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INC 341 Feedback Control Systems 30 พ.ย.2558 PDF
INC 341 Feedback Control Systems 30 พ.ย.2558 PDF
INC 341 Feedback Control Systems 30 พ.ย.2558 PDF
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1.
Consider the block diagram shown below. Suppose that the open-loop system
- a, - c
and a zero at
l~s)
Y(s)
G(s)
1.1. What is the DC gain of the open-loop system? Hint: write in terms of
1.2. Plot the locations of the closed-loop poles when varying
has 2 poles at
-b. Giving that a, b, c are all positive numbers and a <b < c.
1.3. When
G(s)
a, b, c
(1 point)
b, c
2.
(1 point)
(1 point)
(1 point)
(1 point)
The input signals and the steady state output signals from a filter have been shown in the table
below.
V,n (f)
vout
(t)
5
3sin(t)
0
0.5883 sin(t + 79)
sin(5 t)
4cos (lOt-27)
0.7071sin(5t+ 45)
3.5777cos (lOt)
2cos(100 t-30)
2cos(100 t -30)
(1 point)
(1 point)
(1 point)
2.4. Find the cutoff frequency of the filter. How do it relate to the system pole?
(1 point)
3.
Consider stability of the 3 different closed-loop systems having the same structure shown below
{,{s)
3.1. When
K = 0, the
1st
Y(s)
G(s)
loop pole on the right half plane, is the closed-loop system stable when
find a range of
K is varied? If not,
(2 points)
Nyquist Diagram
0.1
.!II
~
ti!
c:
System Gs
Real: -0.133
lmag: -1.63e-17
Frequency (rad/s): -1e-20
0.05
System: Gs
Real: -0.00242
lmag: 0.00166
Frequency (rad/s): -18
-~
.E
-0.05
--
('\
----------------------------------------
System Gs
Real: 0.056
lmag: 0.00247
.
Frequency (rad/s). -2.42
-----------------------------
-0.1
~.6
~.5
~A
~-3
~.2
~.1
Real Axis
0.1
0.2
0.3
0.4
3.2. When
=0, the Bode plot of the 2nd system has been shown below. Is the closed-loop
K
~~
~~~
Bode Diagram
0
I-
,e
r---1'-
-20
-40
360
fill
180 f--
Cl>
lid
s::.
90
0..
0
-90
10- 2
H--
1-...."'
I
I
I
I
i II II
I
I
I
~""
----
~-1. I
I
I
I
!
I
I
I
100
Frequency (rad/s)
" f'"
H--
i
I
I
I
I~
~-I 'H
~~I
II
"
l'r-I ~
r-).,
"'
~ ---\- l
I{ I
I
I
I
I
--+------+-- -- +- -
II
--
I
I
,_ -
-30
r-~
270
--~
c:
:ii:
!'--.... ,....,
10'
Cl>
"C
r-.._
-10
..
II
r--l J
I I
1
11
3.3. The Root Locus plot of the 3rd system has been shown below. Is the closed-loop system stable
when
Root Locus
5
4
3
,......
System: Gs
Gain: 2.99
Pole: -0.00148 + 3.3i
Da!1l>ing: 0.000449
Overshoot(%): 99.9
Frequency (rad/s): 3.3
";'ti)
't:J
c:
0
Q)
.!a
<II
c:
0 1---------------------H-----------1
51
<II
..5
I\
-2
-3
System Gs
Gain: 14.7
Pole: -5.87 + 7.39e-08i
Da!1l>ing: 1
Overshoot(%): O
Frequency (rad/s): 5.87
-4
-5
-12
-10
-8
-6
-4
-2
4.
C(s) U(s)
s
Y(s)
(s + 3)
(2 points)
4.2. What is the settling time approximated from the poles associated with the gain in problem 4.1
(2 points)
4.3. What is the %OS associated with the gain in problem 4.1
(2 points)
4.4. What is the steady state error associated with the gain in problem 4.1
(2 points)
4.5. Is it necessary to add the I-term in the controller? If so, design a Pl-controller to satisfy your
requirement.
(5 points)
4.6. Is it necessary to add the D-term in the controller? If so, design a PD-controller to get "the best"
response. Define your "best" response.
(5 points)