CS / ACS

Sample Sample
Answe
W14 Lect 2012 s14/1
questions questions
er Hints
For input R(s) Calculate the CLTF
Q1 Samples
For input R(s)........Calculate the CLTF
) (
) (
s Y
T
) (
) (
) (
1
s R
s T =
K R(s)
+
+
_
F
...Hints s14/2Q
F.
D(s)
) 3 )( 1 (
1
+ + s s
Y(s)
+
+
) 3 )( 1 ( + + s s
For input R(s)
Q1 Sam
For input R(s)........
Calculate the
K R(s)
+
+
_
Ans:
s Y
s T =
) (
) (
Ans:
s R
s T =
) (
) (
1
mples ... Hints s14/3
CLTF. Y/R
Set D = 0
0
+
) 3 )( 1 (
1
+ + s s
Y(s)
+
K
=
)
K s s + + +
=
3 4 )
2
For input D(s) Calculate the CLTF
Q1 Samples
For input D(s)........Calculate the CLTF

) (
) (
) (
2
s D
s Y
s T =
K R(s)
+
+
( )
_
F
...Hints s14/4Q
F.
D(s)
) 3 )( 1 (
1
+ + s s
Y(s)
+
+
) 3 )( 1 ( + + s s
( )
For the disturbance:
Q1 Sample
For the disturbance:
-Y(s)
Set R = 0
K 0
+
Set R = 0
Use this to redraw...
_
D(s)
+
_
changed
Y
Ans:
D
Y
s T = ) (
2
es ... HInts s14/5
D(s)
G(s)
Y(s)
) 3 )( 1 (
1
+ + s s
+
+
Y(s)
) 3 )( 1 (
1
+ + s s
K
s Y 1 ) (
K s s s D
s Y
+ + +
=
) 3 )( 1 (
1

) (
) (
Note: Superposition applies when b
Q1 Sample
Note: Superposition applies when b
( ) ( ) ( ) (
2 1
s T s R s T s Y + =
(K
K
s Y =
3 4
1
) (
2
(
K s s + + + 3 4
) (
2
| | D KR
KG
G
+
+
=
1

both are present at the same time
s ... Hints s14/6
both are present at the same time.
) ( ) s D s
) s D s KR + ) ( ) ( ) ) ( ) (
( )
Q2 Sample
(a)
Convert the op amp circuit into a blo
Use the block diagram to calculate
s ... Hints s14/7
ock diagram.
V
0
(s).
Answer:
Q2 Sample
Answer:
s ... Hints s14/8
(b)
Q2 Sample
(b)
A control amplifier has he transfer fun
2
V
=
1
1
V
=
Find the differential equation rela
Ans:
1 ) ( 10 44 4 ) (
5
t v t v

+
&
. 1 ) ( 10 44 . 4 ) (
2 2
t v t v = +
s ... Hints s14/9
ction , where f is in MHz.
30
7
1
f
j +
ating v
2
(t) to v
1
(t).
) ( 10 32
3
t v

) ( 10 32 .
1
t v
Use of the FVT..
Q3 Samp
Can be used to calculate the final va
) (
0
lim y
s
=
d th fi l l f th ( ) and the final value of the error e()
) ( limsE e = ) (
0
limsE e
s

ples ... Hints s14/10

alue of output y()
) (
0
m s sY
) )
) (s E ) (s E
Find the steady state error for the foll
Q3 Samp
) (s G
R(s)
+
_

) 1 ( 10
) (
2
s
s G
+
=
5 . 0 5 ( ) (
) 5 (
) (
2
t t r
s s
=
+
) ( l e e
SS
= = ) (
s
SS
lowing control system:
ples ... Hints s14/11
Y(s)
)
and
) ( ) 5
2
t u t
) ( im s E s ) (
0
Make use of T
E
(s):
Q3 Samples
Find E(s) from the CLTF: E(s) = (1
10 10
) (
+ s G
s T
10 10 5 1
) (
2 3
+ + +
=
+
=
s s s G
s T

|
|
.
|

\
|
+ + +
+
=
2 3
2
s
5

10 10 5
) 5 (
) (
s s s
s s
s E
5
li
s

+
5
10 10 5
......
2 3
0
lim
s s s
e
s
SS

+ + +
= =

5 0 1
10
5
. = =
s ... Hints s14/12
1-T(s))R(s) =T
E
(s) R(s)
) 5 (
) ( 1
2
+ s s
T
10 10 5
) (
) ( 1
2 3
+ + +
=
s s s
s T
(

(
+
3 2
1 1
s s
1) (5
2
(
1) s - (5s
0
2
(

(
+
Alternatively .... Find E(s) from G
Q3 Samples
From the block diagram:
E(s) = R Y = R GE
1 5
2
+ s s
) 5 (
) 1 ( 10
1
) (
2
3
+
+
+
=
s s
s
s
s E
rest as per the previous
) 5 ( + s s
.... rest as per the previous
?? since unity feedback is involved:
s ... Hints s14/13
.......E = R/(1+G)
s page s page
For the unity feedback connection:
Q4 Sam
y
) (s G
R(s)
+
) (s G
R(s)
_
For the compensated system:
R(s)
+
Amp
+
_
K
1
_
mples ... Hints s14/14
Y(s)
)
Y(s)
)
25
Y(s)
) 1 ( + s s
K s K
2
s
Q4 Sam
(i) For the unity feedback system, Identi
frequency.
C l l t T d PO Calculate T
S
and PO.
(ii) For the compensated system, find K
1
( ) p y ,
1
the settling time is 0.2 sec.
(iii) Find the steady state errors for the u (iii) Find the steady state errors for the u
compensated system.
mples ... Hints s14/15
ify the damping factor and natural
1
and K
2
s.t. percent overshoot is 25% and
1 2
p
unity feedback connection and the unity feedback connection and the
(i) For the unity feedback connection
Q4 Samp
R(s)
+
_
Identify the damping fact
) ( 25 s Y
) (
) (

) 1 (
25
) (
+
=
s R
s Y
s s
s G
l l d
and 1 . 0 =
Calculate T
S
and PO:
and sec 8
1 0 5
4
= = PO T
s
1 . 0 5
s
n:
ples s14/16
Y(s)
) (s G
ctor and natural frequency:
25 )
25
25
) (
)
)
2
1
+ +
= =
s s
s T
5 =
n

% 73 100
99 . 0
3142 . 0
= =

e O
(ii) Add some feedback compen
Q4 Sam
R(s)
+
Amp
+
( )
+
_
K
1
+
_
The values of K
1
and K
2
a
% 25 = = PO
sec 0.2 =
s
T
nsation:
ples ... Hints s14/17
25
Y(s)
) 1 (
25
+ s s
_
R
1
K
2
s
are to be determined s.t.
0.404
(ii) Add some feedback compen
Q4 Sam
R(s)
Am
K
1
+
Method:
1
_
Method:
PO
Standar
n
,
S
T
2
2 s +
Inner loop:
s K s R
Y
) 25 1 (
25
2
2
1
+ +
=
hence
nsation:
ples ... Hints s14/18
Y(s)
) 1 (
25
+ s s
+
mp
1
Y(s)
) 1 ( + s s
K
2
s
_
1
R
1
2 rd r form nd orde
2
n n
s +
Block diagram
algebra algebra
1 2
2
1
25 ) 25 1 (
25

K s K s
K
R
Y
T(s)
+ + +
= =
The values of K
1
and K
2
are
Q4 Samp
0.404 % 25 = = PO
sec 0.2 =
s
T
The desired 2nd order CE becomes
E t t Equate to
Hence can solve for K
1
, K
2
: Hence can solve for K
1
, K
2
:
; 01 . 98
1
= K K
e to be determined s.t.
ples ... Hints s14/19
rad/sec 5 . 49 =
n

s
0 25 . 2450 40
2
= + + s s
0 25 ) 25 1 (
1 2
2
= + + + K s K s
56 . 1
2
= K
(iii) Find steady state errors
Q4 Samp
(iii) Find steady state errors
For the unity feedback connection,
Use 1-T
1
(s):
(
lim ) (
2 2
2
0

=

s s
s
e
s
For the compensated system, find
(

p y ,
Use 1 - T(s):
) 40 (
2

2450 40 (
) 40 (
lim ) (
2 2
2
0

+ +
+
=

s s s
s s
e
s
Compensated system has reduc
ples ... Hints s14/20
find e
SS
for a ramp input.
0.04
) 25
) 1 (
=
(

(
+ +
+
s
s
e
SS
for a ramp input.
)

SS
p p
40
(
0163 . 0
2450.75
40

) 75 . 0
= =
(

(
ced error .. by factor of 2.45
Handy concept maps:
Q4 Samples ... Hints s14/21
Q5 Sample
R(s)
K(s+ 0 5)
+
K(s 0.5)
_
Determine the stability of
NNyquist criterion.
es .... Hints s14/22
Y(s)
1 +
( )
) 1 (
2
+ s s
_
this configuration using the
Q5 Sample
R(s)
K(s+ 0 5)
+
K(s 0.5)
_
Determine the stability
using the Nyquist criter g q
Is the inner loop, G
2
(s) ... s
Rouths array ..... need to
es .... Hints s14/23
Y(s)
1 +
( )
) 1 (
2
+ s s
_
y of this configuration
erion.
stable system ?
check for RHP poles
Calls for application to new situation R
Q5 Sample
pp
R(s)
K(s+ 0 5)
+
K(s+ 0.5)
_
The CLTF:
1
) ( G
The CLTF:
) (
2 3
2
+ +
=
s s
s G
Apply Rouths array..
s

2
3
s
s
s
0
1
s
0
Rouths array Ref: Ogata 4th Ed p. 555
es ... Hints s14/24
y g p
Y(s)
1 +
Y(s)
) 1 (
2
+ s s
_
1 +
1 1
0 1
2 sign
0 1 -
1 1
changes
P = 2
1
Z = P - N Need N = 2 fo
Q5 Samp
Z P N Need N 2 fo
Plot of G(j) needed set s = j
2 3
5 . 0 (
) (
s K
s G
+ +
+
=
Hence
2 3
s s + +
2 2 5 0 + j
8
2
8 3
2 5 . 0
) 2 ( =

+
=
j
j
j G
0.24 1.1 0 0.5
2 1 0
G


187 153 180 0 G
Draw as a polar plot.
or stable system
ples ... Hints s14/25
or stable system
3 2
) 1 (
5 . 0
) (
1
) 5

j
j
j G
+
=
+
3 2
) 1 ( 1 j +
9 75 06 2
186 24 . 0
6 . 185 54 . 8
9 . 75 06 . 2
=

1.5 0.01 0.5 0.11 4

0.8 10 1.4 3
113 182 180 187
As a polar plot:
Q5 Samp
As a polar plot:
-0.5
Need to include the (-1, 0) po
-0.5K < -1 K > 2
les ... Hints s14/26
int..
Q6 Sam
Determine a state variable
for the following transfer f
10
1
2
+ +
+
=
s s
s
R
Y
10 + + s s R
mples .... Hints s14/27
e model using phase variables
function:

24 24
Determine a state variable
Q6 Sam
Determine a state variable
variables for the following tr
Y
2
+
=
s R
Standard method...use the Z / Z
Z
Z
s s
s
R
Y

24 10
1
2

+ +
+
=
e model using phase
mples .... Hints s14/28
e model using phase
ransfer function:
1 + s

24 10 + s
Z method:
since there is an s
term in the TF
numerator
Q6 Sample
Apply phase variable definitions
| | (
1 0 x x
&

|
|
.
|

\
|

=
(

=
2
1
2
1

10 24
1 0
x
x
x
x
x
&
&
es .... Hints s14/29
| | ( (
0 x
( )
|
|
.
|

\
|
=
(

+
(

(
2
1
1 1 and
1
0
x
x
y r
Determine the Z-transfer fu
Q7 Sampl
f f
configuration. Assume T =
Y
) (
2
R
Y
z G =
e(k) u(k)
r(k)
+
Dig filter
_
y(k)
G(z)
unction for the following
es ..... Hints s14/30
f f g
= 0.2 seconds.
) (z Y
) (
) (
z R
z Y
G (s) G
P
(s)
y(t)
) 1 (
1
+ s s
D/A
) 1 ( + s s
A/D A/D
Q7 Sam

e(k) u(k)
r(k)
+
Dig filter
_
y(k)
G(z)
( )

=

) (
1 ) (
s
s G
Z e z G
P
sT
Use PFE..

s
1 B A
) 1 (
1
2 2
s
B
s
A
s s
+ + =
+
ples ... Hints s14/31
G
P
(s)
P
( )
y(t)
) 1 (
1
+ s s
D/A
A/D
( )
)
`

+
=
)
`

) 1 (
1
1
)
2
1
s s
Z z
)
+
)
) 1 (s s
C
1 1 1
1
; C - ; B A
s
C
= = =
+
+
Use the Table of Z-transforms giv
Q7 S
Use the Table of Z transforms giv
z
z
z
Tz
s

2 2
1 s
1
;
) 1 (
1
z z s 1 s ) 1 (

) 1 (
1
) (

|
.
|

\
|

=
z
Tz
z
z
z G
=
) (
) (
z U
z Y
0175 . 0 0187 . 0 +
=
z
) (
) 819 . 0 )( 1 ( z z
ven
Samples .... Hints s14/32
1
ven
2 . 0
5
1
= = T
t
e z
z

+
1
1 s
1
;
e z +1 s
(
....
) )( 1 (
) 1 (
)
2
=
(

(


+

T
T
e z z
e z
For the digital system shown below:
Q8 S
For the digital system shown below:
(i) If the algorithm relating e(k) and u(k
) 1 ( ) ( k u k u + =
calculate the transfer function G
1
(z
(ii) Find the transfer function Y(z) / R(
) 1 ( ) ( k u k u + =
(ii) Find the transfer function Y(z) / R(
0187 . 0
) (
z
G
)( 1 (
) (

=
z z
z G
+
) ( G
E(z)
R(z)
_
+
) (
1
z G
E(z)
Samples ... Hints s14/33
k) is given by
) ( 5 0 k e +
z).
(z) if
) ( 5 . 0 k e +
(z) if
0175 . 0 +
) 819 . 0
Y( )
) ( G
U(z)
Y(z)
) (z G
For the algorithm relating e(k) and u(k)
Q8
For the algorithm relating e(k) and u(k)
R(z)
+
) (
1
z G
E(z)
_
( ) (
) 1 ( ) (
1
U z z U
k u k u
=
+ =

( ) ( U z z U
1
5 . 0
) (
1

=
z
z
z G
)
Samples ... Hints s14/34
)
U(z)
Y(z)
) (z G
U(z)
) ( 5 0 ) (
) ( 5 . 0
z E z
k e
+
+
) ( 5 . 0 ) ( z E z +
For the CLTF:
Q8 S
1
5 . 0
) (
1

=
z
z
z G
1 z
0175 . 0 0187 . 0
) (
+ z
G
) 819 . 0 )( 1 (
) (

=
z z
z G

| |
01 0 0187 0 5 0
) 819 . 0 )( 1 (
0175 . 0 0187 . 0

1
5 . 0
) (
) (

| |

+
|
.
|

\
|

=
z z
z
z
z
R
z Y
81 . 0 )( 1 (
01 . 0 0187 . 0

1
5 . 0
1
) (

+
|
.
|

\
|

+
z z
z
z
z
z R
Samples .... Hints s14/35
G G Y
1
G G
G G
R
Y
1
1
1+
=
(
819 0 24 2 809 2
) 93 . 0 ( 0094 . 0
.....
75
)
5
2 3
+
+
= =
(
(

(
z z
819 . 0 24 . 2 809 . 2
) 9
75
2 3
+
(

( z z z
A system has the closed loop transfer
Q9 Samp
y p
) 20 (
) (
+
=
s
s T
Approximate the system with
poles model and calculate
r function:
ples .... Hints s14/36
2500
) 125 10 )(
2500
2
+ + s s
h a second order dominant
e the per cent overshoot.
A system has the closed loop transfer
Q9 Samp
y p
Approximate the system with
poles model and calculate t poles model and calculate t
Method..
Ignore the pole at s = -20 if
Change the DC gain to suit
Second order calculate
calculate the PO:
Step Response
1
1.2
1.4
From: U(1) 10 = PO
A
m
p
l
i
t
u
d
e
0.4
0.6
0.8
T
o
:

Y
(
1
)
Che
Mat
Time (sec.)
0 0.2 0.4 0.6 0.8 1 1.2
0
0.2
r function:
ples .... Hints s14/37
2500
) ( = s T
h a second order dominant
the per cent overshoot
) 125 10 )( 20 (
) (
2
+ + +
=
s s s
s T
the per cent overshoot.
complex poles are closer..
the damping factor and use this to
2

2
1
00

e
20%
eck via
tlab..gives ??
For the system shown:
Q10 Sample R
For the system shown:
(i) Use the Routh test to determine i
(ii) Determine the ultimate value of K
R(s)
_
+
+
)
2
1 (
s
K
C
+
_
s
2 ) 1 ( 3 2 :
2 3
+ + + +
C
K s K s s Ans
Rouths array .unstable for K
C
= 4,
Rouths array ... Hints s14/38
if the system is stable for K
C
= 4
K
C
above which the system is unstable.
D(s)
+
1 2
1
+ s
Y(s)
+
+
1
1 + s
0 =
C
K
and K
CU
= 4
Given the system
Q11 Sample: State tra
(
5 0
y
x x

+
(

=
0 0
5 0
&
(i) Calculate the state transition matr
(ii) With the initial conditions x
1
(0) =1
-1
A) - (sI ) ( = t
-1
A) (sI ) (t
) (t
1

0
1
) ( ) 0 ( ) ( ) ( t x x t t x

= =
ansition matrix ... Hints s14/39
(
1
u
(

0
1
rix (t)
1 = x
2
(0), find the ZIR x(t).
-1
|

|
`

5 1
-1
|
|

)
`

)
`

=
1
} 0 {


2
s s
-1
-1
.

\
)
`

} 0 {
s
5
( | |
) 0 (
1
5
x
t
(

(
|
|
.
|

\
|
+
=
1
5 1
.........
t
Given the configuration:
Q12 Sample
Given the configuration:
D
R(s)
+
+
s
1
_
+
s
ss
Calculate the settling time us
Settling time ... Hints s14/40
D(s)
K=10
10 + s
K
Y(s)
(s)
+
10 + s
ing the 2% criterion.
The CLTF is
Q12 Sample
10
The CLTF is.
2
10
10
1
10
10
+
=
+
+
+
=
s
s
K
s
R
Y
10 + s
) 1 (
1
) (
20t
e t y

) 1 (
2
) ( e t y =
0.5 0.5 0.98 2 / 1 ) ( = = y
sec 19 . 0
20
02 . 0 ln
=

= =
S
T t
Settling time ... Hints s14/41
20
0
Not second order Not second order
???
Settling time ?? g
) e - (1
-20t
100%
98%
T
s
Given the feedback system:
Q13 Sample
Given the feedback system:
R(s)
+
Given :
s
s K
s KG
2 (
) (
3
2
+
+
=
Sketch the Ro Sketch the Ro
RL diagram .... Hints s14/42
Y(s)
) (s KG
+
_
s
s
4
) 2 2 +
oot Locus. oot Locus.
Given the feedback system:
Q13 Sample
Given the feedback system:
R(s)
+
s s K
s KG
) 2 2 (
) (
3
2
+ +
=
Sketch the Root Locus.
s s 4
) (
3
+
1. Starts on OL poles ; ends on OL ze
One zero at One zero at
2. RL on the real axis.odd No to rigg
RL diagram .... Hints s14/43
Y(s)
) (s G
+
_
eros
X
O
X
ght
X
O
g
3 Asymptotes: R = 3-2 = 1
Q13 R
3. Asymptotes: R 3 2 1
= 180
O
4. Not applicable
5 Breakaway & entry points: 5. Breakaway & entry points:
s -1.8 -2 -2.5 -2.8 -3
K 7.95 8 7.88 10.2 7.
max-
d
min
6. Dep & arrival angles..dep from p
dep
RL plots .... Hints s14/44
X
o
X
o
X
o
3 -3.5
.8 7.84
n -arrival
poles... ; arrives at zeros..
Departure:
Q13 Sample R
Departure:
O
162
90 ) 108 135 135 ( ' + + =
O
162 =
180 180 ) 45 45 ( ) 90 90 ( = + + + =
RL plot .... Hints s14/45
O
117 180 ) 6 71 45 ( ) 90 90 ( = + + + + = 117 180 ) 6 . 71 45 ( ) 90 90 ( = + + + + =
180
117
O
X
X
O
+180
O
O
0
X
X
O
X
X
o
X
o
X
Hand sketch
Q13 Samples
Hand sketch...
X
o
X
o
X
o
RL plot .... Hints s14/46
Check via MATLAB
2
3
Check via MATLAB
0
1
I
m
a
g

A
x
i
s
-2
-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
-3
Real Axis
(i) For the system shown, determine
Q14 Samples
phase margin.
(ii) If a PI controller with T = 2 sec is (ii) If a PI controller with T
I
= 2 sec is
controller, determine the value of K
R(s)
+
C
K
_
e the value of K
C
that will give 30
O
of
PM & GM ... Hints s14/47
used in place of the proportional used in place of the proportional
K
C
for 30
O
of phase margin.
G( )
Y(s)
2
) 1 (
1
+ s
G(s)
) 1 ( + s
Q14 Samples
Use AB = loop gain = -1
2
) 1 ( 1 ) ( j j G + = ) 1 ( 1 ) ( j j G + =

1
tan 2

=
PM G 30 180 = =
-180
O
O
G
PM G
150
30 180
=

PM & GM ... Hints s14/48
GM
GC

log
PM

10
log
Q14 Samples
-ve is understood
3 )
2
150
tan( = =
To find K
C
.use the magnitude of
C
g

) 732 . 3 1 (
1
2

+
= =
C
j
K
G
PM & GM ... Hints s14/49
rad/sec 732 . 3
GC
=
G =1 = 0 dB @
GC
.see graph @
GC
g p
9 . 14 =
C
K
(ii) PI case
Q14 Samples
(ii) PI case
)
1
1 ( ) (
s T
K s G
C C
= + =
s T
I
2

) 1 ( 2
) 1 2 (
) ( ) (
s s
s K
s G s G
C
C
+
+
=
90 ) 2 ( tan
1
=
O
C
GG
Trial & error ... solve for
/ 7 2 d / 7 . 2 s rad
GC
=
PM & GM ... Hints s14/50
)
2
1 2
( )
2
1
1 (
s
s
K
s
K
C C
+
= +
2 2 s s
2
) 1 ( 2
) 2 1 (
) (

j j
j K
j GG
C
C
+
+
=
) tan( 2
O
O
150 =

GC
2 8 K 2 8 . K
C
=
State feeback Nise 6
th
Ed p. 712
Q15 Samples St
State feeback Nise 6 Ed p. 712
Given the following open loop plant:
7 )( 5 (
) 2 ( 20
) (
+
=
s
s G
7 )( 5 ( + + s s s
Design a controller to yield 15 % oversh
Place the third pole 10 times as far from Place the third pole 10 times as far from
pair.
Use phase ariables for state ariable f Use phase variables for state variable f
Q7.
tate feedback ... Hints s14/51
Q7.
) 7) 7
hoot with a peak time of 2 seconds.
m the imaginary axis as the dominant pole m the imaginary axis as the dominant pole
feedback feedback.
Q15 Samples Sttate feedback ... Hints s14/52
State feeback Nise p. 712 Q7.
Q15 Samples SState feedback .. Hints s14/53
Discrete transfer function
Q16 Sam
A process is described by the first order differenti
s Y
s G = =
) (
) (
assume K= 1 = a
s s U ) (
) (
Calculate the discrete rime transfer function betw
zero order hold and followed by a sampler as sho
Use the following to find G(z):
= = (
) (
) (
) (
z U
z Y
z G
) (z U
ples.. Hints s14/54
al equation or a transfer function of the form
K
a s +
ween input and output. The system will be driven by a
own below.
|
.
|

\
|

s
G(s)
L ) 1 (
1 - 1
Z z
. \
s
Q16 Samples.. Hints s14/55
Discrete transfer function
Q16 Sample
Discrete transfer function
s ... Hints s14/56
Sample
End of sample
Good luck with t Good luck with t
s ... Hints s14/57
es
the test the test