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MEC 4418 Control Systems Assignment 1 Solution

Dr. Hoam Chung Problem 1


(a) No, because 1) it is not symmetric with respect to the real axis and 2) the locus on the real axis is wrong (b) No, because 1) there should be locus between the leftmost pole and the zero 2) a pole starts from an open-loop pole ends at another open- loop pole. (c) No, because the root locus should exist between the open-loop zeros. (d) Yes. (e) No, because the root locus should be symmetric about the real axis. (f) Yes.

Problem 2
(a) The current system has a pair of poles at the origin, and the root locus is located along the imaginary axis. Most importantly, the root locus does not pass through 1 , and so gain adjustment will not move the closed-loop poles to the desired locations. (b) Assume the root locus passes through the desired points. From the angle condition + Since
1 s2 s=1+

1 s2

s=1+

= (2k + 1)180

= 0 45 45 = 90 , = 90 .

In Figure 1, P = 1 + , 1/(T ) = 3.414, and 1/T = 0.586. Note P OD = 45 , and the sine rule was used as in the lecture: OD 2 OC 2 = , = sin 112.5 sin 22.5 sin 22.5 sin 112.5 Finally, from the angle condition s + 0.586 1 = 1, s + 3.41 s2 s=1+ K = 4.82, which nalizes the lead compensator. (c) The pole locate 1 gives n = 1 + 1 = 2, and = cos 45 = 2/2. K (d) Step responses of the compensated/uncompensated are shown in Figure 2.

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Figure 1: Finding pole and zero of a lead compensator

Figure 2: Step response of the compensated/uncomensated system

MEC4418

S1 2011

Monash University

Problem 3
(a) Since this is a lead compensator, the zero should go on the right side of the pole (closer to axis than the pole).
4 (b) Ts = n = 7 and = 0.707 gives n = 0.808, and therefore = 0.571. From these, the desired closed-loop poles are at 0.571 0.571. Lets dene s1 = 0.571 + 0.571. The angle deciency = 39.38 is from

+ (s1 + 2) (s1 ) (s2 + 2s + 1) = 180 (2k + 1) Since the pole is already located at 1, the zero may now be placed. From the equation (s1 + z) (s1 + 1) = arctan z = 0.546. Now, we have Gc (s) = (c) From the magnitude condition, K K = 0.335. (s1 + 2) s1 + 0.546 2 + 2s + 1) = 1, s1 + 1 s1 (s1 1 0.571 53.08 = = 39.38 , 0.571 + z s + 0.546 s+1

Problem 4
(a) Compute desired poles from the design specications. Answer: From the specication, the desired poles are at s = 2 2 3

(b) Compute angle deciency in degree. Answer: From 120 120 = 180 , = 60 . (c) Find the compensator pole and zero. Answer: Recall the drawing in the lecture slide: 1/T 4 1/(T ) 4 = 1/T = 2, = 1/(T ) = 8 sin 30 sin 90 sin 90 sin 30 (d) Compute the gain K. Answer: From the magnitude condition, K and K = 32. s+2 1 s + 8 s2
s=2+2 3

=1

MEC4418

S1 2011

Monash University

Problem 5
(a) From the specication, the desired poles are 2.5 4.33 (b) Lets set s1 = 2.5 + 4.33. The angle deciency can be found from the following: + G(s1 ) = + 0 120 115 = 180 , = 55 (c) From the Figure 1, P = 2.5 + 4.33, and = 55 . From the sine rule, we have OD OC 5 5 = , = sin 32.5 sin 87.5 sin 87.5 sin 32.5 which gives OD = 2.69 and OC = 9.3. The current compensator is in the form of Gc (s) = K s + 2.69 s + 1/T2 1 . s + 9.3 s + T
2

(d) From the magnitude condition |K ss11+2.69 G(s1 )| = 1, we have +9.3 K= 1


s1 +2.69 s1 +9.3 G(s1 )

1 11.08. 0.092

. Here, we assume that the magnitude of the lag compensator is approximately one. (e) can be obtained by Kv = 80 = lim sGc (s)G(s) = 11.08
s0

2.93 4 , 9.3 0.5

which gives = 2.8647. Setting T2 = 5 gives the magnitude 0.9874 and angle contribution 1.327 , and T2 = 10 0.9936 and 0.6547 , respectively. (f) In the following analysis, we set T2 = 5. As shown in Figure 3, the closed-loop poles (that are supposed to be dominant) are little bit off from the desired locations. Therefore, the step response is also worse than desired (settling time ( 1.6 sec) is ok, but the maximum overshoot (40%) is too high (16% required)). Ramp response shows good steady-state performance as desired.

MEC4418

S1 2011

Monash University

Figure 3: Root locus of the compensated system, Problem 6

Figure 4: Step response of the compensated system, Problem 6

MEC4418

S1 2011

Monash University

Figure 5: Ramp response of the compensated system, Problem 6

MEC4418

S1 2011