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Sample Sample Answe Questions Questions Er Hints: Cs / Acs W14 Lect 2012

This document contains sample questions, answers, and hints related to control systems topics. It includes the following: 1) Sample questions about calculating closed-loop transfer functions (CLTF), determining stability using Nyquist criterion, finding steady state error, and more. Hints are provided for each question. 2) Worked examples of finding CLTF, determining damping factor and natural frequency, adding compensation, and calculating settling time and percent overshoot. 3) Questions on determining stability of a configuration using Nyquist criterion, applying Routh's array, and plotting transfer functions on a Nyquist plot. 4) A question on determining a state variable model using phase variables. So in summary,

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Timothy Ashley
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© Attribution Non-Commercial (BY-NC)
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0% found this document useful (0 votes)
30 views

Sample Sample Answe Questions Questions Er Hints: Cs / Acs W14 Lect 2012

This document contains sample questions, answers, and hints related to control systems topics. It includes the following: 1) Sample questions about calculating closed-loop transfer functions (CLTF), determining stability using Nyquist criterion, finding steady state error, and more. Hints are provided for each question. 2) Worked examples of finding CLTF, determining damping factor and natural frequency, adding compensation, and calculating settling time and percent overshoot. 3) Questions on determining stability of a configuration using Nyquist criterion, applying Routh's array, and plotting transfer functions on a Nyquist plot. 4) A question on determining a state variable model using phase variables. So in summary,

Uploaded by

Timothy Ashley
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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CS / ACS

Sample Sample
Answe
W14 Lect 2012 s14/1
questions questions
er Hints
For input R(s) Calculate the CLTF
Q1 Samples
For input R(s)........Calculate the CLTF
) (
) (
s Y
T
) (
) (
) (
1
s R
s T =
K R(s)
+
+
_
F
...Hints s14/2Q
F.
D(s)
) 3 )( 1 (
1
+ + s s
Y(s)
+
+
) 3 )( 1 ( + + s s
For input R(s)
Q1 Sam
For input R(s)........
Calculate the
K R(s)
+
+
_
Ans:
s Y
s T =
) (
) (
Ans:
s R
s T =
) (
) (
1
mples ... Hints s14/3
CLTF. Y/R
Set D = 0
0
+
) 3 )( 1 (
1
+ + s s
Y(s)
+
K
=
)
K s s + + +
=
3 4 )
2
For input D(s) Calculate the CLTF
Q1 Samples
For input D(s)........Calculate the CLTF

) (
) (
) (
2
s D
s Y
s T =
K R(s)
+
+
( )
_
F
...Hints s14/4Q
F.
D(s)
) 3 )( 1 (
1
+ + s s
Y(s)
+
+
) 3 )( 1 ( + + s s
( )
For the disturbance:
Q1 Sample
For the disturbance:
-Y(s)
Set R = 0
K 0
+
Set R = 0
Use this to redraw...
_
D(s)
+
_
changed
Y
Ans:
D
Y
s T = ) (
2
es ... HInts s14/5
D(s)
G(s)
Y(s)
) 3 )( 1 (
1
+ + s s
+
+
Y(s)
) 3 )( 1 (
1
+ + s s
K
s Y 1 ) (
K s s s D
s Y
+ + +
=
) 3 )( 1 (
1

) (
) (
Note: Superposition applies when b
Q1 Sample
Note: Superposition applies when b
( ) ( ) ( ) (
2 1
s T s R s T s Y + =
(K
K
s Y =
3 4
1
) (
2
(
K s s + + + 3 4
) (
2
| | D KR
KG
G
+
+
=
1

both are present at the same time
s ... Hints s14/6
both are present at the same time.
) ( ) s D s
) s D s KR + ) ( ) ( ) ) ( ) (
( )
Q2 Sample
(a)
Convert the op amp circuit into a blo
Use the block diagram to calculate
s ... Hints s14/7
ock diagram.
V
0
(s).
Answer:
Q2 Sample
Answer:
s ... Hints s14/8
(b)
Q2 Sample
(b)
A control amplifier has he transfer fun
2
V
=
1
1
V
=
Find the differential equation rela
Ans:
1 ) ( 10 44 4 ) (
5
t v t v

+
&
. 1 ) ( 10 44 . 4 ) (
2 2
t v t v = +
s ... Hints s14/9
ction , where f is in MHz.
30
7
1
f
j +
ating v
2
(t) to v
1
(t).
) ( 10 32
3
t v

) ( 10 32 .
1
t v
Use of the FVT..
Q3 Samp
Can be used to calculate the final va
) (
0
lim y
s
=
d th fi l l f th ( ) and the final value of the error e()
) ( limsE e = ) (
0
limsE e
s

ples ... Hints s14/10


alue of output y()
) (
0
m s sY
) )
) (s E ) (s E
Find the steady state error for the foll
Q3 Samp
) (s G
R(s)
+
_

) 1 ( 10
) (
2
s
s G
+
=
5 . 0 5 ( ) (
) 5 (
) (
2
t t r
s s
=
+
) ( l e e
SS
= = ) (
s
SS
lowing control system:
ples ... Hints s14/11
Y(s)
)
and
) ( ) 5
2
t u t
) ( im s E s ) (
0
Make use of T
E
(s):
Q3 Samples
Find E(s) from the CLTF: E(s) = (1
10 10
) (
+ s G
s T
10 10 5 1
) (
2 3
+ + +
=
+
=
s s s G
s T


|
|
.
|

\
|
+ + +
+
=
2 3
2
s
5

10 10 5
) 5 (
) (
s s s
s s
s E
5
li
s

+
5
10 10 5
......
2 3
0
lim
s s s
e
s
SS

+ + +
= =

5 0 1
10
5
. = =
s ... Hints s14/12
1-T(s))R(s) =T
E
(s) R(s)
) 5 (
) ( 1
2
+ s s
T
10 10 5
) (
) ( 1
2 3
+ + +
=
s s s
s T
(

(
+
3 2
1 1
s s
1) (5
2
(
1) s - (5s
0
2
(

(
+
Alternatively .... Find E(s) from G
Q3 Samples
From the block diagram:
E(s) = R Y = R GE
1 5
2
+ s s
) 5 (
) 1 ( 10
1
) (
2
3
+
+
+
=
s s
s
s
s E
rest as per the previous
) 5 ( + s s
.... rest as per the previous
?? since unity feedback is involved:
s ... Hints s14/13
.......E = R/(1+G)
s page s page
For the unity feedback connection:
Q4 Sam
y
) (s G
R(s)
+
) (s G
R(s)
_
For the compensated system:
R(s)
+
Amp
+
_
K
1
_
mples ... Hints s14/14
Y(s)
)
Y(s)
)
25
Y(s)
) 1 ( + s s
K s K
2
s
Q4 Sam
(i) For the unity feedback system, Identi
frequency.
C l l t T d PO Calculate T
S
and PO.
(ii) For the compensated system, find K
1
( ) p y ,
1
the settling time is 0.2 sec.
(iii) Find the steady state errors for the u (iii) Find the steady state errors for the u
compensated system.
mples ... Hints s14/15
ify the damping factor and natural
1
and K
2
s.t. percent overshoot is 25% and
1 2
p
unity feedback connection and the unity feedback connection and the
(i) For the unity feedback connection
Q4 Samp
R(s)
+
_
Identify the damping fact
) ( 25 s Y
) (
) (

) 1 (
25
) (
+
=
s R
s Y
s s
s G
l l d
and 1 . 0 =
Calculate T
S
and PO:
and sec 8
1 0 5
4
= = PO T
s
1 . 0 5
s
n:
ples s14/16
Y(s)
) (s G
ctor and natural frequency:
25 )
25
25
) (
)
)
2
1
+ +
= =
s s
s T
5 =
n

% 73 100
99 . 0
3142 . 0
= =

e O
(ii) Add some feedback compen
Q4 Sam
R(s)
+
Amp
+
( )
+
_
K
1
+
_
The values of K
1
and K
2
a
% 25 = = PO
sec 0.2 =
s
T
nsation:
ples ... Hints s14/17
25
Y(s)
) 1 (
25
+ s s
_
R
1
K
2
s
are to be determined s.t.
0.404
(ii) Add some feedback compen
Q4 Sam
R(s)
Am
K
1
+
Method:
1
_
Method:
PO
Standar
n
,
S
T
2
2 s +
Inner loop:
s K s R
Y
) 25 1 (
25
2
2
1
+ +
=
hence
nsation:
ples ... Hints s14/18
Y(s)
) 1 (
25
+ s s
+
mp
1
Y(s)
) 1 ( + s s
K
2
s
_
1
R
1
2 rd r form nd orde
2
n n
s +
Block diagram
algebra algebra
1 2
2
1
25 ) 25 1 (
25

K s K s
K
R
Y
T(s)
+ + +
= =
The values of K
1
and K
2
are
Q4 Samp
0.404 % 25 = = PO
sec 0.2 =
s
T
The desired 2nd order CE becomes
E t t Equate to
Hence can solve for K
1
, K
2
: Hence can solve for K
1
, K
2
:
; 01 . 98
1
= K K
e to be determined s.t.
ples ... Hints s14/19
rad/sec 5 . 49 =
n

s
0 25 . 2450 40
2
= + + s s
0 25 ) 25 1 (
1 2
2
= + + + K s K s
56 . 1
2
= K
(iii) Find steady state errors
Q4 Samp
(iii) Find steady state errors
For the unity feedback connection,
Use 1-T
1
(s):
(
lim ) (
2 2
2
0

=

s s
s
e
s
For the compensated system, find
(

p y ,
Use 1 - T(s):
) 40 (
2

2450 40 (
) 40 (
lim ) (
2 2
2
0

+ +
+
=

s s s
s s
e
s
Compensated system has reduc
ples ... Hints s14/20
find e
SS
for a ramp input.
0.04
) 25
) 1 (
=
(

(
+ +
+
s
s
e
SS
for a ramp input.
)

SS
p p
40
(
0163 . 0
2450.75
40

) 75 . 0
= =
(

(
ced error .. by factor of 2.45
Handy concept maps:
Q4 Samples ... Hints s14/21
Q5 Sample
R(s)
K(s+ 0 5)
+
K(s 0.5)
_
Determine the stability of
NNyquist criterion.
es .... Hints s14/22
Y(s)
1 +
( )
) 1 (
2
+ s s
_
this configuration using the
Q5 Sample
R(s)
K(s+ 0 5)
+
K(s 0.5)
_
Determine the stability
using the Nyquist criter g q
Is the inner loop, G
2
(s) ... s
Rouths array ..... need to
es .... Hints s14/23
Y(s)
1 +
( )
) 1 (
2
+ s s
_
y of this configuration
erion.
stable system ?
check for RHP poles
Calls for application to new situation R
Q5 Sample
pp
R(s)
K(s+ 0 5)
+
K(s+ 0.5)
_
The CLTF:
1
) ( G
The CLTF:
) (
2 3
2
+ +
=
s s
s G
Apply Rouths array..
s

2
3
s
s
s
0
1
s
0
Rouths array Ref: Ogata 4th Ed p. 555
es ... Hints s14/24
y g p
Y(s)
1 +
Y(s)
) 1 (
2
+ s s
_
1 +
1 1
0 1
2 sign
0 1 -
1 1
changes
P = 2
1
Z = P - N Need N = 2 fo
Q5 Samp
Z P N Need N 2 fo
Plot of G(j) needed set s = j
2 3
5 . 0 (
) (
s K
s G
+ +
+
=
Hence
2 3
s s + +
2 2 5 0 + j
8
2
8 3
2 5 . 0
) 2 ( =

+
=
j
j
j G
0.24 1.1 0 0.5
2 1 0
G


187 153 180 0 G
Draw as a polar plot.
or stable system
ples ... Hints s14/25
or stable system
3 2
) 1 (
5 . 0
) (
1
) 5

j
j
j G
+
=
+
3 2
) 1 ( 1 j +
9 75 06 2
186 24 . 0
6 . 185 54 . 8
9 . 75 06 . 2
=

1.5 0.01 0.5 0.11 4


0.8 10 1.4 3
113 182 180 187
As a polar plot:
Q5 Samp
As a polar plot:
-0.5
Need to include the (-1, 0) po
-0.5K < -1 K > 2
les ... Hints s14/26
int..
Q6 Sam
Determine a state variable
for the following transfer f
10
1
2
+ +
+
=
s s
s
R
Y
10 + + s s R
mples .... Hints s14/27
e model using phase variables
function:

24 24
Determine a state variable
Q6 Sam
Determine a state variable
variables for the following tr
Y
2
+
=
s R
Standard method...use the Z / Z
Z
Z
s s
s
R
Y

24 10
1
2

+ +
+
=
e model using phase
mples .... Hints s14/28
e model using phase
ransfer function:
1 + s

24 10 + s
Z method:
since there is an s
term in the TF
numerator
Q6 Sample
Apply phase variable definitions
| | (
1 0 x x
&

|
|
.
|

\
|

=
(

=
2
1
2
1

10 24
1 0
x
x
x
x
x
&
&
es .... Hints s14/29
| | ( (
0 x
( )
|
|
.
|

\
|
=
(

+
(

(
2
1
1 1 and
1
0
x
x
y r
Determine the Z-transfer fu
Q7 Sampl
f f
configuration. Assume T =
Y
) (
2
R
Y
z G =
e(k) u(k)
r(k)
+
Dig filter
_
y(k)
G(z)
unction for the following
es ..... Hints s14/30
f f g
= 0.2 seconds.
) (z Y
) (
) (
z R
z Y
G (s) G
P
(s)
y(t)
) 1 (
1
+ s s
D/A
) 1 ( + s s
A/D A/D
Q7 Sam

e(k) u(k)
r(k)
+
Dig filter
_
y(k)
G(z)
( )

=

) (
1 ) (
s
s G
Z e z G
P
sT
Use PFE..

s
1 B A
) 1 (
1
2 2
s
B
s
A
s s
+ + =
+
ples ... Hints s14/31
G
P
(s)
P
( )
y(t)
) 1 (
1
+ s s
D/A
A/D
( )
)
`

+
=
)
`


) 1 (
1
1
)
2
1
s s
Z z
)
+
)
) 1 (s s
C
1 1 1
1
; C - ; B A
s
C
= = =
+
+
Use the Table of Z-transforms giv
Q7 S
Use the Table of Z transforms giv
z
z
z
Tz
s

2 2
1 s
1
;
) 1 (
1
z z s 1 s ) 1 (

) 1 (
1
) (

|
.
|

\
|

=
z
Tz
z
z
z G
=
) (
) (
z U
z Y
0175 . 0 0187 . 0 +
=
z
) (
) 819 . 0 )( 1 ( z z
ven
Samples .... Hints s14/32
1
ven
2 . 0
5
1
= = T
t
e z
z

+
1
1 s
1
;
e z +1 s
(
....
) )( 1 (
) 1 (
)
2
=
(

(


+

T
T
e z z
e z
For the digital system shown below:
Q8 S
For the digital system shown below:
(i) If the algorithm relating e(k) and u(k
) 1 ( ) ( k u k u + =
calculate the transfer function G
1
(z
(ii) Find the transfer function Y(z) / R(
) 1 ( ) ( k u k u + =
(ii) Find the transfer function Y(z) / R(
0187 . 0
) (
z
G
)( 1 (
) (

=
z z
z G
+
) ( G
E(z)
R(z)
_
+
) (
1
z G
E(z)
Samples ... Hints s14/33
k) is given by
) ( 5 0 k e +
z).
(z) if
) ( 5 . 0 k e +
(z) if
0175 . 0 +
) 819 . 0
Y( )
) ( G
U(z)
Y(z)
) (z G
For the algorithm relating e(k) and u(k)
Q8
For the algorithm relating e(k) and u(k)
R(z)
+
) (
1
z G
E(z)
_
( ) (
) 1 ( ) (
1
U z z U
k u k u
=
+ =

( ) ( U z z U
1
5 . 0
) (
1

=
z
z
z G
)
Samples ... Hints s14/34
)
U(z)
Y(z)
) (z G
U(z)
) ( 5 0 ) (
) ( 5 . 0
z E z
k e
+
+
) ( 5 . 0 ) ( z E z +
For the CLTF:
Q8 S
1
5 . 0
) (
1

=
z
z
z G
1 z
0175 . 0 0187 . 0
) (
+ z
G
) 819 . 0 )( 1 (
) (

=
z z
z G

| |
01 0 0187 0 5 0
) 819 . 0 )( 1 (
0175 . 0 0187 . 0

1
5 . 0
) (
) (

| |


+
|
.
|

\
|

=
z z
z
z
z
R
z Y
81 . 0 )( 1 (
01 . 0 0187 . 0

1
5 . 0
1
) (


+
|
.
|

\
|

+
z z
z
z
z
z R
Samples .... Hints s14/35
G G Y
1
G G
G G
R
Y
1
1
1+
=
(
819 0 24 2 809 2
) 93 . 0 ( 0094 . 0
.....
75
)
5
2 3
+
+
= =
(
(

(
z z
819 . 0 24 . 2 809 . 2
) 9
75
2 3
+
(

( z z z
A system has the closed loop transfer
Q9 Samp
y p
) 20 (
) (
+
=
s
s T
Approximate the system with
poles model and calculate
r function:
ples .... Hints s14/36
2500
) 125 10 )(
2500
2
+ + s s
h a second order dominant
e the per cent overshoot.
A system has the closed loop transfer
Q9 Samp
y p
Approximate the system with
poles model and calculate t poles model and calculate t
Method..
Ignore the pole at s = -20 if
Change the DC gain to suit
Second order calculate
calculate the PO:
Step Response
1
1.2
1.4
From: U(1) 10 = PO
A
m
p
l
i
t
u
d
e
0.4
0.6
0.8
T
o
:

Y
(
1
)
Che
Mat
Time (sec.)
0 0.2 0.4 0.6 0.8 1 1.2
0
0.2
r function:
ples .... Hints s14/37
2500
) ( = s T
h a second order dominant
the per cent overshoot
) 125 10 )( 20 (
) (
2
+ + +
=
s s s
s T
the per cent overshoot.
complex poles are closer..
the damping factor and use this to
2

2
1
00

e
20%
eck via
tlab..gives ??
For the system shown:
Q10 Sample R
For the system shown:
(i) Use the Routh test to determine i
(ii) Determine the ultimate value of K
R(s)
_
+
+
)
2
1 (
s
K
C
+
_
s
2 ) 1 ( 3 2 :
2 3
+ + + +
C
K s K s s Ans
Rouths array .unstable for K
C
= 4,
Rouths array ... Hints s14/38
if the system is stable for K
C
= 4
K
C
above which the system is unstable.
D(s)
+
1 2
1
+ s
Y(s)
+
+
1
1 + s
0 =
C
K
and K
CU
= 4
Given the system
Q11 Sample: State tra
(
5 0
y
x x

+
(

=
0 0
5 0
&
(i) Calculate the state transition matr
(ii) With the initial conditions x
1
(0) =1
-1
A) - (sI ) ( = t
-1
A) (sI ) (t
) (t
1

0
1
) ( ) 0 ( ) ( ) ( t x x t t x

= =
ansition matrix ... Hints s14/39
(
1
u
(

0
1
rix (t)
1 = x
2
(0), find the ZIR x(t).
-1
|

|
`

5 1
-1
|
|

)
`

)
`

=
1
} 0 {


2
s s
-1
-1
.

\
)
`

} 0 {
s
5
( | |
) 0 (
1
5
x
t
(

(
|
|
.
|

\
|
+
=
1
5 1
.........
t
Given the configuration:
Q12 Sample
Given the configuration:
D
R(s)
+
+
s
1
_
+
s
ss
Calculate the settling time us
Settling time ... Hints s14/40
D(s)
K=10
10 + s
K
Y(s)
(s)
+
10 + s
ing the 2% criterion.
The CLTF is
Q12 Sample
10
The CLTF is.
2
10
10
1
10
10
+
=
+
+
+
=
s
s
K
s
R
Y
10 + s
) 1 (
1
) (
20t
e t y

) 1 (
2
) ( e t y =
0.5 0.5 0.98 2 / 1 ) ( = = y
sec 19 . 0
20
02 . 0 ln
=

= =
S
T t
Settling time ... Hints s14/41
20
0
Not second order Not second order
???
Settling time ?? g
) e - (1
-20t
100%
98%
T
s
Given the feedback system:
Q13 Sample
Given the feedback system:
R(s)
+
Given :
s
s K
s KG
2 (
) (
3
2
+
+
=
Sketch the Ro Sketch the Ro
RL diagram .... Hints s14/42
Y(s)
) (s KG
+
_
s
s
4
) 2 2 +
oot Locus. oot Locus.
Given the feedback system:
Q13 Sample
Given the feedback system:
R(s)
+
s s K
s KG
) 2 2 (
) (
3
2
+ +
=
Sketch the Root Locus.
s s 4
) (
3
+
1. Starts on OL poles ; ends on OL ze
One zero at One zero at
2. RL on the real axis.odd No to rigg
RL diagram .... Hints s14/43
Y(s)
) (s G
+
_
eros
X
O
X
ght
X
O
g
3 Asymptotes: R = 3-2 = 1
Q13 R
3. Asymptotes: R 3 2 1
= 180
O
4. Not applicable
5 Breakaway & entry points: 5. Breakaway & entry points:
s -1.8 -2 -2.5 -2.8 -3
K 7.95 8 7.88 10.2 7.
max-
d
min
6. Dep & arrival angles..dep from p
dep
RL plots .... Hints s14/44
X
o
X
o
X
o
3 -3.5
.8 7.84
n -arrival
poles... ; arrives at zeros..
Departure:
Q13 Sample R
Departure:
O
162
90 ) 108 135 135 ( ' + + =
O
162 =
180 180 ) 45 45 ( ) 90 90 ( = + + + =
RL plot .... Hints s14/45
O
117 180 ) 6 71 45 ( ) 90 90 ( = + + + + = 117 180 ) 6 . 71 45 ( ) 90 90 ( = + + + + =
180
117
O
X
X
O
+180
O
O
0
X
X
O
X
X
o
X
o
X
Hand sketch
Q13 Samples
Hand sketch...
X
o
X
o
X
o
RL plot .... Hints s14/46
Check via MATLAB
2
3
Check via MATLAB
0
1
I
m
a
g

A
x
i
s
-2
-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
-3
Real Axis
(i) For the system shown, determine
Q14 Samples
phase margin.
(ii) If a PI controller with T = 2 sec is (ii) If a PI controller with T
I
= 2 sec is
controller, determine the value of K
R(s)
+
C
K
_
e the value of K
C
that will give 30
O
of
PM & GM ... Hints s14/47
used in place of the proportional used in place of the proportional
K
C
for 30
O
of phase margin.
G( )
Y(s)
2
) 1 (
1
+ s
G(s)
) 1 ( + s
Q14 Samples
Use AB = loop gain = -1
2
) 1 ( 1 ) ( j j G + = ) 1 ( 1 ) ( j j G + =

1
tan 2

=
PM G 30 180 = =
-180
O
O
G
PM G
150
30 180
=

PM & GM ... Hints s14/48
GM
GC

log
PM

10
log
Q14 Samples
-ve is understood
3 )
2
150
tan( = =
To find K
C
.use the magnitude of
C
g

) 732 . 3 1 (
1
2

+
= =
C
j
K
G
PM & GM ... Hints s14/49
rad/sec 732 . 3
GC
=
G =1 = 0 dB @
GC
.see graph @
GC
g p
9 . 14 =
C
K
(ii) PI case
Q14 Samples
(ii) PI case
)
1
1 ( ) (
s T
K s G
C C
= + =
s T
I
2

) 1 ( 2
) 1 2 (
) ( ) (
s s
s K
s G s G
C
C
+
+
=
90 ) 2 ( tan
1
=
O
C
GG
Trial & error ... solve for
/ 7 2 d / 7 . 2 s rad
GC
=
PM & GM ... Hints s14/50
)
2
1 2
( )
2
1
1 (
s
s
K
s
K
C C
+
= +
2 2 s s
2
) 1 ( 2
) 2 1 (
) (

j j
j K
j GG
C
C
+
+
=
) tan( 2
O
O
150 =

GC
2 8 K 2 8 . K
C
=
State feeback Nise 6
th
Ed p. 712
Q15 Samples St
State feeback Nise 6 Ed p. 712
Given the following open loop plant:
7 )( 5 (
) 2 ( 20
) (
+
=
s
s G
7 )( 5 ( + + s s s
Design a controller to yield 15 % oversh
Place the third pole 10 times as far from Place the third pole 10 times as far from
pair.
Use phase ariables for state ariable f Use phase variables for state variable f
Q7.
tate feedback ... Hints s14/51
Q7.
) 7) 7
hoot with a peak time of 2 seconds.
m the imaginary axis as the dominant pole m the imaginary axis as the dominant pole
feedback feedback.
Q15 Samples Sttate feedback ... Hints s14/52
State feeback Nise p. 712 Q7.
Q15 Samples SState feedback .. Hints s14/53
Discrete transfer function
Q16 Sam
A process is described by the first order differenti
s Y
s G = =
) (
) (
assume K= 1 = a
s s U ) (
) (
Calculate the discrete rime transfer function betw
zero order hold and followed by a sampler as sho
Use the following to find G(z):
= = (
) (
) (
) (
z U
z Y
z G
) (z U
ples.. Hints s14/54
al equation or a transfer function of the form
K
a s +
ween input and output. The system will be driven by a
own below.
|
.
|

\
|


s
G(s)
L ) 1 (
1 - 1
Z z
. \
s
Q16 Samples.. Hints s14/55
Discrete transfer function
Q16 Sample
Discrete transfer function
s ... Hints s14/56
Sample
End of sample
Good luck with t Good luck with t
s ... Hints s14/57
es
the test the test

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