ECX 4242

Assignment 1
Model Answer

01 (a) open loop control

- Output depends only on the input
There is no feed back path.
Closed loop control.
- There is a feedback path to compare the output with the desired input.
Here, output depends on both the reference input and the previous output.
You will observe this clearly in the following block diagrams. (Fig 1)

Desired
input Output
Controller Processor
(Actual Response)

- open loop control

Desired Output
Controller Processor
input
Actual
Response

Measurement
sensor
Feedback
path
- closed loop control

Fig. 1

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1 (b) Detailed Block diagram of a closed Loop control system.

Actuator
Comparator
output
Reference Controlled
+ Controller Actuator Process
input - Output

Sensor Measuring
Out put Device / sensor

Fig. 2

1. Speed Control system of 2.Water level control 3.Human arm control

an automobile with human system (with float and system.
driver valve)
1. Process Automobile (Motor vehicle) Water tank Arm
2. Actuator Accelerator Valve mussels of the arm
3. sensor Speedometer Float/floating ball Eyes/nerves
4. Reference input Desired speed of the Desired water level Desired movement of
automobile the arm
5. Controlled output Speed of the automobile Water level of the tank Actual movement of the
arm
6. Actuator output power Closing/opening of the Muscle movement
valve.
7. Sensor output Visual reading of the Position (height) of the Visual position of the
speedometer float. arm
Controller Leg musceles Pivot/lever arm Human brain human
Comparator eyes and brain
human eyes and brain
Note:
1. when the human driver wants to control (increase/decrease) the speed of the vehicle, he pressurizes or
releases the accelerator according to the speedometer reading.
2. Here, the ball floats on the water. When the container becomes full (or desired level), the input valve
is closed by the pivot. (Fig 3)
3. Consider a Particular movement of the arm (eg. Touching an object, raising hands etc).

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 Input
value

water
input

pivot

Ball
(pivot)

water
outlet
Fig. 3
2. (a)

x1 x2

F(t) m1 m2
1kg 1kg
k

Fig. 4

..
m x
1 1
Free body k x1 k x2
m1 + m1
diagrams
for m1 F(t)

..
m x k x2
1 1
m1 k x1
F(t)

Fig. 5
..
m1 x 1  k ( x 2  x1 )  F (t ) (1)

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 ..
m x
2 2
k x2 k x1
Free body m2 + m2
diagrams
for m2

Fig. 6

..
m2 x 2  k ( x1  x 2 ) (2)

m1 s 2 X 1 ( s )  kX 2 ( s )  kX 1 ( s)  F ( s ) (3)

m2 s 2 X 2 ( s)  kX 1 ( s)  kX 2 ( s ) (4)

1
X 1 ( s)  ( K  m2 s 2 ) X 2 ( s) (5)
k

From (3),

1 
(m1 s 2  k )  (t  m2 s 2 ) X 2 ( s )  kX 2 ( s )  F ( s )
k 

X 2 ( s) k

F ( s ) (m1 s  k )(m2 s 2  k )  k
2

1

( s  1)( s 2  1)  1
2

1

s  2s 2
4

L
(3) R
+

L = 1H
C
V2(t)
R = 2Ω
V1(t) Vc(t) Vc(t) = V2(t)
i (r)

Fig. 7

di
V1 (t )  L  i (t ) R  V2 (t ) (1)
dt

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 dv c dv (t )
i (t )  C C 2 (2)
dt dt

d 2 v 2 (t ) dv (t )
Vi (t )  LC  RC 2  v 2 (t)
dt dt

.. .
v (t )  v (t )  2 v (t )  v (t ) (3)
1 2 2 2

.. ..
(b) v (t )  v (t )  2 v (t )  v (t )
1 2 2 2

We know that, L x (t )  X ( s )

. 
L  x (t )   sX ( s )  x(t 0 ) (4)
 

 ..  .
L  x (t )   s 2 X ( s )  sx(t 0 )  x (t 0 ) (5)
 

where t=t0 =initial condition

Assuming zero initial conditions, (3) becomes
V1 ( s )  s 2V2 ( s )  2 sV2 ( s )  V2 ( s )

V1 ( s )  1
V2 ( s ) ( S 2  2s  1)
(c) Applying equations (4) and (5) in (3),
.
V1 ( s )  s 2V2 ( s )  sV2 (t 0 )  V2 (t 0 )  2 sV2 ( s )  2v 2 (t 0 )  V2 ( s )

.
V (t )  1V , V (t )0
2 0 2 0

V1 ( s)  ( s 2  2s  1)V2 ( s)  s  0s  2

( s  2)  V1 ( s) s  2  1 s  1
V2 ( s )   2 V1 ( s )  
( s  2 s  1)
2
s  2s  1  s

( s 2  2s  1) 1
 
2 s
s ( s  2 s  1)

v 2 (t )  1V

(c) Since v 2 (t ) is a constant value of 1V, its final value also equals to 1V or you can use final value
theorem for this.

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(4)

G1(s)
N(s)

+ +
R(s) + Y(s)
G2(s) G3(s)
+ +
- -

H1(s)

(a) SFG of the system

G1(s)
N(s)

1 E(s) G2(s) G3(s) 1 1 Y(s)

R(s)

-H1(s)

-1

(b) when N=0

G1(s)

R(s) 1 E(s) G2(s) G3(s) Y(s) 1 Y(s)

-H1(s)

-1

Mason's Gain Formula

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For a given SFG with N forward paths and L loops, the gain between the input node and output node y out
is,

y out N
M 
M   k k
y in k 1 

where, yin = input node variable

yout= output node variable
M = gain between yin and yout
N = total no of forward paths between yin and yout
Mk = gain of the kth forward path between yin and yout
  1   Li1   L j 2   Lk 3  .....
i j k

where Lmr=gain product of the mth(m = i,j,k...)possible combinations of r nontouching loops. (1  r  L )

i.e  =1- (sum of the gain of all individual loops)

+ (sum of products of all possible combinations of 2 nontouching loops)

- (sum of products of all possible combinations of 3 nontouching loops)
+ .................................

 k =  for the part of the SFG, that is nontouching with the kth forward path

If we apply this theory for the SFG, when N=0,

No. of forward paths = 2  gains = G1(s)G3(s) and G2(s)G3(s)

No. of loops = 2  gains are, -H1(s) G3(s) and -G2(s) G3(s)

(both are touching).

   1  (G3 ( s ) H 1 ( s )  G 2 ( s )G3 ( s ))

 1  G3 ( s ) H 1 ( s )  G 2 ( s )G3 ( s )

 k  1(all loops touch with the forward path)

Y (s) N
M k k
 
R( s) N 0 k 1 

G1 ( s )G3 ( s )  G 2 ( s )G3 ( s )

1  G3 ( s ) H 1 ( s )  G 2 ( s )G3 ( s )

E ( s)
 2 forward paths
R( s) N 0

For path 1 gain = 1

for path 2  gain = - G1(s) G3(s)
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 Loop with gain – G3(s) H1(s) doesn’t touch with path 1.
1 = 1 + G3(s) H1(s)
2 = 1

E (s) 1  G3 ( s ) H 1 ( s )  G1 ( s ) G3 ( s )

R( s) N 0
 1  G 3 ( s ) H 1 ( s )  G 2 ( s ) G3 ( s ) 

when R 0

N(s)

E(s) G2(s) G3(s) 1 1 Y(s)

-H(s)

-1
Y  s
 No of forward paths  1
N  s R 0

forward path gain  1

k  1

  1  (G3 ( s ) H 1 ( s )  G 2 ( s )G3 ( s ))

 1  G3 ( s ) H 1 ( s )  G 2 ( s )G3 ( s ) (same as when N  0)

Y (s) 1

N (s) R 0
1  G3 ( s ) H 1 ( s )  G 2 ( s )G3 ( s )

E ( s) (1) (1)
 (since forward path gain  1)
N ( s) R 0
1  G 3 ( s ) H 1 ( s )  G 2 ( s )G 3 ( s )

(c) We can use the principle if super position to get the complete output due to the 2 inputs R(s) and
N(s).

Y ( s)  Y ( s) N 0
 Y ( s) R 0

G1 ( s )G3 ( s )  G2 ( s )G3 ( s ) N (s)

 .R ( s ) 
1  G3 ( s ) H 1 ( s )  G2 ( s )G3 ( s ) 1  G3 ( s ) H1 ( s )  G2 ( s )G3 ( s )

(d) Block diagram reduction method

When N=0

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 G1(s)

+
R(s) Y(s)
G2(s) G3(s)
+ +
- -

H1(s)


G1(s)

+
R(s) E(s) G3 ( s )
G2(s) Y(s)
+ 1  G3 ( s ) H ( s )
-

R( s)  Y ( s)  E ( s) (1)

G3 ( s )
Y ( s )   E ( s )G2 ( s)  R ( s)G1 ( s) (2)
1  G3 ( s ) H 1 ( s )

G3 ( s ) R ( s)G 2 ( s )  Y ( s )G 2 ( s )G3 ( s ) G1 ( s )G3 ( s )

Y ( s)   .R ( s )
1  G3 ( s ) H 1 ( s ) 1  G3 ( s ) H 1 ( s )

 G2 ( s )G3 ( s )  G1 ( s )G3 ( s)  G2 ( s )G3 ( s)

Y ( s ) 1   R( s )
 1  G3 ( s ) H 1 ( s )  1  G 3 ( s ) H 1 ( s )

Y (s) G ( s )G ( s )  G ( s )G ( s )
1 3 2 3

R(s) 1  G ( s )G ( s )  G ( s ) H ( s )
N 0 2 3 3 1

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E ( s) Y ( s)
 1
R( s ) N 0
R( s ) N 0

G1 ( s ) G3 ( s)  G2 ( s) G3 ( s)
 1
1  G 2 ( s ) G 3 ( s )  G3 ( s ) H 1 ( s )
1  G1 ( s) G3 ( s)  G3 ( s ) H 1 ( s )

1  G 2 ( s ) G 3 ( s )  G3 ( s ) H 1 ( s )

R(s)=0

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 N(S)
E(s) + Y(S)
G 2 (s) G 3 (s)
-

H 1 (s)

-1

 N(s)

Y(s)
G 3 (s)

- -

H 1 (s)

G 2 (s)

 N(s)

+ + Y(s)
G 3 (s)

-(G 2 (s) + H 1 (s))

Y ( s )  N ( s )  Y ( s )G3 ( s ) G 2 ( s )  H 1 ( s )

Y ( s) 1

N (s) R ( s ) 0
1  G 2 ( s ) G3 ( s )  H 1 ( s ) G3 ( s )

E ( s )  (1) Y ( s )
E (s) Y (s) 1
 (1) 
N (s) N ( s ) 1  G2 ( s )G3 ( s )  G3 ( s ) H 1 ( s )

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(5)
(a) Settling time :
- is defined as the time For the response to reach and stay within 2% of its final value.
Rise time :
- is defined as the time for the wave Form to go form 0.1 to 0.9 of its Final value.
Peak Overshoot:
- is defined as the amount that the waveform overshoots the steady-state, or final value at the
peak time.
(c) For stability, rise time, settling time and peak overshoot must be low. Peak overshoot is a measure
of relative stability and is a function of damping ratio only. This can be improved by increasing the
value of the damping ratio.

For a second order system,

C(t)

Peak overshoot

C final (Final value)

0.9c final

0.1c final

t
Rise time Tsetting

r(t) kr s  1 + K Y(t)

sa S (Ts  1)
-


K s (Ts  1)
r(t) kr s  1 Y(t)
K
sa 1
s (Ts  1)

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 lim lim
Steady state error E ss  e(t )  s E ( s)
t  s0

Error  E(s)  R(s) - Y(s)

 K ( K r s  1) 
 R ( s) 1  
 ( s  a)(Ts  s  k ) 
2

1 K ( K r s  1) 
Unit step input E ( s )  1
s  ( s  a )(Ts  s  k ) 
 2

lim
E ss  s E ( s)
s0

lim  K ( K r s  1) 
 1
s  0  (s  a)(Ts 2  s  k ) 


K
 1  1 1
aK a
(iii) Steady state error is independent of the value of K r .It depends only on a. For large values of
a the steady state error will be large.

(iv) Kr = 0.1;
a = 10;
K = 1;
T = 1;
num = [(K*Kr) K];
den = [T (1+a*T) (K+a) a];
t=0:5:20;
step(num,den,t)

Use the above M-file to plot the response for each case. By changing the variables you can analyze
the system. The easiest way to check the values of given parameters, you can use MATLAB built in
possibilities. Right click on the figure(graph) you obtained using step command. In the small window
that opens on the figure, select chatacteristics and then select what you want to see(rise time, peak
value etc.). After you do that you will see dots on the graph on the points that represent the values you
have chosen to show. Left click on the point will write the value on the graph permanently. You can
change the alignment of the text using right click on the appropriate point. Following is the plot for the
case of K=1, T=1, Kr=0.1 and a=10.

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