AE 3515: System Dynamics & Control

HW 6 Solutions, Spring 2014

Assigned Feb. 18, 2014
Due Feb. 24, 2014
1. Use block-diagram algebra to determine the transfer function between u(s) and x(s) in
Figure
x(s}
u(s}
=
G
1
G
2
+ G
3
(1 + G
1
H
1
+ G
1
}
H
3
G
1
G
2
+ 1 + G
1
H
1
+ G
1
(1)
2. Calculate the magnitude and phase of
G(s} =
1
s + 10
(2)
by hand for = 1,2,5,10,20,50, and 100 rad/sec Note that
M = |G(j}| =
_
(Re|G(j}|}
2
+ (Im|G(j}|}
2
(3)
= arctan
Im|G(j|}
Re|G(j}|
= G(j} (4)
The response of the system can be written as
G(j} = Me
j
(5)
using this
G(j} =
1
j + 10
=
j

2
+ 100
(6)
there is no real component so the magnitude of the response is simply
|G(j}| =

2
+ 100
(7)
because there is no real component and lies on the negative imaginary axis we know
that the phase change will always be ]2 plugging in the values of we get for the
magnitudes
1
M
1 0.00990099...
2 0.0192307
5 0.04
10 0.05
20 0.04
50 0.0192307
100 0.00990099...
3. Calculate the Magnitude and phase of
G(s} =
1
2s
2
+ 6s + 10
(8)
by hand for = 1,5, 10, 50, 100, 500 and 1000 rad/sec
G(j} =
1
2
2
+ 6j + 10
=
1]2
3j + 5
2
=
1]2(3j +
2
5}
9
2
+ (5
2
}
2
(9)
the magnitude of the response is given by
|G(j}| = 1]2
_

(3}
2
+ (
2
5}
2
(9
2
+ (5
2
}
2
}
2
= 1]2_

4

2
+ 25
9
2
+ (5
2
}
2
_ (10)
plugging in the values of we get for the magnitudes
for the phase angle
G(j} = arctan_
3

2
5
_ (11)
M
1 0.2 -36.87
5 0.04 36.87
10 0.01 17.526
50 4e-4 3.44
100 1e-4 1.719
500 4e-5 0.3438
1000 1e-6 0.17188
4. Consider the transfer function:
D(s} = K
Ts + 1
Ts + 1
(12)
for < 1. Determine its frequency-response characteristic and discuss what you would
expect from the result
2
D(j} = K
Tj + 1
Tj + 1
(13)
noting that |x]y| = |x|]|y|
|D| = |K|
_
(T}
2
+ 1
_
(T}
2
+ 1
(14)
theres an identity that states
(a + bi}
(c + di}
= (a + bi} (c + di} = arctan
b
a
arctan
d
c
(15)
G(j} = arctan(T} arctan(T} (16)
At low frequencies amplitude is simply |K|at high frequencies |K]|. Since is less than
1 amplitude increases with frequency. The phase is zero at low frequencies and at very
high frequencies, and positive in between. This eect is typical of a lead compensator.
5. Consider the transfer function for = 1
G(s} =
3s + 2
2s
2
+ 6s + 10
(17)
(a) For the transfer function below analytically determine the magnitude and phase
of the steady state response.
(b) Plot the response of the system to a sinusoidal input in simulink with 5 amplitudes
varying from 0.1 to 5 and frequency of 20. Compare results.
(c) Plot the response of the system with input amplitude of 1 and 5 frequencies
varying from 1 to 1000 and compare results.
(d) Repeat b for = 2, 5, 10
(a)
G(j} =
3j + 2
2
2
+ 6j + 10
=
1]2(3j + 2}(3j +
2
5}
9
2
+ (
2
5}
2
(18)
=
1]2(9
2
9j + 3j
3
+ 2
2
10}
9
2
+ (
2
5}
2
(19)
|G(j}| = 1]2
_

(3
3
9}
2
+ (
2
(2 9} 10}
2
(9
2
+ (
2
5}
2
}
2
(20)
=
1]2
_
9
2

6
+ (4
2
90 + 81}
4
+ (261 40}
2
+ 100
9
2
+ (
2
5}
2
(21)
G(j} = arctan_
3
3
9

2
(2 9} 10
_ (22)
3
using the methods from the previous problems we get
|G(j}| =

9
2
+ 4
_
36
2
+ (10 2
2
}
2
(23)
G(j} = (3j + 2} (6j + 10 2
2
} = arctan3]2 arctan6](10 2
2
}
(24)
6. B-9-9
7. B-9-10
4