BELC 3663 Ch2-1
ANSWER EXERCISE CHAPTER 2-1
QUESTION 1
The following open-loop transfer function is represented by the following transfer function:
3(𝑠 + 6)(𝑠 + 15)
𝐺 (𝑠 ) =
(𝑠 + 3)(𝑠 + 8)(𝑠 + 10)
(a) Draw the signal flow graph and show the state variable feedback in phase-variable form.
(b) Design a controller to yield a closed-loop response of 10% overshoot with a settling
time of 1 sec. Place the third pole 5 times as far from imaginary axis as the dominant
pole pair.
Answer Q1(a)
3(𝑠 + 6)(𝑠 + 15)
𝐺 (𝑠 ) =
(𝑠 + 3)(𝑠 + 8)(𝑠 + 10)
Change to polynomial equation
3(𝑠 2 + 21𝑠 + 90)
𝐺 (𝑠 ) =
(𝑠 2 + 11𝑠 + 24)(𝑠 + 10)
3𝑠 2 + 63𝑠 + 270
𝐺 (𝑠 ) =
(𝑠 3 + 11𝑠 2 + 24𝑠)(10𝑠 2 + 110𝑠 + 240)
𝑌(𝑠) 3𝑠 2 + 63𝑠 + 270 3 state variable - 𝒙𝟏 , 𝒙𝟐 , 𝒙𝟑
𝐺 (𝑠 ) = = 3
𝑅(𝑠) (𝑠 + 21𝑠 2 + 134𝑠 + 240)
Phase Variable Form – open loop
𝑥̇ 1 0 1 0 𝑥1 0
𝑥̇
[ 2] = [ 0 0 𝑥
1 ] [ 2 ] + [0 ] 𝑟
𝑥̇ 3 −240 −134 −21 𝑥3 1
𝑥1
𝑦 = [270 63 3] [𝑥2 ]
𝑥3
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BELC 3663 Ch2-1
Phase Variable Form – closed-loop
𝑥̇ 1 0 1 0 𝑥1 0
𝑥̇
[ 2] = [ 0 0 1 𝑥
] [ 2 ] + [0 ] 𝑢
𝑥̇ 3 −240 − 𝑘1 −134 − 𝑘2 −21 − 𝑘3 𝑥3 1
𝑥1
𝑦 = [270 63 3] [𝑥2 ]
𝑥3
Signal flow graph
𝟑
𝟔𝟑
𝒙̇ 𝟐 𝒙̇ 𝟏
1 1 1
𝒓 𝒙̇ 𝟑 𝒙𝟑 𝒙𝟐 𝒙𝟏 𝟐𝟕𝟎 𝒚
1 𝑠 𝑠 𝑠
−𝟐𝟏
−𝟏𝟑𝟒
Phase Variable Form – open loop
−𝟐𝟒𝟎
𝟑
𝟔𝟑
𝒙̇ 𝟐 𝒙̇ 𝟏
1 1 1
𝒓 𝒖 𝒙̇ 𝟑 𝒙𝟑 𝒙𝟐 𝒙𝟏 𝟐𝟕𝟎 𝒚
1 1 𝑠 𝑠 𝑠
−𝟐𝟏
−𝒌𝟑
−𝟏𝟑𝟒
−𝒌𝟐
−𝟐𝟒𝟎
−𝒌𝟏
Phase Variable Form – closed loop
2
BELC 3663 Ch2-1
Answer Q1(b)
Step 1: Determine the closed-loop characteristic equation
3𝑠 2 + 63𝑠 + 270
𝐺 (𝑠 ) =
(𝑠 3 + 21𝑠 2 + 134𝑠 + 240)
3𝑠 2 + 63𝑠 + 270
𝑇 (𝑠 ) = 3
𝑠 + (21+𝑘3 )𝑠 2 + (134 + 𝑘2 )𝑠 + (240 + 𝑘1 )
The closed-loop characteristic equation:
𝑠 3 + (21+𝑘3 )𝑠 2 + (134 + 𝑘2 )𝑠 + (240 + 𝑘1 ) = 0
Step 2: Determine the desired closed-loop characteristic equation based on design requirement
Design requirement: 10% overshoot and a settling time of 1 second
1. Find the 𝜁 and 𝜔𝑛
− ln(%𝑂𝑆 ⁄100) − ln(0.1)
𝜁= = = 𝟎. 𝟓𝟗𝟏𝟐
√𝜋 2 + ln2 (%𝑂𝑆 ⁄100) √𝜋 2 + ln2 (0.1)
4
𝑇𝑠 = ;
𝜁𝜔𝑛
4 4
𝜔𝑛 = = = 𝟔. 𝟕𝟔𝟔𝟒
𝜁𝑇𝑠 0.5912 × 1
2. Third Pole Location: Place the third pole 5 times as far from imaginary axis as the
dominant pole pair → 5 𝜁𝜔𝑛 = 5(4) = 20
The desired closed-loop characteristic equation: → (s + 𝑝3 )(𝑠 2 + 2𝜁𝜔𝑛 s + 𝜔𝑛 2 )
(s + 20)(𝑠 2 + 2(4)s + 6.76642 ) = 0
(s + 20)(𝑠 2 + 8s + 45.7844) = 0
(𝑠 3 + 8𝑠 2 + 45.7844𝑠) + (20𝑠 2 + 160s + 915.6873) = 0
𝑠 3 + 28𝑠 2 + 205.7844𝑠 + 915.6873 = 0
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BELC 3663 Ch2-1
Step 3: Determine the k by comparing equation in Step 1 & Step 2
𝑠 3 + (21+𝑘3 )𝑠 2 + (134 + 𝑘2 )𝑠 + (240 + 𝑘1 ) = 𝑠 3 + 28𝑠 2 + 205.7844𝑠 + 915.6873
21 + 𝑘3 = 28
𝒌𝟑 = 𝟕
134 + 𝑘2 = 205.7844
𝒌𝟐 = 𝟕𝟏. 𝟕𝟖𝟖𝟒
240 + 𝑘1 = 915.6873
𝒌𝟏 = 𝟔𝟕𝟓. 𝟔𝟖𝟕𝟑
4
BELC 3663 Ch2-1
QUESTION 2
Figure Q2 shows the signal flow graph of system where u is the iput and y is the output.
Figure Q2
(a) Represent the state equation in Phase Variable Form, Controller Canonical Form and
Observer Canonical Form.
(b) Design a state feedback system to achieve (i) an overshoot less than 15% and (ii) a settling
time of 3 seconds for the controlled system.
Answer Q2(a)
Phase Variable Form
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ] [𝑥 ] + [ ] 𝑢
𝑥̇ 2 −3 −4 2 2
𝑥1
𝑦 = [1 2] [𝑥 ]
2
Controller Canonical Form The controller canonical form is
obtained from the phase-variable
𝑥̇ −4 −3 𝑥1 2 form by rearranging the last row as
[ 1] = [ ] [𝑥 ] + [ ] 𝑢
𝑥̇ 2 1 0 2 0 the first row AND reverse order for
𝑥1 ALL rows including the output state
𝑦 = [2 1] [𝑥 ] equation.
2
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BELC 3663 Ch2-1
Observer Canonical Form
The controller observer canonical
𝑥̇ −4 1 𝑥1 2 form is obtained from the canonical
[ 1] = [ ][ ] + [ ]𝑢
𝑥̇ 2 −3 0 𝑥2 1 form by transposing the Matrix A,
𝑥1 transposing Matrix B and C to
𝑦 = [2 0] [𝑥 ] become Matrix B and C, respectively.
2
Answer Q2(b)
Step 1: Determine the closed-loop characteristic equation
𝒙̇ 𝟏
1 1
𝒓 𝒖 2 𝒙̇ 𝟐 𝒙𝟐 𝒙𝟏 𝟏 𝒚
1 𝑠 𝑠
−𝟒
−𝒌𝟐
−𝟑
−𝒌𝟏
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BELC 3663 Ch2-1
Phase Variable Form - closed loop
𝑥̇ 1 = 𝑥2 (1)
𝑥̇ 2 = −3𝑥1 − 4𝑥2 + 2𝑢 (2)
𝑢 = −𝑘1 − 𝑘2 + 𝑟 (3)
(3) in (2)
𝑥̇ 2 = −3𝑥1 − 4𝑥2 + 2(−𝑘1 − 𝑘2 + 𝑟 )
𝑥̇ 2 = (−3−2𝑘1 )𝑥1 + (−4 − 2𝑘2 )𝑥2 + 2𝑟 (4)
Write in matrix eq (1) and (4)
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ] [𝑥 ] + [ ] 𝑟
𝑥̇ 2 −3 − 2𝑘1 −4 − 2𝑘2 2 2
𝑥1
𝑦 = [1 2] [𝑥 ] - Same as open loop
2
𝑠 0 0 1 𝑠 −1
𝐷𝑒𝑡[𝐴𝐶𝐿 ] = 𝑆𝐼 − (𝐴𝐶𝐿 ) = [ ]−[ ] =[ ]
0 𝑠 −3 − 2𝑘1 −4 − 2𝑘2 3 + 2𝑘1 𝑠 + (4+2𝑘2 )
Characteristic equation = (𝑠)(𝑠 + (4+2𝑘2 )) − (−1 × (3 + 2𝑘1 )) = 0
(𝑠 2 + (4 + 2𝑘2 )𝑠) + (3 + 2𝑘1 ) = 0
𝑠 2 + (4 + 2𝑘2 )𝑠 + (3 + 2𝑘1 ) = 0
Step 2: Determine the desired closed-loop characteristic equation based on design requirement
Design requirement: less than 15% overshoot (we choose 12%) and a settling time of 3 second
1. Find the 𝜁 and 𝜔𝑛
− ln(%𝑂𝑆 ⁄100) − ln(0.12)
𝜁= = = 𝟎. 𝟓𝟓𝟗𝟒
√𝜋 2 + ln2 (%𝑂𝑆 ⁄100) √𝜋 2 + ln2 (0.12)
4
𝑇𝑠 = ;
𝜁𝜔𝑛
4 4
𝜔𝑛 = = = 𝟐. 𝟑𝟖𝟑𝟒
𝜁𝑇𝑠 0.5594 × 3
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BELC 3663 Ch2-1
2. Third Pole Location: second order system, no third pole
The desired closed-loop characteristic equation: → (𝑠 2 + 2𝜁𝜔𝑛 s + 𝜔𝑛 2 )
(𝑠 2 + 2(1.3333)s + 2.38342 ) = 0
𝑠 2 + 2.6667s + 5.6808 = 0
Step 3: Determine the k by comparing equation in Step 1 & Step 2
𝑠 2 + (4 + 2𝑘2 )𝑠 + (3 + 2𝑘1 ) = 𝑠 2 + 2.6667s + 5.6808
4 + 2𝑘2 = 2.6667
−𝟏. 𝟑𝟑𝟑𝟑
𝒌𝟐 = = −𝟎. 𝟔𝟕
𝟐
3 + 2𝑘1 = 5.6808
𝟐. 𝟔𝟖𝟎𝟖
𝒌𝟏 = = 𝟏. 𝟑𝟒
𝟐
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BELC 3663 Ch2-1
QUESTION 3
The following open-loop transfer function is represented by the following transfer function:
10(𝑠 2 + 5𝑠 + 8)
𝐺 (𝑠 ) =
(𝑠 + 2)(𝑠 + 9)(𝑠 + 12)
(a) Design a controller to yield a 15% overshoot and a settling time of 0.75 second. Place the
third pole 10 times as far from the imaginary axis as the dominant pole pair.
(b) Draw the signal flow graph and show the state variable feedback in phase-variable form
for open loop and closed system.
Answer Q3(a)
Step 1: Determine the closed-loop characteristic equation
10𝑠 2 + 50𝑠 + 80
𝐺 (𝑠 ) =
(𝑠 2 + 11𝑠 + 18)(𝑠 + 12)
10𝑠 2 + 50𝑠 + 80
𝐺 (𝑠 ) =
(𝑠 3 + 11𝑠 2 + 18𝑠) + (12𝑠 2 + 132𝑠 + 216)
10𝑠 2 + 50𝑠 + 80
𝐺 (𝑠 ) =
(𝑠 3 + 23𝑠 2 + 150𝑠 + 216)
3𝑠 2 + 63𝑠 + 270
𝑇 (𝑠 ) = 3
𝑠 + (23+𝑘3 )𝑠 2 + (150 + 𝑘2 )𝑠 + (216 + 𝑘1 )
The closed-loop characteristic equation:
𝑠 3 + (23+𝑘3 )𝑠 2 + (150 + 𝑘2 )𝑠 + (216 + 𝑘1 ) = 0
Step 2: Determine the desired closed-loop characteristic equation based on design requirement
Design requirement: 15% overshoot and a settling time of 0.75 second
1. Find the 𝜁 and 𝜔𝑛
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BELC 3663 Ch2-1
− ln(%𝑂𝑆 ⁄100) − ln(0.15)
𝜁= = = 𝟎. 𝟓𝟏𝟔𝟗
√𝜋 2 + ln2 (%𝑂𝑆 ⁄100) √𝜋 2 + ln2 (0.15)
4
𝑇𝑠 = ;
𝜁𝜔𝑛
4 4
𝜔𝑛 = = = 𝟏𝟎. 𝟑𝟏𝟕𝟑
𝜁𝑇𝑠 0.5169 × 0.75
2. Third Pole Location: Place the third pole 10 times as far from imaginary axis as the
dominant pole pair → 10 𝜁𝜔𝑛 = 10(5.333) = 53.33
The desired closed-loop characteristic equation: → (s + 𝑝3 )(𝑠 2 + 2𝜁𝜔𝑛 s + 𝜔𝑛 2 )
(s + 53.33)(𝑠 2 + 2(5.3333)s + 10.31732 ) = 0
(s + 53.33)(𝑠 2 + 10.67s + 106.45) = 0
(𝑠 3 + 10.67𝑠 2 + 106.45𝑠) + (53.33𝑠 2 + 569.03s + 5677) = 0
𝑠 3 + 64𝑠 2 + 675.48𝑠 + 5677 = 0
Step 3: Determine the k by comparing equation in Step 1 & Step 2
𝑠 3 + (23+𝑘3 )𝑠 2 + (150 + 𝑘2 )𝑠 + (216 + 𝑘1 ) = 𝑠 3 + 64𝑠 2 + 675.48𝑠 + 5677
23 + 𝑘3 = 64
𝒌𝟑 = 𝟒𝟏
150 + 𝑘2 = 675.48
𝒌𝟐 = 𝟓𝟐𝟓. 𝟒𝟖
216 + 𝑘1 = 5677
𝒌𝟏 = 𝟓𝟒𝟔𝟏
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BELC 3663 Ch2-1
Answer Q3(b)
Phase Variable Form – closed-loop
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 1 ] [𝑥 2 ] + [0 ] 𝑟
𝑥̇ 3 −216 − 𝑘1 −150 − 𝑘2 −23 − 𝑘3 𝑥3 1
𝑥1
𝑦 = [80 𝑥
50 10] [ 2 ]
𝑥3
Signal flow graph - Phase Variable Form – closed loop
𝟏𝟎
𝟓𝟎
𝒙̇ 𝟐 𝒙̇ 𝟏
1 1 1
𝒓 𝒖 𝒙̇ 𝟑 𝒙𝟑 𝒙𝟐 𝒙𝟏 𝟖𝟎 𝒚
1 1 𝑠 𝑠 𝑠
−𝟐𝟑
𝒌𝟑
−𝟏𝟓𝟎
𝒌𝟐
−𝟐𝟏𝟔
𝒌𝟏
11
