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Control Principles
Tutorial #8
Problem 1
Consider the differential equation: y + 2 y + y = u , where
y (0 ) = y (0 ) = 0 and u (t ) is a unit step. The poles of this system
are:
A) s1 = 1, s2 = 2
B) s1 = 1 j , s2 = 1 j
C) s1 = 1, s2 = 1
Problem 2
Consider the closed-loop transfer function
A1 + kA2
T (s ) =
A3 + kA4
k ( A2 A3 A1 A4 )
A) S =
( A3 + kA4 )( A1 + kA2 )
T
k
C) S kT =
k ( A1 + kA2 )
( A3 + kA4 )
k ( A3 + kA4 )
B) S =
( A1 + kA2 )
T
k
D) S kT =
k ( A2 A3 + A1 A4 )
( A3 + kA4 )( A1 + kA2 )
Problem 3
Consider the system in the form of block diagram where R(s ) is the
reference input and Y (s ) is the output and N (s ) is the disturbance.
(a) Determine the sensitivity of the closed-loop system S KT in which
T ( s ) = Y ( s ) R ( s ).
(b) Obtain the effect of the disturbance N (s ) on the output Y (s ).
(c) If K = 10 , what is the steady state error when the disturbance
N (s ) is a unit step input and the input R(s ) is a unit ramp input?
Problem 3
(a) Solution:
4K
Y (s )
4K
s (s + 4 )
T (s ) =
=
= 2
4
K
R (s ) 1 +
s + 4s + 4 K
s(s + 4 )
T K
s 2 + 4s
S =
= 2
K T s + 4 s + 4 K
T
K
Problem 3
(b) Solution:
4
Y (s )
4
s (s + 4 )
=
= 2
N (s ) 1 + 4 K
s + 4s + 4 K
s (s + 4 )
Problem 3
(c) Solution:
Y (s )
4K
= 2
R(s ) s + 4 s + 4 K
Y (s )
4
= 2
N (s ) s + 4 s + 4 K
Y (s ) =
4K
4
R
(
s
)
+
N (s )
2
2
s + 4s + 4 K
s + 4s + 4 K
Problem 3
Y (s ) =
4K
4
R
(
s
)
+
N (s )
2
2
s + 4s + 4 K
s + 4s + 4 K
s 2 + 4s
1
4
1
E ( s ) = R( s ) Y (s ) = 2
+ 2
2
s + 4s + 4 K s s + 4s + 4 K s
s
= 2
s (s + 4 s + 4 K )
s
=0
s 0 (s 2 + 4 s + 4 K )
Problem 4
Problem 4
(a) Solution:
Electrical
vb = K b
T = K mia
Mechanical
va = K a vi
va = ia R + vb
T = J
q1 = 80
Hydraulic
q0 = 50h
q q
h = 1 0
50
K a vi K b
J = K m
R
R
80 50h
h =
50
Problem 4
K a vi K b
J = K m
R
R
80 50h
h =
50
x1 = h
x2 =
x =
3
u = vi
K m = 10
K b = 0.02
K a = 50
J = 0.005
R = 10
8
x1 = x1 + x2
5
x2 = x3
K K
K K
x3 = m b x3 + m a u = 4 x3 + 10000u
JR
JR
x1 1 8 / 5 0 x1 0
x = 0
x + 0 u
0
1
2
2
x3 0
0 4 x3 10000
x1
y = [1 0 0] x2
x3
Problem 4
(b) Solution:
x1 1 8 / 5 0 x1 0
x = 0
x + 0 u
0
1
2
2
x3 0
0 4 x3 10000
1 8 / 5 0
A = 0
0
1
0
0 4
0
B = 0
10000
S = B
x1
y = [1 0 0] x2
x3
AB
0
16000
0
A2 B = 0
10000
40000
Rank S = 3
Controllable
Problem 4
x1 1 8 / 5 0 x1 0
x = 0
x + 0 u
0
1
2
2
x3 0
0 4 x3 10000
1 8 / 5 0
A = 0
0
1
0
0 4
C = [1 0 0]
x1
y = [1 0 0] x2
x3
0
0
C 1
V = CA = 1 8 5
0
2
CA 1 8 5 8 5
Rank V = 3
Observable
End