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Example1
K
G (s) = .
s ( s + 1)
K
Y ( s) G( s) s ( s + 1) K K
= = = = 2 .
R(s) 1 + G (s) K s ( s + 1) + K s + s + K
1+
s ( s + 1)
Example 2
To obtain the transfer function between ‘r’ to ‘y’, assume ‘w’ to be equal to zero.
Therefore the block diagram reduces to,
1
MEEN 364 Parasuram
Lecture 19, 20 August 25, 2001
( K1 + K 2 s) 10 10( K 1 + K 2 s )
G (s) = ⋅ = .
s s ( s + 1) + 20 s ( s 2 + s + 20)
10( K 1 + K 2 s )
Y ( s) G( s) s ( s 2 + s + 20) 10( K 1 + K 2 s )
= = = 3 .
R(s) 1 + G (s) 10( K 1 + K 2 s ) s + s + s (20 + 10 K 2 ) + 10 K 1
2
1+
s ( s 2 + s + 20)
To obtain the transfer function between ‘w’ and ‘y’, assume ‘r’ to be equal to zero. Hence
the block diagram reduces to,
For the above block diagram the open loop transfer function is
10 10
G (s) = = 2
s ( s + 1) + 20 s + s + 20
and the feedback transfer function is given by
K1 + K 2 s
H ( s) = .
s
2
MEEN 364 Parasuram
Lecture 19, 20 August 25, 2001
10
2
Y ( s) G( s) ( s + s + 20) 10s
= = = 3 .
W ( s) 1 + G( s) H ( s) 10 K 1 + K 2 s ( s + s + s (20 + 10 K 2 ) + 10 K 1 )
2
1+ 2 ⋅
( s + s + 20) s
Example 3
s +1
G (s) = .
s + s2
3
s +1
Y ( s) G( s) 2 3s +1
= = s +s = 3 .
R(s) 1 + G (s) s + 1 s + s 2
+ s + 1
1+ 3
s + s2
s +1 s3 + s2
E ( s) = R(s ) − Y ( s) = R(s ) − R ( s ) = R ( s ).
s3 + s2 + s + 1 s3 + s2 + s +1
Therefore the steady state error for the system can be obtained by applying the final value
theorem as
ess = lim sE ( s ).
s −>0
Therefore,
s3 + s2
ess = lim s R( s ).
s − >0 s3 + s2 + s +1
For a unit step input, we have R( s ) = 1 , therefore the steady state error is
s
3 2
s +s 1 s3 + s2 1
ess = lim s ⋅ 3 ⋅ = lim =0= .
s − >0 2 3 2
s + s + s + 1 s s −>0 s + s + s + 1 1+ K p
3
MEEN 364 Parasuram
Lecture 19, 20 August 25, 2001
K p → ∞.
s3 + s2 1 s2 + s 1
ess = lim s. 3 2
. 2 = lim 3 2
=0= .
s − >0 s + s + s +1 s s − > 0 s + s + s +1 Kv
K v → ∞.
s3 + s2 1 s +1 1
ess = lim s. 3 2
. 3 = lim 3 2
=1= .
s − >0 s + s + s +1 s s − > 0 s + s + s +1 Ka
Therefore,
K a = 1.
Example 4
The block diagram shown below shows a control system in which the output member of
the system is subject to a disturbance. In the absence of a disturbance, the output is equal
to the reference. Investigate the response of this system to a unit step disturbance.
Since we are interested in the response of the system to a unit step disturbance, assume
the reference input to be equal to zero. Therefore the block diagram reduces to
4
MEEN 364 Parasuram
Lecture 19, 20 August 25, 2001
1
G (s) = , and the feedback transfer function is given as
Js
H ( s) = K .
Therefore the transfer function between the disturbance and the output is given as
1
Y ( s) G (s) 1
= = Js = .
W (s) 1 + G (s) H ( s) K Js + K
1+
Js
For a unit step disturbance, the output reduces to
1 1 1
Y (s) = ⋅ = .
Js + K s s ( Js + K )
The steady state value of the output can be obtained by applying the final value theorem
as
1 1 1
y ss = lim sY ( s ) = lim s ⋅ = lim = .
s − >0 s − >0 s ( Js + K ) s − > 0 Js + K K
Example 5
Consider a nonunity feedback system, whose open loop transfer function is given by
1
G (s) = ,
s (1 + Ts )
where in the feedback loop transfer function is given as
5
MEEN 364 Parasuram
Lecture 19, 20 August 25, 2001
H ( s ) = h, with h > 0. Determine the system type with respect to the reference input.
1
Y ( s) G (s) s (1 + Ts ) 1
= = = 2 .
R(s) 1 + G (s) H ( s) h Ts + s + h
1+
s (1 + Ts )
1 Ts 2 + s + h − 1
E ( s ) = R ( s ) − Y ( s ) = 1 − 2 R ( s ) = R( s ).
Ts + s + h Ts 2 + s + h
Ts 2 + s + h − 1
ess = lim s ⋅ E ( s ) = lim s ⋅ R( s ).
s − >0 s − >0 Ts 2 + s + h
Ts 2 + s + h − 1 1 Ts 2 + s + h − 1 h − 1
ess = lim s ⋅ ⋅ = lim = .
s − >0 Ts 2 + s + h s s − >0 Ts 2 + s + h h
If the system is not unity feedback then, h ≠ 1 , therefore the system is of Type 0. If the
system is unity feedback, i.e., h = 1, then the system is of Type 1 as the steady state error
for the step reference input is zero.
6
MEEN 364 Parasuram
Lecture 19, 20 August 25, 2001
Assignment
1) Consider a unity feedback system whose open loop transfer function is given by
( s + 1)
G (s) = 2
.
s ( s + 2 s + 5)
Determine the closed loop transfer function of the system.
2) Problem 4.32a from the textbook “ Feedback control of dynamic systems”, by Franklin
et.al.
Recommended Reading
“Feedback Control of Dynamic Systems” 4th Edition, by Gene F. Franklin et.al – pp 201
– 215, 230 – 242.
Recommended Assignment