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Y (s)
s2 + 2s + 2
=
R(s)
(s + 2)2
Use the Final Value Theorem (show your steps exactly) to determine the final
value of y(t) for a step input.
F(s) is not a strictly proper function, so we must divide.
2
2
2
s2 + 2s + 2
=
1
+
=
1
+
s2 + 4s + 4
(s + 2)2
(s + 2) (s + 2)2
2t
2t
F (t) = (t) 2e + 2te
F (s) =
s2 + 2s + 2
s (s2 + 4s + 4)
2 1
=
=
4 2
Y (s) =
lim sY
s0
2. Draw the root locus for the following open-loop transfer functions.
a) (7.5 points)
(s + 2) (s + 3)
(s + 5) (s + 1 + j) (s + 1 j)
H(s) =
Root Locus
1.5
Imaginary Axis
0.5
-0.5
-1
-1.5
-9
-8
-7
-6
-5
-4
Real Axis
-3
-2
-1
b) (7.5 points)
H(s) =
1
(s + 1)(s + 2)(s + 3)(s + 4)
Root Locus
Imaginary Axis
-2
-4
-6
-8
-6
-4
-2
Real Axis
Gc
Gp
Block diagram.
2
.
(s + 1) (s + 10) (s + 15)
Design a Lead/Lag Compensator so that a closed-loop pole is 6 + 5j with a 0.01
steady state error. Use s = 11 and s = 0.1 as zeros in your design.
Gp =
Bode Diagram
100
Magnitude (dB)
50
-50
Phase (deg)
-100
-45
-90
-135
-180
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
Figure 1:
My numbers have round o so, check their process and make sure their answers are close to
mine.
Now use the magnitude condition
s
+
11
2k
= 1
(s + 1) (s + 10) (s + 15) (s + 35) s=6+5j
5
+
5j
= 1
2k
(5j 5) (5j + 4) (5j + 9) (5j + 29)
2
50
= 1
50 16 + 25 81 + 25 292 + 25
k 1.030 9 103 = 1
1
= 970
k =
1.030 9 103
4. (15 points) For the following open-loop transfer function
H=
(s + 1)(s + 10)
s2 (s + 50)
determine a proportional controller that will yield a 45 deg phase margin.Desired phase
is
45 = 180 + 6 Gp
Gp = 135
3
a b
0
A=
B=
C= 0 1 .
0 c
1
(Of course, your answer will be in terms of a, b, c).
Sol:
At
s a b
0
sc
= L (sI A) =
1
ac+as+css2
1
a+s
= L
1
0
c+s
at b
ct
at
(e
e
)
e
ca
=
0
ect
9. (10 points) Determine the most general conditions on a, b, c, d so that the following
SSR is both controllable and observable.
1
a b
C= 1 1
B=
A=
1
c d
Sol:
C(A, B) =
B AB
1 a+b
1 c+d
Controllability condition
Observability condiiton
a + b 6= c + d
a+c b+d
O(C, A) = CA C =
1
1
a + c 6= b + d
0
a b
B=
A =
1
0 c
1 1
C =
where a, b, c are some non-zero constants. Find the controller/observer gains K and L
so that closed-loop poles are at s = 2, 4 for a reference signal of a step function,
with observer poles that die out like e2t et . (Of course, your answer will be in
terms of a, b, c).
Sol: Controller
Desired characteristic equation is
(s + 2) (s + 4) = s2 + 6s + 8
4DCL (A) = A2 + 6A + 8I
2
a b
8 0
a b
+6
+
=
0 c
0 8
0 c
2
6a + a + 8 6b + ab + bc
0
6c + c2 + 8
:
AB =
C(A, B) =
1
C(A, B)
a b
0 c
0
1
B AB
0 b
1 c
b
c
0 b
1 c
1b c 1
1
0
b
1c 1
6a + a2 + 8 6b + ab + bc
b
0 1
=
1
0
6c + c2 + 8
0
b
1
K =
Observer:
Desired characteristic equation is
(s + 2) (s + 1) = s2 + 3s + 2
4DO (A) = A2 + 3A + 2I
2
a b
2 0
a b
+3
+
=
0 c
0 2
0 c
2
3a + a + 2 3b + ab + bc
=
0
3c + c2 + 2
CA =
:
1 1
a b
0 c
a b+c
a b+c
CA C =
O(C, A) =
1
1
1
1
a b+c
abc
O(C, A)1 =
=
1
1
1
abc
1
0
L = 4DO (A)O(C, A)
1
3a + a2 + 2 3b + ab + bc
abc
=
1
0
3c + c2 + 2
abc
3b+ab+bc
1
abc + abc
(3a + a2 + 2)
=
1
(3c + c2 + 2)
abc
bc
abc
a
abc
bc
abc
a
abc
1
0