EXAMINATION SOLUTIONS

Module Code: UFME5W -20-3 Examination Summer

Session:

Module Description: CONTROL SYSTEMS DESIGN 10

Page of

Examiner: Quan Zhu

Question
Solution Marks
1
1) The closed loop transfer function can be derived from single loop
block diagram operation rule

(1.1) 2

2) Typical 2nd order transfer function specified by damping ratio and

undamped natural frequency can be expressed as

(1.2)
3
From the relationship of equalling the associated coefficients in equations
(1.1 and (1.2) above, it gives

3
Therefore the closed loop transfer function of (1.1) is designed as

(1.3)
2
3) To factorise equation (1.3) gives
 2
From (1.3), there is no zero. The poles of the designed closed loop
transfer function are shown in Figure S1.

X()

X()

Figure S1

lim f (t )  lim sF(s) ) and step transfer

4) From the final theorem ( t  s0
function , it can be determined with the designed system output steady
state response to a unite step stimulation in equation (1.3).
3

3
Question
Solution Marks
2
1) The larger gain (k), the larger thrust, and the system will respond 2+3
quicker. The large value of the time constant (T), the slower response of
the system output

2) This frequency transfer function can be obtained by substituting

in its Laplace transfer function. That is

1
The amplitude is given by

The angle is given by

3) The corner frequency is , therefore its amplitude is

1+2+2
and phase shift

4) In Bode diagrams, the amplitude is defined as

2

The Bode diagram is shown in Figure S2

|*|
3

0 
1/3


0 

-45

-90

Figure S2
5) The step to step procedure is listed below
Step 1 Obtain the output transfer function with step input as below
1

Step 2 Taking inverse Laplace transform to obtain time solution o(t), by

the general formula

From step 1, there are two roots/poles

Therefore

Step 3 With algebra operations on the above equation, it gives

1
Questio
Mark
n Solution
s
3
1.1) Let e(t) is the input to the PID controller, the output u(t) from the
controller is given by
2

where Kp is the proportional gain, Ti is the integral time and Td is the

derivative time. 2

1.2) Taking Laplace transform of the PID controller, it gives

1.3) The Z transform of the PID controller transfer function can be determined by
2
the substitute

where T is the sampling period.

2.1) With reference to Q3, the transfer functions can be determined as below 2

2.2) The term derivative (D) plays a ‘lead compensation’ to achieve the
desired result through the merits of its phase lead contribution and lag
compensation accomplishes the result through the merits of its attenuation 2+2
property at high frequencies. Lead compensation improves transient response,
but it requires an additional increase in gain to offset the attenuation inherent
in the lead network. The term integral (I) plays a ‘lag compensation’ to
improve steady state accuracy, but it may cause slow system response.
2
3) The Bode diagram of the frequency response is sketched in Figure S3.
With reference to the figure, the low frequency response characteristics are
specified by integral functions and the high frequency response is determined
by derivative functions
 1

Figure S3

4) There are two classes of Ziegler-Nichols PID tunings.

1 Z-N tuning method 1 --- Transient response method (open loop test for the
time delayed plants without integrator(s) and complex conjugate poles).

1.1 Obtain a unit step response plot.

1.2 Measure delayed time L and time constant T from the response plot. 3
1.3 Use L, T, and table to calculate PID controller parameters.

2 Z-N tuning method 2 --- Stability limit method (closed loop for the plants
witt integrator(s) and/or complex conjugate poles).

2.1 Set up pure proportional (P) control initially.

2.2 Increse the gain (Kp) from zero till a value to make system output
response arriving at constant oscillation.
2.3 Record this critical gain as Kcr. 3
2.4 Measure the critical period from the constant oscillation plot as Pcr.
2.5 Use Kcr, Pcr, and table to calculate PID controller parameters.
Question
Solution Marks
4
1) A linear time invariant system with m inputs, l outputs, and n state
variables can be expressed
.
x (t )  Ax (t )  Bu(t ) ( state equation ) 3
S( A, B, C, D):
y(t )  Cx (t )  Du(t ) ( output eqution )

where input, output, and state variable vector are defined respectively

The plant model can be identified from inspection of Figure Q4

3
2) Dynamic plant order is 2 from matric A, 1 input from matric vector B,
and 1 output from vector C.

Dynamic matrix An*n: describes the dynamics of the system and control 2
the trajectory of the state vector x(t).
Input matrix Bn*m: shows how each control input effects the state
variables of the systems. 1
Output matrix Cl*n: transforms the state vector x(t) into the output
vector y(t). 1
Transmission matrix Dl*m: indicates the direct (feedforward) effect of 1
control inputs to output vector y(t).

These four matrices are usually known as system matrices, and a system
defined by these matrices is denoted by S(A, B, C, D).

3) The state controllability is determined by the rank of matrix

. The matrix P is calculated as

Therefore Rank(P) = 2 = n (the state dimension) to indicate that the plant 3

is completely state controllable.
 1
The output controllability is determined by the rank of matrix
. The matrix P is calculated as

2
Therefore Rank(Q) = 1 = l (the output dimension) to indicate that the
plant is completely output controllable.

4) The kernel of the transient matrix is determined by following formula

4
Question
Solution Marks
5

1) From the specified two poles it gives

Therefore the desired system characteristic equation is defined as

The procedure for designing the state feedback gain matrix Fs is listed
below

Calculate state feedback gain matrix Fs by letting

2

where

2+3

Therefore the elements in the state feedback gain matrix Fs can be

determined by comparing the coefficients of the two polynomials above,

2) Design input feedforward gain matrix H by

2+2+2

3) the state feedback controller is structured as

2+2+1

4) This is because the poles are real and stable 2+2+1

Question
Solution Marks
6
1) Inspection of Figure Q 6, the plant Z transfer function can be mapped
into following equation

2+2

2) The closed loop transfer function can be determined by

3+2

3) From the obtained closed loop transfer function in 6.b), its

characteristic equation can be factorised in terms of

As the two poles lie within the unit circle, according to the relationship
between stability and poles, the poles inside unit circle contribute to 3
stable dynamics, the machinery system is under stable operation.
Alternatively Jury's stability test criterion can be used to draw the same
conclusion from the characteristic equation.

4) From 2) the system output can be expressed in terms of delayed z

operator

According to one of the Z transform properties , the

above system output Y(z) can be transformed into a difference equation

5) With the initial conditions, the system outputs from n = 3 to 5 can be 2

recursively calculated as follows