Ch 07-Chuẩn

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY
SYSTEM DYNAMICS AND CONTROL

ASSIGNMENT 7
STUDENT REPORT
Class: L03
Group 5: Lâm Văn Chuẩn - 1912792
Lecturer: Mr. Nguyễn Tấn Tiến

Contents
7.1 ..................................................................................................................................... 3
7.2 ..................................................................................................................................... 3
7.3 ..................................................................................................................................... 4
7.4 ..................................................................................................................................... 4
7.5 ..................................................................................................................................... 6
7.6 ..................................................................................................................................... 7
7.7 ..................................................................................................................................... 8
7.8 ..................................................................................................................................... 8
7.9 ..................................................................................................................................... 9
7.10 ................................................................................................................................... 9
7.11 ................................................................................................................................. 10
7.12 ................................................................................................................................. 10
7.13 ................................................................................................................................. 11
7.14 ................................................................................................................................. 12
7.15 ................................................................................................................................. 12
7.16 ................................................................................................................................. 13
7.19 ................................................................................................................................. 14
7.20 ................................................................................................................................. 14
7.21 ................................................................................................................................. 15
7.22 ................................................................................................................................. 15
7.23 ................................................................................................................................. 16
7.27 ................................................................................................................................. 17
7.28 ................................................................................................................................. 18
7.29 ................................................................................................................................. 18
7.30 ................................................................................................................................. 19
7.31 ................................................................................................................................. 20
7.32 ................................................................................................................................. 21
7.33 ................................................................................................................................. 22
7.34 ................................................................................................................................. 23
7.35 ................................................................................................................................. 23
7.44 ................................................................................................................................. 24
7.50 ................................................................................................................................. 25
7.55 ................................................................................................................................. 26
Ho Chi Minh City University of Technology Faculty of Mechanical Engineering
7.1
Find the steady-state errors for the following test inputs: 25𝑢(𝑡), 37𝑡𝑢(𝑡), 42𝑡 𝑢(𝑡) for the unity
feedback system
𝐸(𝑠) 𝐶(𝑠)
𝐺(𝑠)
450(𝑠 + 8)(𝑠 + 12)(𝑠 + 15)

𝐺(𝑠) =
𝑠(𝑠 + 38)(𝑠 + 2𝑠 + 28)
Check stability
𝐺(𝑠) 450𝑠 + 15750𝑠 + 178200𝑠 + 648000
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 490𝑠 + 15854𝑠 + 179264𝑠 + 648000
Poles:
−4.5609; −0.1337 + 0.0443𝑖; −0.1337 − 0.0443𝑖; −0.0716
The closed-loop system is stable
25 25
25𝑢(𝑡): 𝑒 (∞) = = =0
1 + lim 𝐺(𝑠) ∞
⟶
25 25
37𝑡𝑢(𝑡): 𝑒 (∞) = = = 0.04
lim 𝑠𝐺(𝑠) 609.02
⟶
84 84
42𝑡 𝑢(𝑡): 𝑒 (∞) = = =∞
lim 𝑠 𝐺(𝑠) 0
⟶
7.2
The figure shows the ramp input 𝑟(𝑡) and the output 𝑐(𝑡) of a system. Assuming the output’s steady
state can be approximated by a ramp, find
a.the steady-state error;
b.the steady-state error if the input becomes 𝑟(𝑡) = 𝑡𝑢(𝑡)
a,From the figue:
The steady-state error
𝑒(∞) = 5 − 3 = 2
b,
3
SYSTEM DYNAMICS AND CONTROL GVHD:NGUYỄN TẤN TIẾN
We have:
𝐶(𝑠)
𝑇(𝑠) =
𝑅(𝑠)
From the figue
𝐶(𝑠) 3
𝑇(𝑠) = =
𝑅(𝑠) 5
The input becomes 𝑟(𝑡) = 𝑡𝑢(𝑡)
2
⟹ 𝑐(𝑡) = × 3 = 1.2
5
7.3
Find the steady-state errors if the input is 80𝑡 𝑢(𝑡) for the unity feedback system
60(𝑠 + 3)(𝑠 + 4)(𝑠 + 8)
𝐺(𝑠) =
𝑠 (𝑠 + 6)(𝑠 + 17)
Check stability
𝐺(𝑠) 60𝑠 + 900𝑠 + 4080𝑠 + 5760
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 83𝑠 + 1002𝑠 + 4080𝑠 + 5760
Poles:
−69.39; −7.2328; −3.1886 + 1.1444𝑖; −3.1886 − 1.1444𝑖
160 160 7
80𝑡 𝑢(𝑡): 𝑒 (∞) = = =
lim 𝑠 𝐺(𝑠) 60 × 3 × 4 × 8 6
⟶
6×7
7.4
For the system shown in the figure, what steady state error can be expected for the following test
inputs: 15𝑢(𝑡), 15𝑡𝑢(𝑡), 15𝑡 𝑢(𝑡)
4
1
1 − 4𝑠
𝑅(𝑠) 1 2 𝐶(𝑠)
𝑠 𝑠+3
4𝑠
1
1 − 4𝑠
𝑅(𝑠) 1 2 𝐶(𝑠)
𝑠 𝑠+3
4𝑠
1
1 − 4𝑠
𝑅(𝑠) 1 2 𝐶(𝑠)
𝑠 3𝑠 + 3
4𝑠
𝑅(𝑠) 1 − 3𝑠 2 𝐶(𝑠)
𝑠(1 − 4𝑠) 3𝑠 + 3
4𝑠
5
𝑅(𝑠) 2(1 − 3𝑠) 𝐶(𝑠)

𝑠(1 − 4𝑠)(3𝑠 + 3)
4𝑠
𝑅(𝑠) 2(1 − 3𝑠) 𝐶(𝑠)

𝑠(1 − 4𝑠)(3𝑠 + 3)
4𝑠
𝑅(𝑠) 2(1 − 3𝑠) 𝐶(𝑠)

−12𝑠 3 − 27𝑠 2 + 11𝑠
15 15
15𝑢(𝑡): 𝑒 (∞) = = =0
1 + lim 𝐺(𝑠) ∞
⟶
15 15
15𝑡𝑢(𝑡): 𝑒 (∞) = = = 82.5
lim 𝑠𝐺(𝑠) 0.1818
⟶
30 30
15𝑡 𝑢(𝑡): 𝑒 (∞) = = =∞
⟶
7.5
For the unity feedback system shown in the figure, where
𝐺(𝑠)
500
𝐺(𝑠) =
(𝑠 + 24)(𝑠 + 8𝑠 + 14)
Check stability
6
𝐺(𝑠) 500
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 32𝑠 + 206𝑠 + 836
Poles:
−25.1254; −3.4373 + 4.6323𝑖; −3.4373 − 4.6323𝑖6
30 30
30𝑢(𝑡): 𝑒 (∞) = = = 12.05
1 + lim 𝐺(𝑠) 1 + 1.488
⟶
70 70
70𝑡𝑢(𝑡): 𝑒 (∞) = = =∞
lim 𝑠𝐺(𝑠) 0
⟶
162 162
81𝑡 𝑢(𝑡): 𝑒 (∞) = = =∞
⟶
7.6
An input of 25𝑡 𝑢(𝑡) is applied to the input of a Type 3 unity feedback system, as shown in the
figure, where
𝐺(𝑠)
210(𝑠 + 4)(𝑠 + 6)(𝑠 + 11)(𝑠 + 13)

𝐺(𝑠) =
𝑠 (𝑠 + 7)(𝑠 + 14)(𝑠 + 19)
Check stability
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
Poles:
−0.3423 + 12.15𝑖; −0.3423 − 12.15𝑖; −14.637 + 1.2358𝑖; −14.637
− 1.2358𝑖; −6.6337; −3.4078
25 × 3! 150 150
25𝑡 𝑢(𝑡) or ∶ 𝑒 (∞) = = = 0.388
𝑠 lim 𝑠 𝐺(𝑠) 210 × 4 × 6 × 11 × 13
⟶
7 × 14 × 19
7
7.7
The steady-state error in velocity of a system is defined to be
𝑑𝑟 𝑑𝑐
−
𝑑𝑥 𝑑𝑥 𝑡⟶∞
where, 𝑟:the system input;𝑐:the system output
Find the steady-state error in velocity for an input of 𝑡 𝑢(𝑡) to a unity feedback system with a
forward TF of
100(𝑠 + 1)(𝑠 + 2)
𝐺(𝑠) =
𝑠 (𝑠 + 3)(𝑠 + 10)
Check stability
𝐺(𝑠) 100𝑠 + 300𝑠 + 200
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 13𝑠 + 130𝑠 + 300𝑠 + 200
Poles:
−5.093 + 8.5665𝑖; −5.093 − 8.5665𝑖; −1.407 + 0.1846𝑖; −1.407 − 0.1846𝑖
3! 6 6
𝑡 𝑢(𝑡) or ∶ 𝑒 (∞) = = =∞
𝑠 lim 𝑠 𝐺(𝑠) 0
⟶
7.8
What is the steady-state error for a step input of 15 units applied to the unity feedback system,
where
𝐺(𝑠)
1020(𝑠 + 13)(𝑠 + 26)(𝑠 + 33)

𝐺(𝑠) =
(𝑠 + 65)(𝑠 + 75)(𝑠 + 91)
Check stability
𝐺(𝑠)
𝑇(𝑠) =
1 + 𝐺(𝑠)
Poles:
−33.4816; −24.6412; −14.0330
8
15 15 15
15𝑢(𝑡) or ∶ 𝑒 (∞) = = = 0.585
𝑠 1 + lim 𝐺(𝑠) 1020 × 13 × 26 × 33
⟶
65 × 75 × 91
7.9
A system has 𝐾 = 4 . What steady state error can be expected for inputs of 70𝑢(𝑡) and 70𝑡𝑢(𝑡)?
𝐾 = 4 ⇔ lim 𝐺(𝑠) = 4
⟶
70 70
70𝑢(𝑡): 𝑒 (∞) = = = 14
1 + lim 𝐺(𝑠) 1 + 4
⟶
70 70
70𝑡𝑢(𝑡): 𝑒 (∞) = = =∞
⟶
7.10
For the unity feedback system shown in the figure, where
𝐺(𝑠)
5000
𝐺(𝑠) =
𝑠(𝑠 + 75)
a.What is the expected percent overshoot for a unit step input?
b.What is the settling time for a unit step input?
c.What is the steady-state error for an input of 5𝑢(𝑡)?
d.What is the steady-state error for an input of 5𝑡𝑢(𝑡)?
e.What is the steady-state error for an input of 5𝑡 𝑢(𝑡)?
𝐺(𝑠) 5000
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 75𝑠 + 5000
a,
𝜔 = √5000 = 50√2; 𝜁 = 0.53
∕ . ∕√ .
%𝑂𝑆 = 𝑒 × 100 = 𝑒 × 100 = 14.013
b,
9
4 4
𝑇 = = = 0.1066
𝜁𝜔 50√2 × 0.53
c,d,e
Check stability
𝐺(𝑠) 5000
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 75𝑠 + 5000
Poles:
−37.5 − 59.948𝑖; −37.5 + 59.948𝑖
The system is stable
5 5
5𝑢(𝑡): 𝑒 (∞) = = =0
1 + lim 𝐺(𝑠) 1 + ∞
⟶
5 5
5𝑡𝑢(𝑡): 𝑒 (∞) = = = 0.075
⟶
75
5 5
5𝑡 𝑢(𝑡): 𝑒 (∞) = = =∞
⟶
7.11
Given the unity feedback system shown in the figure, where
𝐺(𝑠)
100500(𝑠 + 5)(𝑠 + 14)(𝑠 + 23)

𝐺(𝑠) =
𝑠(𝑠 + 27)(𝑠 + 𝛼)(𝑠 + 33)
Find the value of 𝛼 to yield a 𝐾 = 25000
100500 × 5 × 14 × 23
𝐾 = lim 𝑠𝐺(𝑠) = = 25000
⟶ 27 × 𝛼 × 33
𝛼 = 0.138
7.12
For the unity feedback system of the figure, where
10
𝐺(𝑠)
𝐾(𝑠 + 2)(𝑠 + 4)(𝑠 + 6)

𝐺(𝑠) =
𝑠 (𝑠 + 5)(𝑠 + 7)
find the value of 𝐾 to yield a static error constant of 10,000
𝐾×2×4×6
⟹ 𝐾 = lim 𝑠 𝐺(𝑠) = = 10000
⟶ 5×7
⟹ 𝐾 = 7291.667
7.13
For the system shown in the figure
𝑅(𝑠) 5 𝐶(𝑠)
𝑠(𝑠 + 1)(𝑠 + 2)
𝑠+3
𝑅(𝑠) 𝐶(𝑠)
5
3 2
𝑠 + 3𝑠 + 7𝑠 + 15
a,Find 𝐾 , 𝐾 and 𝐾
5 1
𝐾 = lim 𝐺(𝑠) = =
⟶ 15 3
𝐾 = lim 𝑠𝐺(𝑠) = 0
⟶
𝐾 = lim 𝑠 𝐺(𝑠) = 0
⟶
b,
Find the steady-state error for an input of 50𝑢(𝑡), 50𝑡𝑢(𝑡), 50𝑡 𝑢(𝑡)
50 50
50𝑢(𝑡): 𝑒 (∞) = = =0
1+𝐾 1
1+
3
11
50 50
50𝑡𝑢(𝑡): 𝑒 (∞) = = = 0.075
𝐾 0
100 100
50𝑡 𝑢(𝑡): 𝑒 (∞) = = =∞
𝐾 0
c,
State the system type is type 0
7.14
A Type 3 unity feedback system has 𝑟 = 10𝑡 applied to its input. Find the steady-state position
error for this input if the forward TF is
1030(𝑠 + 8𝑠 + 23)(𝑠 + 21𝑠 + 18)
𝐺(𝑠) =
𝑠 (𝑠 + 6)(𝑠 + 13)
Check stability
1
𝑇(𝑠) =
1 + 𝐺(𝑠)
Poles:
−1.0198; −0.0203; −0.004 + 0.0027𝑖; −0.004 − 0.0027𝑖; −0.0009
The system is stable
60 60
10𝑡 𝑢(𝑡): 𝑒 (∞) = = = 0.011
lim 𝑠 𝐺(𝑠) 1030 × 23 × 18
⟶
6 × 13
7.15
Find the system type for the system of t
𝑅(𝑠) 100 𝐶(𝑠)
1000
𝑠(𝑠 + 5) 𝑠
10
12
𝑅(𝑠) 100 𝐶(𝑠)

10
𝑠(𝑠 + 5) 𝑠
𝑠
100
𝑅(𝑠) 1000 𝐶(𝑠)

𝑠(𝑠 2 + 5𝑠 + 10)
⟹ the system type is type 1

7.16
What are the restrictions on the feedforward TF 𝐺 (𝑠) in the system of the figure to obtain zero
steady-state error for step inputs if 𝐺 (𝑠) is a
𝐺2 (𝑠)
𝑅(𝑠) 20 𝐶(𝑠)
𝐺1 (𝑠)
𝑠(𝑠 + 3)
𝐺2 (𝑠)
𝐺1 (𝑠)
𝑅(𝑠) 20 𝐶(𝑠)
𝐺1 (𝑠)
𝑠(𝑠 + 3)
𝑅(𝑠) 20𝐺1 𝐶(𝑠)

𝐺1 + 𝐺2
𝐺1 𝑠(𝑠 + 3)
𝑅(𝑠) 20𝐺1 𝐶(𝑠)

𝐺1 + 𝐺2
𝐺1 𝑠(𝑠 + 3) + 20𝐺1
13
20(𝐺1 + 𝐺2 )
𝑠(𝑠 + 3) − 20𝐺2
𝑅(𝑠) 𝑠(𝑠 + 3) − 20𝐺

𝐸(𝑠) = = 𝑅(𝑠)
1 + 𝐺(𝑠) 𝑠(𝑠 + 3) + 20𝐺
𝐺 (𝑠)
𝑒(∞) lim 𝑠𝐸(𝑠) = − lim
⟶ ⟶ 𝐺 (𝑠)
to obtain zero steady-state error for step inputs, 𝐺 (𝑠) must be lower order than 𝐺 (𝑠). Therefore,
if 𝐺 (𝑠) is a
a.type 0 TF → 𝐺2 must be zero
b.type 1 TF → 𝐺2 must be type 0
c.type 2 TF → 𝐺2 must be type 1
7.19
𝐺(𝑠)
𝐾(𝑠 + 𝑎)
𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 13)
Find the value of 𝐾𝑎 so that a ramp input of slope 40 will yield an error of 0.006 in the steady state
when compared to the output
A ramp input of slope 40
⟹ 𝑅(𝑠) = 40𝑡𝑢(𝑡)
40 40
40𝑡𝑢(𝑡): 𝑒 (∞) = = = 0.006
lim 𝑠𝐺(𝑠) 𝐾𝑎
⟶ 2 × 13
⟹ 𝐾𝑎 = 173333.3
7.20
Given the system of the figure, design the value of 𝐾 so that for an input of 100𝑡𝑢(𝑡), there will be
a 0.01 error in the steady state
14
𝑅(𝑠) 𝐾 𝐶(𝑠)
𝑠(𝑠 + 1)
10𝑠
𝐾
𝑠(𝑠 + 11)
100 100
100𝑡𝑢(𝑡): 𝑒 (∞) = = = 0.01
lim 𝑠𝐺(𝑠) 𝐾
⟶ 11
⟹ 𝐾 = 11000
7.21
Find the value of 𝐾 for the unity feedback system where
𝐺(𝑠)
𝐺(𝑠)
𝐾(𝑠 + 3)
𝐺(𝑠) =
𝑠 (𝑠 + 7)
if the input is 10𝑡 𝑢(𝑡), and the desired steady-state error is 0.061 for this input
20 20
10𝑡 𝑢(𝑡): 𝑒 (∞) = = = 0.061
lim 𝑠 𝐺(𝑠) 𝐾 × 3
⟶
7
⟹ 𝐾 = 765.03
7.22
The unity feedback system of the figure, where
15
𝐺(𝑠)
𝐾(𝑠 + 3𝑠 + 30)
𝐺(𝑠) =
𝑠 (𝑠 + 5)
is to have 1/6000 error between an input of 10𝑡𝑢(𝑡) and the output in the steady state
a.Find 𝐾 and 𝑛 to meet the specification
To have 1/6000 error between an input of 10𝑡𝑢(𝑡) and the output in the steady state
𝑛=1
10 10 1
10𝑡𝑢(𝑡): 𝑒 (∞) = = =
lim 𝑠𝐺(𝑠) 𝐾 × 30 6000
⟶
5
⟹ 𝐾 = 10000
b.What are 𝐾 , 𝐾 , and 𝐾
10000(𝑠 + 3𝑠 + 30)
𝐾 = lim 𝐺(𝑠) = lim =∞
⟶ ⟶ 𝑠(𝑠 + 5)
10000(𝑠 + 3𝑠 + 30)
𝐾 = lim 𝑠𝐺(𝑠) = lim 𝑠 = 60000
⟶ ⟶ 𝑠(𝑠 + 5)
10000(𝑠 + 3𝑠 + 30)
𝐾 = lim 𝐺(𝑠) = lim 𝑠 =0
⟶ ⟶ 𝑠(𝑠 + 5)
7.23
For the unity feedback system of the figure, where
𝐺(𝑠)
𝐾(𝑠 + 6𝑠 + 6)
𝐺(𝑠) =
(𝑠 + 5) (𝑠 + 3)
a.Find the system type
From 𝐺(𝑠)
The system type is type 0
16
b.What error can be expected for an input of 12𝑢(𝑡)?

12 12 300
12𝑢(𝑡): 𝑒 (∞) = = =
1 + lim 𝐺(𝑠) 1 + 𝐾 × 6 25 + 2𝐾
⟶
5 ×3
c.What error can be expected for an input of 12𝑡𝑢(𝑡)?
12 12
12𝑡𝑢(𝑡): 𝑒 (∞) = = =∞
⟶
7.27
𝐺(𝑠)
𝐾(𝑠 + 𝑎)
𝐺(𝑠) =
(𝑠 + 𝛽)
is to be designed to meet the following specifications: steady-state error for a unit step input = 0.1,
damping ratio = 0.5, natural frequency = √10. Find 𝐾, 𝛼, and 𝛽
𝐾(𝑠 + 𝑎)
𝐺(𝑠) (𝑠 + 𝛽) 𝐾(𝑠 + 𝑎)
𝑇(𝑠) = = =
1 + 𝐺(𝑠) 𝐾(𝑠 + 𝑎) 𝑠 + (2𝛽 + 𝐾)𝑠 + 𝛽 + 𝐾𝑎
1+
(𝑠 + 𝛽)
From steady-state error for a unit step input = 0.1, damping ratio = 0.5, natural frequency = √10
1 1
𝑒(∞) = = = 0.1 ⟺ 𝐾𝑎 = 9𝛽
1 + lim 𝐺(𝑠) 1 + 𝐾𝑎
⟶
𝛽
𝜔 = 𝛽 + 𝐾𝑎 = √10 ⟺ 𝛽 + 𝐾𝑎 = 10
2𝛽 + 𝐾
𝜁= = 0.5
√10
𝛽=1 𝛽 = −1
⎧ ⎧
−4 + √10 4 + √10
⟹ 𝐾= or 𝐾=
⎨ 2 ⎨ 2
⎩𝑎 = −12 − 3√10 ⎩𝑎 = 12 − 3√10
17
7.28
A second-order, unity feedback system is to follow a ramp input with the following specifications:
the steady-state output position shall differ from the input position by 0.01 of the input velocity;
the natural frequency of the closed-loop system shall be 10𝑟𝑎𝑑/𝑠. Find the following
a, The system type
Because the steady-state output position shall differ from the input position by 0.01 of the input
velocity ⟹ The system type is type 1
b.The exact expression for the forward-path TF
𝐾
𝑇(𝑠) =
𝑠 + 𝑎𝑠 + 𝐾
𝐾
⟹ 𝐺(𝑠) =
𝑠(𝑠 + 𝑎)
1 1 𝐾
𝑒(∞) = = = 0.01 ⟹ = 100
lim 𝑠𝐺(𝑠) 𝐾 𝑎
⟶ 𝑎
Which
𝜔 = √𝐾 = 10𝑟𝑎𝑑 ∕ 𝑠 ⟹ 𝐾 = 100
⟹𝑎=1
100
⟹ 𝑇(𝑠) =
𝑠 + 𝑠 + 100
c,
From b,
1
𝜁= = 0.05
2 × 10
7.29
𝐺(𝑠)
𝐾(𝑠 + 𝑎)
𝐺(𝑠) =
𝑠(𝑠 + 𝛽)
18
is to be designed to meet the following requirements: The steady-state position error for a unit ramp
input equals 1/10; the closed-loop poles will be located at −1 ± 𝑗1. Find 𝐾, 𝛼, and 𝛽 in order to
meet the specifications
𝐺(𝑠) 𝐾(𝑠 + 𝑎)
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + (2𝛽 + 𝐾)𝑠 + 𝛽 + 𝑎𝐾
Because the steady-state position error for a unit ramp input equals 1/10
1 1 𝐾𝑎
𝑒(∞) = = = 0.1 ⟹ = 10
lim 𝑠𝐺(𝑠) 𝐾𝑎 𝛽
⟶
𝛽
And the closed-loop poles will be located at −1 ± 𝑗1
2𝛽 + 𝐾 = 2
𝛽 + 𝑎𝐾 = 2
𝛽 = −5 + √23 𝛽 = −5 − √23
⟹ 𝐾 = 12 − 2√23 𝑜𝑟 𝐾 = 12 + 2√23
𝑎 = −0.848 𝑎 = −4.537
7.30
Given the unity feedback control system of the figure, where
𝐺(𝑠)
𝐾
𝐺(𝑠) =
𝑠 (𝑠 + 𝑎)
find the values of 𝑛, 𝐾, and 𝑎 in order to meet specifications of 12% overshoot and 𝐾 = 110
𝐾
𝐾 = lim 𝑠𝐺(𝑠) = lim 𝑠
⟶ ⟶ 𝑠 (𝑠 + 𝑎)
To 𝐾 = 110 ⟺ 𝑛 = 1
𝐾
⟹ = 110
𝑎
𝐾 𝐾
𝐺(𝑠) = ⟹ 𝑇(𝑠) =
𝑠(𝑠 + 𝑎) 𝑠 + 𝑎𝑠 + 𝐾
𝜔 = √𝐾
19
𝑎
𝜁=
2√𝐾
− ln(%𝑂𝑆)
𝜁= = −0.6
𝜋 + 𝑙𝑛 (%𝑂𝑆)
𝐾 = 15146.62
⟹
𝑎 = 137.7
7.31
Given the unity feedback control system of the figure, where
𝐺(𝑠)
𝐾
𝐺(𝑠) =
𝑠(𝑠 + 𝑎)
find the following
a.𝐾 and 𝑎 to yield 𝐾 = 1000 and a 20% overshoot
𝐾
𝑇(𝑠) =
𝑠 + 𝑎𝑠 + 𝐾
𝜔 = √𝐾
𝑎
𝜁=
2√𝐾
− ln(%𝑂𝑆)
𝜁= = 0.456
𝐾
𝐾 = lim 𝑠𝐺(𝑠) = = 1000
⟶ 𝑎
𝐾 = 831744
⟹
𝑎 = 831.744
b.𝐾 and 𝑎 to yield a 1% error in the steady state and a 10% overshoot
𝜔 = √𝐾
𝑎
𝜁=
2√𝐾
− ln(%𝑂𝑆)
𝜁= = 0.591
20
1 𝐾
𝑒(∞) = = 0.01 ⟹ 𝐾 = lim 𝑠𝐺(𝑠) = = 100
𝐾 ⟶ 𝑎
𝐾 = 13971
⟹
𝑎 = 139.71
7.32
Given the system in the figure
𝑅(𝑠) 1 1 𝐶(𝑠)
𝑠 2 (𝑠 + 1) 2
𝑠 (𝑠 + 3)
1
𝑠
Find the following

a.The closed-loop TF
𝑅(𝑠) 𝑠 1 𝐶(𝑠)
𝑠 + 𝑠3 + 1
4
𝑠 2 (𝑠 + 3)
𝑅(𝑠) 1 𝐶(𝑠)
𝑠(𝑠 + 3)(𝑠 4 + 𝑠 3 + 1)
1
𝑠 + 4𝑠 + 3𝑠 + 4𝑠 2 + 3𝑠 + 1
6 5 4
b.The system type

The system type is type 1
c.The steady-state error for an input of 5𝑢(𝑡)
Since system is Type 1, 𝑒 = 0
d.The steady-state error for an input of 5𝑡𝑢(𝑡)
5 5
5𝑡𝑢(𝑡): 𝑒 (∞) = = = 15
⟶
3×1
21
e.Discuss the validity of your answers to Parts c and d

𝐺(𝑠) 1
𝑇(𝑠) = =
1 + 𝐺(𝑠) 𝑠 + 4𝑠 + 3𝑠 + 𝑠 + 3𝑠 + 1
Poles:
−3.0190; −1.3166; 0.3426 ± 0.7762𝑗; −0.3495
Therefore, system is unstable and results of (c) and (d) are meaningless
7.33
Given the system in the figure
10
2 𝑠(𝑠 + 1)(𝑠 + 3)(𝑠 + 4)
2𝑠
Find the following

a.The closed-loop TF
𝑅(𝑠) 10 𝐶(𝑠)
2
𝑠(𝑠 3 + 8𝑠 2+ 19𝑠 + 32)
𝑅(𝑠) 20 𝐶(𝑠)
𝑠(𝑠 3 + 8𝑠 2+ 19𝑠 + 32)
20
𝑠 4 + 8𝑠 3 + 19𝑠 2 + 32𝑠 + 20
b.The system type

The system type is Type 1
c.The steady-state error for an input of 5𝑢(𝑡)
Since system is Type 1, 𝑒 = 0
d.The steady-state error for an input of 5𝑡𝑢(𝑡)
22
5 5
5𝑡𝑢(𝑡): 𝑒 (∞) = = =8
⟶
32
e.Discuss the validity of your answers to Parts c and d
Poles:
−5.4755; −0.7622 ± 1.7526𝑗; −1
Therefore, system is stable and results of parts c and d are valid.
7.34
(𝑠 + 9) 6(𝑠 + 9)(𝑠 + 17) 𝐶(𝑠)

𝑠(𝑠 + 6)(𝑠 + 12)(𝑠 + 14) (𝑠 + 12)(𝑠 + 32)(𝑠 + 38)
13
1
𝑠+7
Use matlab to find the following

a.The system type
b.𝐾𝑝, 𝐾𝑣, and 𝐾𝑎
c.The steady-state error for inputs of 100𝑢(𝑡), 100𝑡𝑢(𝑡), and 100𝑡 2𝑢(𝑡)
7.35
The system of the figure is to have the following specifications:
𝐾 = 10; 𝜁 = 0.5
𝑅(𝑠) 10 𝐶(𝑠)
𝐾1 𝑠(𝑠 + 1)
𝐾𝑓 𝑠
Find the values of 𝐾 and 𝐾 required for the specifications of the system to be met
23
𝑅(𝑠) 10 𝐶(𝑠)
𝐾1
𝑠 2 + 10𝐾𝑓 + 1 𝑠
𝑅(𝑠) 10𝐾1 𝐶(𝑠)

𝑠 𝑠 + 10𝐾𝑓 + 1
𝑅(𝑠) 10𝐾1 𝐶(𝑠)

𝑠 2 + 10𝐾𝑓 + 1 𝑠 + 10𝐾1
10𝐾
𝐾 = 10 ⟹ lim 𝑠𝐺(𝑠) = = 10
⟶ 10𝐾 + 1
10𝐾 + 1
𝜁= = 0.5
10𝐾
𝐾 = 10
⟹ 𝐾 = 0.9
7.44
Given the system shown in the figure
𝑅(𝑠) 𝑠+1 𝐶(𝑠)
2
𝑠 (𝑠 + 2)
find the following

a.The system type
𝑅(𝑠) 𝑠+1 𝐶(𝑠)
𝑠 2 (𝑠
+ 2)
−1 + 𝐾
24
𝑅(𝑠) 𝑠+1 𝐶(𝑠)

3 2
𝑠 + 2𝑠 + (𝐾 − 1)𝑠 + 𝐾 − 1
The system type is Type 0

b.The value of 𝐾 to yield 0.1% error in the steady state
1 1 1000
𝑒(∞) = = = 0.001 ⟹ 𝐾 =
1 + lim 𝐺(𝑠) 1 + 1 999
⟶
𝐾−1
7.50
Given the system shown in the figure
𝑠(𝑠 + 1)(𝑠 + 4)
𝑠+𝑎
find the sensitivity of the steady-state error to parameter 𝑎 . Assume a step input. Plot the sensitivity
as a function of parameter a
𝑠(𝑠 + 1)(𝑠 + 4)
𝑠+𝑎−1
3 2
𝑠 + 5𝑠 + (4 + 𝐾)𝑠 + 𝐾(𝑎 − 1)
𝑎−1
𝑒= ⟺𝑎>1 or 𝑎<0
𝑎
The sensitivity
𝑎 𝛿𝑒 𝑎 𝑎 − (𝑎 − 1) 𝑎 − 1
𝑆 : = = × =
𝑒 𝛿𝑎 𝑎 − 1 𝑎 𝑎
𝑎
25
Plot:
7.55
For each of the following closed-loop systems, find the steady-state error for unit step and unit
ramp inputs. Use both the final value theorem and input substitution methods
a,
−5 −4 −2 1
𝑥̇ = −3 −10 0 𝑥 + 1 𝑟, 𝑦 = [−1 2 1]𝑥
−1 1 −5 0
−5 −4 −2
𝐴 = −3 −10 0 ;
−1 1 −5
1
𝐵= 1
0
𝑪 = [−1 2 1]
Final value theorem:
26
𝑠 + 19𝑠 + 108𝑠 + 180

𝐸(𝑠) = 𝑅(𝑠)[1 − 𝐶(𝑠𝐼 − 𝐴) 𝐵] = 𝑅(𝑠) =
𝑠 + 20𝑠 + 111𝑠 + 164
𝑠 + 19𝑠 + 108𝑠 + 180
𝑒(∞) = lim 𝑠𝑅(𝑠)
⟶ 𝑠 + 20𝑠 + 111𝑠 + 164
For a unit step, 𝑅(𝑠) = 1/𝑠, and 𝑒(∞) = 45/41 = 1.0976. For a unit ramp, 𝑅(𝑠) = 1/𝑠 , and 𝑒(∞)
= ∞. Notice that the system behaves like a Type 0 system
Input substitution methods
For a unit step input, the steady-state error
𝑒(∞) = 1 + 𝐶𝐴 𝐵
= 1 + 0.0976
= 1.0976
For a ramp input, the steady-state error
𝑒(∞) = lim [(1 + 𝐶𝐴 𝐵)𝑡 + 𝐶(𝐴 ) 𝐵]
⟶
= lim [0.0976𝑡 − 0.0843]

⟶
=∞
b,
0 1 0 0
𝑥̇ = −5 −9 7 𝑥 + 0 𝑟, 𝑦 = [1 0 0]𝑥
−1 0 0 1
0 1 0
𝐴 = −5 −9 7
−1 0 0
0
𝐵= 0
1
𝑪 = [1 0 0]
𝑠 + 9𝑠 + 5𝑠
𝐸(𝑠) = 𝑅(𝑠)[1 − 𝐶(𝑠𝐼 − 𝐴) 𝐵] = 𝑅(𝑠) =
𝑠 + 9𝑠 + 5𝑠 + 7
27
𝑠 + 9𝑠 + 5𝑠
⟶ 𝑠 + 9𝑠 + 5𝑠 + 7
For a unit step, 𝑅(𝑠) = 1/𝑠, and 𝑒(∞) = 0. For a unit ramp, 𝑅(𝑠) = 1/𝑠 , and 𝑒(∞) = 5\7. Notice
that the system behaves like a Type 1 system
𝑒(∞) = 1 + 𝐶𝐴 𝐵
=1−1
=0
𝑒(∞) = lim [(1 + 𝐶𝐴 𝐵)𝑡 + 𝐶(𝐴 ) 𝐵]
⟶
= lim [0𝑡 + 0.7143]

⟶
= 0.7143
c,
−9 −5 −1 2
𝑥̇ = −1 0 −2 𝑥 + 3 𝑟, 𝑦 = [1 −2 4]𝑥
−3 −2 −5 5
−9 −5 −1
𝐴 = −1 0 −2
−3 −2 −5
2
𝐵= 3
5
𝑪 = [1 −2 4]
𝑠 − 2𝑠 − 29𝑠 + 204
𝐸(𝑠) = 𝑅(𝑠)[1 − 𝐶(𝑠𝐼 − 𝐴) 𝐵] = 𝑅(𝑠) =
𝑠 + 14𝑠 + 33𝑠 − 29
𝑠 + 2𝑠 + 29𝑠 − 204
⟶ 𝑠 + 14𝑠 + 33𝑠 − 29
For a unit step, 𝑅(𝑠) = 1/𝑠, and 𝑒(∞) = −7.0345. For a unit ramp, 𝑅(𝑠) = 1/𝑠 , and 𝑒(∞) = ∞.
Notice that the system behaves like a Type 0 system
28

𝑒(∞) = 1 + 𝐶𝐴 𝐵
= 1 − 8.0345
= −7.0345
𝑒(∞) = lim [(1 + 𝐶𝐴 𝐵)𝑡 + 𝐶(𝐴 ) 𝐵]
⟶
= lim [−7.0345𝑡 − 7.0048]

⟶
=∞
29

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HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

SYSTEM DYNAMICS AND CONTROL

Lecturer: Mr. Nguyễn Tấn Tiến

450(𝑠 + 8)(𝑠 + 12)(𝑠 + 15)

𝑅(𝑠) 2(1 − 3𝑠) 𝐶(𝑠)

𝑅(𝑠) 2(1 − 3𝑠) 𝐶(𝑠)

𝑅(𝑠) 2(1 − 3𝑠) 𝐶(𝑠)

210(𝑠 + 4)(𝑠 + 6)(𝑠 + 11)(𝑠 + 13)

1020(𝑠 + 13)(𝑠 + 26)(𝑠 + 33)

100500(𝑠 + 5)(𝑠 + 14)(𝑠 + 23)

𝐾(𝑠 + 2)(𝑠 + 4)(𝑠 + 6)

𝑅(𝑠) 100 𝐶(𝑠)

𝑅(𝑠) 1000 𝐶(𝑠)

⟹ the system type is type 1

𝑅(𝑠) 20𝐺1 𝐶(𝑠)

𝑅(𝑠) 20𝐺1 𝐶(𝑠)

𝑅(𝑠) 𝑠(𝑠 + 3) − 20𝐺

b.What error can be expected for an input of 12𝑢(𝑡)?

Find the following

b.The system type

e.Discuss the validity of your answers to Parts c and d

Find the following

b.The system type

(𝑠 + 9) 6(𝑠 + 9)(𝑠 + 17) 𝐶(𝑠)

Use matlab to find the following

𝑅(𝑠) 10𝐾1 𝐶(𝑠)

𝑅(𝑠) 10𝐾1 𝐶(𝑠)

find the following

𝑅(𝑠) 𝑠+1 𝐶(𝑠)

The system type is Type 0

𝑠 + 19𝑠 + 108𝑠 + 180

= lim [0.0976𝑡 − 0.0843]

= lim [0𝑡 + 0.7143]

Input substitution methods

= lim [−7.0345𝑡 − 7.0048]

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