DING

Joel
F44128640
2023/11/28

Linear Continuous System HM

Table des matières

Question 1 :............................................................................................................................................2
Question 2 :............................................................................................................................................3
Question 3 :............................................................................................................................................5
Question 4 :............................................................................................................................................7
Question 5 :............................................................................................................................................9
a)........................................................................................................................................................9
b)......................................................................................................................................................10
c).......................................................................................................................................................10
Question 6 :..........................................................................................................................................11
a)......................................................................................................................................................11
b)......................................................................................................................................................11
c).......................................................................................................................................................11
Question 7 :..........................................................................................................................................12
a)......................................................................................................................................................12
b)......................................................................................................................................................14
c).......................................................................................................................................................15
Matlab code used :...............................................................................................................................16
Question 6 :..........................................................................................................................................16
a)......................................................................................................................................................16
b)......................................................................................................................................................16
c).......................................................................................................................................................17

1
Question 1 :

The open-loop transfer function is given below:

And the closed-loop transfer function with unity feedback system is given below:

C (s ) G( s)
=
R ( s ) 1+G (s )
2 s+1
C (s ) s
2
=
R ( s ) 1+ 2 s +1
s2
C (s ) 2 s +1
= 2
R ( s ) s + 2 s+1

C ( s ) 2 s +1
=
R ( s ) ( s +1 )2

C (s )
We then, do the partial fraction of in order to do the Inverse Laplace transform.
R (s )

Then, we obtain the Inverse Laplace transform:

2
In order to find the unit step response integrate the unit impulse response from 0 to 1.

c (t)
We integrate between 0 and t the f ( t )= :
r (t )

Question 2 :

The open-looped transfer function is given below:

Then, the characteristic equations is :

1+G ( s )=0
1
1+ =0
s ( s+1 )
2
s + s+1=0

By comparing this equation with standard 2nd order equation, we get:

2 2
s + ZetaWn s+W n =0

3
 2
W n =1
rad
Wn=1
s
2 ZetaWn=1
2∗Zeta∗1=1
Zeta=0.5
The rise time tr is given by:

The peak time tp is given by:

The maximum overshoot Mp is given by:

The settling timets is given by:

4
Question 3 :

We know that,

5
And we also know that the peak overshoot Mp=c ( tp )−c (inf ) :

6
For a 2% tolerance of settling time ts , we got:

7
Question 4 :

So, from the characteristic 2nd order system equation:

8
We have as parameters:

1
Hence, for R ( s )= , the rise time tr is given by:
s

The peak time tp is given by:

The maximum overshoot Mp is given by:

9
The settling time ts is given by:

Question 5 :

a)

We then, do the partial fraction:

By applying the inverse Laplace transform, we got:

10
b)

By applying the inverse Laplace transform, we got:

c)

11
We then, do the partial fraction:

By applying the inverse Laplace transform, we got:

Question 6 :
a)

b)

c)

12
Question 7 :

a)
1
Let R ( s )= , we got:
s

13
We then, do the partial fraction:

We finally obtain c (t ) is:

14
b)
The steady state error for step input is:

To find it, we need the open loop transfer function G ( s ) H (s) :

And, kp=G ( s ) H ( s ) when s → 0, so:

Thus, the steady state error e ss is:

15
c)
For a < 0, the 1st pole of the system will be: P 1=−a

Let a = -2, so P 1=2.

But P1=2 is a positive pole located on the right side of the s-plane.

Which means the sys system is unstable.

- Thus, we cannot find the steady state error e ss as for an unstable system,
the steady state error e ss is “undefined”.

16
Matlab code used :
Question 6 :
a)
clear all;clc;close all;

% Define the open-loop transfer function G(s) - replace this with your system
numerator = [500 3500 5000]; % coefficients of the numerator
denominator = [1 30 296 960]; % coefficients of the denominator
G = tf(numerator, denominator);
T = feedback(G,1);

% Step Input Analysis

Kp = dcgain(G); % Steady-state error constant for step input
ess_step = 1 / (1 + Kp); % Steady-state error for step input

% Ramp Input Analysis

s = tf('s');
Kv = dcgain(s * G); % Steady-state error constant for ramp input
ess_ramp = 1 / Kv; % Steady-state error for ramp input

% Parabolic Input Analysis

Ka = dcgain(s^2 * G); % Steady-state error constant for parabolic input
ess_parabola = 1 / Ka; % Steady-state error for parabolic input

% Display results
fprintf('Steady-State Error for Step Input: %.4f\n', ess_step);
fprintf('Steady-State Error for Ramp Input: %.4f\n', ess_ramp);
fprintf('Steady-State Error for Parabolic Input: %.4f\n', ess_parabola);

b)
clear all;clc;close all;

% Define the open-loop transfer function G(s) - replace this with your system
numerator = [500 6500 26000 30000];% coefficients of the numerator
denominator = [1 30 296 960 0]; % coefficients of the denominator
G = tf(numerator, denominator);
T = feedback(G,1);

% Step Input Analysis

Kp = dcgain(G); % Steady-state error constant for step input
ess_step = 1 / (1 + Kp); % Steady-state error for step input

% Ramp Input Analysis

s = tf('s');
Kv = dcgain(s * G); % Steady-state error constant for ramp input
ess_ramp = 1 / Kv; % Steady-state error for ramp input

% Parabolic Input Analysis

Ka = dcgain(s^2 * G); % Steady-state error constant for parabolic input
ess_parabola = 1 / Ka; % Steady-state error for parabolic input

% Display results
fprintf('Steady-State Error for Step Input: %.4f\n', ess_step);

17
fprintf('Steady-State Error for Ramp Input: %.4f\n', ess_ramp);
fprintf('Steady-State Error for Parabolic Input: %.4f\n', ess_parabola);

c)
clear all;clc;close all;

% Define the open-loop transfer function G(s) - replace this with your system
numerator = [500 12000 111500 498000 1058000 840000]; % coefficients of the
numerator
denominator = [1 30 296 960 0 0]; % coefficients of the denominator
G = tf(numerator, denominator);
T = feedback(G,1);

% Step Input Analysis

Kp = dcgain(G); % Steady-state error constant for step input
ess_step = 1 / (1 + Kp); % Steady-state error for step input

% Ramp Input Analysis

s = tf('s');
Kv = dcgain(s * G); % Steady-state error constant for ramp input
ess_ramp = 1 / Kv; % Steady-state error for ramp input

% Parabolic Input Analysis

Ka = dcgain(s^2 * G); % Steady-state error constant for parabolic input
ess_parabola = 1 / Ka; % Steady-state error for parabolic input

% Display results
fprintf('Steady-State Error for Step Input: %.4f\n', ess_step);
fprintf('Steady-State Error for Ramp Input: %.4f\n', ess_ramp);
fprintf('Steady-State Error for Parabolic Input: %.4f\n', ess_parabola);

18
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