Department of Electronics and Communication Engineering

Assignment No: 1
Module Name: Control Systems
Module Code: ELEC 20005.2
Session: A

In Semester Individual Assignment-1 Fall 20

Name of Student: Yaseen Said Muftah Al-Yaqoobi

Student ID: 14S11936

TASK 3:

Q1: A common actuator in control systems is the DC motor configured in unity feedback is shown in figure
1. To improve the performance of the motor, an amplifier in series and a tachometer in feedback with the
motor, are connected as shown in figure 2. Given the motor transfer function as
1
G(s)= , using a=9, determine the following requirements:
s (s+a)
 a. If this motor were connected in a unity feedback system as shown in figure 1, calculate the percent
overshoot, settling time, peak time and steady state error if the input is a unity ramp signal.s2

Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

1
G(s)=
s ( s+9)

G( s) 1 /(s 2 +9 s )
H ( s )= =
1+ G(s ) 1+1/(s2 +9 s)

1
H ( s )= 2
(s +9 s+1)

From above equation we get the root of transfer function with unity negative feedback as -0.1125,
-8.8875. It is the over damped system as roots are real and distinct. It has damping factor, Ᵹ>1 given by
comparing above equation with general equation below as 2 Ᵹ wn=9 and w 2n=1 which gives
w n=1andꝽ=4.5.

G ( s) w 2n
= 2
1+ G(s) ( s +2 Ᵹ w n s+w 2n)

The settling time, Peak time, %OS for G(s) is calculated using MATLAB which code is given below:
clc
clear all
s=tf('s');
G=1/(s*(s+9));
fd=feedback(G,1);
step(fd/s) %% for ramp input take step of (fd/s)
stepinfo(fd)
 Step Response
100
untitled1
90

80

70

60
Amplitude

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 10
Time (seconds)

It gives:
Rise Time: 19.5274 sec
Settling Time: 34.8829 sec
Overshoot: 0
Peak Time: 93.7260 sec

And steady state error is given by:

sR(s)
e (∞) = lim
s→0 1+G( s)
For ramp input, R(s)=1/s2 by putting it in above equation we get
1
s( )
= s2
lim
s → 0 1+G( s)

1
( )
s
¿ lim
s → 0 1+G(s)

1
¿ lim
s→0 s+ sG(s)
1
¿ lim
s→0 1
s
s (s +a)
¿ lim s+ a
s→0

¿9
 b. You want to improve the closed-loop response. Since the motor constants cannot be changed and
you cannot use a different motor, an amplifier and tachometer are inserted into the loop as shown in
figure 2. Find the values of K and Kf to yield a percent overshoot of %M=8% and a settling time of
ts=1 second.

Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

1
G(s)=
s ( s+9)

1
G (s ) s ( s+9 )
G 1 ( s )= = ¿
1+ K f s∗G( s) Kf s
(1+ )
s ( s+ 9 )

1
¿
( s( s+ 9)+ K f s)

1
¿ 2
( s +9 s+ K f s)

G( s) K
G2 ( s )=K = 2
1+ K f s∗G(s) ( s +9 s+ K f s)

G2 ( s ) K
G 3 ( s )= =
1+ G 2(s) ¿ ¿
So, the close loop transfer function for motor with tachometer in feedback and amplifier in series is derived
above.
For calculating Kf and K value for a system with %O.S=8% and settling time=1sec. we use the following
formulas for calculating zeta damping factor by using %OS
%OS
−ln ⁡( )
100
Ᵹ=
%OS
√
π 2+ ln 2 (
100
)

−ln ⁡(0.08)
¿
√ π 2 +ln2 ( 0.08)
2.5257
¿
4.0297
¿ 0.626

Similarly we calculate wn by using settling time and Ᵹ(damping factor compute above).
Settling time (2%):
 4
t s=
Ᵹ wn
4
1=
0. 626∗wn
4
w n=
0. 626

¿ 6.39 sec −1

As general close loop transfer function for second order systems with negative unity feedback is
given by

w 2n
G4 ( s )= 2 2
(s + 2Ᵹ w n s+ wn )

By comparing G 4 ( s ) and G3 ( s ), we get

w 2n=K
K=6.42
K=40.8
Similarly for finding Kf, we take

9+ K f =2Ᵹ w n
9+ K f =2∗0.626∗6.4
K f =−0.9872

c. Evaluate the steady-state error specifications for both the uncompensated and compensated systems,
figure 1 and figure 2 respectively.
Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

Steady State error for Compensated System:

sR ( s)
e (∞) = lim
s→0 1+G2 ( s )
1
s( )
s2
¿ lim
s → 0 1+G 2 ( s )

1
¿ lim
s→0 s+ s G 2 ( s )
 1
¿ lim
s→0 K
s
s (s + ( 9+ K f ) )
1
¿
K
9+ K f

9+ K f
¿
K
9−0.9872
¿
40.8
¿ 0.196
The steady state error of compensated system is only 0.196 while that of uncompensated system was 9
which was calculated in part (a) of this question. There is significant reduction in error due to
compensation.

d. Analyze the system performance of the uncompensated and compensated systems and comment on
the percentage improvement.

Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

For Compensated System G2(s): K=40.8 and Kf=-0.9872

40.8
G 2 ( s )= 2
( s +9 s−0.9872 s)

clc
clear all
s=tf('s');
G2=40.8/((s^2+9*s-0.9872*s));
fd1=feedback(G2,1);
step(fd1/s)
stepinfo(fd1)
 Step Response
100

90

80

70

60
Amplitude

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
Time (seconds)

It gives:
Rise Time: 0.3010 sec
Settling Time: 0.9372 sec
Overshoot: 7.9655
Peak Time: 0.6322 sec

By observing the performance parameter of compensated and uncompensated system, it is clear that
addition of compensator make prominent improvement in transients of system and its response time
decrease and system now has fast transient response. Rise, Settling and Peak time of compensated system
reduce significantly and now it is underdamped system.

Q2: Figure 3 shows the block diagram of a mechanical system. Given the masses m1=3 Kg and m2=1 Kg;
the viscous dampers B1=3 N-s/m, B2=6 N-s/m; and the spring constants k1= 9 N/m and k2= 8 N/m,
determine the following:
Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

a. Free body diagram x2(t) x1(t)

mẍ
 H(s)

X(s) G(s) 2s
Y(s)
m1ẍ1
k2x2
k1(x1-x2)
k1(x2-x1) 3 m2 F(t) m1
b2(ẋ1-ẋ2)
b2(ẋ2-ẋ1) b1ẋ1

b. Differential equation and Transfer Function

m2 ẍ2+b2(ẋ2-ẋ1)+k2x2+k1(x2- x1)=0 (1)
m1ẍ1+ k1(x1-x2)+ b2(ẋ1-ẋ2)+ b1ẋ1= F(t) (2)

Taking Laplace transform of (1) and (2), we get

X2(s) (s2m2+b2s+ (k2 +k1))-X1(s) (k1+b2s) =0 (3)
X1(s) (s2m1+ (b1+b2) s+k1)-X2(s) (k1+b2s) =F(t) (4)

Transfer function is given by:

G(s) =X2(s)/F(s) = (b2s+k1)/∆ (5)
In equation (5), ∆ is given by

−(k 1 +b2 s ) s2 m 2+ b2 s+(k 2+ k 1)

∆=
[ 2
s m 1 + s ( b1 +b 2) + k 1 −(b2 s+ k 1 ) ]

G(s) 2s
Q3. For the given the block diagram in Figure 4, determine 𝐶(𝑠)/𝑅(𝑠) using block diagram reduction rules.
Use 𝐺(𝑠) = (3𝑠 + 2) and 𝐻(𝑠) = (𝑠 + 4)
Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]
X(s) G(s)+3 2𝑠(𝐺(𝑠) + 3) 2s
X(s)
X(s) G(s)+3 2s/(1+2s) Y(s)
Y(s)
Y(s)
1 + 2s

H(s)/2s H(s)/2s
H(s)/2s
 2𝑠(𝐺(𝑠) + 3)
X(s) (1 + 2s) + sH(s)(G(s) + 3) Y(s)

2𝑠(𝐺(𝑠) + 3)
X(s) Y(s)
(1 + 2s) + sH(s)(G(s) + 3)+2s(G(s)+3)

Q4. For the given electrical network in figure 5, if the output is taken across the inductor, determine the
following: Given [ R= 2Ω; L=5H; C=8F ].
a. The differential equations for the state variables
Answer:
[ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

Step 1:
Label all branch current in figure 5

Step2:
Select state variable for energy storing component that is inductor and capacitor
d v c (t)
C =i c (t)
dt

d i L (t)
L =v L (t )
dt

Step 3:
By applying KCL on figure 5, we get
i c ( t )=i L (t ) +i L (t)
 i r ( t ) =ir ( t ) +i c (t)
d v c (t )
i r ( t ) =i L ( t )+C
dt

From voltage across inductor in figure 5, we get

d i L (t)
L =v L (t )
dt
Step 4:
By substituting the result of equation fid in step 3 in step 2, we get

d v c (t)
C =i r ( t ) −i L (t)
dt

ir ( t ) i L ( t )
v̇ c (t )= −
C C

v ( t ) −v c ( t ) i L ( t )
v̇ c (t )= −
RC C

v ( t ) v c ( t ) iL ( t )
v̇ c (t )= − −
RC RC RC
By putting value of R= 2Ω; C=8F in above equation, we get

v ( t ) v c ( t ) iL ( t )
v̇ c ( t )= − −
16 16 16

Similarly for

d iL ( t )
L =v L ( t )
dt
v (t )
i˙L (t)= c
L
v (t )
i˙L (t)= c
5
b. The State Space representation if the output are current through the inductor, and voltage across the
capacitor.

Answer: [ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

−1 −1

[ ] i˙L (t) [ ][
v̇ c ( t )
= 16
1
5
vc ( t )
0 iL ( t )
][
16 v c ( t ) +
1

]
16 v ( t )
0

y= [ 1 1 ]
[ ]
i L (t )

−1 −1
System Matrix = A =
16
1
5
[ ] 16
0

1
Input Matrix = B = 16
0 []
Output Matrix = C = [ 1 1 ]

c. List 2 benefits of using state space representation as compared with the classical control theory.
Answer:
Its major benefit is that it can be used for time variant, time invariant, Single input single output system
(SISO), Multi input Multi output (MIMO), Linear and non Linear systems.
A part from this it is easy to solve as it represent n order differential equations in n first order
differential equation.
Q5. Given the State Space Matrices below of a Control System, answer the following:
a. Controllability Matrix
Answer:
[ CITATION NOR17 \l 1033 ] [ CITATION KAT02 \l 1033 ]

For given system to be state controllable:

If rank nxn matrix be ‘n’, such that
2 n−1
CM =[ B ։ AB ։ A B ։ … A B]

If CM is full rank and the vectors B։ AB ։ A 2 B ։ … An−1 B are linearly independent

3 2 −1

[
A= 1 2 4
1 1 −1 ]
 2 3 2 −1 2 9
B= 1
−1[] [ ][ ] [ ]
AB= 1 2 4 1 =0
1 1 −1 −1 4

3 2 −1 3 2 −1 2 23
2

[
A B= 1 2 4 1 2 4
][ 1 = 25
1 1 −1 1 1 −1 −1 5 ][ ] [ ]
Then controllability matrix is

2 9 23

[
CM = 1 0 25
−1 4 5 ]
b. Determine whether system is controllable or not. Justify your answer
The given system is controllable as it is full rank and all the vectors are linearly independent

References

[1] N. S. NISE, CONTROL SYSTEMS ENGINEERING, Pomona: Wiley, 2017.

[2] K. OGATA, MODERN CONTROL ENGINEERING, Tehran: Aeeizh, 2002.