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Tutorial 3

This tutorial document covers analysis of closed-loop control systems. It contains 4 problems: 1) deriving equivalent transfer functions for series, parallel, simple feedback, and vehicle steering feedback systems; 2) calculating transfer functions and output/error for a feedback system with reference input and disturbance; 3) analyzing relationships between feedback systems with additional filters; 4) calculating transfer functions and damping characteristics for a position control system.

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Sam Stide
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57 views4 pages

Tutorial 3

This tutorial document covers analysis of closed-loop control systems. It contains 4 problems: 1) deriving equivalent transfer functions for series, parallel, simple feedback, and vehicle steering feedback systems; 2) calculating transfer functions and output/error for a feedback system with reference input and disturbance; 3) analyzing relationships between feedback systems with additional filters; 4) calculating transfer functions and damping characteristics for a position control system.

Uploaded by

Sam Stide
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control ENGD3113 2022/2023

Tutorial 3: Analysis of closed-loop systems


Dr. Yunda Yan

Objectives
The main objective of this tutorial is:

• To understand the behaviour of a closed-loop system

Problem 1
Derive equivalent transfer function for the following structures:

• Series connection of two subsystems (Figure 1).

Figure 1: Series connection

• Parallel connection of two subsystems (Figure 2).

Figure 2: Parallel connection

• Simple feedback system (Figure 3).

Figure 3: Simple feedback system

• The steering vehicle feedback system (Figure 4).

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Control ENGD3113 2022/2023

Figure 4: Steering vehicle feedback system

Problem 2
Consider a simple feedback system with the reference signal R(s) and the distur-
bance D(s) shown in Figure 5.

Figure 5: A simple feedback system subjected to disturbance D(s).

1. Calculate the transfer function between the reference signal R(s) and the output
Y (s) (complementary sensitivity function).

2. Calculate the transfer function between the disturbance D(s) and the output Y (s)
(sensitivity function).

3. According to the superposition principle calculate the output Y (s) considering


both the reference signal R(s) and the disturbance D(s).

4. Calculate the error E(s) considering both the reference signal R(s) and the dis-
turbance D(s).

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Control ENGD3113 2022/2023

Problem 3
Analyse block diagrams depicted in Figure 6 and Figure 7 and discover the rela-
tionship between them.

Figure 6: A feedback system with additional filters F(s).

Figure 7: A feedback system with an additional filter F(s).

Problem 4
Consider a position control system shown in Figure 8.

1. Calculate the transfer function of the feedback system.

2. Derive relationships between the physical parameters K, K p , T and the parame-


ters of the standard oscillatory model assuming that the system is under damped.

3. Calculate for which values of K p the system is

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Control ENGD3113 2022/2023

Figure 8: Position control system.

• Under damped
• Critically damped
• Over damped

For calculations assume K = 11.628, T = 0.2488.

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