CONTROL

UFMFV7-15-2

HOME ASSIGNMENT

NAME : ASANGA HARSHAN ABEYKOON

UWE STUDENT ID : 17040241
DATE OF SUBMISSION : 05 AUGUST 2018
Question 1

The block diagram of an armature control dc motor with a load torque

disturbance, Td (S), is shown in figure Q1_a below. The values of different
constants are given in Table 1.

Table 1: System parameters of armature-controlled dc motor

Ra Km j b Kb Ka Kt
1 10 2 0.5 0.1 54 1

i. Assume that the system is linear. Using MATLAB, determine the

transfer function between the disturbance input Td (s) and the speed
output, ω (s). Verify the result using manual calculation.
ii. Obtain the steady state output response to a unit step disturbance.
Determine the steady state speed.
Question 2
A control system is characterized by close – loop transfer function given below:
𝐶(𝑠) 25
= 2
𝑅(𝑠) 𝑠 + 6𝑠 + 25
a. Plot the step response using MATLAB.
b. Determine the rise time, peak time, maximum overshoot and the settling time (5%)
criterion using MATLAB program and compare your values with theoretical
calculations.
>> sys2=tf([25],[1 6 25]);
>> step(sys2);
>> grid on
>> axis ([0 3 0 1.5]);
>> s1=stepinfo(sys2,'settlingTimeThreshold',0.05,'RiseTimeThreshold',[0 1])
s1 =
struct with fields:
RiseTime: 0.5536
SettlingTime: 1.0458
SettlingMin: 0.9910
SettlingMax: 1.0948
Overshoot: 9.4773
Undershoot: 0
Peak: 1.0948
PeakTime: 0.7829

Theoretical calculation:
𝐶(𝑠) 25
= 2
𝑅(𝑠) 𝑠 + 6𝑠 + 25

From standard definition

𝑌(𝑆) 𝜔𝑛 2
= 2
𝑅(𝑆) 𝑆 + +2𝜁𝜔𝑛 𝑆 + 𝜔𝑛 2

𝜔𝑛 2 = 25

𝜔𝑛 = 5

2𝜁𝜔𝑛 = 6

𝜁 = 0.6

Peak time = tp
𝜋 𝜋 𝜋
𝑡𝑝 = = = = 0.785
𝜔𝑑 𝜔𝑛 √1 − ζ2 5√1 − 0.62
Rise time = tr

𝜋 𝜋
𝜋−𝜃 𝜋 − (180 cos−1 ζ) 𝜋 − (180 cos −1 0.6)
𝑡𝑟 = =[ ]=[ ] = 0.554
𝜔𝑑 𝜔𝑛 √1 − ζ2 5√1 − 0.62
Settling time (5%) = Ts

3 3
𝑇𝑠 = = =1
ζ𝜔𝑛 0.6 ⋅ 5

Maximum over shoot = Mp

ζ
−( ⁄ )𝜋 −(0.6⁄ )𝜋
𝑀𝑝 = 𝑒 √1−ζ2 = 𝑒 √1−0.62 = 0.094
Question 3
Consider a unity feedback control system with feed forward path transfer function given by;
𝐾
𝐺(𝑆) =
𝑆(𝑆 + 1)(𝑆 2
+ 4𝑆 + 13)
a. sketch the root locus of the system as the gain K varies from zero to infinity using
MATLAB.
b. Determine the marginal gain for system stability.
c. Validate the above gain value using Routh’s stability criterion.
 >> g=tf([1],conv([1 1 0], [1 4 13]));
>> rlocus(g);
>> axis([-10 5 -10 10]);
>> GM = margin (g)

GM =

37.4299

Routh’s stability criterion

Close loop transfer function;

𝑌(𝑆) 𝐺(𝑆)
=
𝑅(𝑆) 1 + 𝐺(𝑆) ⋅ 𝐻(𝑆)

𝑘
𝑌(𝑆) 𝑆(𝑆 + 1)(𝑆 2 + 2𝑆 + 3)
=
𝑅(𝑆) 𝑘
1+ ⋅1
𝑆(𝑆 + 1)(𝑆 2 + 2𝑆 + 3)

𝑌(𝑆) 𝑘
= 2
𝑅(𝑆) 𝑆(𝑆 + 1)(𝑆 + 4𝑆 + 13) + 𝑘
From characteristic equation:

𝑆(𝑆 + 1)(𝑆 2 + 4𝑆 + 13) + 𝑘 = 0

𝑆 4 + 5𝑆 3 + 17𝑆 2 + 13𝑆 + 𝐾 = 0

Roth’s array

𝑆4 1 17 𝐾

𝑆3 5 13 0

𝑆2 14.4 𝐾 0

187.2 − 5𝐾
𝑆1 0 0
14.4

𝑆0 𝑘 0 0

Roth stability criterion state that the no of sign changes in the first coefficient Colum is equal to the number
of roots of the characteristic equation in the right-hand side of the complex plane. Therefore, for stability of
the system there should not be sign changes not in the first coefficient Colum.

From S0

𝐾>0

And from S1

187.2 − 5𝐾
>0
14.4

37.44 > 𝐾

Therefore, system stability gain should be within

37.44 > 𝐾 > 0

Question 4
A unity feedback control system is described by the feed forward path transfer function given
below;
20(𝑆 + 1)
𝐺(𝑆) =
𝑆(𝑆 + 5)(𝑆 2 + 2𝑆 + 10)

a. Plot the bode diagrams of the above system using MATLAB.

b. Determine the gain crossover frequency, phase crossover frequency, gain margin and the
phase margin of this system using MATLAB.
c. Perform the Nyquist stability analysis of the same system and comment about the system
stability.
For check the stability of the system
Close loop transfer function;

𝑌(𝑆) 𝐺(𝑆)
=
𝑅(𝑆) 1 + 𝐺(𝑆) ⋅ 𝐻(𝑆)

Characteristic equation;
1 + 𝐺(𝑆) ⋅ 𝐻(𝑆) = 0
20(𝑆 + 1)
𝐺(𝑆) ⋅ 𝐻(𝑆) =
𝑆(𝑆 + 5)(𝑆 2 + 2𝑆 + 10)

𝑍 = 𝑁+𝑃
Where
P =1
N=0
Therefore,
Z =0+1=1

Above corresponds to a stable unity-feedback system when Z, is equal to 0. but here get 1 therefore system get
unstable.