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Lecture 4 (15-17)

This document describes the design of a type 1 servo system when the plant has an integrator. It provides the state space representation and equations for the system dynamics. It describes how the closed-loop poles are designed to be located at desired positions to achieve an asymptotically stable system. It also provides the equations to find the steady-state values of the state and control signals. An example is given to design such a system for a given plant and obtain the unit step response.

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Saif Alabdullah
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29 views3 pages

Lecture 4 (15-17)

This document describes the design of a type 1 servo system when the plant has an integrator. It provides the state space representation and equations for the system dynamics. It describes how the closed-loop poles are designed to be located at desired positions to achieve an asymptotically stable system. It also provides the equations to find the steady-state values of the state and control signals. An example is given to design such a system for a given plant and obtain the unit step response.

Uploaded by

Saif Alabdullah
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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Figure 2 The 1 servo system when the plant has an integrator

From Figure 2 the state feedback control signal is given by:


𝑥1
𝑥2
𝑢 = −[0 𝑘2 𝑘3 … . 𝑘𝑛 ] [ : ] + 𝑘1 (𝑟 − 𝑥1 )
𝑥𝑛
or: 𝑢 = −𝑘𝑥 + 𝑘1 𝑟
where r is assumed step function applied at t=0 (𝑟(𝑡) = 𝑅).
Then, the system dynamics can be describe by:
𝑥̇ = (𝐴 − 𝑏𝑘)𝑥 + 𝑏𝑘1 𝑟 (1.10)
We shall design the type 1 servo system such that the closed-loop poles are located at desired
positions. The designed system will be an asymptotically stable system, 𝑦(∞)will approach
the constant value r, and 𝑢(∞) will approach zero. (r is a step input).
Notice that at steady state we have:
𝑥̇ (∞) = (𝐴 − 𝑏𝑘)𝑥(∞) + 𝑏𝑘1 𝑟(∞) (1.11)
where 𝑟(∞) = 𝑅 (constant).
By subtracting Eq. (1.10) from Eq. (1.11) we obtain:
𝑥̇ (𝑡) − 𝑥̇ (∞) = (𝐴 − 𝑏𝑘)[𝑥(𝑡) − 𝑥(∞)] (1.12)
If we define: 𝑥(𝑡) − 𝑥(∞) = 𝑒(𝑡) then eq. (1.12) becomes:
𝑒̇ = (𝐴 − 𝑏𝑘)𝑒 (1.13)
The steady-state values of x(t) and u(t) can be found as follows: At steady state (t = ∞), we
have, from Equation (1.11),

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𝑥̇ (∞) = (𝐴 − 𝑏𝑘)𝑥(∞) + 𝑏𝑘1 𝑅 = 0
∴ 𝑥(∞) = −(𝐴 − 𝑏𝑘)−1 𝑏𝑘1 𝑅 (1.14)
Also, 𝑢(∞) can be obtained as:
𝑢(∞) = −𝑘𝑥(∞) + 𝑘1 𝑅 = 0 (1.15)
Example 1.12: Design a type 1 servo system when the plant transfer function has an
integrator. Assume that the plant transfer function is given by:
𝑌(𝑠) 1
=
𝑈(𝑠) 𝑠(𝑠 + 1)(𝑠 + 2)
The desired closed loops are 𝑠1,2 = 2 ∓ 𝑗2√3 𝑎𝑛𝑑 𝑠3 = −10. Assume that the reference
input r is unit step function. Obtain the unit step response of the designed system.
Solution:
The state space representation of the system becomes:
𝑥̇ 1 0 1 0 𝑥1 0
[𝑥̇ 2 ] = [0 0 1 ] [𝑥2 ] + [0] 𝑢
𝑥̇ 3 0 −2 −3 𝑥3 1
𝑥1
𝑥
𝑦 = [1 0 0] [ 2 ]
𝑥3
Using Ackerman’s formula we can find the gains vector k. (H.W. Find k). Or using the
following MATLAB codes, we can find k.
A=[0 10;0 0 1;0 -2 -3];
B=[0;0;1];
J=[-2+j*2*sqrt(3) -2-j*2*sqrt(3) -10];
K=acker(A,B,J)
After run this program the values of k are:
𝑘 = [160 54 11]
The unit step response of the designed system can be obtained as follows:
0 1 0 0 0 1 0
𝐴 − 𝑏𝑘 = [0 0 1 ] − [0] [160 54 11] = [ 0 0 1 ]
0 −2 −3 1 −160 −56 −14
The state equation of the given system with k matrix is given by:
𝑥̇ 1 0 1 0 𝑥1 0
𝑥̇
[ 2] = [ 0 0 𝑥
1 ] [ 2] + [ 0 ] 𝑟
𝑥̇ 3 −160 −56 −14 𝑥3 160
𝑥1
𝑦 = [1 0 0] [𝑥2 ]
𝑥3
By using the following MATLAB program, the unit step response can be ploted.

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% Unit step response
clc;
clear all;
% Enter the state matrix, control matrix and output matrix of the given
% system
A=[0 1 0;0 0 1;0 -2 -3];
b=[0;0;1];
c=[1 0 0];
d=[0];
% Enter the state matrix, control matrix and output matrix of the designed
% system
AA=[0 1 0;0 0 1;-160 -54 -14];
bb=[0;0;160];
c=[1 0 0];
d=[0];
% Enter step command and plot command
t=0:0.1:5;
y1=step(A,b,c,d,1,t);
y2=step(AA,bb,c,d,1,t);
plot (t,y1,t,y2)

The resulting unit step response curve is shown in Figure 3.

Figure 3 unit step response of given system in Example 1.12

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