EE250 MATLAB PROBLEMS

Based on Lecture Note 1

1. Solve the following ordinary dierential equation using MATLAB. (a) y (t) 2y (t) + 4y (t) = 0; y (0) = 1, y (0) = 2 (b) y (t) + 3y (t) = sin(t); y (0) = 1, y (0) = 2 (c) y (t) + y (t) = t; y (0) = 1, y (0) = 1 2. Consider the system = x y= 0 1 2 3 1 0 x x+ 0 1 u; x(0) = 1 1

Find the output response of the system to unit-step function. 3. Consider the following nonlinear system: x = x + x2 Find the solution of the above state equation using Matlab command (ode45) for following intial conditions x0 = 0.5, -0.5 and 1.5. 4. We found out the dynamics of a servo-motor in the class as dx1 B KT = x1 + x2 dt J J Ra 1 Kb dx2 x2 + u = x1 dt La La La where x1 = speed ( ) of the motor x2 = Armature current Ia u = Armature voltage ea Parameters are: B = 0.25 N-m/(rad/sec) Ra = 5 L = 0.1 H J = 2 N-M/(rad/sec) Kb = 1 volt/(rad/sec) Given output y = x1 , nd y (t) for u(t) = 100 volt (sudden) using Matlab.

Based on Lecture Note 3

1. Find the step, ramp and impulse response of the following systems: (a) H (s) = (b) H (s) = (c) H (s) = (d) H (s) = (e) H (s) = (f) H (s) =
1 s+9 1 s 3 1 s(s+4) 1 s2 (s+5) 1 s2 +4s3 s+1 s2 +4s3

2. Consider the second-order plant G( s) = 1 (s + 1)(5s + 1)

(a) Determine the system type and error constant with respect to tracking polynomial reference inputs of the system for P, PD, and PID controllers ( as 4 . congured in Fig. 1). Let kp = 19, kI = 0.5, kD = 19 (b) Determine the system type and error constant of the system with respect to disturbance inputs for each of the three regulators in part (a) with respect to rejecting polynomial disturbances (t) at the input to the plant. (c) Is this system better at tracking references or rejecting disturbances? Explain your response briey. (d) Verify your results for parts (a) and (b) using MATLAB by plotting unit step and ramp responses for both tracking and disturbance rejection. W + D ( s) u + + G( s) + Y + V

Figure 1: 3. Consider a system with the plant transfer function G(s) = 1/s(s + 1). You wish to add a dynamic controller so that n = 2 rad/s and 0.5. Several dynamic controllers have been proposed: (a) D (s) = (s + 2)/2
+2 (b) D (s) = 2 s s+4 +2 (c) D (s) = 5 ss+10 (s+2)(s+0.1) (d) D (s) = 5 (s +10)(s+0.01)

(i) Using MATLAB, compare the resulting transient and steady-state responses to reference step inputs for each controller choice. Which controller is best for the smallest rise time and smallest overshoot? (ii) Which system would have the smallest steady-state error to a ramp reference input? (iii) Compare each system for peak control eort, that is, measure the peak magnitude of the plant input u(t) for a unit reference step input. (iv) Based on your results from parts (i) to (iii), recommend a dynamic controller for the system from the four candidate designs. 4. A position control system has the closed loop transfer function (meter/meter) given by b0 s + b1 Y ( s) = 2 R ( s) s + a1 s + a2 (a) Choose the parameters (a1 , a2 , b0 , b1 ) so that the following specications are satised simultaneously: i. ii. iii. iv. v. The rise time tr < 0.1 sec. The overshoot Mp < 20 The settling time ts < 0.5 sec. The steady-state error to a step reference is zero. The steady-state error to a ramp reference input of 0.1 m/sec is not more than 1 mm.

(b) Verify your answer via MATLAB simulation.

Based on Lecture Note 4

1. Plot the root locus in Matlab when: (a) L(s) = (b) L(s) = (c) L(s) = (d) L(s) = (e) L(s) = (f) L(s) =
s+2 s(s+1)(s+5)(s+10) (s+2)(s+6) s(s+1)(s+5)(s+10) (s+2)(s+4) s(s+1)(s+5)(s+10) s2 +1 s(s2 +4) s2 +4 s(s2 +1) 1 s2 (s+8)

2. A simplied model ofthe longitudinal motion of a certain helicopter near hover has the transfer function G( s) = 9.8(s2 0.5s + 6.3) (s + 0.66)(s2 0.24s + 0.15)

and the characteristic equation is 1 + D (s)G(s) = 0. Let D (s) = kp at rst. (a) Compute the departure and arrival angles at the complex poles and zeros. (b) Sketch the root locus for this system for parameter K = 9.8kp . Use axes 4 x 4, 3 y 3; (c) Verify your answer using MATLAB get right scales. 3
TM

. Use the command axes ([ -4 4 -3 3]) to

(d) Suggest a practical (at least as many poles or zeros) alternative compensation D (s) which will at least result in a stable system. 3. For the feedback conguration of Fig.2, use asymptotes, center of asymptotes, angles of departure and arrival, and the Routh array to sketch root loci for the characteristic equations of the following feedback control systems versus the parameter K . Use TM MATLAB to verify your results. (a) G(s) = (b) G(s) = (c) G(s) = (d) G(s) =
1 , s(s+1+3j )(s+13j ) 1 , s2 s+5 , s+1 (s+3+4j )(s+34j ) , s(s+1+2j )(s+12j )

H ( s) = H ( s) =

s+2 s+8

s+1 s+3 s+7 s+7

H ( s) =

H ( s) = 1 + 3 s

Y G( s)

H ( s) Figure 2: Problem 3 4. For the system in Fig. 3

s+1 s+13

s2 +81 s2 (s2 +100)

Figure 3: Problem 4 (a) Find the locus of closed-loop roots with respect to K . (b) Is there a value of K that will cause all roots to have a damping ratio greater than 0.5. (c) Find the values of K that yield closed-loop poles with the damping ratio = 0.707. (d) use MATLAB step.
TM

to plot the response of the resulting design to a reference