EEB431 Control Systems I Solutions Test 2

4th November, 2022

Instructions: Attempt both questions.
You are allowed up to 1hr 30min to complete the test.

Question 1

The Bode plots for a plant G(s), used in a unity feedback system are shown in Figure 1.
a) Determine the following: (10 marks)
 Gain and phase margins
GM = +20dB M = 55° (4)

 Gain and phase crossover frequencies

gc = M = 1.0 rad/s pc = GM = 4.5 rad/s (4)

 Closed-loop bandwidth @ -7dB

… OK since the phase is in the range -135° to -225°
BW = 1.8 rad/s (2)

 Static error constant ( 2 bonus marks )

@ 0dB intercept by the initial -20dB/dec line as indicated
Initial slope is -20dB/dec  System is type 1  Kv = 1

Type 0 Type 1 Type 2

b) Use your answers to a) above to estimate the following: (10 marks)

 Damping ratio ( 4 ) 2
𝑀 = tan−1
M = 55°   = √0.0856 = 0.451
4
√−22 + √1 + 44
2
4 4
 = 1/ (( + 2) − 4)
(tan 𝑀 )2
 Percent overshoot ( 3 ) −ln(%𝑂𝑆/100)
=
 = 0.451  %OS = 100*exp(-2.021) = 13.26 √𝜋 2 + ln2 (%𝑂𝑆/100)

−(𝜋⁄√1−2 )
%OS = 𝑒 x 100
 Settling time (3)

𝜔𝐵𝑊 = 𝜔𝑛 √(1 − 22 ) + √44 − 42 + 2

𝜔𝐵𝑊 = 1.8rad/s  𝜔𝑛 = 𝜔𝐵𝑊 /1.224 = 1.471rad/sec
 𝑇𝑠 = 5.028 sec 𝑇𝑠 =
4
𝜔𝑛
 Steady state error (2 bonus marks )
𝑒𝑠𝑠 = 1/Kv = 1
---

gc = M pc = GM

BW

Figure 1

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Question 2

Consider a unity feedback system with an open loop transfer function: (15 marks)
K ( s  4)
G(s)H(s) =
( s  2)( s  6)( s  8)
Design a Lag compensator for this system so that it operates with a 17.5% overshoot
and a static error constant of 100.
The Bode magnitude and phase plots with K = 24 are as presented in Figure 2

+40dB shift up
+26dB +26dB

You can do a +40dB shift up

(??, 0dB)
0dB 0dB
(0.095, -6dB)
-14dB 26dB -14dB

-26dB -26dB

(0.95, -26dB)

Figure 2

1 Kp = 100  K = 2400 ( 2 )
2 Bode Plots presented are for K = 24 … Required are plots for K = 2400
** for K = 2400  Increase magnitude/gain by 100 (40 dB) ( 2 )
… can shift magnitude plot up, or adjust the scale. Lag Compensator
Note: Adjusting the magnitude plot has no effect on the phase plot Gc(s) =
3 %OS= 17.5   = 0.485 ( 1 )  = 𝜙m = 50.6° ( 1 ) (s  1/ T )
Design for m = 50.6° + 10° = 60.6° ( 1 ) ( s  1 / T )
4 Phase = -180°+ 60.6° = -119.4° ( 1 ) and occurs @ m = 9.5 rad/s ( 1 )
Magnitude must be 0dB at m ( 1 ) (by definition of phase margin)

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5 Using the gain adjusted plot: Magnitude = +26dB at m = 9.5 rad/s ( 1 )
(Alternatively: Magnitude = -14dB + 40dB = +26dB at m = 9.5 rad/s)
 For a 0dB at m , compensator must contribute/provide -26dB
 Draw compensator higher asymptote = -26dB at m = 9.5 rad/s ( 1 ) Gc(s) =
6 Select higher break frequency 1 decade below m ie at 0.95 rad/s ( 1 ) ( s  0.95)
0.048
(Note: 1/T = 0.95) ( s  0.046)
7 For lower break frequency:
Draw line with -20dB slope to 0dB intercept ie at 0.046 rad/s ( 1 )
** Problem : 0dB intercept is off the scale/graph ---
!! You can draw a secondary scale as indicated by coordinates on the
-20 dB/decade solid yellow line
!! You can calculate the 0dB intercept …
8 Add compensator gain for unity dc gain ie set to 0.046/0.95 = 0.048 ( 1 )

Alternative approach
7 For lower break frequency: Alternatively:
-20 dB/decade line joining two points (??, 0dB) and (0.095, -26dB)
Gc(s) =
Since 1 / T = 0.95, then 1 / T = 0.95/  (you can calculate  ) ( s  0.95)
0.050
(1 / T ) (1 / T ) ( s  0.048)
Note: = =
(1 / T ) (1 / T )(1 /  )
 (1 / T ) 
 20log   = 20log(  ) = 26dB
 (1 / T ) 
  = 10(1.3) = 19.953
 1/T = 0.95/  = 0.048
8 Add dc gain = 0.048/0.95 = 0.050

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Supplied to Student:

−ln(%𝑂𝑆/100) 𝜋 4
= 𝑇𝑝 = 𝑇𝑠 =
√𝜋 2 + ln2 (%𝑂𝑆/100) 𝜔𝑛
𝜔𝑛 √1 − 2

1
𝑀𝑝 = 𝜔𝑝 = 𝜔𝑛 √1 − 22
2 𝜔𝐵𝑊 = 𝜔𝑛 √(1 − 22 ) + √44 − 42 + 2
2√1 − 

√−22 + √1 + 44
𝑀 = 90 − tan−1
2
2
= tan−1
√−22 + √1 + 44

1 1 1 1
𝑠+ 1 𝑠+𝑇 𝑠+ 𝑠+
𝑇 𝑇1 𝑇2
𝐺𝑐 (𝑠) = 1 𝐺𝑐 (𝑠) = 𝐺𝑐 (𝑠) = ( 𝛾)( )
𝑠+ 𝛽𝑠+ 1 𝑠+ 𝑠+
1
𝛼𝑇 𝛽𝑇 𝑇1 𝛾𝑇2

1 1 1−𝛽 1−𝛽
𝜔𝑚𝑎𝑥 = | 𝐺𝑐 (𝑗𝜔𝑚𝑎𝑥 )| = 𝜙𝑚𝑎𝑥 = tan−1 = sin−1
T√𝛽 √𝛽 2√𝛽 1+𝛽

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Question 3 SUPPLEMENTARY QUESTION Due: Monday 7th Nov. 2022

a) Sketch the asymptotic Bode plot for a system with an open loop transfer (15 marks)
function:
103 ( s  50)
G( s)  2
( s  8s  64)( s  10)( s  20)

b) Use your plots in a) above to determine the system’s: (8 marks)

i) Gain crossover frequency
ii) Phase crossover frequency
iii) Gain margin
iv) Phase margin
v) Bandwidth

c) Comment on the stability of this system (2 marks)

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