EE 3202: CAT 1

Questions and Answers

13 March 2010
1
Question 1
(a) Use block diagrams to show why a closed
loop control system is preferred to an open
one. [6]
(b) Use a block diagram to determine the overall
transfer function of a negative feedback
control system. [4]
(c) Analyse the stability of the system in (b)
above using the complex plane and hence
show how at least one root of the
characteristic equation can make the system
unstable. [10]
2
Solution 1
a) Block diagram open loop control system
From the block diagram, the output (b) is not
compared with the input (a) so as to know
when the desired/final value of (b) has been
attained/reached.
Control
system
Input signal (a)
Output signal (b)
[1]
[1]
3
Solution 1 Contd
Block diagram closed loop control system
The output signal C is compared with the input
signal R, so the control signal E is used by the
control system. Hence control capability
which is not the case with open loop
Control
system
feedback
-
+
Control
signal
Input
signal
Feedback
Signal
Output signal
R
KG
H
E
C
F
[2]
[1]
[1]
4
Solution 1 Contd
(b) Block diagram:
Control
system
feedback
-
+
Control
signal
Input
signal
Feedback
Signal
Output signal
R
KG
H
E
C
F
H C F
E KG C
F R E
*
*
=
=
=
KGH
KG
R
C
or
H G
KG
R
C
+
=
+
=
1
;
* 1
[1]
[1]
[1]
5
1] : [Working
Solution 1 Contd
c) All the analysis of a control system is based on
the characteristic equation, and from the
transfer function in (b) above, x-tic eqn is given
by:
The solution of this equation gives the values of
S.
For the system to be stable, all values of S
must have negative real parts.
1+GH(S)=0
[1]
[1]
[1]
[1]
6
Solution 1 Contd
This implies that all values of S lie on the
LHS of the s-plane.
Therefore the system will be unstable if at
least one of the roots lie on the RHS of the s-
plane, thus having a positive real part.
Hence on the complex plane below, the
system will be unstable because S6 lies on the
RHS of that plane.
[1]
[1]
[2]
7
Solution 1 Contd
complex (s) plane:
6
s
2
s
3
s
4
s
Re
Im
5
s
1
s
[2]
8
Question 2
(a) State any four of Root Locus Rules [4]
(b) Use the Root Locus method to determine the
stability of [7]
(c) Compensate the system of (b) above by
and discuss the change in stability [9]
) 4 (
) 3 )( 2 (
) (
3
+
+ +
=
s s
s s K
s KGH
5
1
+
+
=
s
s
C
9
Solution 2
a) Any four (4) of the 12 Rules such as:
There are as many branches as there are open-
loop poles.
A branch begins at an open-loop pole and ends at
a zero or infinity.
Each branch is asymptotic to a line whose angle
is given by;
Where x=number of open-loop poles, & y=number
of open-loop zeros
y x
n
o

+
=
180 ) 1 2 (

[1]
[1]
[1]
10
Solution 2 Contd
All the asymptotes meet at one point on the real
axis and whose value is given by:
zeros poles loop open of no y x
zero loop open of part real z
pole loop open of part real p where
y x
z p
m
b
a
x
a
y
b
b a
, ,
;
1 1
=
=
=

=

= =
[1]
11
Solution 2 Contd
(b) Given;
) 4 (
) 3 )( 2 (
) (
3
+
+ +
=
s s
s s K
s KGH
4 , 0 , 0 , 0
3 , 2
4 3 2 1
2 1
= = = =
= =
P P P P
Z Z
2 & 4 ; = = y x Hence
[1]
12
[1]
Solution 2 Contd
Recall;
Similarly;
2
1
2 4
3 2 4
1 1
=

+ +
=

=

= =
m
y x
z p
m
x
a
y
b
b a
0
3
0
2
0
1
450 , 270 , 90
90 ) 1 2 (
2 4
180 ) 1 2 (
180 ) 1 2 (
= = =
+ =

+
=

+
=

o
o
o
n
n
y x
n
[1]
[1]
13
Solution 2 Contd
Sketch of root locus
System is unstable for all values of K.
x
-3
0.5
-2
-4 Re
IM
[2]
[1] 14
Solution 2 Contd
(c) After compensation;
) 5 )( 4 (
) 1 )( 3 )( 2 (
) (
3
+ +
+ + +
=
s s s
s s s K
s KGH
5 , 4 , 0 , 0 , 0
1 , 3 , 2
5 4 3 2 1
3 2 1
= = = = =
= = =
P P P P P
Z Z Z
3 & 5 ; = = y x Hence
[1]
15
[1]
Solution 2 Contd
Recall;
Similarly;
2
3
3 5
1 3 2 5 4
1 1
=

+ + +
=

=

= =
m
y x
z p
m
x
a
y
b
b a
0
3
0
2
0
1
450 , 270 , 90
90 ) 1 2 (
3 5
180 ) 1 2 (
180 ) 1 2 (
= = =
+ =

+
=

+
=

o
o
o
n
n
y x
n
[1]
[1]
16
Solution 2 Contd
Sketch: (root locus)
System has been improved
From always unstable to
Conditional stability.
x
-3 -4 -1
-1.5
-2
[3]
Im
Re
17
x
x
-5
[2]
Question 3
(a) State the General Nyquist Stability Criterion. [5]
(b) Determine the stability of the system below
using the Nyquist Stability Criterion
[15]
) 3 )( 2 )( 1 (
) 8 (
) (
+ + +
+
=
s s s
s K
s KGH
18
Solution 3
a) NSC:A control system is stable provided the
number of closed loop poles in RHS of s-plane is
equals to zero i.eP=0,
given that P=N+Z; where
Z=number of open-loop zeros in the RHS of s-
plane
P=number closed-loop poles in RHS of s-plane
N=number of encirclements of the point -1+j0
[1]
[3]
[1]
19
Solution 3 Contd
b) given:
al w imaginary purely w
thus
w w w
w jw w w K
w jw w
jw K
jw jw jw
jw K
jw KGH
s s s
s K
s KGH
Re : 41 & : 25 . 1
; ,
) 11 ( ) 1 ( 36
)} 82 2 ( 48 37 {
,
) 11 ( ) 1 ( 6
) 8 (
) 3 )( 2 )( 1 (
) 8 (
) (
) 2 )( 2 )( 1 (
) 8 (
) (
2 2 2 2 2
2 2 4
2 2
= =
+
+ +
=
+
+
=
+ + +
+
=
+ + +
+
=
[1]
[2]
20
Solution 3 Contd
It follows:
o o
o
o o
w
K
jw jw jw
jwK
KGH
K K j j KGH
j K
j KGH
K
K K
j KGH
180 0 180
) )( )( (
) (
90 734 . 0 734 . 0 ) 25 . 1 (
) 25 . 1 11 ( 25 . 1 ) 25 . 1 1 ( 36
)} 82 25 . 1 * 2 ( 25 . 1 {
) 25 . 1 (
0 33 . 1 0
3
4
) 3 )( 2 )( 1 (
8
) 0 (
2
2 2
Z = Z = =
Z = =
+

=
Z ~ Z = =
[1]
21
Solution 3 Contd
similarly
0 0
2 2
2
180 033 . 0 180
30
) 41 (
30
) 41 (
) 30 ( 41 ) 40 ( 36
48 41 * 37 41
) 41 (
Z ~ Z =

=
+
+
=
K
K
j KGH
K
j KGH
j KGH
[1]
22
Solution 3 Contd
Sketch
+
0
P

Q
Im
Re
30
K
[3]
23
Solution 3 Contd
From the transfer function;
Z=0
If the point -1+j0 is at Q; N=0
i.e
using P =N+Z =0+0 =0,
system stable for the above range
30 ,
30
0 1 K
K
j

+
[1]
[1]
[1]
[1]
24
Solution 3 Contd
Recall Z=0 for the control system in question;
If the point -1+j0 is at P; N=2
i.e
using P =N+Z =2+0 =2,
system unstable for the above range
30 ,
30
0 1 K
K
j

+
[1]
[1]
[1]
25
Question 4
(a) Use the concept of a Unit Circle to explain
the stability, instability and oscillation of a
negative feedback control system. [5]
(b) Use the Unit Circle to determine the
stability of the system given by:
[7]
(c) Confirm (b) by Nyquist Criterion [8]
) 5 )( 2 (
) (
+ +
=
s s s
K
s KGH
26
Solution 4
a) Consider the plot
below:

-1+j0
P
g
Unit
circle
P
Q
Re
IM
[2]
2
nd
quad
1
st
quad
27
Solution 4 Contd
To use the concept of a unit circle; the KGH(jw)
function is plotted for +w, and a circle whose
radius is one is superimposed on it.
The system is stable if the frequency response
does not cut the unit circle in the second
quadrant, and unstable otherwise.
From the figure above, the system is stable for the
continuous curve and unstable for the dotted
curve. It will oscillate if the curve passes through
the point -1+j0.
[1]
[1]
[1]
28
Solution 4 Contd
b) given:
al purely w
thus
w w w
w j w K
w j w jw
K
jw KGH
jw jw jw
K
jw KGH
s s s
K
s KGH
Re ; 10
; ,
49 ) 10 (
)} 10 ( 7 {
) 7 10 (
) (
) 5 )( 2 (
) (
) 5 )( 2 (
) (
2 2 2
2
2
=
+

=
+
=
+ +
=
+ +
=
[1]
[1]
29
Solution 4 Contd
It follows:
o o
o
w
K
jw jw jw
K
j KGH
K j KGH
K K K
j KGH
j
K
j KGH
270 0 270
) )( )( (
) (
180 014 . 0 ) 10 (
180
70 70
) 10 * 49 ( 10
) 10 * 7 (
) 10 (
90
0
) 0 (
3
0
0
Z = Z = =
Z ~
Z =

=
Z = =
[1]
30
Solution 4 Contd
Nyquist plot of KGH(S)
Transfer function for +w:
Re
IM
70
K
Unit
circle
2
nd
quad
[2]
31
Solution 4 Contd
It is clear that the system will be stable for
(the case shown in the diagram above)
since the curve does not cut the unit circle in 2
nd
Quadrant while for
the system will be unstable since it will cut the
unit circle in 2
nd
Quadrant.
70 K
70 K
[2]
32
Solution 4 Contd
c) Confirmation of the above results using
Nyquist:
In this approach, a complete Nyquist plot of
KGH(S) over the entire frequency is made
taking the frequency curve to be symmetrical
about the real axis. From the solution above
(using the unit circle); the complete frequency
response can be sketched as shown below.
[1]
33
Solution 4 Contd
Complete Nyquist plot:
P Q
Re
IM
70
K
[3]
34
Solution 4 Contd
From the transfer function;
Z=0
If the point -1+j0 is at P; N=0
i.e
using P =N+Z =0+0 =0,
system stable for the above range
70 ,
70
0 1 K
K
j

+
[1]
[1]
35
Solution 3 Contd
Recall Z=0 for the control system in question;
If the point -1+j0 is at Q; N=2
i.e
using P =N+Z =2+0 =2,
system unstable for the above range
Therefore the system is conditionally stable, thus
confirming the results in (b) above.
END
70 ,
30
0 1 K
K
j

+
[1]
[1]
36