(Semester II : 2004-2005)

ME2142 – Feedback Control Systems

Solutions
___________________________________________________________________________

Question 1

(a) (i) T=0.5 s (ii) T=0.2 s

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

(b) The transfer function of a system is given by

C (s) 8
= 2
R( s) s + 2s + 4

i) undamped natural frequency = 4 = 2 rad/s.

damping ratio: 2ζω n = 2 ⇒ ζ = 0.5

06
c(t)
ii) . 2 05

04

03
r(t)
1
02

01

0
t, sec
0 05 1 15 2 25 3 35 4 45
0 2 4 6 8 10

-1

-2
 Pg 2 ME3242

(c)
y1 y2 x
k1
k2
m1 m2

Figure P1.2.

y1 y2

K1(y2-y1) K1(y2-y1)
m1 m2 K2(x-y2)
b( y& 2 − y&1 ) b( y& 2 − y&1 )

For m1 , K 1 ( y 2 − y1 ) + b( y& 2 − y&1 ) = m1 &y&1

Laplace transforming ∴ K 1 (Y2 − Y1 ) + b ( sY2 − sY1 ) = m1 s 2Y1

(bs + K 1 )Y2
∴ Y1 = (1)
m1 s 2 + bs + K 1

Also, for m 2 , K 2 ( x − y 2 ) − K 1 ( y 2 − y1 ) − b( y& 2 − y&1 ) = m 2 &y&2

Laplace transforming ∴ K 2 ( X − Y2 ) − K 1 (Y2 − Y1 ) − b( sY2 − sY1 ) = m2 s 2Y2

∴ K 2 X + (bs + K 1 )Y1 = (m2 s 2 + bs + K 1 + K 2 )Y2

(bs + K 1 ) 2
Using (1) ∴ K2 X + Y2 = (m2 s 2 + bs + K 1 + K 2 )Y2
m1 s + bs + K 1
2

m1 m2 s 4 + b(m1 + m2 ) s 3 + (m1 K1 + m1 K 2 + ms K1 + b 2 ) s 2 + (2 K1 + K 2 )bs + K12 + K1 K 2 − (bs + K1 ) 2

K2 X = Y2
m1 s 2 + bs + K1

Y2 K 2 (m1 s 2 + bs + K 1 )
∴ =
X m1 m2 s 4 + b(m1 + m2 ) s 3 + (m1 K 1 + m1 K 2 + m2 K 1 ) s 2 + K 2 bs + K 1 K 2
 Pg 3 ME3242

Question 2 D(s)

R(s) + E(s) + 1 C(s)

+
K
s ( s + 1)( s + 2)
-

Figure P2.1.

In the system shown above, D(s) is a disturbance input and K the gain of a proportional
controller.

(a)
1 + GH = 0 gives s 3 + 3s 2 + 2 s + K = 0

Routh Array
s3 1 2
s2 3 K
6−K
s1
3
s0 K

6−K
For stability, > 0 and K > 0 , giving 0 < K < 6 .
3

± n180°
(b) Asymptotes are at = ±60°, 180° , n=1, 3, 5,…
3
Root Locus

−1− 2
Real axis intercept at = −1 . 4

3
3

1
Imag Axis

0
-1
-1

-2

-3

-4

-6 -5 -4 -3 -2 -1 0 1
Real Axis

E ( s) 1 s ( s + 1)( s + 2)
(c) With D(s) = 0, = = .
R( s ) 1 + G s ( s + 1)( s + 2) + K
 Pg 4 ME3242

1 s ( s + 1)( s + 2) 1
With R ( s ) = , E (s) =
s s ( s + 1)( s + 2) + 1 s

∴ e(∞) = lim sE ( s ) = 0 .
s →0

Or, since this is a Type 1 system, steady-state error to step inputs is zero.

E (s) − C ( s) −G −1
With R(s) = 0, = = = .
D( s) D( s ) 1 + GH s ( s + 1)( s + 2) + K

1 −1 1
With D( s ) = , E (s) =
s s ( s + 1)( s + 2) + K s

1
∴ e(∞) = lim sE ( s ) = − = −1 .
s →0 K

Thus, with simultaneous unit step inputs for R(s) and D(s), e(∞) = 0 − 1 = −1

Question 3
Motor
R(s) + Km C(s)
Gc(s)
s (Tm s + 1)
-

Ki
Gc ( s ) = K p + . with K m = 0.5 and Tm = 0.5 s.
s

(a) Characteristic equation is

K p s + Ki 0.5 K p s + Ki
1 + GH = 1 + = 2 =0
s s (0.5s + 1) s ( s + 2)

∴ s 3 + 2s 2 + K p s + K i = 0

Routh Array
s3 1 Kp
s2 2 Ki
2K p − K i
s1
2
0
s Ki

2K p − K i
For stability, > 0 and K i > 0 , giving K i > 0 and 2K p > K i .
2
 Pg 5 ME3242

(b) With K p = 2 , the characteristic equation becomes

s 3 + 2s 2 + 2s + K i = 0 (2)

Ki Ki
Or 1+ = 1+ =0
s ( s + 2s + 2) s ( s + 1 + j1)( s + 1 − j1)

± n180°
For the root locus, asymptote angles = = ±60°, 180° , n=1, 3, 5,…
3

−2
Real-axis intercept = = −0.67 .
3

Imaginary axis intercept: System is limitedly stable when 2 K p = K i , or K i = 4 .

Substituting into (2) with s = jω , − jω 3 − 2ω 2 + j 2ω + 4 = 0 .

Equating either real or imaginary parts to zero gives ω = 2 = 1.414 rad/s at the imaginary
axis intercept.

Angle of made by the other two poles at the pole at s=-1+j1 are 90o and 45o giving a total
angle of 135o. Angle of departure from the pole at s = -1+j1 is thus

− 180° + 90° + 45° = −45°

Root Locus
3

1.414

60o
Imag Axis

0
-0.67

-1

-2

-3
-4 -3 -2 -1 0 1 2
Real Axis