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tutorial-5

The document is a tutorial for EEC-204 at IIT Roorkee, focusing on control systems. It includes various questions regarding stability conditions, steady-state errors, and system responses for different transfer functions. The tutorial emphasizes the analysis of closed-loop systems and the effects of controller parameters on system behavior.

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10 views

tutorial-5

The document is a tutorial for EEC-204 at IIT Roorkee, focusing on control systems. It includes various questions regarding stability conditions, steady-state errors, and system responses for different transfer functions. The tutorial emphasizes the analysis of closed-loop systems and the effects of controller parameters on system behavior.

Uploaded by

vedant4205
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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EEC-204: Tutorial - V Department of

Control Systems Electrical


Engineering
IIT Roorkee

1 kI
1. Consider the system in the following figure with P (s) = s2 (s+1)
and C(s) = kP + s
+
skD .

Figure 1: Question-1

a) Assuming that kP ̸= 0 and that the closed-loop system is stable, what condition(s)
must kI and kD satisfy so that the steady-state error for constant reference inputs
is zero?
b) Assuming that kP ̸= 0 and that the closed-loop system is stable, what condi-
tion(s) must kI and kD satisfy so that the steady-state error for constant input
disturbances is zero?
c) Assuming that kI ̸= 0, what condition(s) must kP , kI , and kD satisfy so that
the closed-loop system is stable?
1 s−α
2. Consider the block diagram in Question 1 now with P (s) = s(s+1)
and C(s) = s+1
.

a) Determine the range of values of the parameter a of C(s) such that the closed=loop
system is stable.
b) For the system of part (a), give the steady-state error ess that is observed when
r(t) = 2 and d(t) = 0. The result may be a function of the parameter α.
c) For the system of part (a), give the steady-state error ess that is observed when
r(t) = 0 and d(t) = 2. The result may be a function of the parameter α.

3. Again, consider the block structure in Question 1.

a) Give conditions on kP , kI , and kD such that a closed-loop system with P (s) =


k
s(s+a)
and C(s) = kP + ksI + skD is BIBO stable. Assume that k > 0, but consider
both cases kI ̸= 0 and kI = 0.
b) Assuming that the stability conditions are satisfied, determine what the steady-
state error ess = limt→∞ e(t) is for r(t) = 2. Consider both cases kI ̸= 0 and
kI = 0.

1
Figure 2: Question-4

4. Consider the block structure in the following figure:

a) Find Y (s) as a function of R(s) and D(s) for the above system.
b) For the system of part (a), let C1 (s) = 1/(s + a), C2 (s) = k(s + 1)/(s + 2) and
P (s) = 1/s. Find conditions on k and a such that the closed-loop system is stable.
b) For the system of parts (a)-(b), let e(t) = r(t) − y(t). Note that the signal is not
equal to the signal denoted e1 on the diagram. Assuming constant but arbitrary
signals r = r0 and d = d0 , obtain E(s) and conditions on k and a such that
limt→∞ e(t) = 0.

5. Determine whether all the roots of the following polynomials are in the open left half-
plane:

a) D(s) = s4 + 4s3 + 3s2 + 4s + 1.


b) D(s) = s5 + 5s4 + 8s3 + 4s2 − s − 1.
c) D(s) = s4 + 2s3 + 2s2 + 2s + 1.

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