LINEAR CONTROL SYSTEM ASSIGNMENT-2

EACT 533

ETHIOPIAN TECHNICAL UNIVERSITY

ASSIGNMENT-2 FOR LINEAR CONTROL

SYSTEM

Department of Electrical Automation

And Control Engineering

SUBMIT TO
Dr. Saravana Kumar Gurusamy,
Associate Professor

SUBMITED BY
GAROMA EDOSA BONA
ID No- MRT /560/13

Year: -2021 G.C

Addis Ababa, Ethiopia

Submitted by: - Garoma Edosa Bona

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 LINEAR CONTROL SYSTEM ASSIGNMENT-2
EACT 533

1.Sketch the bode plot for the following transfer function and determine phase margin and
gain margin.

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2.Plot the Bode diagram for the following transfer function and obtain the gain and phase
cross over frequencies.
Solution
The sinusoidal transfer function of obtain by replacing
The comer or various terms of are listed in the blow table. The increasing order of their
comer frequency Oslo the table shows the sloop contribute by each term and the change in
slope for the corner frequency

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3.Consider the translational mechanical system shown in Figure. In which) and denote the
displacement of the associated mass from its static equilibrium position, and represents a
force applied to the first mass m1. The parameters are masses viscous damping coefficient c,
and spring stiffness’s k1 and. The input is the applied force and the outputs are taken as the
mass displacements. We now derive a mathematical system model and then determine a valid
state-space representation.

Newton’s second law applied to each mass yields the coupled second order differential
equations, that is,

Here, the energy-storage elements are the two springs and the two masses. Defining state
variables in terms of mass displacements and velocities

Straightforward algebra yields the following state equation representation: State Differential
Equation

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Algebraic Output Equation

from which the coefficient matrices A, B,C, and D can be identified. Note that

D = [ 0 0] T because there is no direct feed through from the input to the output. Now, it was
convenient earlier to define the second state variable as the difference in mass displacements,
x2(t) = y2 (t) − y1 (t), because this relative displacement is the amount the second spring is
stretched.

Instead we could have defined the second state variable based on the absolute mass
displacement, that is x2(t) = y2 (t), and derived an equally valid state-space representation.
Making this one change in our state variable definitions, that is

Yields the new A and C matrices

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The B and D matrices are unchanged

4.Consider the electrical network shown in Figure. We now derive the mathematical model
and then determine a valid state-space representation. The two inputs are the independent
voltage and current sources vin(t) and in(t), and the single output is the inductor voltage

In terms of clockwise circulating mesh currents i1 (t), i2(t), and i3(t), Kirchhoff’s voltage law
applied around the leftmost two meshes yields

and Kirchhoff’s current law applied to the rightmost mesh yields

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In addition, Kirchhoff’s current law applied at the top node of the inductor gives

The again convenient to associate state variables with the capacitor and inductor energy-
storage elements in the network. Here, we select

We also associate inputs with the independent sources

And designate the inductor voltage) as the output so that

➢ Using the relationships

➢ The preceding circuit analysis now can be recast as

➢ Packaging these equations in matrix form and isolating the state-variable time derivatives
gives

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➢ Calculating and multiplying through by the inverse and yields the state differential equation,
that is,

➢ Which is in the required format from which coefficient matrices A and B can be identified. In
addition, the associated output equation can be expanded to the algebraic output equation as
follows

➢ From which coefficient matrices C and D can be identified

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5. Check the controllability and observability of the modes.

Consider the two-dimensional state equation

Find the state transition matrix

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6. Draw a direct form realization of a block diagram, and write the state equations in phase
variable form, for a system with the differential equation

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7. The forward path transfer function of a certain unity feedback control system is
given by design a suitable lag compensator so that the system meets the following
specifications.

(i) Percentage overshoots ≤ 16%. for unit Alep input,

(ii) Steady state error ≤ 0.125 for unit ramp input.

solution

Step 1: Sketch the rood locus of uncompensated system. To find poles of pen loop system
Given that,

To find root locus on real axis

The segments of real exits between = 0 and = −2 and the segment of real axis between s = −8
and s = − on will be part of root locus. Because if we choose a test point in this sentient then
to the right of this point we have odd number of near poles and zeros.

To find angles of any asymptotes and centroid Since

there are three poles, the number of root locus branches are three, there is no finite zero and so
all the three root locus branches will meet the zeros an infinity. Hence the number of
asymptotes required is three.

Angles of asymptotes are +60, -60 and = ±180poles are

On differentiating K with respect to s we get,

For the value of K is positive and real and so it is actual breakaway point.

To find crossing point on imaginary axis.

The characteristic equation is

Step 2: Determine the dominant pole

Given that, %MP = 16%

We know that, %M = e −/√1−

On cross multiplication we get

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Draw a straight line at an angle of 60∘ with respect to real axis as shown in fig 1.3.1. The meeting
point of this line with root locus is the dominant pole, Sd from fig 1.3 .1. we get, (Dominant poles
occur as conjugate poles)

Step 3: To find gain, at s = Sd

From root locus plot of fig 1.3 .1. We get,

Note: Vector lengths are measured to scale) since there is no finite zero, the product of vector
lengths from zeros is unity

Step 4: To find parameter,

Given that,

Velocity error constant of uncompensated system

It is given that steady state error, u ≤ 0.125 for ramp input.

The desired velocity error constant,

Let be the factor by which, is increased.

Let, = 1.2 × A = 1.2 × 6.4 = 7.68

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Step 5: Determine the transfer function of lag compensator.

Zero of the compensators, = −1/ = 0.1 × second pole of G(s)

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8. Design a lag-lead compensator for a system with open loop transfer function to
satisfy the following specifications.
(i) Damping ratio of dominant
(ii) Closed-loop poles, = 0.5. (ii) Undammed natural frequency of dominant
closed loop poles, = 5 rad/sec, (iii) Velocity error constant, = 80sec−1

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Step-4: To find the pole and zero of the lead sections

Draw a line AP parallel to -axis is shown in fig 1.10.1. The bisector PC is drawn to bisect the
angle APO.

The angles CPD and BPC are constructed as shown in fig 1.10.1.

Here ∠CPD = ∠BPC = /2 = 55/2 = 27.5 ∘ = 27∘ from fig 1.10.1.

Pole of the lead section, p2 = −10 Zero of the lead sections, 2 = −2.65 We know that, 2 = −1/2 ∴
2 = 1/2,65 = 0.377

We know that

∴ 2 = 1 10 = 1/(2 ∗ 10) = 0.265

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Step- 5: Transfer function of lead compensator

Transfer function of lead section,

Step- 6: To find gain, K

Open loop transfer function of lead compensated system

Here the value of K is given by the value of gain at the dominant pole , on the root locus.

From magnitude condition K is given by, From fig 1.10.1, we get,

To find velocity error constant of lead compensated system. Let, 2 = Velocity error
constant of lead compensated system.

Step- 8: To find the parameter,

Let = Desired velocity error constant

= the factor by which, is increased

Now, = /2 = 80/22.684 = 3.5267

Select, such that >. Let = 4

Step-9: To find the transfer function of lag section.

Let zero of lag section,

∴ 1 = 1 0.05 = 20 Pole of lag section,

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Transfer function of lag section, Transfer function of compensated system

Transfer function of lag- lead compensator The lag-lead compensator is connected in series with
G(s) as shown in fig 1.10 .2

Open loop transfer function of compensated system

Step-11: Check velocity error constant of compensated system.

Velocity error constant of compensated system

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Conclusion

The velocity error constant of the compensated system satisfies the requirement. Hence the
design is accepted.

RESULT

Transfer function of lag-lead compensator,

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