EBB320 Semestertoets/Semester test #2

Departement Elektriese, Elektroniese Department of Electrical, Electronic

en Rekenaar-Ingenieurswese and Computer Engineering

Semestertoets 2 Semester test 2

Memorandum Memorandum
Kopiereg voorbehou Copyright reserved

Beheerstelsels EBB320 Control Systems EBB320

3 Oktober 2014 3 October 2014
Student se besonderhede:
Student's details:
Naam (opsioneel): Studentenommer:
Name (optional): Student number:

Tel. nr. gedurende toetsreeks: Tel. nr. na toetsreeks:

Tel no. during test series: Tel. no. after test series:

Toetsinligting: Die vraestel bestaan uit 3 vrae.

Test information: The paper consists of 3 questions.
Maksimum punte: Volpunte:
Maximum marks: 110 Full marks: 90
Duur van vraestel: 90 minute Oopboek / toeboek: Toeboek met 1 A4 vel
Duration of paper: 90 minutes Open / closed book: Closed book with 1 A4 sheet
Totale aantal bladsye (hierdie blad ingesluit): 13 bladsye
Total number of pages (including this page): 13 pages

Eksaminatore(e): 1 Prof I K Craig

Examiners(s): 2 Mr S Botha
3 Mr R Küsel

LEES EERS HIERDIE BELANGRIKE OPDRAGTE: FIRST READ THESE IMPORTANT INSTRUCTIONS:

Enige sakrekenaar word toegelaat Any pocket calculator is allowed

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Beantwoord alle vrae op die vraestel.
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van die vorige bladsy.
Skryf met 'n pen, en moenie korreksievloeistof gebruik nie.
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gevolge by die oortreding daarvan geld.
Answers must be fully backed by explicit calculations.
Answer all questions on the question paper.
If you need extra writing space, use the back of the previous page.
Write in pen, and do not use correction fluid.
The examination regulations of the University of Pretoria and the
consequences of their contravention apply.

Vraag/Question 1 2 3 Totaal/Total
Punt/Mark
 EBB320 Semestertoets/Semester test #2

#1: [30]

Die oordragsfunksies in ‘n terugvoer stelsel word gegee deur: / The transfer functions in a
feedback system are given as:

+ E(s)
R(s) G(s) Y(s)
-­‐
Ym(s)
K(s)
Die geslotelus-stelsel T(s) word gegee deur: / The closed-loop system T(s) is given by:

Y (s) = T (s)R(s)

met die toestandsveranderlike beskrywing van T(s): / with the state-space description of
T(s):

x!cl (t) = Acl xcl (t) + Bcl r(t)

y(t) = Ccl xcl (t) + Dcl r(t)

Die toestandveranderlikes van G(s) is xp en die toestandsveranderlike matrikse van G(s): /

The state variables of G(s) are xp and the state-space matrices for G(s):

⎡ −1 1 2 ⎤ ⎡ 2 ⎤
⎢ ⎥ ⎢ ⎥
Ap = ⎢ 0 −1 5 ⎥ ; Bp = ⎢ 1 ⎥ ; C p = ⎡⎣ 1 0 0 ⎤⎦ ; D p = 0
⎢⎣ 0 3 −4 ⎦⎥ ⎢⎣ 1 ⎦⎥

Die toestandveranderlikes van K(s) is xk en die toestandsveranderlike matrikse van K(s): /

The state variables of K(s) are xk and the state-space matrices for K(s):

⎡ 0 1 ⎤ ⎡ 0 ⎤
Ak = ⎢ ⎥ ; Bk = ⎢ ⎥ ; Ck = ⎡⎣ 2 0 ⎤⎦ ; Dk = 3
⎣ −3 −5 ⎦ ⎣ 1 ⎦

Bepaal Acl, Bcl, Ccl, en Dcl sodat: / Determine Acl, Bcl, Ccl, and Dcl such that: Acl (1, 4) = −4

maw die inskrywing in die eerste ry, vierde kolom van Acl moet -4 wees. / i.e. the entry in the first
row, fourth column of Acl must be -4.

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Verskaf u antwoorde in die gegewe tabel. / Provide your answers in the table provided.

Acl ⎡
⎢
−7 1 2 −4 0 ⎤
⎥
⎢ −3 −1 5 −2 0 ⎥
Acl = ⎢ −3 3 −4 −2 0 ⎥
⎢ 0 0 0 0 1 ⎥
⎢ 1 0 0 −3 −5 ⎥⎦
⎣

Bcl ⎡ 2 ⎤
⎢ ⎥
⎢ 1 ⎥
Bcl = ⎢ 1 ⎥
⎢ 0 ⎥
⎢ 0 ⎥
⎣ ⎦

Ccl Ccl = ⎡⎣ 1 0 0 0 0 ⎤⎦

Dcl 0

Matlab code:

>>  Ak=[0  1;-­‐3  -­‐5];Bk=[0;1];Ck=[2  0];Dk=3;  

>>  Ap=[-­‐1  1  2;0  -­‐1  5;0  3  -­‐4];Bp=[2;1;1];Cp=[1  0  0];Dp=0;  
>>  sysg=ss(Ap,Bp,Cp,Dp)  
>>  sysk=ss(Ak,Bk,Ck,Dk)  
>>  syst=feedback(sysg,  sysk)  
%  check  if  same  
>>  pole(syst)  
>>  eig([-­‐7  1  2  -­‐4  0;-­‐3  -­‐1  5  -­‐2  0;-­‐3  3  -­‐4  -­‐2  0;0  0  0  0  1;1  0  0  -­‐3  -­‐5])  
ans  =  
-­‐6.4607  +  1.0266i  
   -­‐6.4607  -­‐  1.0266i  
   -­‐3.8041  +  0.0000i  
     0.6106  +  0.0000i  
   -­‐0.8852  +  0.0000i  

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Answer:

x! k = Ak xk + Bk y = Ak xk + Bk C p x p
ym = Ck xk + Dk y = Ck xk + Dk C p x p
y = C p x p + D p e = C p x p + 0e
(
x! p = Ap x p + Bp e = Ap x p + Bp ( r − ym ) = Ap x p + Bp r − Bp Ck xk + Dk C p x p )
( )
x! p = Ap − Bp Dk C p x p − BpCk xk + Bp r
⎡ x! p (t) ⎤ ⎡ Ap − Bp Dk C p −BpCk ⎤ ⎡ x p (t) ⎤ ⎡ Bp ⎤
x!cl (t) = ⎢ ⎥=⎢ ⎥⎢ ⎥+⎢ ⎥ r(t)
!
⎢⎣ k
x (t) ⎥⎦ ⎢⎣ Bk C p Ak ⎥ ⎢⎣ xk (t) ⎥⎦ ⎢⎣ 0 ⎥⎦
⎦
⎡ x p (t) ⎤
y(t) = ⎡ C p 0 ⎤⎢ ⎥ + 0r(t)
⎣ ⎦ ⎢ xk (t) ⎥
⎣ ⎦

⎡ ⎡ −1 1 2 ⎤ ⎡ 2 ⎤ ⎡ 2 ⎤ ⎤
⎢ ⎢ ⎥ ⎢ ⎥ ⎡ ⎥
⎢ 0 −1 5 − 1 3 ⎣ 1 0 0 ⎤⎦ − ⎢ 1 ⎥ ⎡ 2 0 ⎤ ⎥
⎡ Ap − Bp Dk C p −BpCk ⎤ ⎢ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥⎣ ⎦
⎥
Acl = ⎢ ⎥= ⎢⎣ 0 3 −4 ⎦⎥ ⎢⎣ 1 ⎥⎦ ⎢⎣ 1 ⎥⎦
⎢ Bk C p Ak ⎥ ⎢ ⎥
⎣ ⎦ ⎢ ⎡ 0 ⎤ ⎡ 0 1 ⎤ ⎥
⎢ ⎢ ⎥ ⎡⎣ 1 0 0 ⎤⎦ ⎢ ⎥ ⎥
⎢⎣ ⎣ 1 ⎦ ⎣ −3 −5 ⎦ ⎥⎦
⎡ ⎡ −7 1 2 ⎤ ⎡ 4 0 ⎤ ⎤ ⎡
⎢ ⎥ −7 1 2 −4 0 ⎤
⎢ ⎥ −⎢ 2 0 ⎥ ⎥ ⎢ ⎥
⎢ ⎢ −3 −1 5 ⎥ ⎢ ⎥ ⎢ −3 −1 5 −2 0 ⎥
⎢ ⎢⎣ −3 3 −4 ⎥⎦ ⎢⎣ 2 0 ⎥⎦ ⎥ = ⎢
Acl = ⎢ ⎥ −3 3 −4 −2 0 ⎥
⎢ ⎡ 0 0 0 ⎤ ⎡ 0 1 ⎤ ⎥ ⎢ 0 0 0 0 1 ⎥
⎢ ⎢ ⎥ ⎢ ⎥ ⎥ ⎢⎣ 1 0 0 −3 −5 ⎥⎦
⎢⎣ ⎣ 1 0 0 ⎦ ⎣ −3 −5 ⎦ ⎥⎦

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⎡ ⎡ 2 ⎤ ⎤ ⎡
⎢ ⎤
⎢ ⎥ ⎥ ⎢ 2
⎥
⎢ ⎢ 1 ⎥ ⎥ ⎢ 1
⎡ Bp ⎤ ⎢ ⎥
Bcl = ⎢ ⎥=⎢ ⎢⎣ 1 ⎥⎦ ⎥ = ⎢ 1 ⎡
⎥ ;Ccl = ⎣ C p 0 ⎤ = ⎡⎣ 1 0 0 0 0 ⎤⎦
⎥ ⎦
⎢⎣ 0 ⎥⎦ ⎢
⎡ 0 ⎤ ⎥ ⎢ 0 ⎥
⎢ ⎢ ⎥ ⎥ ⎢⎣ 0 ⎥
⎦
⎢⎣ ⎣ 0 ⎦ ⎥⎦

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#2: [50]

Die ooplus-oordragsfunksie in eenheidsterugvoerstelsel word gegee deur: / The open-loop

transfer function in a unity feedback system is given as:

K(s + 2)
G(s) =
s(s − 1)(s + 10)

a) Skets ‘n wortellokus van die stelsel. Verbeter die akkuraatheid van u skets deur die volgende
te bepaal (indien teenwoordig): die weg/in-breek punte, asimptote, vertrek/aankomshoeke, die
punte waar die lokusse die jω-as kruis, en die waardes van K waarvoor die geslotelus stabiel is. /
Sketch a root locus of this system. To improve the accuracy of your sketch, determine (if present)
the breakaway/break-in points, asymptotes, angle of departure/arrival, the points at which the
loci cross the jω-axis, and the values of K for which the closed-loop is stable. [25]

b) Die wins K=33 het ‘n dempingsfaktor van ongeveer 0.3 tot gevolg indien slegs die dominante
gesloteluspole in ag geneem word. Is die geslotelus-stelsel tweede-orde dominant by hierdie
wins? Motiveer u antwoord kwantitatief. / The gain K=33 results in a damping ratio of 0.3 when
only the dominant closed-loop poles are considered. Is the closed-loop system dominant second-
order at this gain? Motivate your answer quantitatively. [12]

c) Bereken die die bestendigde-toestandfout vir ‘n hellings-stelpuntinset vir die wins K soos
gegee in b). Illustreer die grootte van die fout met behulp van ‘n skets van die stelpunt en uitset
teen tyd. Wat is die stelsel tipe? / Compute the steady-state error for a ramp setpoint input for
the gain K as given in b). Illustrate the size of the error using a drawing of the setpoint and
output. What is the system type? [13]

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Answer:

a)
Let wel/ Note: Teken u wortellokus slegs hieronder/ Draw your root
locus below only.

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Verskaf u antwoorde in die gegewe tabel. / Provide your answers in the table provided.

Weg/in-breekpunte/ 1 1 1 1
Breakaway/break-in + + = ; 2σ 3 + 15σ 2 + 36σ − 20 = 0
σ − 1 σ σ + 10 σ + 2
points wortels / roots : − 3.9807 ± 2.4140i;0.4614

Middelpunt van 2 − 10 − 0 + 1 −7
asimptote/ σa = = = −3.5
3−1 2
Center of asympotes
σa
Asimptoot hoeke/ π π 3π 3π
Asymptote angles θa = = ; k = 0; θa = = ; k = 1;
3−1 2 3−1 2
θa

Vertrek/aankomshoeke/ None
Angles of
departure/arrival
Waardes van s waar die Do Routh table. S1 row can be made zero if K=12.8571. System is
lokusse die jω-as kruis stable iff K>12.8571. S2 row with this K gives roots when RL
en waardes van K crosses the jw-axis from the right.
waarvoor die geslotelus s 3 + 9s 2 + (K − 10)s + 2K
stabiel is/ 7K − 90
Values for s at which b1 = > 0 ⇒ K > 12.8571
9
the loci cross the jω-
9s 2 + 2K = 9s 2 + 2(12.8571) = 0 ⇒ s = ±1.6903i
axis. Values of K for
which the closed-loop
is stable.

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Answer:

b)
Determine the values of the poles at this gain. Is there an approximate pole-zero cancellation? If
not, the system is not dominant second-order and the second-order specifications might not be
met. This would hold even if the 3rd pole is 5 times larger than the real parts of the dominant pole
pair because of the presence of the zero at -2.
>> g2=tf([1 2],[conv([1 -1],[1 10]) 0])
>> syst2=feedback(33*g2,1)
syst2 =
33 s + 66
-----------------------
s^3 + 9 s^2 + 23 s + 66

>> pole(syst2)
ans = -7.0670 + 0.0000i; -0.9665 + 2.8992i; -0.9665 - 2.8992i

>> zero(syst2)
ans = -2

No pole zero cancellation so closed-loop is not 2nd-order dominant.

c)

1 (−1)(10) −10
eramp ( ∞ ) = = = = −0.1515
lim sG(s) 2K 2 × 33
s→0

The system is Type 1 and the output resembles output 2 below.

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>> t=1:1:101;
>> for j=1:100;
u(1)=0;u(j+1)=u(j)+1;
end
>> y=lsim(syst2,u,t);
>> plot(t,[u' y])
>> plot(t(1:3),[u(1:3)' y(1:3)])
>> u(1:15)'-y(1:15)

ans =

0
-0.1301
-0.1786
-0.1346
-0.1601
-0.1476
-0.1531
-0.1509
-0.1518
-0.1514
-0.1515
-0.1515
-0.1515
-0.1515
-0.1515

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#3: [30]
`n Beheerder vir `n eerste-orde-plus-tydvertragingstelsel moet ontwerp word. Die lusdiagram vir
die stelsel word gegee in Figuur 3.1 met die aanleg G(s): / A controller for a first-order-plus-
time-delay system needs to be designed. The loop diagram is given in Figure 3.1, with the plant
G(s):

−3
e−0.2×10 s
G(s) = −3 ,
10 s + 1

Die tydvertraging moet benader word met `n eerste-orde Padé funksie. /The time delay should be
approximated with a first order Padé function.

R(s) Y(s)
+ K G(s)
-
 

Figuur/Figure 3.1

a) Ontwerp `n P beheerder vir die stelsel deur van die wortel-lokus tegniek gebruik te maak, sodat
die beheerder `n verbyskiet van 70% handhaaf. Bepaal ook die piek-tyd en die bestendigde
toestand vir `n eenheidstrap-stelpunt r(t). / Design a P controller for the system using the root-
locus technique, such that the controller gives a 70% overshoot. Also determine the peak time
and the steady-state error for a unit step reference r(t). [22]

Wenk: Gebruik die wortel-lokus tegniek vir positiewe terugvoer. Al wat verander is die reële-as
segmente sal regs, in plaas van links (vir negatiewe terugvoer) van die onewe pole/nulle wees en
die gedrag by oneindig het `n hoek met positiewe meervoude, in plaas van onewe, m.a.w / Hint:
Use the root locus design techniques for positive feedback. This only changes the real-axis
segments to be right instead of left (for negative feedback) of the uneven poles/zeroes and the
behaviour at infinity then has an angle that is in even multiples of, instead of odd, i.e.

2 kπ
θa =
# finite poles − # finite zeros

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b) Vergelyk die ontwerpte beheerder van a) met die SIMC, Cohen-Coon en Ziegler-Nichols
beheerders van EBB 320 prakties twee (wenk: moet nie die laaste drie beheerders herontwerp nie,
maar gee slegs ‘n kwalitatiewe vergelyking van die beheerders deur van die praktiese resultate
gebruik te maak) deur hulle te rangskik as volg: / Compare the designed P controller from a) to
the SIMC, Cohen-Coon and Ziegler-Nichols controllers from the EBB 320 second practical (hint:
do not redesign the latter three - qualitatively compare the controllers using the practical results)
by ranking them as follows:
1. rangskik die vier beheerders van groot na klein in terme van die persentasie verbyskiet
wat hul veroorsaak / rank the four controllers from large to small in terms of the
percentage overshoot they achieve;
2. gee die beheerders met die vinnigste en stadigste responstyd in terme van die tyd wat dit
neem om die eerste piek te bereik na die aanlê van ‘n trapstelpunt, en / give the
controllers with the fastest and slowest response time in terms of the time it takes to reach
the first peak after applying a step reference, and
3. gee die beheerders met die grootste en kleinste bestendigde toestand fout vir ‘n
trapstelpunt. / give the controllers with the largest and smallest steady-state errors for a
step reference. [8]

Answer:

Part (a)
1 − 10−4 s
G (s) =
(10−3 s + 1)(10−4 s + 1)
Poles: −104 and −103

Zero: 10 4

−104 − 103 − 104

σa = = −2.1×104
Asymptotes: 2 −1
2 kπ
θa = = ..., −360, 0,360,...
2 −1
therefore the root locus has an asymptote towards positive infinity

1 1 1
= +
Break points: σ − 10 4
σ + 10 σ + 103
4

σ = ±2.48 ×104

(
jw-axis crossing: 10−7s 2 + 1.1×10−7 − 10−4 K s + 1 + K)
s 2
10 −7 1+ K
s1 1.1×10−3 − 10−4 K

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1.1×10−3 − 10−4 K = 0
for a zero row:
K = 11
−7
10 s 2 + 12 = 0
therefore the crossing is at:
s = ± j1.09 ×104

− ln ( %OS /100 )
For a 70% overshoot: ζ = = 0.113
π + ln ( %OS /100 )
2 2

ς = 0.113 ⇒ θ = 180 − cos −1 (ς ) = 96.5 o

Controller gain: K ≈ 8.7

1.1×103
ωn = = 9.8 ×103
ζ
Peak time:
π
Tp = = 322ms
ωn 1 − ζ 2

1 1
Steady-state error: estep ( ∞ ) = lim = = 0.103
s →0 1 + KG ( s ) 1+ K

Root locus: s = tf('s');

G = pade(exp(-0.2e-3*s)/(1e-3*s+1),1);
rlocus(G);

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poles and
zeros

axis
(name+scale)

shape

Part (b)
Comparing the controllers:
1. Percentage overshoot: P>Ziegler-Nichols>Cohen-Coon>SIMC.

2. Fastest controller is the P controller and slowest is the SIMC controller.

3. Steady-state error for a step input is zero for all but the P controller.

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