HCM City University of Technology FINAL EXAM

Faculty of EE Engineering Second semester, Academic year 2018-2019

Department of Automatic Control Course: Introduction to Control Systems
Exam date: 07/06/2019
---o0o--- Exam duration: 90 minutes
(Students are allowed to use references but not laptops)

Problem 1: (3.5 points)

R(s) Y(s)
+_ GC (s ) G (s )

Figure 1

40
Given a control system in Figure 1, in which G ( s ) 
s ( s  8)
1.1. Let GC ( s )  1, calculate the percentage of overshoot and settling time (5% criterion) of the
system
1.2. Design the controller GC ( s ) such that the closed-loop system has a pair of complex poles
with   0.7 and n  10 , and the steady state error to unit ramp input is 0.02
480
Problem 2: (3.5 points) Given a control system in Figure 1 with G ( s) =
s( s + 4)( s + 30)
Using the Bode diagram, design the controller GC(s) so that the closed-loop system has phase
margin FM * ³ 550 and steady-state error to unit ramp input ess* = 0.05 .

Problem 3: (3.0 points) Given a system described by the state equation:

 x (t )  Ax(t )  Bu(t )

 y (t )  Cx(t )
é0 1ù  1
A= ê ú , B    , C = [1 0]
êë-2 -1úû 1

3.1 Verify the the system is controllable

3.2 Design the state feedback controller so that the closed loop system has two poles at
p1,2  3  j 3 .

Instructor Department Head

1
 Solution

Problem 1: (3.5p)

1.1 (1.0p) Calculate POT and ts

- Characteristic equation of the closed-loop system:
1  GC ( s )G ( s )  0
40
 1 0
s ( s  8)
 s 2  8s  40  0 (1)
The characteristic equation has the form:
s 2  2n s  n2  0 (2)

2n  8   0.63

  2  .
n  40 n  4
Suy ra:
  
POT  exp    .100%  7.8%
 1  2 
 
3 3
ts (5%)    0.75(sec)
n 4

1.2 (2.5p) The controller to be designed is a lead-lag compensator: Gc ( s )  Gc1 ( s )Gc 2 ( s )

s  1 /  T1
Design phase lead compensator: Gc1 ( s )  K c1
s  1 / T1
*
- The desired dominant poles: s1,2  n  jn 1   2  7  7.1 j

- The deficiency angle:  *  180  G ( s1* )  180  arg( 7  j 7.1)  arg(7  j 7.1  8) 36.60

 134.6 36.6*   134.6 36.6* 

sin    sin   
1  2 2   2 2  1
- Zero of the controller:  OP  10   7.56
 T1  134.6 36.6 
*
 134.6 36.6 
*
 T1
sin    sin   
 2 2   2 2 
 OPx  *   115 52.5 
sin    sin   
1  2 2   2 2  1
- Calculate the pole:  OP  3   13.21
T1  OPx  *   115 52.5  T1
sin    sin   
 2 2  2 2 
s  7.56
 GC1 ( s )  K C1
s  13.21

2
Note: Pole cancelation method:
s 8
GC1 ( s )  2.48
s  14

s ( s  8)( s  13.21)
 Determine KC1 : K C1   2.38
40( s  7.56) s1*   7  j 7.1

s  7.56
 GC1  s   2.38
s  13.21
* Design the phase lag controller GC 2 ( s ) so that ess*  0.02 (unit ramp input)
1
s
 T2
GC 2  s   K c 2 ; 1
1
s
T2

 After phase lead compensation :

s  7.56 40
KV  lim sGC1 ( s )G ( s )  lim s 2.38  6.81
s 0 s 0 s  13.21 s ( s  8)

1 1
 To meet the steady-state error requirement: ess*  *
 0.02  KV*  *  50
KV ess
KV 6.81
   0.136
KV* 50
1 1
Chose zero:
T
 
Re s1*  7 
T
 0.5

1
pole  0.5    0.068
T

Calculate Kc2:
K C 2  1.0
s  0.5
 GC 2  s  
s  0.068

Conclusion: The transfer function of the controller is:

 s  7.56  s  0.5 
GC ( s)  GC1 ( s).GC 2 ( s )  2.38   
 s  13.21  s  0.068 

Problem 2: (3.5p)
Transfer function of the compensator:
Ts  1
GC ( s )  K C
Ts  1
- Velocity constant before compensation:

3
 480
KV  lim sG ( s)  lim s 4
s 0 s 0 s ( s  4)( s  30)
- Desired velocity constant:
1 1
KV*  *   20
ess 0.05
- The gain of the controller:
K * 20
KC  V  5
KV 4
480 20
Denote: G1 ( s )  KC G ( s )  5 
s( s  4)( s  30) s( s / 4  1)( s / 30  1)

The Bode diagram of G1 ( s ) :

Corner frequencies: 1  4; 2  30;
0  1
Point A: 
 L(0 )  20 lg 20  26 (dB)

Bode Diagram
50

-50

-100

12.5
-150
-90

-135

-180

185
-225

-270
10 -1 10 0 10 1 10 2 10 3
Frequency (rad/s)

Option 1: Phase lead compensator

From the Bode diagram, we have:

4
 C  8.3(rad / sec)
1 (C )  1700
M  1800  1 (C )  180  1700  100
The maximum phase of the phase compensator:
max  M *  M    55  (10)  5  500
1  sin max 1  sin 500
   7.55
1  sin max 1  sin 500
The new gain crossover frequency:
L1 (C* )  10lg   10lg(7.55)  8.8dB
From the Bode diagram, we have
C*  13.8(rad / sec)
Calculate T:
1 1
T   0.026
*
C 
13.8 7.55
  T  7.55  0.026  0.2
0.2s  1
Conclusion: The TF of the compensator is: GC ( s )  5
0.026s  1

Option 2: Phase lag compensator

- The new gain crossover frequency satisfies:

1 (C* )  180  M *    180  55  5  1200
From the Bode diagram, we have:
C*  2.0(rad / sec)
- Calculate :
20 lg    L1 (C* )
From the Bode diagram, we have: L1 (C* )  19dB
 20 lg   19
   0.11
1
- Chose  C*
T
1
  0.1
T
  T  10
10
 T  91
0.11
- Conclusion: The transfer function of the compensator is:
10s  1
GC ( s )  5
91s  1

Problem 3: (3p)
3.1 The controllability matrix:

5
 æ é-1ù é 0 1 ù é-1ù ö÷ é-1 1ù
C = [ B AB] = ççç ê ú ê ú ê ú÷ = ê ú
çè êë 1 úû êë-2 -1úû êë 1 úû ÷÷ø êë 1 1úû
 det(C ) = -2
 rank (C ) = 2
The system is controlable

3.2 State feedback gain:

The characteristic equation:
det([ sI - A + BK ] = 0
æ é1 0ù é 0 1 ù é-1ù ö
 det ççç s ê ú-ê ú + ê ú [ k1 k2 ]÷÷÷ = 0
èç ëê0 1ûú ëê-2 -1ûú ëê 1 ûú ø÷
æ é s - k1 -1- k2 ù ö÷
 det ççç ê ú÷ = 0
çè êë 2 + k1 s + 1 + k2 úû ÷÷ø
 ( s - k1 )( s + 1 + k2 ) - (2 + k1 )(-1- k2 ) = 0
 s 2 + (1 + k2 - k1 ) s + (2 + 2k2 ) = 0
The desired characteristic equation
( s + 3 - j 3)( s + 3 + j 3) = 0
s 2 + 6 s + 18 = 0
ïì1 + k2 - k1 = 6
 ïí
ïïî2 + 2k2 = 18
ïìk = 3
 ïí 1
ïïîk2 = 8