Lecturer: tne Approved by: (the abowe pore must b iden when copnra er FINAL EXAM Sanna) BK Date 24/7/2020 UNIVERSITY OF TECHNOLOGY-vNuHcM ourseID _aosgon FACULTY OF EEE uration ‘bo mins. [Question sheet code | jotes: - Students are allowed to use references, but not mobile phones and laptops | RS) Ys) 2 @Q—[5} + > Figure | Problem 1: (L.O.4) (2.0 points) Given a control system in Figure 1, in whieh: 6e-80 s(s+3)" 1.1 Calculate the steady state error to unit step input and unit ramp input. Gs) = G(s) =2 1.2 Estimate the percentage of overshoot and settling time of the system using frequency response 80(5 +1) Problem 2: (L.O.5.3) (3.0 points) Given a control system in Figure 1, in which G(s) = + s(s-+4) Design the phase lead controller Gc(s) so that the closed-loop system has phase margin ®M~ > 65° and steady-state error to unit ramp input e', = 0.04 10 (DG +8) Design the PID controller G(s) such that the closed-loop system is expected to have POT =10%, Problem 3: (L.0.5.4) (3.0 points) Given a control system in Figure 1, in which G(s) = 1 (sec) (5% criterion) and steady state error to ramp input is 0.05. Problem 4: (L.O.5.6) (2.0 points) Given a system described by the state equation: f= Ax(0) + Bu) Ly = cx, 4.1. Verify the the system is controllable 4.2 Design the state feedback controller so that poles of the closed loop system are —4+ 4 ENDSolution Problem 1: (2.0p) 1.1 (1.0p) ~ Step input: Ky =limGe(s)G(6) = lig 2 = 400 1 a “1+K, ~ Ramp input: K, ‘ = lim sG_(s)G(s) = lim s x 2x (843) 1 == 0.25 1.2 (.0p) Caleulate POT and 1, ~ Gain crossover frequency of open loop system: Gera. lax |Gciee)GLiae)| > Sec jee +3) exe) 90a 22) 0.02076 %180 __ 70 x Phase margin: ©M = 180+ g(a) = 180-137 = 43° => POT >10% because OM < 60" Settling time: 4 4 etc = Ftc = 1os al =7.55x0.011=0.083 (5p) 0835 +1 O.011s +1 155 (5p) 1 Conclusion: The TF of the compensator is: G(s) =10 Problem 3: (3.0 points) G(s) = _————_ roblem 3: (3.0 points) O(8) = ayy = Velocity constant: ( K, tims kp Kt | —— sa ——=20 0.05 (0p) = K,=16 = Characteristic equation of the closedeloop system: 14+Gc(s)G(s) = 0 ( \ ) al+(Kp+ALeK,s 2 _ = es JA@rne+8) > s(s+1D(s+8)+10(Kps + K; +Kps*)=0 >s°+(9+10K,)s* +(8+10K,)s+10K, =0 (1) ~ Desired characteristic equation: / ) POT = ano SF fiom =t0% Vi-& O(sec) => @, =5 5p) 3p) 1,(5%) => (s+ p(s? +65 +25)=0 => 89 +(64 p)s? +(25+6p)s+25p=0 (2) Balance (1) and (2): (6+ p=9+10K, Jos s6p=84 10K, losp=10K, Kp = 0.34 {Kp =5.54 p=64 (05p) (0.75p) Conclusion: Gpyp(s) =5.54 +18 + 0.345 (0.25p) s Problem 4: (3p) 3.1 The controllability matrix: @=[8 48) (; [° ‘fl 4 ap) = de(@)=—4 => rank(@) =2 The system is controlable 3.2 State feedback gain: ‘The characteristic equation det([s! — A+BK]=0asl i [°, ‘|r 4] ° ky 1-k [ot ants => (s—k)(s +14 2k,)— (2+ 2k, (-1-k,) =0 os? + (14 2k, —k)s +24 2k, +k, =0 (1.0p) = det] ‘The desired characteristic equation (s+4—jays+4+ j4)=0 5° +85432=0 1+ 2k, k= ee +k, =32 ik, = 11.5 Lo = . k, = 9.25 (0)