EE 2052

Control Systems - I

ASSIGNMENT 1

Name
Index No.
Field

: S.P.M Sudasinghe
: 100523G
: EE

A) (I)
( + 2)2 ( 2 + 10 + 160)
( + 10)
Expanding the terms,
( + 2)2 ( 2 + 10 + 160) ( 2 + 4 + 4)( 2 + 10 + 160)
=
( + 10)
2 + 10

4 + 14 3 + 204 2 + 680 + 640

2 + 10

Let this fraction can be written as below with constants A, B, C, D and E

4 + 14 3 + 204 2 + 680 + 640

= 2 + + + +
2
+ 10
( + 10)
Multiplying both sides by ( + 10),
4 + 14 3 + 204 2 + 680 + 640 = ( 2 + + )( 2 + 10) + ( + 10) +
4 + 14 3 + 204 2 + 680 + 640 = 4 + (10 + ) 3 + (10 + ) 2 + (10 + + ) + 10

Comparing the coefficients of 4 ,

=1

Comparing the coefficients of 3 ,

10 + = 14 = 4

Comparing the coefficients of 2 ,

10 + = 204 = 164

Comparing the coefficients of 0 ,

10 = 640 = 64

Comparing the coefficients of ,

10 + + = 680 = 1024

( + 2)2 ( 2 + 10 + 160)
64
1024
= 2 + 4 + 164 +

( + 10)
( + 10)

II) Using MATLAB

The MATLAB code and the results returned are,
>> u = [1 4 4];
>> v = [1 10 160];
>> num = conv (u,v)

num =

14 204 680 640

>> den=[1 10 0];

>> [r,p,k] = residue (num,den)

r=

-1024
64

p=

-10
0

k=

4 164

Hence

( + 2)2 ( 2 + 10 + 160)
64
1024
= 2 + 4 + 164 +
+
( + 10)
0 ( (10))

( + 2)2 ( 2 + 10 + 160)
64
1024
= 2 + 4 + 164 +

( + 10)
( + 10)

B)
= 1 /

= 5

= 0.01 2

1 = 10

= 9 /

= 0.005

2 = 0.5 /

= 0.0636 / /

= 1.0

= 0

= 0.0001 2

= 0.1

= + 2 = 0.0001 + 0.12 0.01 = 0.0002 2

= + 2 = 0.005 + 0.12 1.0 = 0.015

() =

1
[ + ( + 1 2 ) + 1 2 + + + 1 ]

Substituting values,
() =

1 10 9 0.1
[ + (0.0636 0.015 + 10 0.5 0.0002) + 10 0.5 0.015 + 5 0.015 + 9 0.0636 + 10 9 0]

() =

9
(1.001954 + 0.7224)

(b)
()
()
=
() 1 + ()
9
()
(1.001954 + 0.7224)
=
9
() 1 +
(1.001954 + 0.7224)
()
9
=
() (1.001954 + 0.7224) + 9
()
9
=
2
() 1.001954 + 0.7224 + 9
() =

1.001954 2

9
()
+ 0.7224 + 9

For unit step input,

() =

1.001954 2

() =
(i)

9
1

+ 0.7224 + 9

(1.001954 2

9
+ 0.7224 + 9)

When K= 8
() =

Roots of (1.001954 2 + 0.7224 + 72) =

=

(1.001954 2

72
+ 0.7224 + 72)

0.72240.72242 41.00195472
21.001954

0.7224 16.972
= 0.3605 8.4695
2.003908

Let A, B and C are constants such that,

() =

(1.001954 2

72

= +
+
+ 0.7224 + 72) ( + 0.3605 + 8.4695) ( + 0.3605 8.4695)

Multiplying both sides by denominator,

72 = (1.001954 2 + 0.7224 + 72) + ( + 0.3605 8.4695) + ( + 0.3605 + 8.4695)
Substitute s = 0;

72 = 72 = 1

Substitute = 0.3605 + 8.4695

(0.3605 + 8.4695) 2 8.4695 = 72 = 0.5009 + 0.0213
Substitute = 0.3605 8.4695
(0.3605 8.4695) 2 (8.4695) = 72 = 0.5009 0.0213
() =

(ii)

72
1
0.5009 + 0.0191
0.5009 + 0.0213
=

+
(1.001954 2 + 0.7224 + 72) ( + 0.3605 + 8.4695) ( + 0.3605 8.4695)

When K=15
() =

Roots of (1.001954 2 + 0.7224 + 72) =

=

135
(1.001954 2 + 0.7224 + 135)

0.72240.72242 41.001954135
21.001954

0.7224 23.2493
= 0.3605 11.6020
2.003908

Let A, B and C are constants such that,

() =

(1.001954 2

135

= +
+
+ 0.7224 + 135) ( + 0.3605 + 11.6020) ( + 0.3605 11.6020)

Multiplying both sides by denominator,

135 = (1.001954 2 + 0.7224 + 135) + ( + 0.3605 11.6020) + ( + 0.3605 + 11.6020)
Substitute s = 0;

72 = 72 = 1

Substitute = 0.3605 + 11.6020

(0.3605 + 11.6020) 2 11.6020 = 135 = 0.5009 + 0.0155
Substitute = 0.3605 11.6020
(0.3605 11.6020) 2 (11.6020) = 135 = 0.5009 0.0155

() =

(1.001954 2

135
1
0.5009 + 0.0155
0.5009 + 0.0155
=
+
+ 0.7224 + 135) ( + 0.3605 + 11.6031) ( + 0.3605 11.6020)

(iii)

When K=182
() =

Roots of (1.001954 2 + 0.7224 + 72) =

=

(1.001954 2

1638
+ 0.7224 + 1638)

0.72240.72242 41.0019541638
21.001954

0.7224 81.0208
= 0.3605 40.4311
2.003908

Let A, B and C are constants such that,

() =

(1.001954 2

1638

= +
+
+ 0.7224 + 1638) ( + 0.3605 + 40.4311) ( + 0.3605 40.4311)

Multiplying both sides by denominator,

1638 = (1.001954 2 + 0.7224 + 1638) + ( + 0.3605 40.4311) + ( + 0.3605 + 40.4311)

Substitute s = 0;

1638 = 1638 = 1

Substitute = 0.3605 + 40.4311

(0.3605 + 40.4311) 2 40.4311 = 1638 = 0.5009 + 0.0045
Substitute = 0.3605 40.4311
(0.3605 40.4311) 2 (40.4311) = 1638 = 0.5009 0.0045

() =

(1.001954 2

1638
1
0.5009 + 0.0045
0.5009 + 0.0045
=
+
+ 0.7224 + 1638) ( + 0.3605 + 40.4311) ( + 0.3605 40.4311)

(c) Using MATLAB

() =
(i)

(1.001954 2

9
+ 0.7224 + 9)

When K=1

>> K=8;
>> num=[9*K];
>> den=[1.001954,0.7224,9*K,0];
>> [r,p,k]=residue(num,den)
r=
-0.5000 + 0.0213i
-0.5000 - 0.0213i
1.0000
p=
-0.3605 + 8.4693i
-0.3605 - 8.4693i
0
k=
[]
Hence
() =

1
0.5 + 0.0213
0.5 0.0213
+
+
0 (0.3605 + 8.4693) (0.3605 8.4693)

() =

(ii)

1
0.5 + 0.0213
0.5 + 0.0213
+

( + 0.3605 8.4693) ( + 0.3605 + 8.4693)

When K=15

>> K=15;
>> num=[9*K];
>> den=[1.001954,0.6484,9*K,0];
>> [r,p,k]=residue(num,den)
r=
-0.5000 + 0.0155i
-0.5000 - 0.0155i
1.0000
p=
-0.3605 +11.6020i
-0.3605 -11.6020i
0
k=
[]
() =

1
0.5 + 0.0155
0.5 0.0155
+
+
0 (0.3605 + 11.6020) (0.3605 11.6020)

() =

1
0.5 + 0.0155
0.5 + 0.0139
+

( + 0.3605 11.6020) ( + 0.3605 + 11.6020)

(iii)

When K=182

>> K=182;
>> num=[9*K];
>> den=[1.001954,0.6484,9*K,0];
>> [r,p,k]=residue(num,den)
r=
-0.5000 + 0.0045i
-0.5000 - 0.0045i
1.0000
p=
-0.3605 +40.4311i
-0.3605 -40.4311i
0
k=
[]
() =

1
0.5 + 0.0045
0.5 0.0045
+
+
0 (0.3605 + 40.4311) (0.3605 40.4311)

() =

1
0.5 + 0.0045
0.5 + 0.0045
+

( + 0.3605 40.4311) ( + 0.3605 + 40.4311)

(d)
() = 1 180.6 cos(884.7) 0.2041 180.6 sin(884.7)
Using MATLAB

()

>> t=0:0.001:0.05;
>> y=1-exp(-180.6*t).*cos(884.7*t)-0.2041*exp(-180.6*t).*sin(884.7*t);
>> plot(t,y)
>> grid on

Figure 1: time response of ()

Rise time, settling time and peak time are marked in figure 2
Rise time = 2 ms
Settling time = 38 ms
Peak time = 4 ms
Peak overshoot = 0.486 = 48.6%

Figure 2