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CAS 2023 Lecture3 Exercises

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8 views2 pages

CAS 2023 Lecture3 Exercises

Uploaded by

Asaad waqar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Control of Autonomous Systems – Autumn 2023

Jerome Jouffroy
Exercise Session 3

1. Consider the pitch dynamics of a Dakota Piper plane represented by the following
transfer function

θ(s) 160(s + 2.5)(s + 0.7)


P (s) = = 2 (1)
δe (s) (s + 5s + 40)(s2 + 0.03s + 0.06)

where θ is the pitch angle of the plane and δe is the elevator angle, both angles being
expressed in degrees. Use the command tf to setup this system in Matlab. Verify
whether this system is stable or not. Then, display the Bode plot (command bode).

2. Implement system (1) in Simulink using a Transfer Fcn block and apply a sine wave
to its input. See what you obtain at the output. Then, apply a sine wave at the
frequency where the system is most resonant.

3. Apply now a step input to system (1). Comment?

4. What is the zero-frequency gain of the system?

5. Implement and tune your own PID controller so that the pitch angle follows a desired
reference (do not the ‘PID’ block nor the Ziegler-Nichols rule for tuning).

6. Compute the transfer function of the system in closed-loop with your PID controller
(the computation can either be done manually or by using the command feedback).
Is this new system stable? Compare this with system (1) by itself.

1
7. Display the Bode plot of your system in closed-loop, and compare with the Bode plot
you obtained in question 1 (resonance, zero-frequency gain).

8. (Extra) Using a Matlab function block (if you want), create a small program to con-
struct an input signal made of a sum of 28 sine waves (from 0.01 to 0.09, from 1
to 10, from 10 to 100), with different and possibly randomly generated phases. Use
two To Workspace blocks to save the input and the corresponding output. In the
workspace, use the command tfest to identify the “unknown” transfer function of
the Dakota Piper. Finally, display the corresponding Bode plot and compare it again
with the original one obtained in question 1.

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