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Control Assignment
Control Assignment
1
1
( s 3)( s 11)( s 18)
C ( s)
K G(s)
G ( s ) 1 KG ( s) H ( s)
As H ( s) 1
1
G(s ) H (s)
( s 3)( s 11)( s 18)
Poles for open loop system:
( s 3)( s 11)( s 18)
s 3, s 11, s 18
now we define
n=number of poles=3
m=number of zeros=0
G(s)
j 1
i 1
RP( Pj )
j 1
3
3 11 18
3
-8.6667
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai
nm
3
o
Ai 60 (2i 1)
Fori 0, 60o
Fori 1, 180o
Fori 2, 300o
111
s2
26
K 594
s
s0
K 594 2886
23
K 594
&
K 3480 0
, K 3480
so, K (594,3480)
position of closed loop poles for j crossing
26 s 2 K 594 0
26 s 2 3480 594 0
26 s 2 2886 0
s 2 111
s 0.0000 10.5357i
10
-5
-10
-15
-30
-25
-20
-15
-10
-5
Interesting Values of K:
K=0
K=594
K=3480
K=724.6258
Checking for interesting values of K using MATLAB
[K,pole_loc]=rlocfind(sys,3)
[K,pole_loc]=rlocfind(sys,0)
[K,pole_loc]=rlocfind(sys,-2.4932)
[K,pole_loc]=rlocfind(sys,10.53j)
K =
1.3056e-13
pole_loc =
-18.0000
-11.0000
3.0000
K =
594.0000
pole_loc =
0
-20.6158
-5.3842
K =
724.6258
pole_loc =
-21.0135
-2.4933
-2.4932
K =
3.4769e+03
pole_loc =
-25.9961 + 0.0000i
-0.0020 +10.5308i
-0.0020 -10.5308i
For
[0.4 0.45],
s -3.2323 4.8234j
we choose closed loop poles as:
Now we gooto command window and use the following code to confirm
the value of
load y_out
t=ans(1,:);y=ans(2,:);
plot(t,y)
y_max=max(y);
y_ss=y(59);
os_per=(y_max-y_ss)/y_ss;damp=sqrt((log(os_per)^2)/(pi^2+
(log(os_per)^2)))
=>damp =0.4118
ts=3
omega_n=4/(damp*ts)
omega_n =3.2378
DNA ANALYSIS
K=0
0<K<594
K=3.4769e+03
K=724.6258
724.6258<K<3.4769e+03
Unstable
Unstable
marginally stable
Stable
Stable
For the value of K when damping constant is between 0.4 and 0.45, the poles are at:
s=-22.0462 ,
s= -1.9769 4.4638i
And the value of K is: 1.1194e+03
As the 3rd pol is more than 5 times the first two poles, the second order
approximation becomes valid and the response of second order system is attained.
QUESTION NO.2
s 18
( s 3)( s 9)
C ( s)
K G (s)
G ( s ) 1 KG ( s ) H ( s )
As H ( s) 1
G ( s)
1
( s 3)( s 11)( s 18)
Poles for open loop system:
( s 3)( s 9)
s 3, s 9
systemzerosare : s 18
now we define
n=number of poles=2
m=number of zeros=1
G ( s) H ( s)
j 1
i 1
nm
3 9 18
1
12
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai
nm
1
o
For i 0, 180
For i 1, 180o
ds
( s 18) 2
Break in point: s=-31.7477
Break away point: s=-2.4932
J Crossing points
( s 3)( s 9) K ( s 18) 0
K
s 2 (6 K ) s 18 K 27 0
Using Routh Hurwitz Critererion
s 2 1 18 K 27
s K 6
s0
18 K 27
for stable closed loop system,
18K 27 0 & K 6 0
3
K , K 6
2
position of closed loop poles for j crossing
s 0 0i
Interesting values of K
K
K
K
K
0
Start
1.5
jcrossings
2.1655 break away
75.4955 break in
MATLAB PART
den=poly([3 -9]); % denominator of system tf
num=[1 18];
% numerator of system tf
sys=tf(num,den)
% system transfer function
k=[0:.1:60];
r=rlocus(sys,k);
% data of root locus
plot(r,'*')
% plot the root locus
zoom on;
%---------------------------------------[K,pole_location]=rlocfind(sys,-3)
[K,pole_location]=rlocfind(sys,0)
[K,pole_location]=rlocfind(sys,-4.2523)
[K,pole_location]=rlocfind(sys,-31.7477)
15
10
-5
-10
-15
-40
-35
-30
-25
-20
K =2.4000
pole_location = -5.4000, -3.0000
K = 1.5000
pole_location = 0, -7.5000
K =2.5045,
pole_location = -4.2523,-4.2522
K =57.4955
-15
-10
-5
pole_location = -31.7478,-31.7477
damp=0:0.05:1;
omega=0:5:40;
figure,
sgrid('new')
sgrid('damp,omega')
hold on
plot(r,'*')
zoom on
kbd=input('POINT & CLICK for required minimum damping');
[k_1,p_1]=rlocfind(sys)
15
10
5
0.16
1.6
0.34
0.5
1.4
0.64
1.2
0.76
1
0.86
0.8
0.94
0.6
0.4
0.2
0.985
0.985
0.2
0.4
0.94
0.6
0.86
0.8
0.76
1
1.2
0.64
0.5
1.4
0.34
0.16
1.6
-5
-10
-15
-120
-100
-80
-60
-40
-20
20
figure,
sgrid('new')
sgrid('damp,omega')
hold on
plot(r,'*')
zoom on
kbd=input('POINT & CLICK for requiredgain and pole wrt to damping of 0.85');
[k_1,p_1]=rlocfind(sys)
15
10
5
0.16
1.6
0.34
0.5
1.4
0.64
1.2
0.76
1
0.86
0.8
0.94
0.6
0.4
0.2
0.985
0.985
0.2
0.4
0.94
0.6
0.86
0.8
0.76
1
1.2
0.64
0.5
1.4
0.34
0.16
1.6
-5
-10
-15
-60
-50
-40
-30
-20
-10
QUESTION NO.3
10
( s 3)( s 9)
( s 22)( s 6 7i )( s 6 7i )
C ( s)
K G ( s)
G ( s ) 1 KG ( s) H ( s )
As H ( s) 1
( s 3)( s 9)
G ( s) H (s)
( s 22)( s 6 7i )( s 6 7i)
Poles for open loop system:
( s 22)( s 6 7i )( s 6 7i )
s 22, s 6 7i
systemzerosare : s 3, s 9
now we define
n=number of poles=3
m=number of zeros=2
G ( s)
j 1
i 1
28 12
1
16
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai
nm
1
o
For i 0, 180
For i 1, 180o
ds
( s 2 12 s 27) 2
Break in point: s= 8.3909
Break away point: s=-6.24
J Crossing points
(s3 +34s 2 +349s+1870)+K ( s 3)( s 9) 0
s3 (34 K )s 2 (349 12 K ) s 1870 27 K 0
(349 12 K )
s2
(34 K )
1870 27 K (349 12 K )(34 K )
34 K
1870 27 K (349 12 K )(34 K )
34 K
1870 27 K
s
s0
&
34 K 0
K 34
DNA ANALYSIS
K=0
Unstable
K=-20.816
marginally stable
K=86.45
Stable
QUESTION NO.4
1
( s 3)( s 11)( s 18)
C ( s)
K G (s)
G ( s ) 1 KG ( s ) H ( s )
As H ( s) 1
1
G ( s) H ( s)
( s 3)( s 11)( s 18)
Poles for open loop system:
s 3, s 11, s 18
now we define
n=number of poles=3
G ( s)
m=number of zeros=0
j 1
i 1
nm
3 9 18
1
12
Angle of Asymptotes:
180(2i 1) 180(2i 1)
Ai
nm
3
o
For i 0, 60
For i 1, 180o
For i 1, 60o
s3
s
s1
111
26
k 594
3480 k / 26
s 0 k 594
for stable closed loop system,
K 594 0 & 3480 k
3
K , K 6
2
position of closed loop poles for j crossing
s 0 10.53i
Interesting values of K
K 0
Start
K 3480,594 jcrossings
K 216
break away
K 724.62
break in
MATLAB PART
clc;clear all;close all
den=poly([3 -11 -18]); % denominator of system tf
num=[1];
% numerator of system tf
sys=tf(num,den)
% system transfer function
k=[594:5:3400];
r=rlocus(sys,k);
% data of root locus
plot(r,'*')
% plot the root locus
15
zoom
on;
10
-5
-10
-15
-30
-25
-20
-15
-10
-5
%-------------------------INTERESTING POINTS--------------[K,pole_location]=rlocfind(sys,10.53i)
[K,pole_location]=rlocfind(sys,0)
[K,pole_location]=rlocfind(sys,-14.8401)
[K,pole_location]=rlocfind(sys,-2.4932)
% %----------------------------------------
K=
3.4769e+03
pole_location =
-25.9961 + 0.0000i
-0.0020 +10.5308i
-0.0020 -10.5308i
K = 594.0000
pole_location =
0
-20.6158
-5.3842
K = 216.4777
pole_location =
-19.1910
-8.9958
2.1868
K = 724.6258
pole_location =
-21.0135
-2.4933
-2.4932
FOR THE GIVEN DAMPING AND SETTLING TIME FIND GAIN AND POLE
LOCATION:
% %---------------------------------------damp_1=.5912;
damp_2=.2;
damp=[damp_1,damp_2];
omega_1=2.2553;
omega_2=5;
omega=[omega_1,omega_2];
figure,
sgrid('new')
sgrid('damp,omega')
hold on
plot(r,'*')
zoom on
kbd=input('POINT & CLICK ');
den=poly([3 -11 ]); % denominator of system tf
num=[1];
% numerator of system tf
sys=tf(num,den)
% system transfer function
[k_1,p_1]=rlocfind(sys)
% %---------------------------------------
RESULTS:
-4
-3
-2
sys =
1
-------------s^2 + 8 s - 33
-1
64.7262
p_1 =
-4.0000 + 3.9656i
-4.0000 - 3.9656i
Simulink Part:
omega=4/(ts*damp);
y_max =
1.6428
per_os =
0.5645
damp =
0.1790
Stability
10
unstable
190
unstable
594
marginally stable
1984
stable
3123
stable
3312
stable
1641
stable
3840
marginally stable
4100
unstable