduces to

4

MEEN 364 Parasuram

Lecture 19, 20 August 25, 2001

1

G (s) = , and the feedback transfer function is given as

Js

H ( s) = K .

Therefore the transfer function between the disturbance and the output is given as

1

Y ( s) G (s) 1

= = Js = .

W (s) 1 + G (s) H ( s) K Js + K

1+

Js

For a unit step disturbance, the output reduces to

1 1 1

Y (s) = ⋅ = .

Js + K s s ( Js + K )

The steady state value of the output can be obtained by applying the final value theorem

as

1 1 1

y ss = lim sY ( s ) = lim s ⋅ = lim = .

s − >0 s − >0 s ( Js + K ) s − > 0 Js + K K

steady state offset.

Example 5

Consider a nonunity feedback system, whose open loop transfer function is given by

1

G (s) = ,

s (1 + Ts )

where in the feedback loop transfer function is given as

5

MEEN 364 Parasuram

Lecture 19, 20 August 25, 2001

H ( s ) = h, with h > 0. Determine the system type with respect to the reference input.

1

Y ( s) G (s) s (1 + Ts ) 1

= = = 2 .

R(s) 1 + G (s) H ( s) h Ts + s + h

1+

s (1 + Ts )

1 Ts 2 + s + h − 1

E ( s ) = R ( s ) − Y ( s ) = 1 − 2 R ( s ) = R( s ).

Ts + s + h Ts 2 + s + h

Ts 2 + s + h − 1

ess = lim s ⋅ E ( s ) = lim s ⋅ R( s ).

s − >0 s − >0 Ts 2 + s + h

Ts 2 + s + h − 1 1 Ts 2 + s + h − 1 h − 1

ess = lim s ⋅ ⋅ = lim = .

s − >0 Ts 2 + s + h s s − >0 Ts 2 + s + h h

If the system is not unity feedback then, h ≠ 1 , therefore the system is of Type 0. If the

system is unity feedback, i.e., h = 1, then the system is of Type 1 as the steady state error

for the step reference input is zero.

6

MEEN 364 Parasuram

Lecture 19, 20 August 25, 2001

Assignment

1) Consider a unity feedback system whose open loop transfer function is given by

( s + 1)

G (s) = 2

.

s ( s + 2 s + 5)

Determine the closed loop transfer function of the system.

2) Problem 4.32a from the textbook “ Feedback control of dynamic systems”, by Franklin

et.al.

Recommended Reading

“Feedback Control of Dynamic Systems” 4th Edition, by Gene F. Franklin et.al – pp 201

– 215, 230 – 242.

Recommended Assignment

problems 4.22, 4.28, 4.33, 4.35, 4.37.

- C13-1-An-Li-ROBIOUploaded byGunjan Trivedi
- Modern Control TheoryUploaded bySaravanan Smasher
- Cybernetics, Servosystem Theory by PetrovicUploaded byvelangni
- Mechatronics Foundational Technical SkillsUploaded bydalbaas
- Adaptive Control UnitIUploaded byPavaman
- VJ14 Day2 GRUVIUploaded byArael Sidh
- EB 881 D Rev A1.pdfUploaded byakhileshmaury
- Total NotesUploaded byArmando Malone
- Smith Pagina 9Uploaded bySafont Rodrigo Carles
- Ruzlaini Ghoni %28cd7272%29 - Chap 3Uploaded byVignesh Ramakrishnan
- Ironless Motors ManualUploaded bycochito
- an01faUploaded byLaercio Marques
- NegativeFeedbackCircuits.pdfUploaded byFabioBonassi
- The International Journal of Computational Science, Information Technology and Control Engineering (IJCSITCE)Uploaded byAnonymous BI4sNIkiNw
- Https Www.suit.Edu.pk Uploads Past Papers Control Systems - EE3211Uploaded byAsim Ali
- CS Pr#3,ExcrciseUploaded bySafia Amir Dahri
- 296-1124-1-PB.pdfUploaded byASHOK KR
- steady_quad.pdfUploaded bysayed Tamir jan
- Hydraulic_Presses_UK.pdfUploaded byTongas99
- Development LogUploaded bysarahbarker
- SonUploaded byaveek78
- pdf2Uploaded byRalph Daryl Cedro
- EPP_10_Control of SystemsUploaded byTay Li Na
- Formula Book for Hydraulics and PneumatcsUploaded byAhmed H El Shaer
- Lecture 1Uploaded byIkhtiander Ikhtiander
- 1081ch2_37.pdfUploaded bySergio
- International Journal of Computational Science, Information Technology and Control Engineering (IJCSITCE)Uploaded byAnonymous BI4sNIkiNw
- Vibration control of vehicle seat integrating with chassis suspen.pdfUploaded bymaheshnagarkar
- AEUploaded byanushka
- PESGM2006-000086Uploaded bysunitharajababu

- values chart primaryUploaded byapi-261205798
- Aba 316 Research Methods in BusinessUploaded byCainan Ojwang
- Hinton ArticleUploaded byBoryana Bulgaria
- Types of TrianglesUploaded byNikoletka Paneva
- graduate research day presentation may 2017Uploaded byapi-393037741
- Chapter 1 Sample (Caring)Uploaded byCharlene Binarao
- poster presentations dueckUploaded byapi-344973256
- rph bi 1-listeningUploaded byCekodok Masin
- International Journal Accountig InformationUploaded byLaura Rodríguez
- A Review of Landscape Assessment Paradigms in Landscape Perception ResearchUploaded byInternational Journal of Innovative Science and Research Technology
- ThesisUploaded byamin academic
- shf-hrdUploaded bySyed Shafi
- Masud Khan, Clinical Aspects of the Schizoid Personality - Affects and Technique (1960) [From 'the Privacy of the Self']Uploaded bymartel78
- 5. Hum-Form and Functions of Phrasal -R. Getha,Uploaded byImpact Journals
- Johari Window FinalUploaded bySanskriti Dwivedi
- 11.-Anxiety-impairs-decision-making.pdfUploaded byCristina Colotelo Ban
- Projective IdentificationUploaded byRyan Oneal
- pt 2 - synthesis reaction paperUploaded byapi-353957387
- grade-8 study guide 7 7 17 1Uploaded byapi-248438245
- lec 15Uploaded byArjun Meghanathan
- Aiding Communication With People With DementiaUploaded byayatoya
- ECP711Ass1BlueGC.docxUploaded byGeorgina Blue
- American Music Therapy AssociationUploaded byAnonymous 48X7R0
- SELF ACCEPTANCEUploaded byathira
- hatice deli research assignment 1Uploaded byapi-290746141
- Math and Number AwarenessUploaded byAmmen
- Students Perceptions of ProgressUploaded byulfa putri andalasia
- lp2geography country maps and flagsUploaded byapi-239631010
- families and their pets 1st grade unit planUploaded byapi-329893846
- Communication Hand OutUploaded byMark Jerome Vergara Balagtas