HCM City University of Technology FINAL EXAM Faculty of EE Engineering First semester, Academic year 2018-2019 Department of Automatic Control Course: Introduction to Control Systems Exam date: 21/12/2018 —000— Exam duration: 90 minutes (Students are allowed to use references but not laptops) Problem 1: (3.0 points) Ys) Given a control system in Figure 1, in which G(s) = 4 s+ 1.1 Design the PI controller G(s) such that the closed-loop system has a pair of complex poles at pp =-8J5. 1.2 Calculate the percentage of overshoot and settling time (2% criterion) of the system after design 100 s(s-+5)° 2.1. Design the controller Gc(s) so that the closed-loop system has phase margin @M” > 55° and 0.04 Problem 2: (4.0 points) Given a control system in Figure 1 with G(s) steady-state error (o unit ramp input 2.2. Plot the Bode diagram of the open loop system G_(s)G(s) after design. Problem 3: (3.0 points) Given a system described by the state equation: [i(e) = Ax(e) + Bu(t) = Cx) A [i fie 1 0] 3.1 Verify the the system is controllable 3.2 Design the state feedback controller so that the closed loop system has two poles at P= Pr Instructor Department Head WheSolution Problem 1: (3.0p) 1.1 (2.0p) PI controller: G,(s) = Kp + = The closed-loop characteristic equation: KYW) 1+6,0)0() =14{ Kyo At (a) Io => (+8) +10(Kps+K,)=0 => s?4+(8+10K,)s+10K,=0 (1) (0.75p) - The desired characteristic equation: (s+8— j3)(s+8+ j5)=0 >? 416s+89=0 (2) (0.Sp) ~ Balance (1) & (2): [8+10Kp =16 = 4 [10x =89 [Kp=08 o75p) > ! ik, =8.9 ose) = Conclusion: G(s) = 0.8452 s 1.2 (1.0 p) Calculate POT and t, - The poles of the system after design Piz =8t jS=—Sa, + jo, £=0.848 = : |, =9.434 ( \ POT =exp| TEE} oma = \ vie€ (5p) +Design the phase lag compensator: Gls) =k, Bt! as+1 - Velocity constant before compensation: G00) = so+5) K, =limsG(s) = tims = ot 0" s(545) - Desired velocity constant Kiet ens & 004 - The gain of the controller: 23625 4 Denote: G,(s) = K-G(s) = 6.25100. _ 25. se+5) © SG7541) Bode Diagram 50 Magnitude (dB) 100 -150 90 180 Phase (deg) 270 10" 10° 10" 10? 10° Frequency (rad/s) - The new gain crossover frequency satisfies: (0) =—1804+ DM" +0-=—180-+455-+5 =-120° From the Bode diagram, we have: @, =1.34(rad /sec) - Calculate a: 2lga=-L,(@) From the Bode diagram, we have: L,(«,) ~24.74B => Wiga=-24.7 > a=0.0581 7 - Chose — << @} ose < aT=10 ra) L104 0.05 ~ Conclusion: The transfer function of the compensator is: G(s) = 6.250841 172.45 +1 Bode Diagram 200 100 Magnitude (48) “100 -200 20 " 180 Phase (deg) -270 104 10? 10° 10? Frequency (rad/s) Problem 3: (3p) 3.1 The controllability matrix: roman CIE = de(7)=—4 = rank(@)=2 ‘The system is controlable 3.2 State feedback gain: The characteristic equation: =0 det([s! — 4+ BK 10) fo 1 jo 1) |o = ass=> s(s+3+.2k,) + 2K, = Ss? +(3-42k,)s+2k, =0 The desired characteristic equation (s+8" =0 s* 4165+ 64=0 3-+2k, =16 2k, = 64 k, =32 > k= 6.5 -|