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ENT310 Linear Control System

Clinic 2017

Question 1 [Modeling, CO1]

(a) Figure 1 shows an RLC circuit. Determine the transfer function V" (s)/V' (s) for
the given network.
(5 Marks)

L R1

+ +

vi (t) C R2 vo (t)

Figure 1

SOLUTION:

Using voltage divider

Z2
V0 = Vi
Z1 + Z 2
Z1 = sL + R1
R2 / sC R2
Z2 = =
R2 + 1 / sC sR2C + 1
R2
V sR2C + 1
∴ 0 =
Vi sL + R + R2
1
sR2C + 1
R2
=
s R2CL + sR1 R2C + sL + R1 + R2
2
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Using mesh

⎛ 1 ⎞ 1
⎜ Ls + R1 + ⎟ I1 − I 2 = Vi (1)
⎝ sC ⎠ sC
1 ⎛ 1 ⎞
− I1 + ⎜ + R2 ⎟ I 2 = 0 (2)
sC ⎝ sC ⎠
Vo = I 2 R2 (3)
(3) into (2):
1 ⎛ 1 ⎞V
− I1 + ⎜ + R2 ⎟ o = 0
sC ⎝ sC ⎠ R2
⎛ 1 ⎞
I1 = ⎜⎜ + sC ⎟⎟Vo (4)
⎝ R2 ⎠

(3) and (4) into (1):

⎛ 1 ⎞⎛ 1 ⎞ 1 Vo
⎜ Ls + R1 + ⎟⎜⎜ + sC ⎟⎟Vo − = Vi
⎝ sC ⎠⎝ R2 ⎠ sC R2
⎛ Ls R1 1 1 ⎞
⎜⎜ + + + s 2 LC + sR1C + 1 − ⎟⎟Vo = Vi
R
⎝ 2 R 2 sCR 2 sCR 2 ⎠

⎛ Ls R1 ⎞
⎜⎜ + + + s 2 LC + sR1C + 1⎟⎟Vo = Vi
⎝ R2 R2 ⎠

Vo R2
∴ = 2
Vi s R2CL + sR1R2C + sL + R1 + R2
 -3-

(b) Determine the transfer function C(s)/R(s), of the block diagram shown in
Figure 2.
(6 Marks)

Figure 2

SOLUTION:

G2
(1)
1 + G 2H 1
G1G2
(2)
1 + G 2H 1
G1G2
1 + G 2H 1 G1G2
(3) =
G1G2 1 + G2H 1 + G1G2H 2
1+
1 + G 2H 1
G1G2G3
(4)
1 + G2H 1 + G1G2H 2
G1G2G3
1 + G2H 1 + G1G2H 2 G1G2G3
(5) =
G1G2G3 1 + G2H 1 + G1G2H 2 + G1G2G3
1+
1 + G2H 1 + G1G2H 2
 -4-

(c) Figure 3 shows a translational mechanical system. Determine the transfer

function X 1(s ) F (s ) for the given system using Mason’s rule.
(8 Marks)

Figure 3
SOLUTION:

(ms 2
)
+ (c + c )s + k X 1(s ) − csX 2(s ) = 0

( 4s 2
+ 8s + 5) X (s ) − 4 sX (s ) = 0
1 2

4s
X 1 (s ) = X 2 (s )
( 4 s + 8s + 5
2
) (1)
−csX 1(s ) + csX 2(s ) = F (s )
−4 sX 1(s ) + 4 sX 2(s ) = F (s )
1
X 2 (s ) = F (s ) + X 1 (s )
4s (2)

From (1) and (2), develop SFG

⎛ 1 ⎞⎛ 4s ⎞
T1 = ⎜ ⎟ ⎜ 2
⎝ 4 s ⎠ ⎝ 4 s + 8s + 5 ⎟⎠
4s
Δ = 1− 2 ; Δ =1
4 s + 8s + 5 1
X 1(s ) T1Δ1 1
= = 2
F (s ) Δ 4s + 4s + 5
 -5-

(d) Find the transfer function, θ2(s)/T (s) of the gear system shown in Figure 4.
(4 Marks)

Figure 4
SOLUTION:

Writing the equation of motion,

( )
s 2 + 2s + 1 θ1(s ) − ( s + 1) θ 2(s ) = T (s )
− ( s + 1) θ1(s ) + ( 2s + 1) θ 2(s ) = 0

Solving for θ 2(s )

θ 2 (s ) 1
=
T (s ) 2s ( s + 1)

(e) Using Mason’s Rule, determine the transfer function C(s)/R(s), for the system
represented by Figure 5.
(10 Marks)

Figure 5

SOLUTION:

T1 = G1G2G3G5 ; T2 = G1G2G4G5
Δ = 1 − ⎡⎣ −H 1 − G5H 2 ⎤⎦ + H 1G5H 2
Δ1 = Δ 2 = 1
C (s ) T1Δ1 + T2 Δ 2 G1G2G3G5 + G1G2G4G5
= =
R(s ) Δ 1 + H 1 + G5H 2 + G5H 1H 2
 -6-

Question 2 [Time Response, CO2]

A feedback control system with is represented by Figure 6.

Figure 6
10
Given, G(s ) = and C(s) = 4,
s(s + 4)

SOLUTION:

(a) Determine the closed loop transfer function of the system.

40
s + 4 s + 40
2

(2 Marks)

(b) Based on the transfer function in (a) and R(s) is a unit step function, calculate
natural frequency, damping factor, rise time, and maximum overshoot.
ω n = 40 = 6.32
2ζω n = 4
4
ζ = = 0.316
2(6.32)
1 + 0.7ζ 1 + 0.7(0.316)
td = = = 0.193
ωn 6.32
0.8 + 2.5ζ 0.8 + 2.5(0.316)
tr = = = 0.252
ωn 6.32
1− ξ 2
e − πξ / = 35.12%
(4 Marks)

(c) Determine the steady state error of the system if the inputs are:

(i) Step
5(60) 50
𝐾) = lim[𝐺 𝑠 ] = lim = =∞
.→0 .→0 .(.75) 0
6
𝑒.. = =0
67:;
(2 Marks)
(ii) Ramp
5 60 .
𝐾= = lim 𝑠𝐺 𝑠 = lim = 10
.→0 .→0 . .75
? 6
𝑒.. = = = 0.1
:@ 60
(2 Marks)
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(d) If the controller C(s) is changed to a PI/PID controller, evaluate the steady state
error of the system for the input in (c). Justify your answer.
The general form of PI is
: : .7:
𝐶(𝑠)CD = 𝐾C + F = ; F
. .
Therefore it will add one integrator to the system, thus the system become type 2,
i.e the forward transfer function becomes
50(: .7: )
𝐺 𝑠 GC = 𝐶 𝑠 CD 𝐺 𝑠 = H ; F
. (.75)

For input in c(i),

40(𝐾C 𝑠 + 𝐾D )
𝐾) = lim[𝐺 𝑠 ] = lim =∞
.→0 .→0 𝑠 J (𝑠 + 4)
1
𝑒.. = =0
1 + 𝐾C

Since the order of the input in (c)(ii) is equal to the type of the system, then the
steady state error become 0. It can be validated as follows:
40𝑠(𝐾C 𝑠 + 𝐾D ) 40(𝐾C 𝑠 + 𝐾D ) 40𝐾D
𝐾= = lim 𝑠𝐺 𝑠 GC = lim = lim = =∞
.→0 .→0 𝑠 J (𝑠 + 4) .→0 𝑠(𝑠 + 4) 0
? 6
𝑒.. = = =0
:@ K

The general form of PID is

: : . H 7: .7:
𝐶(𝑠)CDL = 𝐾C + F + 𝐾L 𝑠 = M ; F
. .
Therefore it will add one integrator to the system, thus the system become type 2,
i.e the forward transfer function becomes
50(:M . H 7:; .7:F )
𝐺 𝑠 GC =𝐶 𝑠 CD 𝐺 𝑠 =
. H (.75)
Thus, the analysis for steady state error for step and ramp inputs for PID controller
is the same as PI controller, that yield ess = 0.
(7 Marks)
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(e) Based on the unit step function time response plot in Figure 7, state the values of
steady state error, delay time and maximum overshoot (in percentage).
(3 Marks)

Figure 7

Steady state error:

1.02cfinal or 0.98cfinal
1.05cfinal or 0.95cfinal

Delay time: 0.5cfinal

Maximum overshoot: ~24%

Question 3 [Stability, CO2]

A simple robotic arm control system with a unity feedback is shown in Figure 8.

Figure 8

1
Where Gc = K p + K d s and G p =
s + 4 s 2 + 3s
3

SOLUTION:

(a) Determine the characteristic equation of the system in terms of Kp and Kd.
K +K s
Char . Eqn. = 1 + GH = 1 + 3 p 2 d = 0
s + 4 s + 3s
s + 4s + (3 + K d ) s + K p = 0
3 2
(3 Marks)
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(b) Evaluate the system stability using Routh-Hurwitz criterion. It is required for
both gains to be positive values. Justify your selected stability ranges for Kp and
Kd.
s3 : 1 3 + Kd 0
s2 : 4 Kp 0
12 + 4K d − K p
s1 : 0
4
s0 : Kp 0
According to Routh-Hurwitz criterion, the system will be stable if the first
column has no change of sign, therefore
Kp > 0

12 + 4K d − K p Kp
>0 or K d > −3
4 4
Kp
So the system will be stable for value of Kp > 0 and K d > − 3 . However, for
4
both gains to have positive values and to ensure the system stable Kp > 12, so that
Kd > 0 .
(10 Marks)

(c) Based on the Routh-Hurwitz criterion evaluation in part (b), propose the range of
Kd if Kp = 12 so that the system stable.

Range of Kd if Kp = 12 so that the system stable.

If Kp = 12, the system will be stable if
12
Kd > −3
4
Kd > 0
(1 Marks)

Question 3 [Root Locus, CO2]

A model for an asthma drug delivery system is given in Figure 9.

Figure 9

s +8
Where G(s ) = and C(s) = K
s + 4 s 2 + 3s
3
 - 10 -

SOLUTION:

(a) What is the number of branches for the root locus? Identify the locations where
the root locus will start and end based on the loop transfer function.
Number of Branches of the Root Loci is equal to the order of the polynomial,
thus 3. The root locus will start at 0, -1, and -3 and ends at ∞,∞, and -8.
(3 Marks)

(b) Draw the root locus of the system for − ∞ ≤ K ≤ ∞ , determine the angles of
asymptotes, breakaway point, and crossing point of asymptotes on real axis.
(2k + 1)π
θk = ; n≠m
n−m
where k is the number of asymptotes |n-m| = 3–1 = 2.

For RL
θk =
(2k + 1) π ; k = 0,1
3−1
π 3π
θ1 = = 90°; θ 2 = = 270°
2 2

For CRL
θk =
(2k ) π ; k = 0,1
3−1
θ1 = 0°; θ 2 = π = 180°

breakaway point
dG1H 1
=0
ds
char. eq. = s ( s + 1) ( s + 3 ) + K ( s + 8 ) = 0
s +8
∴ G1(s )H 1(s ) =
s ( s + 1) ( s + 3 )

=
( 2
)
d [G1(s )H 1(s )] s ( s + 1) ( s + 3 ) − 3s + 8s + 3 ( s + 8 )
=0
s 2 ( s + 1) ( s + 3 )
2 2
ds
= s 3 + 4 s 2 + 3s − 3s 3 − 8s 2 − 3s − 24 s 2 − 64 s − 24 = 0
= −2s 3 − 28s 2 − 64 s − 24 = 0
= s 3 + 14 s 2 + 32s + 12 = 0
s = −11.25, − 2.28, − 0.47 are the breakaway points
 - 11 -

alternative way:
1 + KG(s )H (s ) = 0
dK s 3 + 4 s 2 + 3s
=− =0
ds s +8

=−
( ) (
( s + 8 ) 3s 2 + 8s + 3 − s 3 + 4 s 2 + 3s
=0
)
( s + 8)2
= s 3 + 4 s 2 + 3s − 3s 3 − 8s 2 − 3s − 24 s 2 − 64 s − 24 = 0
= −2s 3 − 28s 2 − 64 s − 24 = 0
= s 3 + 14 s 2 + 32s + 12 = 0
s = −11.25, − 2.28, − 0.47 are the breakaway points

However, the valid breakaway point is -0.47 for RL, -11.25 for CRL.
-2.28 is the breakin point for CRL.

crossing point of asymptotes on real axis

σ1 =
∑ ( poles of GH ) − ∑ ( zeros of GH )
n−m

= σ1 =
(0 − 1 − 3) − ( −8)
3−1
=2
 - 12 -

RL will be in the section of real axis if the total number of poles and zeros of GH
to right of the section is odd. i.e between s = 0 and -1, and between s = -3 and -8.
In contrast CRL will be on the real axis if the total number of poles and zeros of
GH to right of the section is even. i.e. between s = +∞ and 0; between s = -1 and -3;
and between s = -8 and -∞.
(12 Marks)

(c) Based on the root locus in (b),

(i) determine the stability of the system. Justify your answer.
The system is stable as long as the root locus is on the left hand side of the
s-plane, where 0<K<Ki. Ki is the value of K on the imaginary axis. As the
K increases greater than Ki, the root locus cross the imaginary axis to the
right hand side of the s-plane and thus the system become unstable.

(ii) evaluate the system response as K increases from 0 to +∞. Justify your
answer.

At K = 0, the RL are on the poles of the system which is at s = 0, -1 and -3. Since one
of the poles is on the imaginary axis, the system is marginally stable. Thus the system
will produce a sustainable oscillatory response (un-damped response).
As K increases the system becomes stable and will produce overdamped response
since all poles are on the real axis and on LHS of s-plane.
As K increases further and 2 of the poles are at the same location. The system is stable
and it will produce critically damped response.
After that, further increase of K will cause the 2 poles to become complex conjugate
pair, thus the system start to produce oscillatory response but still stable (under-
damped response).
As the K increases the 2 complex conjugate poles will move on the imaginary axis, so
the response become sustainable oscillatory (un-damped response). Now the system is
marginally unstable.
Further increase of K will course the system to become unstable and, produce
oscillatory and negatively damped response. (7 Marks)

Question 6 [Bode, CO3]

(a) Based on the Bode plot, how do you determine the bandwidth, resonant peak
magnitude and frequency, and cut-off rate.

The bandwidth frequency is defined as the frequency at which the closed-loop

magnitude drops 3 dB below its magnitude at DC (magnitude as the frequency
approaches 0).
Resonant peak magnitude: the peak of the plot.
Cut-off rate: the final slope of bode diagram.
(3 Marks)
 - 13 -

(b) The forward path transfer function of a unity feedback for a control system, G(s)
is given as follows.

K (1 + 0.2s )
G (s ) =
s(s 2 + s + 1)

Draw Bode diagram of the system for K = 5 (using straight line approximation)
and label the gain and phase margins on the diagram. Use semilog paper provided
for your Bode plot.
(10 Marks)
s
5(1 + )
G (s ) = 5
s(s 2 + s + 1)

So, KDC = 20log(5) ≈ 14 dB

Conner frequency for simple zero is at ω = 5 rad/s
Conner frequency for quadratic pole is at ω = 1 rad/s

(c) Based on the Bode plot in part (b):

(i) Evaluate the stability of the closed loop system. Justify your answer by
estimating the values of gain margin and phase margin.
The gain margin, Gm is estimated at -5 dB (± 10 dB) and the phase margin,
Φm is about -2° (± 10°). Since both gain and phase margin is negative
values, the system is unstable.
(3 Marks)
 - 14 -

(ii) Choose the value of K to ensure the system is stable. Justify your answer by
sketching the resultant Bode plot on the same graph of part (b).
To ensure the system is stable, the gain and phase margin must be positive.
For instance, if the K is chose to be reduced by -20 dB, the new gain margin
is about 17 dB, and the new phase margin is approximately 20°. (See the
purple line)

14 − 20 = −6 dB
20 log K = −6 dB
K = 0.5
(4 Marks)

Question 7 [Controller, CO4]

The simplified block diagram of a medical device control system is shown in

Figure 10. For the following questions, give reasons for your choice of the
controllers, and in each case you have to select the simplest controller that satisfies
the requirement.

Figure 10

0.2
(a) Plot the step response of the plant, given G(s ) = .
s + 6s + 11s + 6
3 2

[use MATLAB to find the step response.]

(2 Marks)

(b) Determine the type of controller (P, PI, PD or PID) that is required to:

(i) reduce steady state error to zero.

To reduce steady state error an integrator is required. So both PI and PID
controllers can reduce the steady state to zero.
(2 Marks)
(ii) speed up the transient response.
To reduce maximum overshoot a zero is required. So PD controller can
speed up the transient response.
(2 Marks)
(iii) speed up the transient response and also reduce steady state error to zero.
To reduce maximum overshoot a zero is required and to reduce steady state
error an integrator is required. So only a PID controller has both zero and
integrator.
(2 Marks)
 - 15 -

(c) If the controller is selected to be a type of PID controllers, design PI, and PID
controllers based on Ziegler-Nichols tuning method. Use the figure generated in
part (a) for your design.

Step Response
0.035

0.03

0.025

0.02
Amplitude

0.015

0.01

0.005

0
0 1 2 3 4 5 6 7 8
Time (seconds)

From plot,

L ≈ 0.4s and T ≈ 2.4s

From 1st Ziegler-Nichols tuning table,

For PI Controller, For PID Controller,

T T
K p = 0.9 = 5.4 K p = 1.2 = 7.2
L L
L Ti = 2L = 0.8
Ti = = 1.33
0.3 Td = 0.5L = 0.2
K
K i = p = 4.06
Ti

(10 Marks)

(d) Determine the transfer functions of the resultant PI, and PID controllers in (c).
PI Controller,
K p ( s + 1 Ti ) 5.4(s + 0.752)
Gc (s ) = =
s s
 - 16 -

PID Controller,
⎛ 1 ⎞
GC (s ) = K p ⎜ 1 + + Td s ⎟
⎝ Ti s ⎠
⎛ 1 ⎞
= 7.2 ⎜ 1 + + 0.2s ⎟
⎝ 0.8s ⎠
or
2
⎛ 1⎞
⎜⎝ s + L ⎟⎠
GC (s ) = 0.6T
s
1.44 ( s + 2.5)
2

=
s
(2 Marks)

(e) Evaluate the system response after addition of the proposed PI, and PID
controllers, respectively. Justify your answer for each case, separately.
(4 Marks)

With PI controller the system response should produce zero steady state error due
to the integral part. However, the response may be slower than the original
response. PI controller only improves steady state response.

With PID controller the system response should produce zero steady state error
due to integral part. The response should also be faster due to derivative part of
the controller. i.e both transient and steady state response of the system will be
improved.

-oooOooo-