UNIVERSITY OF SAN ANDRES

FACULTY OF ENGINEERING
ELECTRONIC ENGINEERING CAREER

SOLVED EXERCISES
CONTROL SYSTEMS I

AUTHOR: RAUL ROQUE YUJRA

LA PAZ, BOLIVIA

By: Raúl R. Roque Yujra 1

 Control systems Physical Systems Modeling

Problem 1

Consider the electrical system in figure 1.a) Determine its mathematical model.
b) Find the representation in state space considering that the states are x 1 = i 1 (
t ) , x 2 = i 2 ( t ) and x 3 = v c ( t ) , the input signal is v i and the output signal is v 0 .

Fig. 1. Electric system

Resolution
Using Kirchoff's voltage laws, we have the following relationships:
gave

(1)
vi=R1i1+L11+vc
dt
Furthermore, by the law of currents:
i1=ic+i2 (3 )
on the other hand:
and i = C dv c ;
i= v 0

2 R2 c dt

then I know that the mathematical model is defined by:

gave (4)
L11+R1i1+vc=vi
dt
say 2 (5)
L2 +v0=vc
dt
d.v. (6)
Cc+i=i
b) In view of the initial considerations and equations (4), (5) and (6), it is
has : (7)
x1=-R x 111 - x +L1u1 ; 1 L 1113
L
R1

(8)
x 2=- 2 xL +2x ; 3
2 L2
1 1 (9)
x=x-x;
3C1C2

By: Raúl R. Roque Yujra 2

 Control systems Physical Systems Modeling

rewriting in state space:

R1 1 (10)
— 0
L1 —
x1 x1
0 R2 L1
x2 1 L2
1
1 x 2 +Í 0 ˙
x3 c — L2 x3
c 0
Èx1 (11)
y=[0R2 0]Í
Í
x2

Problem 2
Consider the Liquid Level system of figure 2. In steady state, the inflow is q i and
the outflow is q 0 . The disturbance input is q d .
Determine the mathematical model of this system and choose variables h 1 and h
2 as states of the system and represent the system in the state space.

Resolution
For the first tank you have to:
dh (12)
qi-q1=C11;
dt
For the second tank the relationship is:
dh 2
qd+q1-q0=C2 ; (13)
dt
The flow at the junction of the tanks is:
HH
q = 1 2System
Fig. 2 Tank ; with interaction
1 R1 (14)
Now substituting (14) into (12) and (13), we obtain the model
defined by : mathemati
cal
dh h - h
C 1 dt 1 = q i - 1 R 1 2 ;
(15)

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 Control systems Physical Systems Modeling

dh 2 h1-h2 (16)
C2 =qd+ -q 0 ;
dt R1
For the representation of the system in the state space, the
following
relationship: h2 (17)
q0
R2;
then you have:
1 11 (18)
x =- x + x + q ;
1 1 2 i
R
1
C
1
R
1
C
2
c
(19)
1
x 1 1 ˆ 1
+qd;
R1C 1 + C2
2
or in matrix form:
1 È˘1 x Í 1 (20)
1
˙ +Í C 1 0
x1 —R1
C1
R1C1
eleven x2 Í0˚ 1
u

˙
1
x2 1 —
R1C2R2C C
R1C 2 2
(21)
1 x1
;
u 2
y =Í 0
R2 x2

Problem 3
Let the electromechanical system represent a permanent magnet DC motor,
driven by a voltage v i applied to the motor and a load torque t c connected to its
shaft. The output of the system is the position q . Determine its representation in
the state space. b) With a) determine the transfer function of the system.
RL A—/

Y
sa o
w

Fig.3 Permanent Magnet DC Motor

Resolution
For the electrical part of the system:
gave (22)
v i = Ri + L + e ;
i
dt m

By: Raúl R. Roque Yujra 4

 Control systems Physical Systems Modeling

&
e=kq ; (23)
mm
where v i is voltage applied at the motor terminals, i is the armature current, is the
back electromotive force, is a constant of
mm
proportionality, R and L are the resistance and inductance of the motor.
On the other hand, the dynamic part is defined as:
J m q && + b m q & + t c = t m ; (24)

tm=kai; (25)
where J m is the inertia of the motor, b m is the viscous damping coefficient, t c is
the load torque, t m is the torque generated by the motor and k a is a
proportionality constant.

The state variables are:

TO. TO
x1=i;x2=q;x3=q
Finally the equations in the state space are:
(26)
x
x ;
x

(27)

b) To determine the transfer function of the system, use is made of the equation:
Y ( s ) = C .( sI - A ) 1 B . U ( s ) ;
-

where each of the matrices are defined by:

ÈR È1
Í-L
0 - km
l
˘ IL
0

A= 0 0 1b m
˙ Í0 0 ;C= [ 1 0]
Ika -
˙; ÍÍ
0 - 1 0
0
ÍÎ J ÍÎ
Jm
˙˙ Jm
˚
m
so:
È Matrix of
=1
det( sI -
˘
Í TCofactors
ÍÎ of ( sI -
A)
the determinant
A ) is: ˙˚
( sI - A )
- 1

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 Control systems Physical Systems Modeling

(28)
det( sI - A ) = ÁÊ s ˜ˆ s Á s
+R +bm ˜ + s k to k m
Ë L ¯Î ÁË J m ˜¯˚J L m
det( sI - A ) = s [ ( Ls + R )( J m s + b m ) + k m k a ] ; (29)
JmL

For its part, the cofactor matrix:

(30)

Êb
sÁs+m s km
ÁJ
m l
Matrix of k to bs Rs+
+ m +kak l
Cofactors of
(yes-A) k a
Jm
m JmL ÊR sÁ
s+
ˆ ˜
s HE
0
J.
(31)
È Matrix of ˘È 1 0

q(s)=[010] J m L
˙˙
Í cofactors L
0
˙˘0˙ È˘V i

s [ ( Ls + R )( J m s + b m ) + k ÍÎ ( sI - A ) Í 0 -1 ÎT

m k a ]
ÍÎ ˙˚ c ˚
performing matrix multiplication operations: ˙˙
È s ÁÊ s + b 32
- ˘
I AND mL˜ˆ yes m
JmL
[0 1 0] Í ÈVis
R-R-
TO-

q(s)= JmL k to 1
˘ ˙
Í -
s [ ( Ls + R )( J m s + b m ) + k m Í JmLs Jm )
;
ka]
++

ka
yes ÍÎT c
Í
—
Î J m L
Jm ˚
1

Problem 4 (s)
Let be the satellite guidance system of Figure 4, where q is the desired angular
position, l is the distance from the
thruster axis to the center (33) of
q(s)
mass of the satellite, b is the control effect angle,
= s [ ( Ls + R )( J m s + b m ) +
the variation of the angle b is proportional to the
a k m ] u , R is a constant that represents a certain static gain of the
controlk signal
Finally, the transfer function of the system is:

k Vi(s)- Ls
+R Tc ( s ) ;
to s [ ( Ls + R )( J m s + b m ) + k a km ]
actuator that converts the control u into the speed of variation of the angle b and
J is the effective inertia of the satellite.

By: Raúl R. Roque Yujra 6

 Control systems Physical Systems Modeling

Determine the representation of the system in the state space. b) Find the
equilibrium points and linearize the system around these points.

Orientation

Fig. 4 Satellite guidance system

Resolution
The differential equations that govern the motion of the system are obtained from
Newton's second law:
J q = Torquenet applied = Force x arm = F sin( b ) * l ;
or in compact form:
••
J q = Fl sin( b ) ;
The angle b increases or decreases, according to the control applied through the
law of variation:
db
= Ru ;
dt
The state variables are chosen as:
x 1 = q ; x 2 = q and x 3 = b ;
Then the nonlinear system is described as follows in the state space:
x & i = f i ( x 1 , x 2 ,..., x i ) + ug ( x 1 , x 2 ,..., x i ) ; i = 1,2,... n
that is to say:
x1=x2;
FL
x 2 = sin( x ) ;
2J3

By: Raúl R. Roque Yujra 7

 Control systems Physical Systems Modeling

x & 3 = Ru ;
b) The physically significant equilibrium point of the system is obtained by setting
the right side of each equation of state equal to zero. This turns out to be:
x 1 = arbitrary ; x 2 = 0 ; x 3 = 0 and u = 0
the linear form is:
x & = Ax + Bu ;

x1 0 x1
F
x2 L x2 or
x3 ;
x3
x
y=[ 00]x2
1

Í
where: 1 Í

A=J|x =x ; i e

To linearize the system around these points, the matrix is determined

Jacobian system, that is:
È^ f 1 ^ f1 ^f1
˙˘
^ ^
x1 x2 ^ x3˙ È01 0 ˘È010˘
A=J=A Í^ f 2 ^ f 2 ^ f 2 ˙ YO FL YO Fl ˙
8x, 8X , 8x , J3 J.
Í^ f 3 ^ f 3 ^ f 3 ˙ ÍÎ00 0 ˙˚Í ˙˚ Î000
ÍÎ ^ x 1 ^ x2
^x 3˙˚
˙˘
Í È^ g 1
Í^u ˙È ˘ 1 0

B = J =Í^ g 2 ˙ =Í 0 ˙ ;
B

Í
˙˙ ˙˙
Í ^ u1 Í
Í
ÍÎ ^ u 1 ˙˚
c = [1 0 0] ;
The linear representation in the state space is:
x3

Problem 5.-
Let the DC/DC step-down converter (Buck converter) be represented in figure 5,
Determine the mathematical model of this system.

By: Raúl R. Roque Yujra 8

 Control systems Physical Systems Modeling

Resolution.-
It is considered that there is switching of the switch Q every period of time T
together with a duty cycle d .

iL
+ +
V in CR v0
-

Fig. 5 DC/DC Converter Reducer (Buck converter)

from which the equations of state can be extracted considering the state of the
switch Q. When switch Q is in the ON state the state equations are given by:
say L 1
= ( V in - v 0 )
dt l
, 0 < t < dT , Q = ON ;
dv 0 1 ( -v 0 ) , 0 < t < dT , Q ON ;
dt C L R
and when the switch is OFF, the equations of state are:
say L 1
=- v 0
dt L
, dT < t < T , Q = OFF ;
dv 0 = 1 ( - v 0 ) , dT < t < T , Q OFF ;

dt C L R
Representing the previous equations in a more compact way, it is:
1d
x - x 2 + V in
l 1

11
=x-x
C 1 RC
where x 1 and x 2 represent the current i L and the voltage v 0 respectively and the
variable d is the control signal.

Problem 6.-
Determine the mathematical model of the two-degree-of-freedom robot, shown in
Figure 6. Where the parameters are considered to be: l 1 and l 2 are the total
lengths of each of the links, l c 1 and l c 2 are the distances of the centers of mass,
I 1 and I 2 are the effective inertias of each, m 1 and m 2 are the masses and finally
q 1 and q 2 are the articular positions of each link

By: Raúl R. Roque Yujra 9

 Control systems Physical Systems Modeling

referred to the base reference system and in addition there are control torques t
1 and t 2 in each joint.

Fig.6 Structure of the Robot with two degrees of Freedom

Consider a manipulator robot with two degrees of freedom in Figure 6, the
Lagrange method is used to determine the dynamics of the robot. Assuming that
there is stiffness in the joints and links; also the non-existence of friction or
elasticity phenomena; The kinetic and potential energies of the entire system are
determined.
The total kinetic energy of the structure is:
Ec=1I1q&12+1m1lc1q&12+1I2(q&1+q&2)2+
c211 21c11 2 21 2

[
+ 2 1 m 2 l 1 q & 1 + l c 2 ( q & 1 + q & 2 ) + 2 l 1 l c 2 q & 1 ( q & 1 + q & 2 )cos q
2 2 2 2

2 ];
and the potential energy is defined as:
E p = gm 1 l c 1 sin( q 1 ) + gm 2 l 1 sin( q 1 ) + gm 2 l c 2 sin( q 1 + q 2 ) ;
The Lagrangian L of the robot is the difference between the kinetic energy and
the potential energy, then:
L=21I1q&1 +12m1lc1q&1 +21I2(q&1+q&2) +21m2 l1 q&1 +lc 2(q&1+q&2)
2 2 2
[ 2 2 2 2
]+
+ m 2 l 1 l c 2 q & 1 ( q & 1 + q & 2 )cos q 2 - gm 1 l c 1 sin( q 1 ) - gm 2 l 1 sin( q 1 ) - gm 2 l c 2
sin( q 1 + q 2 ) ;
The Lagrange equations of motion for a robot with two degrees of freedom are
given by:

By: Raúl R. Roque Yujra 10

 Control systems Physical Systems Modeling

dÈ^L ˘^L
YO - = t 1 ;
dt Î ^ q ˚ ^ q
1 1
d
È^ L 5L
Î^ q - =t2
dt
& 2 ;

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 Control systems Physical Systems Modeling

where t and t are the torques that act on joints 1 and 2, now the calculation of
1 2

each of the terms is carried out as follows:

=(I1+m1lc1)q&1+I2(q&1+q&2)+m2 [q& 1 l1+lc2(q&1+q&2)+l1lc

2(2 q & 1 + q & 2 ) cos( q 2 ) ];

^q1
^ L = I 2 ( q & 1 + q & 2 ) + m 2 [ l c 2 2 ( q & 1 + q & 2 ) + l 1 l c 2 q & 1 cos( q 2 ) ] ;
^q2
deriving with respect to time:
( ) = ( I + ml 2 ) q && + I ( q && + q && ) + m [ & q & l 2 + l 2 ( & q & + q && ) ] + dt 1
1c11 21 2 211c21 2

^q1
+ m 2 l 1 l c 2 (2 q & 1 + q & 2 )cos( q 2 ) - l 1 l c 2 (2 q & 1 q & 2 + q & 2 2 )sin( q 2 )
d
( ^ L ) = I 2 ( q && 1 + & q & 2 ) + m 2 [ l c 2 2 ( q && 1 + q && 2 ) + l 1 l c 2 q & 1 cos( q 2 ) - l 1 l c 2
q & 1 q & 2 sin( q 2 ) ] ;
dt ^ q 1
The partial derivative with respect to each position is:
dL , ,
= - m 1 l c 1 g cos( q 1 ) - m 2 l 1 g cos( q 1 ) - m 2 l c 2 g cos( q 1 + q 2 ) ;
^q1
dL .
=- m 2 l 1 l c 2 q 1 ( q 1 + q 2 ) sin( q 2 ) - ml c 2 g cos( q 1 + q 2 ) ;
^q2
Replacing the equations we obtain:
[m 1 l c 2 1 + m 2 ( l 1 2 + l c 2 2 + 2 l 1 l c 2 cos( q 2 )) + I 1 + I 2 ] q && + [ I1 2 +m2(lc22+l1lc2

cos( q 2 )) ] q && 2 -
- (2 q & 1 q & 2 + q & 2 2 ) m 2 l 1 l c 2 sin( q 2 ) + ( m 1 l c 1 + m 2 l 1 ) g cos( q 1 ) + m 2 l c 2
g cos( q 1 + q 2 ) = t 1

[I + m 2 l c 2 2 + m 2 l 1 l c 2 cos( q 2 ) ] & q & 1 + [ I 2 + m 2 l c 2 2 ] + m 2 l 1 l c 2 q & 1 2 sin( q 2 ) + + m 2 l c 2

2

g cos( q 1 + q 2 ) = t 2 ;
expressing this pair of differential equations, in the matrix form: D ( q ) & q & + C
(q,q&)q&+G(q)=t;
d 11 d 12 ˘ È c 11 c 12 ˙ ˘ Í È q 1 ˙ ˘ t1
d 21 q 1 d 22 Èg1
c 21 +Í t2
the inertia matrix ˙˚D (ÍÎ q ) is defined by the elements;
d 11 = m 1 l c 2 1 + m 2 ( l 1 2 + l c 2 2 + 2 l 1 l c 2 cos( q 2 )) + I 1 + I 2 ;
d 12 = m 2 ( l c 2 2 + l 1 l c 2 cos( q 2 )) + I 2 ;

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 Control systems Physical Systems Modeling

d 21 = m 2 ( l c 2 2 + l 1 l c 2 cos( q 2 )) + I 2 ;
d 22 = m 2 l c 2 + I 2 ;
The elements of the matrix C ( q , q & ) of centripetal and Coriolis forces are:
c 11 = - m 2 l 1 l c 2 q & 2 sin( q 2 ) ;
c 12 = - m 2 l 1 l c 2 ( q & 1 + q & 2 )sin( q 2 ) ;
c 21 = m 2 l 1 l c 2 q & 1 sin( q 2 ) ;
c = 0;
22

and gravitational couples G ( q ) :

g 1 = m 1 l c 1 g cos( q 1 ) + m 2 l 1 g cos( q 1 ) + m 2 l c 2 g cos( q 1 + q 2 ) ;
g 2 = m 2 l c 2 g cos( q 1 + q 2 ) ;
In this way, the model of the planar robot with two degrees of freedom has been
determined.

Problem 7
Determine the Transfer Function of the system represented by signal flow graphs
in the figure.

Solution
The transfer function of the system according to Mason's Rule is:
P=1PD;
D k kk
where P k is the path gain of the kth direct path , D is the determinant of the graph
and D k is obtained from D , by removing the ties that touch the path P k .
So:
1) The ties are identified:

By: Raúl R. Roque Yujra 13

 Control systems Physical Systems Modeling

By: Raúl R. Roque Yujra 14

 Control systems Mason's Rule

2). The determinant D is defined by:

D =1-(G1+G2+G3+G4)+(G1G3);
3). Identification of gh i trajectories

—4 * , ■ < —— » — P 1 = abcde
abcde D 1 = 1
P=k

Finally we have that the transfer function is:

ÂP k Dk abcde + afe (1 - ch )
1 - ( bc + ch + ci + fghi ) + bcgi
d

Problem 8
Obtain the response of a system with unity feedback to a unity ramp, with the
4
G(s)
= s(s+
6)

By: Raúl R. Roque Yujra 15

 Control systems Time Response Analysis

open loop transfer function of the system being:

By: Raúl R. Roque Yujra 16

 Control systems Time Response Analysis

Solution.

The closed-loop transfer function with unit feedback will be:

The transfer function will be:

4
H(s)=G(s); H ( s ) = s ( s + 6)
1+G(s) 1+ 4
s ( s + 6)
therefore:
4
H(s)= 4

yes2 + 6s + 4
The input will be a ramp R ( s ) = 1
s2
41
C(s
) s +6s+4s2
2

Separating by partial fractions:

-15+7/5 3 - 15 + 7 "V 5
20 + 12 + 2 + 20
C ( s ) =-
s + (3 + 75) s s s + (3 -V 5)
2

applying the inverse Laplace transform:

C ( t ) = s - 3 + - 15 + 7 75 (e - (3 -

4
5)t - e - (3+ 4
5) t )

2 20

By: Raúl R. Roque Yujra 17

 Control systems Time Response Analysis

Time (sec.)

Problem 9
Consider the unit step response of a unit feedback control system whose open-
loop transfer function is:

7
H(s)
= s(s+
Get the growth
7) time, peak time, maximum overshoot and settling time.

Solution .
In general terms:

Comparing we have:

w n = 7 = 2.646 ;
x = 2 7 = 1.323;
The solution in the time domain is:

-st
wn
Êe
-st
C(t)=1 1
e 2
˜ˆ
+ 2 /x 2
- 1 Ë s
1 s 2¯
Being:
s 1 = ( x + "7 x 2 - 1) s 2 = ( x - J x 2 - 1) w
replacing: wn n ;

By: Raúl R. Roque Yujra 18

 Control systems Time Response Analysis

s 1 = 5.79 and s 2 = 1.1 ;

As we see s 1 is comparably greater than 2 , therefore we can neglect the effect

of s 1 , leaving:

c(t)=1−e − s 2 t

The graph of both functions is:

As seen in the above consideration, it is acceptable, since the difference is

minimal. With this we can analyze as follows:

Rise time, As the system is overdamped the time t r will be calculated with the
time from 10% to 90%.

t ;
r
t r = 1.83
s
t r = t (90%) - t (10%) ;
Delay time, the delay time for an overdamped system is:

0.5 = 1 - e - s 2 td
;
Solving for t d we have:

t d = - 1 ln( 0.5) ;
yes

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 Control systems Time Response Analysis

replacing:
t d = 0.58 s

Establishment time, For a steady state error of 2%, we have:

0.02 = 1 - e - s 2 ts

Solving for t we have: ;

t s = - 1 ln( 0.02)
s

Replacing: ts = 3.26s

In an overdamped system, the peak time and maximum overshoot parameters

do not exist.

Problem 10
Consider the system in the figure:

Determine the value of k so that the damping ratio x is 0.5, the rise time, peak
time?

Solution .

The transfer function of the system will be:

16
H ( s ) =R(s)= s ( s + 8)
C ( s )
1 + 16 (3 + 2 ks )
s ( s + 8)
H(s)=1 48
3s2 ( 8 + 32k ) + 48
+

Since an x less than 1 is requested, then the case is underdamped, so the

following relations are valid:

p-b
t ; Lifting time
r wd

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 Control systems Time Response Analysis

t ; Peak time
p w d xp
1-x2

Mp=e ; Maximum
overshoot
ts 4;w Establishment time (2%)
n

Êb=
arccos Á

being:

˜
˜
wd =w 2

n
From the transfer function we can obtain the following parameters simply by
comparison:

wn = 6.93
x = 0.5
k = 0.033

Replacing these values we have:

w d = 6.0 rad/s

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 Control systems Time Response Analysis

tr = 0.39 s
tp = 0.52 s
Mp = 16.3%
ts = 1.15 s
The graph is shown below:

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Control systems Time Response Analysis

HE

By: Raúl R. Roque Yujra 23

Control systems Place of Roots

Problem 12
Let the transfer function of a system be:

s2+4s+5 ;
G(s)
= ( s 2 + 8 s + 20)( s + 1)( s + 3)( s + 5)
determine the root location of said system. Solution.- 1.- Determine the
geometric locations of the roots on the real axis, for this the angle condition is
used.
Im

0 ] Í Í x 2.....................................................................................................................3
+Í 0 ˙ u ;....................................................................................................................3
1 1ˆ....................................................................................................................4
+ ˜x...........................................................................................................................4
y =Í 0...................................................................................................................4
1 0]...............................................................................................................................5
det( sI - A ) = ÁÊ s + R ˜ˆ s Á s + b m ˜ + s k to k m......................................................6
Ë L ¯Î ÁË J m ˜ ¯ ˚ J m L.............................................................................................6
Ê R ˆ s Á s + ˜...............................................................................................................6
HE................................................................................................................................6
y = [ 1...............................................................................................................................8
0 0 ] Í Í..............................................................................................................................8
=- v 0.....................................................................................................................9
= x - x...............................................................................................................................9
d È ^ L ˘ ^ L...................................................................................................................11
YO - = t 1 ;...............................................................................................................11
dt Î ^ q 1 ˚ ^ q 1........................................................................................................11
c 12 ˙ ˘ Í È q 1 ˙ ˘ +Í È g 1.............................................................................................12
t 1........................................................................................................................12
t 2........................................................................................................................12
—4 * , ■ < —— » — P 1 = abcde...........................................................................15
P = k d........................................................................................................................15

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Control systems Place of Roots

x = 2 7.......................................................................................................................19
s 1 = ( x + "7 x 2 - 1) w n..............................................................................................19
s 2 = ( x - J x 2 - 1) w n ;...........................................................................................19
p - b....................................................................................................................................22
Ê b = arccos Á...................................................................................................................23
˜˜ˆ ¯.................................................................................................................................23
s= = - = -4.67.......................................................................................................26
s + 4 s + 5.......................................................................................................................27
s + 6s + 5................................................................................................................28
s = 1 ;......................................................................................................................29
K =..............................................................................................................................30
K =.................................................................................................................................40
-..................................................................................................................................47
= s + Rk 3 s +..............................................................................................................47

By: Raúl R. Roque Yujra 25