DING

Joel
F44128640
2023/11/28

Linear Continuous System HM

Table des matières

Question 1 : ............................................................................................................................................ 2
Question 2 : ............................................................................................................................................ 3
Question 3 : ............................................................................................................................................ 5
Question 4 : ............................................................................................................................................ 7
Question 5 : ............................................................................................................................................ 9
a) ........................................................................................................................................................ 9
b) ...................................................................................................................................................... 10
c) ...................................................................................................................................................... 10
Question 6 : .......................................................................................................................................... 11
a) ...................................................................................................................................................... 11
b) ...................................................................................................................................................... 11
c) ...................................................................................................................................................... 11
Question 7 : .......................................................................................................................................... 12
a) ...................................................................................................................................................... 12
b) ...................................................................................................................................................... 14
c) ...................................................................................................................................................... 15
Matlab code used : ............................................................................................................................... 16
Question 6 : .......................................................................................................................................... 16
a) ...................................................................................................................................................... 16
b) ...................................................................................................................................................... 16
c) ...................................................................................................................................................... 17

1
Question 1 :

The open-loop transfer function is given below:

And the closed-loop transfer function with unity feedback system is given below:

𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺(𝑠)
2𝑠 + 1
𝐶(𝑠) 𝑠2
=
𝑅(𝑠) 1 + 2𝑠 + 1
𝑠2
𝐶(𝑠) 2𝑠 + 1
= 2
𝑅(𝑠) 𝑠 + 2𝑠 + 1

𝐶(𝑠) 2𝑠 + 1
=
𝑅(𝑠) (𝑠 + 1)2

𝐶(𝑠)
We then, do the partial fraction of in order to do the Inverse Laplace transform.
𝑅(𝑠)

Then, we obtain the Inverse Laplace transform:

2
In order to find the unit step response integrate the unit impulse response from 0 to 1.
𝑐(𝑡)
We integrate between 0 and t the 𝑓(𝑡) = :
𝑟(𝑡)

Question 2 :

The open-looped transfer function is given below:

Then, the characteristic equations is :

1 + 𝐺(𝑠) = 0
1
1+ =0
𝑠(𝑠 + 1)
𝑠2 + 𝑠 + 1 = 0

By comparing this equation with standard 2nd order equation, we get:

𝑠2 + 𝑍𝑒𝑡𝑎𝑊𝑛𝑠 + 𝑊𝑛2 = 0

𝑊𝑛2 = 1
𝑟𝑎𝑑
𝑊𝑛 = 1
𝑠
2𝑍𝑒𝑡𝑎𝑊𝑛 = 1

2 ∗ 𝑍𝑒𝑡𝑎 ∗ 1 = 1
𝑍𝑒𝑡𝑎 = 0.5

3
The rise time 𝑡𝑟 is given by:

The peak time 𝑡𝑝 is given by:

The maximum overshoot 𝑀𝑝 is given by:

The settling time 𝑡𝑠 is given by:

4
Question 3 :

We know that,

5
And we also know that the peak overshoot 𝑀𝑝 = 𝑐(𝑡𝑝) − 𝑐(inf) :

6
For a 2% tolerance of settling time 𝑡𝑠, we got:

Question 4 :

7
So, from the characteristic 2nd order system equation:

We have as parameters:

1
Hence, for 𝑅(𝑠) = , the rise time 𝑡𝑟 is given by:
𝑠

The peak time 𝑡𝑝 is given by:

The maximum overshoot 𝑀𝑝 is given by:

8
The settling time 𝑡𝑠 is given by:

Question 5 :

a)

We then, do the partial fraction:

By applying the inverse Laplace transform, we got:

9
b)

By applying the inverse Laplace transform, we got:

c)

10
We then, do the partial fraction:

By applying the inverse Laplace transform, we got:

Question 6 :
a)

b)

c)

11
Question 7 :

a)
1
Let 𝑅(𝑠) = , we got:
𝑠

12
We then, do the partial fraction:

We finally obtain 𝑐(𝑡) is:

13
b)
The steady state error for step input is:

To find it, we need the open loop transfer function 𝐺(𝑠)𝐻(𝑠) :

And, 𝑘𝑝 = 𝐺(𝑠)𝐻(𝑠)𝑤ℎ𝑒𝑛 𝑠 → 0, so:

Thus, the steady state error 𝑒𝑠𝑠 is:

14
c)
For a < 0, the 1st pole of the system will be: 𝑃1 = −𝑎

Let a = -2, so 𝑃1 = 2.

But P1=2 is a positive pole located on the right side of the s-plane.

Which means the sys system is unstable.

- Thus, we cannot find the steady state error 𝑒𝑠𝑠 as for an unstable system,
the steady state error 𝑒𝑠𝑠 is “undefined”.

15
Matlab code used :

Question 6 :
a)
clear all;clc;close all;

% Define the open-loop transfer function G(s) - replace this with your system
numerator = [500 3500 5000]; % coefficients of the numerator
denominator = [1 30 296 960]; % coefficients of the denominator
G = tf(numerator, denominator);
T = feedback(G,1);

% Step Input Analysis

Kp = dcgain(G); % Steady-state error constant for step input
ess_step = 1 / (1 + Kp); % Steady-state error for step input

% Ramp Input Analysis

s = tf('s');
Kv = dcgain(s * G); % Steady-state error constant for ramp input
ess_ramp = 1 / Kv; % Steady-state error for ramp input

% Parabolic Input Analysis

Ka = dcgain(s^2 * G); % Steady-state error constant for parabolic input
ess_parabola = 1 / Ka; % Steady-state error for parabolic input

% Display results
fprintf('Steady-State Error for Step Input: %.4f\n', ess_step);
fprintf('Steady-State Error for Ramp Input: %.4f\n', ess_ramp);
fprintf('Steady-State Error for Parabolic Input: %.4f\n', ess_parabola);

b)
clear all;clc;close all;

% Define the open-loop transfer function G(s) - replace this with your system
numerator = [500 6500 26000 30000];% coefficients of the numerator
denominator = [1 30 296 960 0]; % coefficients of the denominator
G = tf(numerator, denominator);
T = feedback(G,1);

% Step Input Analysis

Kp = dcgain(G); % Steady-state error constant for step input
ess_step = 1 / (1 + Kp); % Steady-state error for step input

% Ramp Input Analysis

s = tf('s');
Kv = dcgain(s * G); % Steady-state error constant for ramp input
ess_ramp = 1 / Kv; % Steady-state error for ramp input

% Parabolic Input Analysis

Ka = dcgain(s^2 * G); % Steady-state error constant for parabolic input
ess_parabola = 1 / Ka; % Steady-state error for parabolic input

% Display results
fprintf('Steady-State Error for Step Input: %.4f\n', ess_step);

16
fprintf('Steady-State Error for Ramp Input: %.4f\n', ess_ramp);
fprintf('Steady-State Error for Parabolic Input: %.4f\n', ess_parabola);

c)
clear all;clc;close all;

% Define the open-loop transfer function G(s) - replace this with your system
numerator = [500 12000 111500 498000 1058000 840000]; % coefficients of the
numerator
denominator = [1 30 296 960 0 0]; % coefficients of the denominator
G = tf(numerator, denominator);
T = feedback(G,1);

% Step Input Analysis

Kp = dcgain(G); % Steady-state error constant for step input
ess_step = 1 / (1 + Kp); % Steady-state error for step input

% Ramp Input Analysis

s = tf('s');
Kv = dcgain(s * G); % Steady-state error constant for ramp input
ess_ramp = 1 / Kv; % Steady-state error for ramp input

% Parabolic Input Analysis

Ka = dcgain(s^2 * G); % Steady-state error constant for parabolic input
ess_parabola = 1 / Ka; % Steady-state error for parabolic input

% Display results
fprintf('Steady-State Error for Step Input: %.4f\n', ess_step);
fprintf('Steady-State Error for Ramp Input: %.4f\n', ess_ramp);
fprintf('Steady-State Error for Parabolic Input: %.4f\n', ess_parabola);

17
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