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IntroCtrlSys - Final Exam - 2nd Semester - 2122 - Solution

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IntroCtrlSys - Final Exam - 2nd Semester - 2122 - Solution

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trichutich
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(Date) (Date)

Lecturer: Approved by:


(Signature & Fullname) (Signature, Position & Fullname)

(The above part must be hidden when copying for exam)

Semester/Academic year 2 2021-2022


FINAL EXAM Date 27/06/2022
Course title Introduction to Control Systems
UNIVERSITY OF TECHNOLOGY - VNUHCM Course ID 409401
FACULTY OF EEE Duration 100 mins. Question sheet code
Notes: - Students are allowed to use references, but not mobile phones and laptops

Problem 1: (2.0 points) Given the control system


R(s) Y(s)
+ GC(s) G(s)
100
G ( s) 
( s  4) 2

1.1 Calculate steady state error to unit step input and unit ramp input.
1.2 Calculate the POT and ts (2% criterion) of the closed-loop system.

Problem 2: (3.0 points) Given the control system


R(s) Y(s)
+ GC(s) G(s)
10( s  2)
G ( s) 
s ( s  3)( s  4)

Design the controller GC(s) such that the system after compensation has a pair of complex poles
with =0.8 and n=8.

Problem 3: (3.0 points) Given the control system


R(s) Y(s)
+ GC(s) G(s)
8( s  10)e 0.04 s
G ( s) 
s ( s  20)

Design the controller GC(s) such that the system after compensation has steady-state error to unit
ramp input ess*  0.05 and  *  600 .

Problem 4: (2.0 points) Given a system described by the state equation:


 x (t )  Ax(t )  Bu(t )

 y (t )  Cx(t )
é0 1ù 2
A= ê ú , B    , C = [1 0]
êë-3 -4úû 1 
4.1 Verify the the system is controllable.
4.2 Design the state feedback controller so that poles of the closed loop system are -3  j 3

Stu.ID: .......................................... Stu. Fullname: .............................................................................................................. Page 1/1


SOLUTION

Problem 1: (2.0 point)


1.1 (1.0 point)
Steady state error to unit step input:
100
K P  lim G ( s )  lim  6.25
s 0 s 0 ( s  4) 2

1 1
ess    0.1379
1  K P 1  6.25
Steady state error to unit step input:
100
KV  lim sG ( s )  lim s 0
s 0 s 0 ( s  4) 2

1 1
ess   
KV 0

1.2 (1.0 point)


The characteristic equation of the closed-loop system:
100
1  G (s)  1   s 2  8s  116  0
( s  4) 2
Poles of closed-loop system: p1,2  4  j10
Dominant poles: p1,2  4  j10  n  jn 1   2
n  4 n  10.77
   
n 1    10   0.37
2

Percentage of overshoot (POT):


  
POT  exp     100%  28.46%
 1 2 
 
Settling time (2%):
4 4
ts    1 (sec)
n 4

Problem 2: (3.0 point)

The controller to be designed is a phase lead compensator because the objective is to improve
transient response of the closed-loop sysem
s  1 / T
Gc ( s )  K c
s 1/ T

*
The desired dominant poles: s1,2  0.8  8  j8 1  0.82  6.4  4.8 j

The deficiency angle: *  180  G ( s1* )  72.50

Zero of the controller:


 OPx  *   143 72.5 
sin    sin   
1  2 2   2 2 
 OP  8  4.86
T  OPx  *   143 72.5 
sin    sin   
 2 2  2 2 

Pole of the controller


 OPx  *   143 72.5 
sin    sin   
1  2 2  2 2 
 OP  8  13.18
T  OPx  *   143 72.5 
sin    sin   
 2 2  2 2 
s  4.86
 GC (s)  KC
s  13.18
s  4.86 10( s  2)
GC ( s )G ( s ) s*  6.4  j 4.8  K C 1
1
s  13.18 s ( s  3)( s  4) s1*   6.4  j 4.8

 Determine KC : K C  0.1565  1
K C  6.39

s  4.86
 GC  s   6.39
s  13.18

Problem 3: (3 points)

The transfer function of the compensator to be designed:

Ts  1
GC ( s )  KC
Ts  1

- Velocity constant before compensation:

8( s  10)e0.04 s
KV  lim sG ( s )  lim sG ( s )  4
s 0 s 0 s( s  20)

- Desired velocity constant:

1 1
KV*  *
  20
ess 0.05

- The gain of the controller:

KV* 20
KC   5 (0.5p)
KV 4

40( s  10)e0.04 s
Denote: G1 ( s)  KC G ( s ) 
s( s  20)
The Bode diagram of G1 ( s ) :

Bode Diagram
30

20

System: G1
10 Frequency (rad/s): 36.2
Magnitude (dB): 0.0193
0

-10
0
System: G1
Frequency (rad/s): 36.2
-90
Phase (deg): -160

-180

-270

-360
10 0 10 1 10 2
Frequency (rad/s)

From the Bode diagram, we have:

C  36.2(rad / sec) (0.5p)

1 (C )  1600

M  1800  1 (C )  180  1600  200 (0.25p)

The maximum phase of the phase compensator:

max  M *  M    60  20  5  450 (0.25p)

1  sin max 1  sin 450


   5.83 (0.25p)
1  sin max 1  sin 450

The new gain crossover frequency:

L1 (C* )  10lg   10lg(2.46)  7.66dB

From the Bode diagram, we have

C*  95(rad / sec) (0.5p)

Calculate T:
1 1
T   0.0044 (0.25p)
 *
C  95 5.83

 T  5.83  0.0044  0.0257 (0.25p)

0.0257 s  1
Conclusion: The TF of the compensator is: GC ( s)  5 (0.25p)
0.0044s  1

Problem 4: (2.0 points)

3.1 The controllability matrix:

2 1 
C   B AB    
1 10 

det(C )  21  rank(C )  2  the system is controllable. (0.5 p)

3.2 Design the state feedback controller:

The closed-loop characteristic equation:

det(sI  A  BK )  0

 1 0   0 1   2  
 det  s         k1 k2    0
 0 1   3 4  1  

  s  2k1 1  2k2  
 det     0
  3  k1 s  4  k2  

 ( s  2k1 )( s  4  k2 )  (3  k1 )(1  2k2 )  0

 s 2  (2k1  k2  4) s  (9k1  6k2  3)  0 (1) (0.75 p)

The desired characteristic equation:

( s  3  j3)(s  3  j3)  0

 s 2  6s  18  0 (2) (0.25p)

Balancing (1) and (2) leads to:

2k1  k2  4  6

9k1  6k2  3  18

k1  1.2857
  (0.5p)
k2  0.5714

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