School of Electrical and Electronic Engineering

Control 2 Revision Problems

1. Derive the 2'4 order roots (or poles), s = -a jr3, of a system to meet the following specificatins: (a) (b) (c) (d) c= 0.5, wn = lOradis 10% overshoot to a step input, settling time of 0.5s to 2% of steady state value = 0.3, damped natural frequency = 8Hz 20% overshoot, time to max overshoot = 10ms

2. What is the steady state outputs of systems defined by

G(s) =

14(s +3)

(s +2)(s +7)

and

G(s)=

14(s + 3) (s +2)(0.01s +1)

if the input is a step of value 3 units? 3. A filter has a transfer function

32 G(s) 2 (s +5s +16)

Sketch the response of the filter to a unit step - showing the rise time, overshoot and settling. Sketch roughly the effect on the step response of adding a zero of value (i) 10 and (ii) 3 to the filter. (note a zero at 10 means that (s+10) is added to the numerator of the filter) 4. Determine the step error coefficient k p of the following systems where G(s) = c(s)I e(s)

(a) G(s)=

0.4(s + 2) (s` +3s+8)

(b) G(s) =

32(s + 6)(0.1s +1)

(c) G(s)=

30(s + 6) 2 s(s (0.5s+1) +18s + 42)

and hence determine the steady state closed-loop error e(t) = c(t) r(t) when r(t) is a unit step. For case (c), derive the ramp error coefficient and the steady state closed-loop error when r(t) is a unit ramp. 5. The following shows a linear positioning system of an object in a manufacturing process. The desired and real positions are x* and x, v is the velocity, Te and TL the actuating and disturbance forces, and V the control voltage to the actuator.

Gl (s) is the actuator dynamics, G2 (s) the speed dynamics of the article being positioned and
controller to ensure the article is positioned quickly and smoothly (a manufacturing disaster if it isn't).
TL

G (s) is the

x*

Gc(s)

G1 (s)

20

Te
(s)

10

(s + 10)

(s + 2)

If G (s) =

. 4(s + 4) , derive the disturbance transfer functions e(s) I x* (s) and . e(s) I (s) (s +10)

What will be value of the steady state error if (i) x* is a unit step and (ii) TL is unit step? What would you do to the system to ensure that the steady state error to a steady T 1, is zero?

The following is difficult and must be done by block manipulation. If you can do it well done, if not don't worry too much.

6. A servomechanism may be represented by the following system: Sum l A

K 1 +Tj s)(1 + T2 s)
1

r(s)

c(s)

B Sum2 D
(1+ T3 s)

r, H (1 + T3 s) For H =1 prove that the steady state error

Lim (r(t) c(t))

to a ramp input of magnitude A units per sec is

1 A(- -F D T3 )

Answers to Revision Example Sheet:

DO NOT LOOK AT THESE UNTIL YOU HAVE COMPLETED THE QUESTION. 1. (i) 5 j8.7 (ii) 8 j11 (iii) 15.8j50.3

(iv) 161 j314

2. 3.

4. 5. 6.

(i) 9 (ii) 63 Your plot should have rise time approx 0.5s, 8% overshoot at t = is and settle to 2% in about 1.6 s. The zero at 10 will cause a slightly faster rise time and more overshoot. This is because the zero is twice the value of the real part of the 2 nd order roots. The effect of zero at 3 will be similar but much more substantial since it lies to the right of real part of the 2 nd order roots. (a) kp = 0.1, e(co) = 0.909 or 90% of output (b) k p = 192 e(co) = 0.5% (c) k p =co e(co) = 0, kraM9 = 4.2, e(co) = 0.23 units e/x*= s(s+2)(s+10) 2/Z, Z=s(s+2)(s+4)+800(s+4); e/TL=10(s+10) 2/Z; zero, 0.3125, add an integrator to G c(s) Move block B through Sum2, remembering to multiply block C by the inverse of B. Then take block B through Suml and merge it with A remembering to put the inverse of B in the reference path. Now you have combined blocks A and B into a single forward path block with a unity inner feedback path. Eliminate this inner path using G/(1+G). Now convert the outer feedback path to a unity feedback path using the same process. Eliminate the feedback path to give a single transfer function between relating c to r. Form the transfer function r(s)-c(s) and apply the fmal value theorem for a unit ramp.

School of Electrical and Electronic Engineering

Control 2 Example Sheet 1: Root Locus Sketching

Sketch neatly the root locus for the following open-loop transfer functions. Your sketch should include all the correct portions of the real axis, asymptote positions and a good guess at the shape of the locus off the real axis. Also give the range of k (approximately) for which the closed loop system is stable. Use Codas to get the right answer. The answers given below include general discussion points.

1.

(s + 3) s(s + 2) (s + 3)

2.

(s+3)

s 2 (s+2)

3.

(s + 4)(s + 3)

s 2 (s+1)

(s + 4)(s +1)

s 2 (s+ 3)

s(s + 2)(s + a)

for a = 20 and a = 8 initially

On Codas also try varying a slowly between 18 and 17. Something strange happens at a = 17.55 6
(s + 3) s(s + 2)(s 2 +12s + 50)

For the following, don't bother with asymptotes and things. Just enter the transfer functions in Codas (adjust X scale as appropriate using graph scales icon. While you are in graph scales, you can also change the number of simulation points. Increasing e.g. to 1000 increases the curvature resolution). Before you click on the go icon, see if you can guess what is going to happen!

1
s(s + 2)(s + 3)(s 2 + 4s + 8) (s 2 + 8s + 32) s(s + 3)(s + 5)(s + 8)

+ a)(s2 + 8s + 20) for a =10 and 5 s(s + 2)(s 2 + 4s + 8)

(s 2 + 4s +5) 2 s4

Answers and discussion

DO NOT READ THESE UNTIL YOU HAVE DONE THE SKETCHES

1. 2. 3,4

Circle centre on -3, radius root 3. Stable all k Asymptotes tit/2 at 0.5, stable all k Roots leave the double pole at 0. In (3) they see the pole at -1 so they are repelled briefly into the unstable region (unstable k from zero to approx 0.7). However, the -ve real axis form -4 to -cols part of the RL so the complex roots must come right the way over to join it. Note the RL segment between -1 and -3. In (4) the situation is similar, but the complex roots see a zero at -1 so they bend towards it. However, the root from -3 "gets the zero at -1" so the two complex roots give up, verging away to join the real axis as before. Note carefully the two shapes (kidney-shaped in (3) and pear-shaped in (4)). You should have
guessed these two shapes.

This is an interesting one. With a= 20, the root locus is almost a circle like case (1), however, the root travelling along the axis left of the "circle" meets the one coming in from -18. They hit (you will have to guess where) and break away to converge to the asymptote (e2 at -9.5). With a = 8, the roots breaking away from the real axis between zero and 2 don't form a circle, because the root coming in from -8 "gets the zero at -3". The two "losing" complex roots then go off towards the asymptote (71/2 at -3.5). So for 2 different a values you get two different shapes. Therefore something odd happens between the two. Unless you have Codas you don't know the a value where this happens: it is enough to know that it will happen and to appreciate the shapes for high and low a values. Stable for all values of k. Asymptote at -180 and 60 deg. Stable for k up to about 420-460. Locus leaves complex open-loop roots and travel fairly 6. directly to the real axis (they curve slightly towards the zero at -3 when they leave the complex roots). Note that you don't know exactly where the locus breaks away from (or onto) the real axis, but you can have a good guess. Others: First is fairly predictable, the second with a=5 looks "tense" - I'm not sure that the closed-loop poles know what's going on themselves! The last two are bizarre. 5.

School of Electrical and Electronic Engineering

Control 2 Example Sheet 2: Root Locus Design

This is the most important example sheet of the course. It is quite long but this is because it provides practice in designing controllers for perhaps 90% of all feedback systems that you are likely to meet in the real world.
Proportional Control

1.

A second order system has the transfer function

G(s) =

20
(s +2)(s +10)

(i) (ii) (iv) (v) (vi) 2.

The output is compared with a reference input and the error is fed to a proportional controller G(s) = k Draw the root locus and using protractor and ruler: Determine k to give a closed loop damping factor of C=0.6 With the value of k determined, what is the natural frequency co n of the closed loop system? Is the "speed" of the closed loop response faster or slower than that of the plant? Can Co.,, and C be specified independently? If the reference input is 4 units (dc), what is the value of the output?
.

A third order Type 1 plant is controlled using a proportional controller as shown.

1

s(s + 1)(0.25s + 1)

(i) (ii)

Re-write the plant transfer function so that the denominator is the form s(s+1)(s+x). Sketch the root locus neatly, determining the asymptote positions. What is the most dominant non-zero plant pole? Determine the approximate value of k at which instability of the closed-loop system occurs (use angle measurements to ensure that the locus passes approximately through the point you think it does. Determine the value of k to give a closed loop response of C=0.707. For this value of k what are the dominant closed loop poles? Are these dominant poles faster or slower than the dominant (non-zero) plant pole?

(iv) (v)

Is there another closed loop pole and if so where is it approximately? What effect will it have on the closed loop step response? With the above value of k, what is the output if the reference if 2 units (dc)? If the reference demand increases at 2 units per sec, at what rate will the output increase? For a ramp demand what will be the error between the output and input (at any point in time) once the transient has died away?

Notes: Q1 should take between 5 and 10 minutes. If longer than 15, repeat the question with G(s)=20/[(s+3)(s+5)]. Q2 should take between 10 and 20 minutes. If longer than 30, repeat question with G(s)=1/[s(s+1)(0.5s+1)] Note how mathematically easy the questions are. It's all about understanding.

Proportional plus Integral Control (designing PI controllers) For Questions 3 to 7, we assume a unity feedback structure:
Gas)

G(s)
plant

controller

3.

For

Gc (s) = k(s

+ a)

and G(s) =

10 (s + 3)

draw the root locus for a = 5. Determine mathematically the radius of the circle (the part of the RL off the real axis). If the closed loop system is to respond with a closed loop co n = 5rad/s, determine the closed loop C. Determine the value of k to give this response and the steady state error to a ramp of 6 units/sec. Note: in the above, fixing the controller zero fixes the closed loop C for a given closed loop co n (or visa versa). We must choose a to meet a given C - co n requirement. Hence: 4. For G(s) = 10 design a PI controller (determine a and k) for a closed loop response co n = 6rad/s, C =0.65 (s + 3) [Remember: determine the position of the closed loop roots and use angle criteria to yield a] Are there any other closed loop roots (apart from the ones with co n = 6rad/s, 4 =0.65) ? You must understand why/why not because if there are, they have a noticeable effect on the designed "2" order response". 5. For G(s) = (i) (ii) (iii)

40 k(s + a) and Gc(s)= (s + 2)(s + 5)

choose a = 2 (ie pole-zero cancellation) and show that co n for 4 =0.707 is approx 3.5rad/s Let's see if we get a faster CL co n . Let the CL specification be co n = 3.8rad/s, C =0.707. Find a (don't bother with k). Sketch the RL. Is there a third closed loop root in addition to the dominant ones? What will its effect be? Repeat part (ii) for:

G(s) =
and fmd k and a for Gc (s).

40 (s + 2)(s +16)

Note: The ratio of the specified closed loop co n to the "open loop co n" ( the latter is the distance of the dominant non-zero open loop pole from the origin) may be called the speed up factor. In practice, this factor depends on the application and is limited by the power of the actuator, by transducer noise on the feedback signal (since large speed feedback factors produce large values of k) and by the possibility of exciting fast, un-modelled poles in the system.
-

When we tried to get a good speed-up factor in Q5 (ii), we upset our design and got a slow pole. It was better in (ii). You may conclude that PI control is OK for 1 st order systems or for 2" order systems if the second pole is fast. If the 2nd order system has two similar poles, then you can't get much speed-up with PI (must use PI+lead).

6.

Let G(s) =

10 k(s + a) and Gc (s) = s(s +3)(s + 6)

Note that the plant is Type 1 and a PI controller will give zero steady state error to a ramp input.

For a = 3 (pole-zero cancellation), sketch roughly the RL. Is the closed loop stable? Choose a = 1/5T where T is the time constant of the dominant non-zero pole. Sketch the RL (more accurately this time fmd asymptotes) and estimate co n for C =0.45. Note how difficult it is to design controllers for type 2 systems! 7. Can a PI controller be used to stabilise the following plants? For each case comment on the stability and, if stable, the likely closed loop co n and C attainable. Do not design controller values. This question is quite difficult and you'll have to think But is worth taking seriously because it shows the true power of the RL approach it tells you whether a selected controller structure is worth pursuing or not. Note you could do it by CODAS (just select successive controller zero values one after the other and see what happens!) but hopefully you can develop your understanding such you don't have to resort to such a brainless approach.

(i)

1 2 + 4s + 8) (s

1 2 + 4) (s

1 (s 3)

(iv)

1 s 2 (s + 10)

1 (v) (s 2 4)

Of the above, the complex open loop systems (i) and (ii) (the last purely oscillatory) are often found in practice. The unstable systems (ii) and (v) are less common but can still occur.
PI + Lead Control

For the following questions we assume a structure where

Ge(s)
controller

G(s)
plant

and G () = s

k(s + a)(s + b) s(s + c)

Note that if c is very large compared to a and b, the controller becomes a PID

controller. PID design is a special case of PI+lead. 8. For G(s) =

40 , design a PI+lead controller to give the closed loop specifications co n = 5rad/s (s + 2)(s + 5) and C =0.7. For your controller, what is the ratio of the controller gain at w = co to that at co = 5?

Note that the selection of the "lead zero" is rather arbitrary. However, for a 2 nd order type zero plant, you can always get an excellent design with PI+lead (or PID). 9. The Type 1 plant G(s) = 10 s(s + 3)(s + 6)
is to be controlled using PI+lead to give closed loop specifications

of con = 3.5rad/s and C =0.707 (in Q6 we tried to control this plant with a PI controller; we could only achieve very low values of closed loop co n - and then with some difficulty) Place the "PI zero" at 3 (ie a = 3). Compute the extra angle required at the dominant closed loop roots (the design point) to be provided by the lead component. You'll conclude that the "lead zero", b, must be small. Try b = 0.1 and complete the design. Sketch the RL (pay particular attention to the RL near the origin and the zero at 0.1) and try and guess the position of the other closed loop roots. Controller zeros to the right of the design point are supposed to cause large overshoots in the closed loop step response. Will the zero at 0.1 do so here? This is a difficult question. If you can answer it and understand what's going on, then you're doing very well!

(ii)

You might think that the control may be easier if you put the "PI zero" closer in at say 1.5. Design the lead component values b and c such that c/b <10. Sketch the RI., and check the response on CODAS. If your value of b is larger than 0.1, you'll find that the overshoot is larger. Explain why. There's not much to choose between the two designs, if anything design (i) seems slightly better. If in controlling the plant, a Type 2 system is not required, convince yourself that a lead controller of the form Gc(s) = k (s+b)/(s+c) can speed up the system (ie co n > 3 rad/s) and the design is straightforward.

(iii)

Answers DO NOT LOOK AT THE ANSWERS UNTIL YOU HAVE ATTEMPTED THE QUESTION 1 2. (i) (ii) (i) (ii) (iv) (v) 3. 4. 5. CL poles from 2 and 10 travel towards each other, hit at 6 and go off at 90 degrees (v) No (vi) 3.2 (not 3.8!) k =4 (iii) con = 10 rad/s (iv) faster by factor of 5 4/[s(s+1)(s+4)], asymptotes at it/3 hitting real axis at 5/3, two parts to RL, main part leaves real axis between 0 and 1 and then veers left towards asymptote, other part to left of pole at 4. Dominant plant pole at 1 k (iii) k X0.38, -0.56 j0.56, slower than plant. Yes, a CL loop pole on the real axis to the left of 4. Since it is a long way to the left of the real part of the CL dominant poles (ie 0.56), its effect will be small. If reference is a step of 2 units, then output = 2 units. If ramp of 2 units/s, then output is ramp of 2 units/s. Once transient has died, the output will be 5.26 units less than reference (ramp error coefficient = 0.38). 410, if co n = 5rad/s then C = 0.8, k 0.5, steady state error to ramp = 0.72 units. Gc(s) 0.52(s+6.4)/s , No, there are no other CL roots, the system is 2" order. 3.5rad/s a P.1 1.2, RL: asymptotes 7t/2 at 2.9, two parts to RL, one on real axis between 0 and 1.2, second is two poles coming together from 2 and 5, hitting and then curving towards asymptote. There is thus a third CL pole between 0 and 1.2 which will be dominant. The response will start off similar to that due to the designed CL poles (the ones giving ca n = 3.8rad/s, = 0.707), but then will slow down as the influence of the slow pole between 0 and 1.2 comes in. A poor design. Gc(s) 1.16(s+4)/s RL: two parts, one is immediate departure into unstable region from double pole at 0 (two poles), other is on real axis to the left of 6. CL is unstable. zero at 0.6, RL: asymptotes 7c/3 at 2.8, three parts, one to left of 6, one on axis between 3 and 0.6, final part is departure from origin, initially bending over towards the zero at 0.6, but then bending out towards asymptotes. CL co n of dominant poles is between 0.5 and lrad/s (rough estimate). Hmmm, stable, but with poor damping, (ii) no, unstable for all k and a, (iii) Yes, no problem, system stable if k high enough (unstable at low k), (iv) No, unstable, (v) No, unstable. Lot of freedom to place lead zero if place e.g. at 7 then G c(s) = 0.85(s+2)(s+7)/[s(s+11.5)] k5 = 1.355 for this controller. Approx 125. Gc(s)74124(s+3)(s+0.1)/[s(s+18.5)], RL is in two bits, first on axis to left of 18.5, second is complicated: locus goes complex from origin in approx. circle about zero at 0.1, one CL pole goes back towards the zero, other meets another coming in from 6, they hit and go complex, bending through design point and then towards an asymptote at -7r/3, eventually going unstable. There are FOUR poles. One of them is almost on top of zero at 0.1. Since zero at 0.1 will also be a CL loop zero, it will almost cancel the slow CL pole lying almost on top of it. Therefore the effect of the slow pole will be negligible. With a = 1.5, then angle from lead is 93. Placing lead zero at 1.5 as well gives Gc(s) 13(s+1.5)2/[s(s+9.3)]. RL will have a section which is like a compressed circle between 0 and 1.5 this will cause a slower pair of CL complex poles see Codas and check response! Extra angle is approx. 71 which is not high and so design is easy with a fair bit of freedom.

(i) (ii)

6.

(iii) (I) (ii)

7. 8. 9 (I)

(ii) (iii)

School of Electrical and Electronic Engineering Control

Example Sheet 3: Frequency Response and System Bandwidths

1. Convert G(s)= (s+2)/s(s+5) into the form k(sT 1+1)/s(sT2+1). Sketch the Bode Gain plot. Confirm your sketch by calculating mathematically IG(jo.))1 for selected values of o. Sketch roughly the phase plot. You will not need it for this course, but you should know how to do it from the Control 1 course last year. 2. Consider the following closed loop system: r(s)
k

c(s)
(s + a)

5 s +10

(i)

(ii) (iii)

It is found that Gc(s)= 1(s+15)/s gives a CL response of oi n=8.5rad/s, 4=0.86 with CL roots -7.3j4.3. Derive the CL transfer function c(s)/r(s) and plot the FR gain. Determine the CL bandwidth. It is found that G c(s)= 5.4(s+15)/s gives a CL response of co n=20rad/s, 4=0.92 with CL roots -18.4j8. Re-plot the closed loop FR gain. Why has the bandwidth increased? Restructure the PI controller of (ii) using rate feedback with an integrator in the forward path. Determine the integrator gain and those in the feedback path.

3.

A simplified aircraft roll-control system is shown below. T is the desired roll torque about the aircraft's axis. 0 is the roll angle in degrees. 0' is roll angle transducer voltage. The transducer scaling is 0.1V/degree. Disturbances are shown as d 1 and d2. di (s)

d2(s)

0*(s)
-111.

0'*(s) 0.1

(s + 3) 13.5 (s +12)

T(s)

50 s(s + 2)
01

0(s)

n(s)

The lead controller gives CL roots of 3.86 and -5j5. Write down the transfer functions (by inspection if you can) of 0(s)/0*(s), 0(s)/d i(s) and 0(s)/d2(s). Draw the Bode Gain plots and find/answer: (i) (ii) (iii) (iv) the system bandwidth to a reference input the dc gain to the air disturbance d 1 . What is the system type to disturbance d l? Does this matter for this application? Would the disturbance d 2 be likely to occur in practice? Convince yourself that the FR of 0(s)/n(s) is the same as that of 0(s)/r(s) but raised by 20dB.

The following problem is optional, but is an example of real design. Electrical an Electronic Engineering students taking the Semester 2 CAD module are strongly advised to do this problem.

4.

A single phase switching rectifier has its dc link voltage E controlled about 400V (AE is the small variation about the regulated level). The link voltage has a natural 100Hz ripple and the bandwidth of the regulator must be well below this. The control structure is shown below:

AE*=0

1 (s7 + 1)(S T2 +

PI

48 (1 + 0.96s)

AE(s)

100Hz noise

The CL design specifications are a bandwidth of at least 8Hz with =0.7 or better. The closed loop frequency response of AE(s)/n(s) should be 40dB down at 100Hz. In order to achieve this a filter block is added with time constants T 1 and T2. Of course, you can regard this as part of the controller. Using CODAS, design the PI control and the filters to achieve the specifications. Use the Root Locus to ensure you meet the speed and stability constraints and the Bode Gain plot to check for the noise rejection. You will have to do this problem by trial and error, but this is largely how real designs are done! You can experiment with adding more zeros if you like (you can add up to 2 more before the "controller" becomes improper).
Note on CODAS for this problem: since the CLTF of LIE(s)/n(s) is the same as 4E(s)/%1E*(s), you can bring up the Bode Gain plot without having to change the controller/plant transfer functions. However, don't forget to select the closed loop (press C) when working with the Bode Plot!

Answers DON'T LOOK AT THESE UNTIL YOU HAVE ANSWERED THE QUESTIONS 1. 0.4(0.5s+1)/[s(0.2s+1)] , Plot with frequency from 0.1 to 100rad/s, plot falls from about 18dB at 0.1 with initial slope 20dB/dec, the slope decreases until about 2-3rad/s then increases back to 20dB/dec again. Sample points eg 7.16dB at a)=1, -20dB at w= 10. Check with Codas (don't forget to press 0 for open-loop!) (i) 5(s+15)/[s 2+14.6s+74], Bode form: 74(0.067s+1)/[s 2+14.6s+74], coaw = approx 8.6 rad/s (close to con) (ii) 27(s+15)/[ s2+36.8s+400], (aBw = >20 rad/s. Due to lead effect of zero at 15 (comparable to real part of complex roots) (iii) integrator gain = 80, feedback block = 0.067(s+15) or unity feedback + parallel fb of 0.067s (see solutions) 0/r = [1.04(0.33s+1)/(0.26s+1)][50/(s 2+10s+50)] dc gain = 1, ca Bw 7 rad/s. 0/d 1 = [3.1(0.083s+1)/(0.26s+1)][50/(s 2+10s+50)], dc gain is 9.8dB, Type 0 to d 1 . Will get constant steady value of roll if there is a constant torque about longtitudinal axis. Unlikely to occur in practice (unless passengers all rush over to one side of the aircraft for some strange reason) 0/d2 = [0.124s(0 .5 s+1)(0.086s+1)/(0.26s+1)] [50/(s 2+10s+50)]. Not a realistic disturbance. 0/n : numerator comes out as 675(s+3) which is approx 10 times that of 0/r Discuss your answer with Dr Asher

2.

3.

4.

School of Electrical and Electronic Engineering

Control 2 Example Sheet 4: Digital Control

1. The following system shows a PI controller implemented on a microprocessor.

D/A

10
(s + 5)

A/D microprocessor

Design the PI controller (ie derive k and a) in the continuous domain to give a closed loop natural frequency co n = 12rad/s and C= 0.707. You can either do this mathematically or use the s-plane RL design technique of Example Sheet 2. The continuous PI controller is to be discretised using the Bi-linear Transform s = with T = 26ms. Derive the discretised controller Gc (z) and the actual difference equation to be implemented in the ;IP We have ignored the D/A converter. What will be the effect of this if (a) T= 100ms (b) T=10ins ? Will the design above behave as expected in practice? We have ignored the AID converter. What will be the effect of this? If we compute the difference equation, but do not output the value until the next interrupt, write down the controller z-transfer function that we are actually implementing 2.
2 z 1 T z +1

r(t)

.
+ _

G(s)

A(s)

c(t)

H(s)

For the above system derive the z transfer function (a) relating the output c to the reference r , and (b) relating the output c to the disturbance d (identify the digital signals first!). Note (a) you can ignore d (or put it to zero), and for (b) you can ignore r. 3.

u(t)
zoh

2 (s +1)(s + 2)

c(t)

(i) (ii)

For the system above, derive the z-transfer function c(z)/u(z) for T=0.4s If u(t) is a unit step, write down c(z) and, using partial fractions and inverse z-transforms, derive the envelope waveform c(t).

Note: You must be able to (i). Part (ii) is not a common calculation in practice, so don't worry if you get stuck with the algebra.

u(z)

zoh

c(t)

The above system shows a Type 1 plant in a closed loop system with a proportional controller K. The sample time is T = 0.33s (i) Show that the open loop transfer function is:
G(z)=

0.43K(z 0.35) (z 1)(z 0.72)

(ii)

and hence draw the ZRL of the system determine the value of K if the closed loop system is to have a damped natural frequency of 3rad/s and determine the corresponding damping factor for this K value.

5
s + 5)

The controller G c(z) is to be designed in the digital control system above. The closed loop specifications are o.),, = 8rad/s and C = 0.707. The sampling frequency is 6o). (i) determine the position of desired closed loop complex poles in the z-plane determine the open-loop z-transfer function and hence design a PI controller to meet the specifications.

Gc(z)

zoh

c(t)

The system above is a repeat of Q4 with K replaced by a controller G c(z). T is 0.33s as before. The controller is to be designed so that the closed loop system has o),, = 2rad/s, = 0.6, and zero steady state error to a ramp input. determine the desired closed loop complex poles in the z-plane and show that a PI controller of the form Gc(z)=k(z-a)/(z-1) cannot meet the specifications. Hence design a P+I+lead controller. Draw the ZRL. Does your controller go unstable if the gain is increased?

7.

The figure shows a z-plane block diagram. The transfer function block is the open loop transfer function, perhaps of a combined plant, D/A and controller. The sample time is 0.33s. (i) (iii) 8. if r(t) is a unit step, determine the steady state value of u(t) if r(t) is a ramp of 2 units/sec, determine the steady state error between the output and r(t).

Finally, lets return to Q1. Z-plane analysis can be used to analyse the performance of a controller which has been designed by Bilinear-transforming of a continuous controller. In Q1 part (ii) you obtained, via the Bilinear transform, a controller G c(z). (i) derive the open-loop z-transfer function (ie combined plant, D/A and controller). From this, derive the characteristic equation of the closed loop system (ie the denominator of the closed loop transfer function). Hence derive mathematically the natural frequency and damping of the closed loop system. Compare with the original specifications. Sketch the ZRL of the open loop transfer function derived above. Then sketch the ZRL of the system using the controller of Q1 part (v) (ie with the controller output delayed by one sample period). Note and understand how the ZRL of these two systems shows how the closed loop response will be significantly worse for the controller with the delay.

(ii)

Answers
DO NOT LOOK AT THESE UNTIL YOU HAVE COMPLETED THE QUESTION

1. (ii) (iii) (iv) (v) 2. 3. 4. 5. 6. (i) (ii) (ii) (i) (i) (ii) 7. 8. (i) (i) (ii)

1.2(s+12)/s u(k)=u(k-1)+1.39e(k)-1.3e(k-1) Gc(z)=1.39(z-0.93)/(z-1); (a) Poor, (b) OK , design above will behave roughly as expected. Nothing 1.39(z-0.93)/z(z-1) c(z)/r(z)=BA(z)G(z)/[1+BA(z)GH(z)], c(z)= -Bd(z)/[1+BA(z)GH(z)]. [Note c(z)/d(z) cannot be defined] (0.11z+0.07)/[(z-0.67)(z-0.46)] c(z)= z(0.11z+0.07)/[(z-1)(z-0.67)(z-0.46)], c(t) = 0.5[1- exp(-1.24t){cos(1.480+0.81sin(1.480) ] K=2.5, damping factor = 0.477 0.356j0.32, OLTF = G c(z) x 0.48/(z-0.52) , Gc(z) = 1.66(z-0.35)/(z-1) 0.58j0.355, If use PI alone, controller zero will make angle of 158 degrees with design point. Therefore, it will lie outside unit circle. ZRL will include branch going from this zero to pole at z=1. Therefore there will always be an unstable closed loop pole. One zero cancels pole at z=0.717. Lead component makes angle of 46 degrees at design point. Some freedom to choose pole-zero. Eg if zero at 0.5, pole with be at 0 and controller her is 3(z-0.72)(z-0.5)/z (z-1). (ii) ss error = 0.28 units zero error, output = 1 unit. G(z)= 0.34(z-0.73)/(z-1)(z-0.88), Ch eq: z 2-1.54z+0.63 = 0, Nat frequency = 13 rad/s, damping = 0.68 Damping reduced. ZRL off real axis is a circle about the 0.73. If delay is included, the pole from 0 will "get the zero" (I think) and the other 2 curve round a bit and the move upwards.