Feedback Control system: Lab 04

NA KIMHOIR
ID: e20190643

April 2022

1 Problem

2 Lab Assignment
2.1 I. Inverting Operational Amplifier Circuit
For figure 3 and the following:

Figure 1: Inverted amplifier circuit.

a) Find the transfer function Vo (s)/Vi (s).

b) Write the state space equation of the above system.

c) Construct a Simulink model and calculate step and impulse responses of the above systems.

2.2 II: DC Motor

A permanent magnet dc motor is mechanisms which converts electrical power to mechanical power via
magnetic coupling. The electrical power is provided by a voltage source, while the mechanical power
is provided by a spanning rotor. A very basic dc motor is constructed of two main components:: the
rotor or armature and the stator. The armature rotates within the framework of the stationary stator.
A simple illustration of a dc motor is show in figure below:

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 (a) DC Motor structure

(b) DC motor equivalent electrical diagram

The voltage across the inductor is proportional to the change of current through the coil with
respect to time. DC-motor mechanical equation could be written as follow:
dωm
J = Te − bv ωm − TL
dt
Where J moment of inertia of a rotor, and bv is motor shaft viscous friction constant. Electrical part
of system could be model by equation:
dia
Va = Ra ia + La + ea
dt
Assume that negligible field dynamic, constant ea = k1 ωm and Te = k2 ia , where k1 and k2 are assumed
motor constants. Assume that we know all parameters:

• J: moment of inertia of rotor 0.01K.gm2

• bv : motor viscous friction constant 0.1N.m.s

• k1 : motor torque constant 0.01V.rad/s

• k2 : linearization constant 0.001N.m/Amp

• Ra : armature circuit resistance 1Ω

• La : armature circuit inductance 0.1H

a) Find the differential equation of the motor, transfer function ans state space equations.

b) Make the block diagram of the transfer function and implement it in MATLAB SIMULINK. You
can reduce the block diagram according to your understanding and you are required to explain
each step of reduction in detail.

c) Write detailed analysis on the step responses of the DC motor. State the assumptions in your
report.

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3 Solution
3.1 Part I: Mechanical System: Mass-Spring
a) Derive the second order differential equation Lagrange’s Equation:
 
d ∂L ∂L ∂D
− + = Fa (t)
dt ∂ ẋ ∂x ∂ ẋ
We have L = T − V , T = 12 M v 2 = 21 M ẋ2 , V = 21 kx2 and D = 12 Bv 2 = 12 B ẋ2
then,
d
(M ẋ) − (−Kx) + B ẋ = Fa (t)
dt
M ẍ + B ẋ + Kx = Fa (t)
B K Fa (t)
ẍ + ẋ + x=
M M M
b) Write the transfer function of the System X(s)/F (s). By using Laplace’s transform
Assume that x(0) = 0 and ẋ(0) = 0.
B K 1
X(s)s2 + sX(s) + X(s) = Fa (s)
M M  M
2 B K 1
X(s) s + s+ = Fa (s)
M M M
1
M F (s)
⇒ X(s) = B K
s2 + Ms + M

c) Write the state space of the above system. We know that ẋ(t) = Ax(t) + Bu(t) Let
x1 (t) = x(t)
x2 (t) = x˙1 (t) = ẋ(t)
By putting back in the differential equations, we get
B K 1
x˙2 (t) + x2 (t) + x1 (t) = Fa (t)
M M M
B K 1
⇒ x˙2 (t) = − x2 (t) − x1 (t) + Fa (t)
M M M
We obtain    
0 1 1 1
A= ,B = F (t)
−MK
−MB
0 M a
 
x1 (t)
y(t) = [1 0]
x2 (t)

3.2 Part II: Electrical System: RLC circuit

a) Derive the differential equation of the above system.
We have
diL
V = VL + VC + VR = L + Ri + VC
dt
dq
but iL = iC = iR = i = dt = C dVdtC
d2 VC dVC
V = LC 2
+ RC + VC
dt dt
d2 VC R dVC 1 V
= 2
+ + VC =
dt L dt LC LC
R 1 V
= V̈C + V̇C + VC =
L LC LC

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b) By using Laplace’s Transform, assume that VC (0) = 0, V̇C = 0

R 1 Vin (s)
s2 Vout (s) + sVout (s) + Vout (s) =
L  LC  LC
2 R 1 Vin (s)
Vout (s) s + s + =
L LC LC
1
Vout (s) LC
⇒ = 2 R 1
Vin (s) s + L s + LC

Hence, we get the transfer function

1
Vout (s) LC
= 2 R 1
Vin (s) s + L s + LC

c) Write the State space equation of the above system. We have

ẋ(t) = Ax(t) + Bu(t)

y(t) = Cx(t) + Du(t)

From the above differential equation

d2 VC dVC
V = LC2
+ RC + VC
dt dt
di
or V = L + Ri(t) + VC (t)
dt
Rewrite the above equation

di(t) q(t)
V =L + Ri(t) +
dt C
2
d q(t) dq(t) q(t)
V =L +R +
dt2 dt C
V 2
d q(t) R dq q(t)
= + +
L dt2 L dt LC
Let x1 (t) = q(t), then x2 (t) = q̇(t) and then

dx2 (t) R 1 1
= − x2 (t) − x1 (t) + V
dt L LC L
We obtain
− C1
  1
0  
C , C = 1, , u(t) = 0
A= 1 R ,B =
L −L 0
Therefore
− C1
   1
0 x1 (t)  
ẋ(t) = A = 1 + C u(t)
L −RL x2 (t) 0
and  
  x1 (t)
y(t) = 0, −1
x2 (t)

d) Construct a SIMULINK diagram to calculate step and impulse responese of the above systems.
We have R = 3, L = 4, C = 2

1/8
⇒ H(s) =
1+ 0.75s−1 + 0.125s−2

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3.3 Part II: Electrical System: RLC circuit
a) Derive the differential equation of the above system.
We have
diL
V = VL + VC + VR = L + Ri + VC
dt
dq
but iL = iC = iR = i = dt = C dVdtC

d2 VC dVC
V = LC 2
+ RC + VC
dt dt
d2 VC R dVC 1 V
= + + VC =
dt2 L dt LC LC
R 1 V
= V̈C + V̇C + VC =
L LC LC

b) By using Laplace’s Transform, assume that VC (0) = 0, V̇C = 0

R 1 Vin (s)
s2 Vout (s) + sVout (s) + Vout (s) =
L  LC  LC
2 R 1 Vin (s)
Vout (s) s + s + =
L LC LC
1
Vout (s) LC
⇒ = 2 R 1
Vin (s) s + L s + LC

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 Hence, we get the transfer function
1
Vout (s) LC
= 2 R 1
Vin (s) s + L s + LC

c) Write the State space equation of the above system. We have

ẋ(t) = Ax(t) + Bu(t)

y(t) = Cx(t) + Du(t)

From the above differential equation

d2 VC dVC
V = LC + RC + VC
dt2 dt
di
or V = L + Ri(t) + VC (t)
dt
Rewrite the above equation

di(t) q(t)
V =L + Ri(t) +
dt C
d2 q(t) dq(t) q(t)
V =L +R +
dt2 dt C
V d2 q(t) R dq q(t)
= + +
L dt2 L dt LC
Let x1 (t) = q(t), then x2 (t) = q̇(t) and then

dx2 (t) R 1 1
= − x2 (t) − x1 (t) + V
dt L LC L
We obtain
− C1
  1
0  
A= 1 , B = C , C = 1, , u(t) = 0
L −RL 0
Therefore
− C1
   1
0 x1 (t)  
ẋ(t) = A = 1 + C u(t)
L −RL x2 (t) 0
and  
  x1 (t)
y(t) = 0, −1
x2 (t)

d) Construct a SIMULINK diagram to calculate step and impulse responese of the above systems.
We have R = 3, L = 4, C = 2

1/8
⇒ H(s) =
1+ 0.75s−1 + 0.125s−2

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4 Solution
4.1 I. Inverting Operational Amplifier Circuit
a. Find the transfer function Vo (s)/Vi (s).
For inverting amplifier circuit, =⇒ vo (t) = −Av1 (t)
Vi (s) Vo (s)
By using Kirchoff’s Law: Ia (s) = 0, I1 (s) = −I2 (s), =⇒ I1 (s) = Z1 (s) and I2 (s) = Z2 (s) Since A
gain is too large, thus v1 (t) ≈ 0
Z2 (s)
Vo (s)/Vi (s) = −
Z1 (s)
Which
1 1 360 × 103
Z1 (s) = 1 = 1 =
C1 (s) + R1 5.6 + 10−6 (s) + 360×103
2.016s + 1
1 107
Z2 (s) = R2 + = 220 × 103 +
C2 (s) s
Vo (s) 2
s + 45.95s + 22.25
=⇒ = −1.232
Vi (s) s

b. Write the state space equation of the above system.

We have
Vo (s) s2 + 45.95s + 22.25
= −1.232 (1)
Vi (s) s

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 By defining the intermediate variable Z(s), we take

Vo (s) = (−1.232s2 − 56.61s − 27.41)Z(s) (2)

Vi (s) = sZ(s) (3)

We do inverse laplace transform on both equation, we get

Vo (t) = (−1.232z̈(t) − 56.61ż(t) − 27.41z(t)

Vi (t) = ż(t)

We let x1 (t) = z(t), x2 (t) = ż(t) = x1 (t), x3 (t) = z̈(t).

Vi (t) = ẋ1 (t) (4)

   
0 1 0 0
=⇒ A = 0 0 0 ,B = 0 (5)
0 0 0 1
Vo (t) = −1.232x3 (t) − 56.61x2 (t) − 27.41x1 (t) (6)
 
=⇒ C = −27.41 −56.61 −1.232 , D = [0] (7)
(8)

    
0 1 0 x1 (t) 0
ẋ(t) = 0 0 0
  x2 (t) + 0 Vi (t)
 
0 0 0 x3 (t) 1
 
  x1 (t)
y(t) = −27.41 −56.61 −1.232 x2 (t)
x3 (t)

c. Construct a Simulink model can calculate step and impulse response of the above system.

Vo (s) s2 + 45.95s + 22.25

= −1.232 (9)
Vi (s) s
Vo (s) 1 + 45.95s−1 + 22.25s−2
= (10)
Vi (s) −0.81s−1

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4.2 II. DC Motor
a) Find the differential equation of motor, transfer function and state space equations.
For the circuit , we have

Va = VR + VL + e(t)
dia
Va = Ra ia + L + e(t)
dt

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Since ia = iR + iL + ie , VR = Ra ia , VL = L didta . By using Laplace Transform, assuming ia (0) = 0,
we get

Va (s) = Ra Ia (s) + La sIa (s) + Ea (s) (11)

Va (s) = Ia (s)(Ra + La s) + Ea (12)
⇒ Va (s) = Ia (s)(Ra + Ls) + K1 sθm (s) (13)

and inside the motor , we have

TL (t) = Te (t) − Td (t)
which TL = J θ̈m + bv θ˙m is the torque load of the motor, Td is the torque of motor disturbance,
Te = k2 ia which is the torque that generate by the voltage. Hence, we obtain

TL (s) = Te (s) − Td (s)

By using Laplace Transform, assuming θm (0) = 0 and θ̇m (0) = 0, we get

J(s2 θm ) = Te (s) − bv sθm (s) − Td (14)

2
=⇒ Te (s) = θm (s)(Js + bv s) + Td (15)

Since Te = k2 ia ⇒ L [Te ] = K2 Ia (s), ⇒ Ia = Te /K2 and Td (s) = 0 Put Ia (s) into equation (3), we
get

Te (Ra + Ls)
Va (s) = + K1 sθm (s) (16)
K2
Ra + La s 
θm (s)(Js2 + bv s) + K1 sθm (s)

Va (s) = (17)
K2
θm (s) 1
=⇒ = Ra +La s (18)
Va (s) K2
2
(Js + bv s) + K1 s

We have R1 = 1Ω, bv = 0.1N.m.s, K1 = 0.01V /rad/s, K2 = 0.001N.m/Amp, La = 0.1H,

J = 0.01K.gm2

θm (s) 1
= 1+0.1s 2
(19)
Va (s) 0.001 (0.01s
+ 0.1s) + 0.01s
θm (s) 1 1
= = 3 (20)
Va (s) (1 + 0.1s)(10s2 + 100s) + 0.01s s + 20s2 + 100.01s

Again, we have

θm (s) 1
= 3
Va (s) s + 20s2 + 100.01s
⇔ Va (t) = (s3 + 20s2 + 100.1s)θm (t)

By using Inverse Laplace Transform and assuming all initialize condition is zero, we then get
...
θ m + 20θ̈m + 100.01θ̇m = Va (t) (21)

Let x1 (t) = θm , x2 (t) = θ˙m = ẋ1 (t), x3 (t) = θ̈m = ẋ2 (t)

ẋ3 (t) + 20x3 (t) + 100.01x2 (t) = Va (t)

=⇒ ẋ3 = −20x3 (t) − 100.01x2 (t) + Va (t)

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    
0 1 0 0
A = 0 0 1  ,B = 0 (22)
0 −100.01 −20 1
   
C = 1 0 0 ,D = 0 (23)
ẋ(t) = Ax(t) + Bu(t) (24)
    
0 1 0 x1 (t) 0
ẋ(t) = 0 0 1  x2 (t) + 0 Va (t) (25)
0 −100.01 −20 x3 (t) 1
 
  x1 (t)
y(t) = 1 0 0 x2 (t) (26)
x3 (t)

b) Make the block diagram of the transfer function and implement it in MATLAB SIMULINK. We
have
θm (s) 1 s−3
= 3 =
Va (s) s + 20s2 + 100.01s 1 + 20s−1 + 100.01s−2

Figure 3: Step response by Transfer function

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Figure 4: Step response by State-space

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