Homework 4

Should be handed in by Tuesday October 24

Problem 1
Consider a closed loop system where the process has the transfer function

1
G ( s) =
( s + 1) 3

and the controller is a proportional controller with gain k. Is the closed loop
system stable for k = 1? What is the largest value of the gain that gives a stable
closed loop system? Use Matlab to draw the Nyquist curves of the system for
k = 1 and k = 10. Use Nyquist’s stability theorem to investigate stability.

Problem 2
The Figures below show gain curves for the sensitivity function and the comple-
mentary sensitivity function for a normal feedback loop.
Bode Diagram
1
10

0
10
Magnitude (dB)

−1
10

−2
10

−3
10
−1 0 1 2
10 10 10 10
Frequency (rad/sec)
Bode Diagram
1
10
Magnitude (dB)

0
10

−1
10

−2
10
−1 0 1 2
10 10 10 10
Frequency (rad/sec)

Which curve represents the sensitivity function? Make a crude estimate of the
largest relative errors in the transfer function that can be allowed while main-
taining stability. What is the frequency range where model precision is most
critical.
Assume that the relative error in the transfer function is 10%. Give a fre-
quency range where the response to set point variation deviates at most 1% from
the nominal value.
Give the frequency ranges for disturbances which are reduced by the feed-
back.
What is the frequency where the feedback system amplifies disturbances the
most? How large is the amplification.

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Problem 3
The figure below shows a block diagram of a feedback system
d n

r u x y
Σ C Σ P Σ

−1

where the controller is a PI controller with error feedback, with the transfer
function
ki
C(s) = k +
s
with k = 0.76 och ki = 0.38. The process has the transfer function

1
P(s) =
( s + 1) 4

The figure below shows the four relevant transfer functions for the system
2
PC/(1 + PC) 2
P/(1 + PC)
10 10

0 0
10 10
Magnitude

Magnitude

−2 −2
10 10

−4 −4
10 10
−2 −1 0 1 −2 −1 0 1
10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)

1
C/(1 + PC) 1
1/(1 + PC)
10 10

0
10
Magnitude

Magnitude

0
10
−1
10

−1 −2
10 10
−2 −1 0 1 −2 −1 0 1
10 10 10 10 10 10 10 10
Frequency (rad/sec) Frequency (rad/sec)

Answer the following questions.

a. The closed loop poles are −1.59 ± 0.63i −0.10 ± 0.51i and −0.44. Do the
curves look reasonable?
b. Give the frequency ranges where disturbances are reduced by more than a
factor of 2.
c. What is the largest amplification of disturbances caused by feedback?
d. Give the frequency range where the system follows reference signals well.

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 e. Assume that there is high frequency measurement noise with frequencies
above 2 rad/s with an amplitude of 0.1. How large variations in in the
control signal is caused by the noise?

Problem 4.
Consider the system in Problem 3. The transfer function has been determined
experimentally. The relative error in the transfer function is less than 10% for
frequencies up to 1 rad/s. For higher frequencies the model error is larger, it is
less than 20% for frequencies between 1 and 2 rad/s, 40% between 2 and 5 rad/s
and less than 100% between 5 and 10 rad/s. Is there any risk that the closed
loop system will be unstable?

Problem 5.
You are responsible for a development team and you need a PI controller for a
simple thermal system where there are a lot of load disturbances. One of your
suppliers has proposed a PI controller and he has also given you the following
simulation of the system which shows the responses of the process output and
the control signal to reference signals.
Step Response

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (sec.)

Step Response

0.8

0.6
Amplitude

0.4

0.2

0 2 4 6 8 10 12
Time (sec.)

Since you are worried about responses to load disturbances you make a simple
step test of the process and you fit the following transfer function to the data
1
P(s) =
(s + 0.01)(s + 1)
You also ask the supplier to give you the transfer function of the PI controller
and he gives you
0.01
C(s) = 1 +
s
By using Matlab you quickly verify that the suppliers simulation is correct but
you also calculate the step responses of the Gang of Four and you obtain the
following result.

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 PC/(1 + PC) P/(1 + PC)
1.4 1.4

1.2 1.2

1 1

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0
0 5 10 15 20 0 5 10 15 20

C/(1 + PC) 1/(1 + PC)

0.8 1.2

1
0.6
0.8
0.4 0.6

0.2 0.4

0.2
0
0

−0.2 −0.2
0 5 10 15 20 0 5 10 15 20

Has the supplier given you a good controller? Explain what happens? What would
you recommend to improve the system.

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