School of Information Technologies and Engineering

TNLCS:

Kurmangazy Gabidolla KBTU ID: 21B030977

Submitted to: Kuanysh Yessenzhanov

Almaty, 2024
 Problem 1
Show that the describing function for a relay with hysteresis in Figure below satisfies:

  12 !
−1 πC D D
N (s) = − 1− +i
Y 4H C C
where:
Y : Amplitude of the limit cycle
N (s) : Fourier transform of the relay output
C : Amplitude of the input signal
H : Hysteresis
D : Dead-zone width

Solution

−H, 0 < ωt < α

Let y(α) = H, α < ωt < π + α

−H, π + α < ωt < 2π + α

2 π
Z Z α Z α+π 
2 2H
a1 = y(ωt) cos(ωt) d(ωt) = −H cos(ωt) d(ωt) + H cos(ωt) d(ωt) = (− sin α−sin α) =
π 0 π 0 π π
 
4H π H πC
b1 = cos α = cos
π 2D π 4H

2
 N (x) = Y1 < Φ

s  2   2
p πD πC πH πC
Y1 = (a1 )2 + (b1 )2 = sin + cos
H 4H 2D 4H

πC
Φ = ⟨α = ⟩
4H

 2 ! 21
πC D D
YN (C) = 1− +i
4H C C

Problem 2
Compute the describing functions for
1. the saturation
2. the dead zone
3. the piecewise linear function

article amsmath

Solution
1. Saturation Nonlinearity:

Asinγ = a
(
kA
sin ωt, if γ < π
sin γ
w(t) =
ka, otherwise

3
 Z γ Z 2γ 
4 kA
b1 = sin ωt sin ωt dωt + ka sin ωt dωt
π 0 sin γ π
2. Dead Zone:

Asinγ = δ
 
−1 δ
γ = sin
A
(
0, if 0 < t < γ
w(t) =
kA sin ωt − kδ, otherwise
 
2kA π δ
b1 = − γ + sin γ cos γ − cos γ
π 2 2A
 s 
   2
b1 2k  π δ δ δ 
N (A) = = − sin−1 + 1−
A π 2 A A A

3. Piecewise Linear Function:

1)
α2
   α   
2(m1 − m2 ) −1 α 1
η(a) = sin + 1− 2 + m2
π a a a 2
( 
1
sin−1 x + x (1 − x2 ) 21 , if |x| ≤ 1


f (x) = 2π
0, otherwise
2)
α
η(a) = (m1 − m2 )f + m2
a
4
N (x0 (t)) = A
π

4
 Problem 3
Consider the system depicted in the figure below, which is typical of the dynamics of electronic
−5s
oscillators used in laboratories. Let G(s) = s2 +s+25 .
Assess intuitively the possibility of a limit cycle, by assuming that the system is started at
some small initial state, and notice that the system can neither stay small (because of
instability) nor at saturation values (by applying the final value theorem of linear control).
Use the extended Nyquist criterion to assess whether the limit cycle is stable or unstable.

Solution
Checking it by Routh Criteria by forming characteristics Equation: 1 + kG(p) = 0
5kp
1− =0
p2 + p + 25
p2 + p(1 − 5k) + 25 = 0

5
 p2 | 1 25
p1 | 1 − 5k 0
0
p | 25(1 − 5k)

For Marginally Stability p1 must be zero.

1 − 5k = 0
5k = 1
1
k=
5
From auxiliary Equation in the above p2 :

p2 + 25 = 0
p2 = −25
√
p = ± 25 = ±j5
Frequency = 5 rad/sec
Magnitude: |G(p)| = |j5|
−5j(5) · k 1
= =1·k =
−25 + j25 + 25 5

Problem 4
Consider a servo motor with transfer function:

4
G(s) =
s(s + 1)(s + 2)
controlled by a relay with a dead-zone as shown in the figure below.

6
 Show that the describing function for the relay with dead-zone a is given by:
(
0, if |A| < a
N (A) = 4 p 2 2
πA
1 − a /A , otherwise

To avoid sustained oscillations in the closed-loop system predicted by the describing function
method, the parameter a should be chosen such that |A| < a for all values of A in the
closed-loop system.

Solution

4s
G(s) =
s(s + 1)(s + 2)
1) G(0) = 0 for A < a
2) Dead zone width a and −a:

1,
 ω≫a
0, −a < ωt < a

−1, ω ≪ −a
Z a Z −2a 
2
G(s) = 1 dωt − 1 dωt
πA 2a −a
2
= ((2a − a) − (a − (−2a)))
πA
r
4 a
= 1−
πA A