Linear Control Systems Assignment #2

Instructor: H. Karimi Issued: esfand 17, 1390 Due: esfand 25, 1390
Exercise 1. The block diagram of a control system is shown in Figure 1. Find the step, ramp and parabolic error constants. The error signal is dened to be e(t). Find the steady state error in terms of K and Kt when the following inputs are applied. Assume that the system is stable. (a) r(t) = us (t) (b) r(t) = tus (t) (c) r(t) =
t2 u (t) 2 s

Figure 1: Ex. 1,2 Exercise 2. For the control system shown in Figure 1, nd the values of K and Kt so that the maximum overshoot of the output is approximately 4.3% and the rise time tr is approximately 0.2 sec. Use the equation below for the rise time relationship. Simulate the system with any time response simulation program to check the accuracy of your solutions. tr = 1 0.4167 + 2.917 2 n 0<<1

Exercise 3. For the positioncontrol system shown in Figure 2, determine the following: (a) Find the steady state value of the error signal e (t) in terms of the system parameters when the input is a unit step function. (b) Repeat part (a) when the input is a unit ramp function. Assume that the system is stable. Linear Control Systems Assignment #2 Page 1 of 4

Figure 2: Problem 3 Exercise 4. Consider the unity feedback system shown in Figure 3. The system has two parameters, the controller gain K and the constant K1 in the process. (a) Calculate the sensitivity of the closed loop transfer function to changes in K1 . (b) How would you select a value for K to minimize the eects of external disturbances, Td (s)?

Figure 3: Ex. 4 Exercise 5. (a) Compute the overall transfer function 4. (b) Compute the transfer function
Y (s) D(s) Y (s) R(s)

for the system given in Figure

for the same system.

(c) Obtain an expression for Y (s) when there is both reference input and disturbance.

Figure 4: Ex. 5

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Exercise 6. One form of a closed loop transfer function is T (s) = (a) Show that
T Sk =

G1 (s) + kG2 (s) G3 (s) + kG4 (s)

k(G2 G3 G1 G4 ) (G3 + kG4 )(G1 + kG2 )

(b) Determine the sensitivity of the system shown in Figure 5, using the equation veried in part (a).

Figure 5: Ex. 6 Exercise 7. A second order system has the closed loop transfer function T (s) =
2 Y (s) n 7 = 2 = 2 2 R(s) s + 2n s + n s + 3.175s + 7

(a) Determine the percent overshoot P.O., the time to peak Tp , and the settling time Ts of the unit step response, R(s) = 1 . To compute the settling time, use a 2% criterion. s (b) Obtain the system response to a unit step and verify the results in part (a). Exercise 8. A closed loop transfer function is given by T (s) = 77(s + 2) Y (s) = R(s) (s + 7)(s2 + 4s + 22)

(a) Obtain the response of the closed loop transfer function T (s) = Y (s) to a unit step R(s) input. What is the settling time Ts (use a 2% criterion) and percentage overshoot P.O.? (b) Neglecting the real pole at s = 7, determine the settling time Ts and percentage overshoot P.O.. Compare the results with the actual system response in part (a). What conclusions can be made regarding neglecting the pole? Exercise 9. For the simple pendulum shown in Figure 6, the nonlinear equations of motion are given by k g + sin + = 0 L m where g is gravity, L is the length of the pendulum, m is the mass attached at the end of the pendulum (we assume the rod is massless), and k is the coecient of friction at the pivot point. Linear Control Systems Assignment #2 Page 3 of 4

Figure 6: Ex. 9 (a) Linearize the equations of motion about the equilibrium condition = 0 . (b) Obtain a state variable representation of the system. The system output is the angle .

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