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A) Help The Designer To Find All K : Sat (V)

The document describes a linear plant G(s) controlled by a PD controller. The closed loop system has input saturation that limits the actuator input to an amplitude of 1. The designer wants to find all values of K >= 1/1.1 for which the system is asymptotically stable and the possible frequency of limit cycles. The solution shows that there will be no limit cycles if K < 1/1.1. For K = 1/1.1, the predicted limit cycle frequency will be independent of K and equal to approximately 2.2 rad/s. For K > 1/1.1, there will be a predicted stable limit cycle whose amplitude depends on K.

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46 views3 pages

A) Help The Designer To Find All K : Sat (V)

The document describes a linear plant G(s) controlled by a PD controller. The closed loop system has input saturation that limits the actuator input to an amplitude of 1. The designer wants to find all values of K >= 1/1.1 for which the system is asymptotically stable and the possible frequency of limit cycles. The solution shows that there will be no limit cycles if K < 1/1.1. For K = 1/1.1, the predicted limit cycle frequency will be independent of K and equal to approximately 2.2 rad/s. For K > 1/1.1, there will be a predicted stable limit cycle whose amplitude depends on K.

Uploaded by

●●●●●●●1
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
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Q1 A linear plant G(s) has the transfer function

1
2 2
(s+2) (s +s+1)2
( ) G s
.
It is controlled by a PD controller with the transfer function
k(1+ST )
D
( ) c s
The closed loop system is seen in Figure 1. The designer has decided to
use Td= 1, but has not yet decided how large K should be. The system has
input saturation so that the actuator can not delier inputs of amplitude
greater than 1 !u= sat(v)"
a) #elp the designer to find all K >= $ for which the system is
asymptotically stable. Find also the fre%uency of possible limit cycles. Does it
depend on K& 'se the (ode diagram in Figure if needed.
b) For those alues of K which imply limit cycles, will the limit cycles be
stable or unstable& Does the amplitude depend on K& )otiate your answers.
-150
-100
-50
0
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
-300
-240
-180
-120
-60
0
P
h
a
s
e

(
d
e
g
)
Bode Diagram of G(s)C(s) for K =TD=1
Frequency (rad/sec)
Solution
!a" The describing function N(A) of the saturation is gien by
A 1
2
A>1
,
( ) ,
arcsin
1
1 1 1
N A
1
2
A A
A

'
+

,
It is howeer enough to state that N(A)= 1 for amplitudes less than one
and decreasing towards *ero, i.e., +1,N(A) will start in +1 and approach +
as the amplitude grows. Possible limit cycles of amplitude A
1
and fre%uency
1

must fulfill
G(iw)C(iw )= -1/N(A).
As N(A) is positie and real a possible crossing must be on the negatie
real a-is. From the (odeplot we get that such a fre%uency is w 2.2 rad/s and
G(iw)C(iw ) -0.0
.
Therefore there will be no crossing point if $ . K < 1,$.$/ 0 1/.1. For K =
1/.1 the predicted limit cycle will hae the fre%uency
1
which will be
independent of K.
!b" For K 21/.1 there will be a predicted stable limit cycle whose amplitude A
1
will depend on K.
Q1 For which alues of a is the linear system G(s)=
(s+a)

(s+2)(s+10)
( ) G s

passie&
3olution
If the real part of G(i ) 0 for all, the system is passie.
(i +a) (i +a)(-i +2)(-i +10)
=
2
(i +2)(i +10)
( +2 )( +100)
( ) G s
2 2



{ }
2
(12-a) + ( )
( +2 )( +100)
As s!ould "# 0 $or all % w# s## t!at 0 a 12.
( )
( )
2 2
2 2
20a 20 12a
G s
G i
+

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