HCM City University of Technology FINAL EXAM

Faculty of EE Engineering First semester, Academic year 2019-2020

Department of Automatic Control Course: Introduction to Control Systems
Exam date: 21/12/2019
---o0o--- Exam duration: 90 minutes
(Students are allowed to use references but not laptops)

R(s) Y(s)
+_ GC (s ) G (s )

Figure 1

Problem 1: (2.0 points) Given a control system in Figure 1, in which:

14
G ( s)  , GC ( s )  10
s ( s  2)( s  7) 2
1.1 Calculate the steady state error to unit step input and unit ramp input
1.2 Calculate the percentage of overshoot and settling time (2% criterion) of the system

10
Problem 2: (3.0 points) Given a control system in Figure 1, in which: G ( s ) 
( s  2) 2
Design the phase lead controller GC ( s ) such that the closed-loop system has a pair of complex
poles with   0.7 and n  10 .
40e-0.1s
Problem 3: (3.0 points) Given a control system in Figure 1, in which G ( s) =
s( s + 8)
Design the phase lag controller GC(s) so that the closed-loop system has phase margin
FM * ³ 600 and steady-state error to unit ramp input ess* = 0.05 .
2
Problem 4: (2.0 points) Given a control system in Figure 1, in which G ( s )  .
s5
Design the PI controller GC ( s ) such that the close loop system has a pair of complex poles with
  0.8 and n  6 .

Instructor Department Head

1
 Solution
Problem 1: (2.0p)

1.1 (1.0p)
- Step input:
140
K P  lim GC ( s )G ( s )  lim  
s 0 s 0 s ( s  2)( s  7) 2
1
ess  0
1  KP
- Ramp input:
140 10
KV  lim sGC ( s )G ( s )  lim s 
s 0 s 0 s ( s  2)( s  7) 2
7
1
ess   0.7
KV

1.2 (1.0p) Calculate POT and ts

- Characteristic equation of the closed-loop system:
1  GC ( s )G ( s )  0
140
 1 0
s ( s  2)( s  7) 2
 s 4  16s 3  77 s 2  98s  140  0 (1)
Poles of the closed-loop system:
 p1,2  0.53  j1.45

 p3,4  7.47  j1.72
Dominant poles:

p1,2  0.53  j1.45  n  jn 1   2

n  0.53   0.344

   .
n 1    1.45 n  1.54
2

  
POT  exp    .100%  31.63%
 1  2 
 
4 4
ts (2%)    7.55(sec)
n 0.53

2
Problem 2:
*
- The desired dominant poles: s1,2  n  jn 1   2  7  7.1 j

- The deficiency angle:  *  180  G ( s1* )  180  2arg(7  j 7.1  2)  700

 OPx  *   134.6 70 
sin    sin   
1  2 2  2 2  1
- Zero of the controller:  OP  10    5.47     
 T1  OPx  
*
 134.6 70   T1
sin    sin   
 2 2  2 2 
 OPx  *   134.6 70 
sin    sin   
1  2 2  2 2  1
- Calculate the pole:  OP  10   18.28
T1  OPx  
*
 134.6 70  T1
sin    sin   
 2 2  2 2 
s  5.47
 GC ( s)  K C
s  18.28

( s  2) 2 ( s  18.28)
 Determine K C : KC   13.89
10( s  5.47) s1*   7  j 7.1

s  5.47
 GC1  s   13.89
s  18.28

Problem 3:
Design the phase lag compensator:
Ts  1
GC ( s )  K C
Ts  1
- Velocity constant before compensation:
40e0.1s
KV  lim sG ( s)  lim s 5
s 0 s 0 s ( s  8)

- Desired velocity constant:

1 1
KV*  *   20
ess 0.05
- The gain of the controller:
K * 20
KC  V  4
KV 5
40e0.1s 20e0.1s
Denote: G1 ( s )  KC G ( s )  4 
s( s  8) s( s / 8  1)

3
 Bode Diagram
40

Magnitude (dB)
20
System: G1
0 Frequency (rad/s): 1.94
Magnitude (dB): 20

-20

-40
0

-180
Phase (deg)

System: G1
-360 Frequency (rad/s): 1.95
Phase (deg): -115
-540

-720

-900
10 0 10 1 10 2
Frequency (rad/s)

- The new gain crossover frequency satisfies:

1 (C* )  180  M *    180  60  5  1150
From the Bode diagram, we have:
C*  1.95(rad / sec)
- Calculate :
20 lg    L1 (C* )
From the Bode diagram, we have: L1 (C* )  20dB
 20 lg   20
   0.1
1
- Chose  C*
T
1
  0.1
T
  T  10
10
 T  100
0.1
- Conclusion: The transfer function of the compensator is:
10s  1
GC ( s )  4
100s  1

4
 2
Problem 4: (2.0 points) Given a control system in Figure 1, in which G ( s )  .
s5
- Characteristic equation of the closed-loop system:
1  GC ( s )G ( s )  0
 K  2 
 1   K P  I  0
 s  s  5 
 s ( s  5)  2( K P s  K I )  0
 s 2  (5  2 K P ) s  2 K I  0 (1)

Desired characteristic equation:

s 2  2n s  n2  0
 s 2  9.6 s  36 (2)

Balance (1) and (2):

5  2 K P  9.6

2 K I  36
 K  2.3
 P
 K I  18
18
Conclusion: GPI ( s )  2.3 
s