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Assignment 4

This document contains 7 problems related to feedback control systems. Problem 1 asks to find the sensitivity of steady-state error to changes in gain parameters K1 and K2. Problem 2 involves computing error constants and stability constraints for a control system, and determining minimum steady-state error. Problem 3 requires computing transfer functions, closed-loop poles, and steady-state errors for a PI controller applied to a plant.

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Zain Nadeem
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126 views

Assignment 4

This document contains 7 problems related to feedback control systems. Problem 1 asks to find the sensitivity of steady-state error to changes in gain parameters K1 and K2. Problem 2 involves computing error constants and stability constraints for a control system, and determining minimum steady-state error. Problem 3 requires computing transfer functions, closed-loop poles, and steady-state errors for a PI controller applied to a plant.

Uploaded by

Zain Nadeem
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EE361- Feedback Control Systems

Homework # 4
Due date: Thursday April. 07, 2022

1. For the system shown in the figure below, find the sensitivity of the steady-state error for changes in
K1 and K2 , when K1 = 100 and K2 = 0.1. Assume step inputs for both the input and the disturbance.
(10 marks)

Figure 1: Problem 1

2. The block diagram of a control system is shown in the figure below. Assuming that the system is
stable, (10+10+5 marks)
(a) Compute the position, velocity, and acceleration error constants in terms of K and kI .
(b) What are the constraints on the values of K and KI for the assumption of stability to be valid.
(c) Determine the minimum steady-state error that can be achieved with a unit-ramp input by varying
the values of K and KI .

R(s) + E(s) + Y (s)


100 1
K (1+0.1s)(1+0.5s) 20s
− −

KI

Figure 2: Problem 2

3. Consider a unity feedback configuration whose plant is defined by


ẏ + 60y = 600u − 1500d
where y is the plant output, u is the control, and d is a disturbance. Consider using a PI controller
Z
u = kP e + kI e
where
e=r−y
is the tracking error for the reference command, r. (10 + 10+15 marks)
• Compute the transfer functions from r to y and from d to y.
• Compute values for kP and kI so that the closed loop poles are located at −60 ± 60j.
• Given these values, compute by hand the following steady state errors:
– Error to a unit step reference command (i.e., r(t) = 1(t) and d(t) = 0).
– Error to a unit step disturbance command (r(t) = 0 and d(t) = 1(t)).
– Error to a unit ramp reference command (r(t) = t and d(t) = 0).
4. Compare the two structures shown in the figure below with respect to sensitivity to changes in the
overall gain due to changes in the amplifier gain. Use the relation S = K dF
F dK as the measure of
sensitivity. Select H1 and H2 so that the nominal system outputs satisfy F1 and F2 , and assume
KH1 > 0. (10 marks)

5. Consider the system shown in the figure below. Let the controller transfer function be (10 + 10
marks)
(s + α)2
Gc (s) = K 2
s + ω02
(a) Prove that if the system is stable, it is capable of tracking a sinusoidal reference input r = sin ω0 t
with zero steady-state error.
(b) Compute the range of K such that the closed-loop system remains stable if ω0 = 1 and α = 0.25.

R(s) + 1 Y (s)
Gc (s)
(s(s+1)
−
6. A machine tool is designed to follow a desired path so that (10+10 marks)

r(t) = (1 − t)u(t),

where u(t) is the unit step function. The machine tool control system is shown in the figure.

(a) Determine the steady-state error when r(t) is the desired path as given and Td (s) = 0.
(b) If the desired input is r(t) = 0, find the steady state error when Td (s) = 1/s.

Load effect

Td (s)

−
R(s) + 4+2s 10 Y (s)

Tool command 7 + s(s+5)


− Tool position
Controller Plant: Motor and tool

7. Electronic pacemakers for human hearts regulate the speed of the heart pump. A proposed closed loop
system that includes a pacemaker and the measurement of the heart rate is shown in the figure below.
(15 + 5 marks)

(a) Find a suitable range of K to yield a system


• with a settling time to a step disturbance (Td (s) = cd /s) of less than 1 second, and
• overshoot to a step in the desired heart rate (R(s) = cr /s) should be less than 10%,
where cd and cr are some positive constants.
(b) If the nominal value of K is K = 10, evaluate the sensitivity of the system at DC (s = 0) and at
the normal heart rate of 60 beats/minute.

Td (s)

+
R(s) + K 1 Y (s)
s +1 s
Desired heart rate − 12 + Actual heart rate
Pacemaker Heart

Km = 1

Rate measurement sensor

Figure 3: Heart pacemaker

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