Nguyen Le Quang

1852696

Homework #3

3-1. The forward-path transfer function of a unity-feedback control system is

Analytically, find the resonance peak M r , resonant frequency r ,and bandwidth (BW) of
the closed-loop system for the following values of K:
(a) K = 5
(b) K = 21,39
(c) K = 100
Use the formulas for the second-order prototype system given in the text.
Sol 3-1:
Having the closed-loop transfer function of the unity-feedback system:
G( s)
T ( s) = (1)
1+G ( s )
K
G  s 
s  s  6.54 
Having to (1), we have:
K
s(s +6.54) K
T ( s) = = 2 (2)
K s +6.54 s + K
1+
s (s+6.54)
Having the standard second-order transfer function:
ω2n
T ( s) = 2 2
( 3)
s +2 ζ ω n s+ω n
Let (3) = (2) we have:
ω n=√ K and 2 ζ ωn =6.54
3.27
so ζ =
√K
a) K = 5
Put K = 5 to damping ratio and natural frequency:
ω n= √ 5
3.27
ζ= ≈ 1.46 2
√5
Calculate the bandwidth frequency of the closed-loop system:
ω BW =ωn ( 1−2 ζ 2 ) + √ 4 ζ 4 −4 ζ 2+ 2≈ 0.86 4 rad / s
√
Damping ratio of the system should be kept less than 0.707 ( 2 ζ 2 <1 ) for frequency to be real
but ζ =1.46 2 so the resonant peak =1 and resonant frequency = 0
b) K = 21.39
Put K = 5 to damping ratio and natural frequency:
ω n=√ 21.39
3.27
ζ= ≈ 0.707
√ 21.39
Calculate the resonant peak M r :
1
M r= =1
2 ζ √ 1−ζ 2
Calculate the resonant frequency r :
ω r=ωn √ 1−ζ 2=3.27 rad /s
Calculate the bandwidth frequency of the closed-loop system:
ω BW =ωn ( 1−2 ζ 2 ) + √ 4 ζ 4 −4 ζ 2+ 2≈ 4.63 rad /s
√
c) K = 100
Put K = 5 to damping ratio and natural frequency:
ω n=√ 100
3.27
ζ= =0.32 7
√ 100
Calculate the resonant peak M r :
1
M r= =1.618
2 ζ √ 1−ζ 2
Calculate the resonant frequency r :
ω r=ωn √ 1−ζ 2=8.866 rad /s
Calculate the bandwidth frequency of the closed-loop system:
ω BW =ωn ( 1−2 ζ 2 ) + √ 4 ζ 4 −4 ζ 2+ 2≈ 14.346 rad / s
√
3-2. Use MATLAB to solve the following problems. Do not attempt to obtain the solutions
analytically. The forward-path transfer functions of unity-feedback control systems are given
in the following equations. Find the resonance peak M r , resonant frequency r , and
bandwidth BW of the closed-loop systems. (Reminder: Make certain that the system is
stable.)
5 10
G  s  G  s 
s  1  0,5s   1  0,1s  s  1  0,5s   1  0,1s 
(a) (b)

500 10  s  1
G  s  G  s 
(c)  s  1, 2   s  4   s  10  (d)
s  s  2   s  10 

0,5 100e  s
G  s  G  s 
s  s  s  1
2
s  s 2  10 s  50 
(e) (f)

100e  s 10  s  5 
G  s  G  s 
s  s 2  10 s  100  s  s 2  5s  5 
(g) (h)

Sol 3-2:
a)
s = tf('s');
G = 5/s/(1+0.5*s)/(1+0.1*s);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 2.9779
The resonant frequency r = 2.9245
The bandwidth BW = 4.4838

b)
s = tf('s');
G = 10/s/(1+0.5*s)/(1+0.1*s);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 15.3764
The resonant frequency r = 4.1262
The bandwidth BW = 6.1846

c)
s = tf('s');
G = 500/(s+1.2)/(s+4)/(s+10);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 4.1564
The resonant frequency r = 6.2688
The bandwidth BW = 9.1768

d)
s = tf('s');
G = 10*(s+1)/s/(s+2)/(s+10);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 1.0000
The resonant frequency r = 0
The bandwidth BW = 0.4563

e)
s = tf('s');
G = 0.5/s/(s^2+s+1);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 1.5655
The resonant frequency r = 0.8086
The bandwidth BW = 1.0858

f)
s = tf('s');
G = 100/s/(s^2+10*s+50); % time delay = 1s
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 1.0000
The resonant frequency r = 0
The bandwidth BW = 3.7670

g)
s = tf('s');
G = 100/s/(s^2+10*s+100);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 1.0000
The resonant frequency r = 0
The bandwidth BW = 1.1242

h)
s = tf('s');
 G = 10*(s+5)/s/(s^2+5*s+5);
T = feedback(G,1);
isStable = isstable(T)
[gpeak, fpeak] = getPeakGain(T)
omg_bw = bandwidth(feedback(G,1))

isStable = YES
The resonance peak M r = 4.2728
The resonant frequency r = 3.4331
The bandwidth BW = 5.1453

Let s= jω=0 j ,

→ T ( 0 )=1

3-3. Consider the forward-path transfer function of a unity-feedback control system given by

0,5 K
G  s 
s  0, 25s 2  0,37 s  1

(a) Analytically find K such that the closed-loop bandwidth is about 1,5 rad/s (0,24 Hz).
(b) Use MATLAB to verify your answer to part (a).

Sol 3-3:
a) Write the formular for the closed-loop transfer function of the unity-feedback system.

G(s )
T ( s) = (1)
1+G( s)

0.5K
G  s 
s  0.25s 2  0.37 s  1
Having to (1), we have:
0.5 K
s(0.25 s 2+ 0.37 s+ 1) 0.5 K
T ( s) = = (2)
0.5 K s ( 0.25 s 2
+ 0.37 s+ 1 ) +0.5 K
1+
s (0.25 s2 +0.37 s+1)

Let s= jω, we have:

2K
→ T ( jω )= 2
(3)
jω [( jω) +1.48 jω+ 4]+2 K

Let s= jω=0 j ,

→ T ( 0 )=1

Let substitute the required bandwidth frequency into the equation (2) and let the
logarithm magnitude of closed-loop transfer function equal to -3db, hence:

20 log (|M |) =−3

Let s= jω=1.5 j,
−3
2K
→ 2
=10 20
1.5 j[ ( 1.5 j ) +2.22 j+4 ]+2 K
−3
2K
→ =10 20
( 2 K−3.33 )+2.625 j
−3
2 K [ ( 2 K −3.33 )−2.625 j] 20
→ 2 2
=10
( 2 K−3.33 ) + ( 2.625 j )
−3
2K
→ 2 2
[ (2 K −3.33 )−2.625 j]=10 20
( 2 K−3.33 ) + ( 2.625 j )
−3
2K
→ 2 2 √
( 2 K−3.33 )2 + ( 2.625 j )2=10 20
( 2 K−3.33 ) + ( 2.625 j )
−3
2K 20
→ 2 2
=10
√ ( 2 K −3.33 ) +( 2.625 j )
→ K=3.636

b)
syms K s
G = 0.5*K/s/(0.25*s^2+0.37*s+1);
T = simplify(G/(1+G));
T_0 = subs(T,s,0);
T_bw = 10^((20*log10(T_0)-3)/20);
T_jw = subs(T,s,1.5j);
sol = double(solve(T_bw^2==abs(T_jw)^2));
for i=1:length(sol)
if sol(i) > 0
disp(sol(i))
end