CN3121 2008 Self-Solutions by Min Han (Solutions below might not be correct)

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Question 1
Consider each of the following transfer functions and categorise the corresponding processes as a)
Stable or unstable, b) oscillatory or non-oscillatory, giving reasons for your answer.
10 2.5 12.7𝑒 −4.5𝑠
i) 𝐺1 (𝑠) = 𝑠+15.2 ii) 𝐺2 (𝑠) = 𝑠2 +4𝑠−21 iii) 𝐺3 (𝑠) = 𝑠2 +10𝑠+26

You need to realise this tests your basics on checking for TF stability. Back in Section 3 of my guide,
we learnt that in the general TF, there are poles and zeros. Only RHP poles cause instability.
Additionally, poles can also determine if something is oscillatory, depending on whether there
your poles have imaginary components or only have real components.

Hence

i) LHP pole -> Stable.

1st Order (Or pole with no imaginary component) -> Non-oscillatory.

ii) LHP pole & RHP pole -> Unstable.

2nd Order with real poles -> Non-oscillatory.

iii) LHP poles -> Stable.

2nd Order with complex poles -> Oscillatory

Note: For stability checks, you can also use what you learnt in part 2. There are 2 forms of checks:

1) Utilising the general stability criterion. This is done via routh stability or direct substitution on
1+Gol
2) Bode stability criterion. This requires you to do FRA on the GOL to check for AR magnitude.

Question 2
In this question, we’ll need to do fundamental modelling to derive our transfer function.

Let’s start with mass balance.

𝑑ℎ
𝐴∗ = 𝑞𝑖 − 𝑞1 − 𝑞2
𝑑𝑡
Where q1=h/R
At steady state, dh/dt=0
1
0 = 𝑞̅𝑖 − ℎ̅ − ̅̅̅
𝑞2
𝑅
Subtracting the 2 equations and changing dh/dt to dh’/dt
𝑑ℎ′ 1
𝐴∗ = 𝑞𝑖 ′ − ℎ′ − 𝑞2 ′
𝑑𝑡 𝑅
Since q2 is always constant at 6 ft3/mm, q2’ = 0.
𝑑ℎ′ 1
𝐴∗ = 𝑞𝑖 ′ − ℎ′
𝑑𝑡 𝑅
Applying Laplace transformation
1
𝐴[𝑠𝐻 ′ (𝑠) − 𝐻′(0)] = 𝑄𝑖 ′(𝑠) − 𝐻′(𝑠)
𝑅
Note that H’(0) = 0

𝐴𝑅𝑠𝐻 ′ (𝑠) = 𝑅𝑄𝑖 ′(𝑠) − 𝐻′(𝑠)

𝑅 0.25
𝐻 ′ (𝑠) = 𝑄 ′ (𝑠) = 𝑄 ′ (𝑠)
𝐴𝑅𝑠 + 1 𝑖 0.5𝑠 + 1 𝑖

Question 3
Final steady-state value is KM. Or K= final change in output / change in input.

KM=(115-130)=-15°C, where M=+0.08 m3/min

K= -187.5°C min / m3

KM=(151-130)=21°C, where M=-0.08 m3/min

K = -262.5°C min / m3

Possible reason for differences:

Recall that steady state gain K was calculated from final change in output divided by change in input.
But it was assumed that this change in output was solely caused by change in w. Other factors may
have changed besides w (disturbances) and this measured change in output is actually a combined
effect of both input changes (w and disturbance). Examples include Ti or Q not being constant.

Question 4
Only part I is relevant as feedforward is not tested for this AY16/17 sem 1 batch.

Check Characteristic equation of inner loop.

Gol, inner = Kc1 * Gp

Characteristic equation = 1 + Kc1 Gp.

From here, you can use any of your stability tests for loops. E.g. Routh’s, FRA.
 𝐺𝑝
𝐺𝑜𝑙 = 𝐾𝑐2 ∗ 𝐺 = 𝐾𝑐2 ∗
1 + 𝐾𝑐1 𝐺𝑝

Question 5
Part I about IMC controller is not in syllabus. Final controller solution given is
1 3 1
𝐺𝑐 = 𝐾𝑐 (1 + ) = (1 + )
𝜏𝑖 𝑠 4 3𝑠
4
For the process of 𝐺𝑝 = 3𝑠+1 𝑒 −0.5𝑠 where Gv=Gm=1.

What is the gain margin?

First, find AR and ∅ for your Gol.

3 1 4
𝐺𝑜𝑙 = 𝐺𝑐𝐺𝑝 = (1 + ) 𝑒 −0.5𝑠
4 3𝑠 3𝑠 + 1

3 1 1
𝐴𝑅(𝐺𝑜𝑙) = ∗ 4 ∗ √1 + 2
∗√ 2
4 9𝜔 9𝜔 + 1

1
∅ = tan−1 (− ) − tan−1 (3𝜔) − 0.5𝜔
3𝜔
GM = 1/ARc

Hence to find Arc, we find wc, where ∅ = −𝜋

By calculator, ωc =3.142 (it’s actually π)

At wc, ARc= 0.3183 (it’s actually 1/π < 1)

GM = 1/ARc = 3.142 (π)

For PM, we need to find ∅𝑔. This occurs when AR = 1 at ωg.

By calculator, ωg=1.

∅𝑔= - 2.071 rad = -118.6°

PM = 180 + (-118.6)= 61.4°.

Extra knowledge for your info

𝑃𝑀 𝜋
∆𝜃𝑚𝑎𝑥 = ∗ = 1.071 𝑚𝑖𝑛
𝜔𝑔 180°