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Semester/Academic year 2 2023-2024

FINAL EXAM Date 25/05/2024
Course title Introduction to Control Systems
UNIVERSITY OF TECHNOLOGY - VNUHCM Course ID EE3403
FACULTY OF EEE Duration 90 mins. Question sheet code 01
Notes: - Students are allowed to use references, but not mobile phones and laptops

R(s) Y(s)
+_
Figure 1

Problem 1: (L.O.4) (2.0 points) Given a control system in Figure 1, in which:

3
G (s)  , GC ( s )  12
( s  1)( s  3) 2
1.1 Calculate the steady state error to unit step input and unit ramp input.

1.2 Calculate the percentage of overshoot and settling time (2% criterion) of the system.

6
Problem 2: (L.O.5.4) (3.0 points) Given a control system in Figure 1, in which G ( s )  .
s ( s  3) 2
Design the phase lag controller GC ( s ) such that the closed-loop system has steady state error to ramp input
ess = 0.04 .

6e 0.01s
Problem 3: (L.O.5.4) (3.0 points) Given a control system in Figure 1, in which G ( s )  .
( s  3) 2
* 0
Design the phase lead controller GC(s) so that the closed-loop system has phase margin FM ³ 60 and
*
steady-state error to unit step input ess = 0.05 .

Problem 4: (L.O.5.6) (2.0 points) Given a system described by the state equation:
 x (t )  Ax(t )  Bu (t )

 y (t )  Cx(t )
é0 1ù  1
A= ê ú , B    , C = [1 0]
êë-3 -8úû 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

(End)

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

 SOLUTION

Problem 1: (2.0p)
1.1 (1.0p)
3
G (s)  , GC ( s)  12
( s  1)( s  3) 2

- Step input:
3
K P  lim GC ( s )G ( s )  lim12  4
s 0 s 0 ( s  1)( s  3) 2
1
ess   0.2
1  KP
- Ramp input:
3
KV  lim sGC ( s )G ( s )  lim s  12  0
s 0 s 0 ( s  1)( s  3) 2
1
ess  
KV

1.2 (1.0p) Calculate POT and ts

The characteristic equation of the closed-loop system:
3
1  GC ( s )G ( s )  1  12  0
( s  1)( s  3) 2
 s 3  7 s 2  15s  45  0
Poles of closed-loop system: p1  5.7523; p2,3  0.6238  j 2.7265
(0.25p)
Dominant poles: p2,3  0.6238  j 2.7265  n  jn 1   2
n  0.6238   0.223
  (0.25p)
n 1    2.7265 n  2.797
2

  
Percentage of overshoot: POT  exp    100%  48.73% (0.25p)
 1  2 
 
Settling time (2%):
4 4
ts    6.412(sec) (0.25p)
n 0.6238
Problem 2: (3.0p)

Design the phase lag controller GC ( s ) so that ess*  0.04 (unit step input)
1
s
T
GC  s   K C ; 1
1
s
T

 Characteristic equation of the system before compensation

6
1  G (s)  1  0
s ( s  3) 2
 s3  6s 2  9s  6  0
Dominant poles:
p1,2  0.9  j 0.785 (0.5p)
 Velocity constant before compensation:
6 2
KV  lim sG ( s )  lim s   (0.25p)
s 0 s 0 s ( s  3) 2
3
 Required velocity constant:
1
KV*  *  25 (0.25p)
ess
KV 2 / 3
   0.0267 (0.5p)
KV* 25
1 1
Chose zero:
T
 R e s 1*    0 .9 
T
 0 .0 9 (0.5p)

1
pole  0.09  0.0267  0.0024 (0.5p)
T

Calculate Kc:
G C ( s )G ( s ) s   0 .9  j 0 .7 8 5
1
 K C  1.0

Conclusion: The transfer function of the controller is:

s  0.09
GC ( s)  (0.5p)
s  0.0024

Problem 3: (3 points)

The transfer function of the compensator to be designed:

Ts  1
GC (s)  KC
Ts  1

Position constant before compensation:

 6e 0.01s 2
K P  lim G ( s )  lim s 
s 0 s 0 ( s  3) 2 3

Desired position constant:

1 1
K P*  *  1   1  19
ess 0.05
The gain of the controller:
K P* 19
KC    28.5 (0.5p)
KP 2 / 3
171e 0.01s
Denote: G1 ( s )  K C G ( s ) 
( s  3) 2

The Bode diagram of G1 ( s) :

From the Bode diagram, we have:

C  12.7(rad / sec)

1 (C )  1610

M  1800  1 (C )  180  1610  190 (1.0p)

The maximum phase of the phase lead compensator:

max  M *  M    60  19  10  51

1  sin max 1  sin 510

   7.97 (0.5p)
1  sin max 1  sin 510
The new gain crossover frequency:
L1 (C* )  10lg   10lg(7.97)  9dB
From the Bode diagram, we have
C*  21.9(rad / sec) (0.5p)
Calculate T:
1 1
T   0.0162
C*  21.9 7.97
 T  7.97  0.0162  0.129 (0.5p)
0.129s  1
Conclusion: The TF of the compensator is: GC ( s )  28.5
0.0162s  1

Problem 4: (2p)

3.1 The controllability matrix:

é0 1ù  1
A= ê ú , B    , C = [1 0]
êë-3 -8úû 1

æé-1ù é 0 1 ù é-1ù ö÷ é-1 1 ù

C = [ B AB] = çççê ú ê ú ê ú÷ = ê ú (0.25p)
çèêë 1 úû êë-3 -8úû êë 1 úû ÷÷ø êë 1 -5úû
 det(C ) = 4
 rank (C ) = 2
The system is controlable

3.2 State feedback gain:

The characteristic equation:
det([ sI - A + BK ] = 0
æ é1 0ù é 0 1 ù é-1ù ö
 det ççç s ê ú-ê ú + ê ú [ k1 k2 ]÷÷÷ = 0
çè ëê0 1úû êë-3 -8úû êë 1 úû ÷ø
æé s - k1 -1- k2 ù ö÷
 det çççê ú÷ = 0
çèêë3 + k1 s + 8 + k2 úû ø÷÷
 ( s - k1 )( s + 8 + k2 ) - (3 + k1 )(-1- k2 ) = 0
 s 2 + (8 - k1 + k2 ) s + (3 - 7k1 + 3k2 ) = 0 (1.0p)

The desired characteristic equation

( s + 3 - j 3)( s + 3 + j 3) = 0
s 2 + 6 s + 18 = 0 (0.25p)

ìï8 - k1 + k2 = 6
 ïí
ïïî3 - 7 k1 + 3k2 = 18
ïìk = -5.25
 ïí 1 (0.5p)
ïïîk2 = -7.25