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Assignment3 Tnlcs

Uploaded by

ernur53ubidom
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Full Name: Dussekenov Elnar Lab 4

Email: e [email protected] ID:21B030333


Course: Theory of Linear Control Systems Term: Spring 2024
Instructor: Mr. Kuanysh Yessenzhanov Deadline: 6th May, 2024

Problem 1
Study absolute stability, using the circle criterion, for each of the scalar transfer
functions given below. In each case, find a sector [α, β] for which the system is
absolutely stable.

Solution Circle Criterion:


Case 1: If 0 < α < β
Case 2: If 0 = α < β
Case 3: If α < 0 < β
To study absolute stability, a Nyquist plot is needed. Let’s find the Nyquist plot of
each transfer function using MATLAB (”nyquistplot” command):
1) The Nyquist plot of the first transfer function is shown below:

Answer: (−∞, 1)

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2) The Nyquist plot of the second transfer function is shown below:

Answer: (−∞, 0.0176)


3) The Nyquist plot of the third transfer function is shown below:

Answer: (−∞, 0.333)


4) The Nyquist plot of the fourth transfer function is shown below:

Answer: (−∞, 0)

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5) The Nyquist plot of the fifth transfer function is shown below:

Answer: (−∞, 0.559)


6) The Nyquist plot of the sixth transfer function is shown below:

Answer: (−∞, 0.25)


7) The Nyquist plot of the seventh transfer function is shown below:

Answer: (−∞, 0.347)

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8) The Nyquist plot of the eighth transfer function is shown below:

Answer: (−∞, 0.0791)

Problem 2
The feedback control system shown below represents a control system where
H(s) is the (scalar) transfer function of the plant and the inner loop models the
actuator. Let

And suppose that k >= 0 and ϕ belong to a sector (0, β), where β could be
arbitrarily large, but finite.

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a) Show that the system can be represented as the feedback connection of Figure
below with G(s) = [H(s) + k]/s.

b) Using version of Popov criterion which shown below, find a lower bound kc ,
such that the system is absolutely stable for all k > kc

where η = 1/2

Solution
a) To show that the closed-feedback system, we use the rules of reduction. The
system with transfer function and nonlinearity is shown below:

b) By using a version of the Popov Criterion, we can find a lower bound such that
the system is absolutely stable. After substitution and some manipulations we have:

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k > − s+6+k(s+2)(s+3)
(s+2)(s+3)s

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Problem 3
Consider the servo system in Figure below.Introduce state variables x1 and x2
as indicated in the figure.

Assume that the reference value is zero. The system equations can then be
written as

Let the nonlinearity be in the form g(e) = e3 and investigate the stability of the
closed loop system.

Solution
Krasovskii method:
1) F (x) = ∇f (x)
F ∗ (x) = F T (x)
2) F − (x) = F (x) + F ∗ (x)
3) If F − (x) < 0, then find V (x), else this method is not suitable
4) V ′ (x) < 0 (optional)
Next, we  will move according
 to that algorithm:
0 1
1) F =
3k(−x1)2 −1
0 3k(−x1)2
 
T
F =
1 −1
3k(−x1)2 + 1
 
− 0
2) F =
3k(−x1)2 + 1 −2
−
3) Check whether F (x) is negative definite
We see that the system is asymptotically stable only at one point and this point is
the origin or (0, 0)

Problem 4
Consider the system

where h is continuously differentiable and zh(z) > 0 for all z! = 0. Using the

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variable gradient, find a Lyapunov function that shows that the origin is globally
asymptotically stable.

Solution
The variable gradient method:
1) Define ∇Vn
2) V ′ = (∇V )T ∗ x′
3) V ′ < 0
4) Use n(n−1)
2 to find remained coefficients
5) Recheck V ′ < 0
6) Integrate to find the Lyapunov function
Next, we(will move according to that algorithm:
a11 x1 + a12 x2
1) ∆ =
a21 x1 + a22 x2
′
 = x1 x2 (a11 − a21 − a21 h − a22 h − a22 ) − x21 (a21 + a21 h) + x2 (a12 − a22 − a22 h)
2) V
a11 − a21 − a21 h − a22 h − a22 = 0

3) a21 + a21 h > 0

a12 − a22 − a22 h < 0

After substitutions,
( we have:
(3 + 3h)x1 + a12 x2
∆V =
x1 + 2x2
4) To find a12 , we use the given formula n(n−1)
2 = 1 so:
d∆V1 d∆V2
dx2 = dx1 calculations shows that a12 = 1 and a11 = 3 + 3h
(
(3 + 3h)x1 + x2
So: ∆V =
x1 + 2x2
′
5) V = −x21 (1 + h) − x22 (1 + 2h) is negative definite because zh(z) > 0
Rx R x ,x =0 R x ,x =x1
6) V = 0 ∆V T dx = 0 1 2 ((3 + 3h)x1 + x2 )dx1 + 0 1 2 (x1 + 2x2 )dx2
3x21 +3x21 +2x1 x2 +2x22
V = 2 is positive definite.

The Lyapunov function satisfies the given conditions, so the system is asymptotically
stable.

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