ESE 441 Spring 2011 Homework 4 Solution

1. Work problem 2-35, parts (a), (f), and (g), on page 99 of the text. Part (a): s3 s2 s1 s0 There are two poles in the right half plane. Part (f): s4 s3 s2 s1 s0 For small > 0, 10 Part (g):
10

1 10 25 450 8 450

1 2 10 5

10 5 20 5
10

< 0. There are two poles in the right half plane.

There are two poles at s = 0. (s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16)s2 = 0 s6 s5 s4 s3 1 8 20 16 2 12 16 2 12 16 0 0

A(s) = 2s4 + 12s2 + 16 dA(s) = 8s3 + 24s ds With row s3 replaced with the derivative of the auxiliary polynomial: s6 s5 s4 s3 s2 s1 s0 1 2 2 8 6 8/3 16 8 20 16 12 16 12 16 24 16

Solving for the roots of the auxiliary polynomial: 2s4 + 12s2 + 16 = 0 s4 + 6s2 + 8 = 0 (s2 + 2)(s2 + 4) = 0 There are two poles at s = 0, poles at s = j 2, and poles at s = j2. The remaining two poles are in the left half plane. 2. For the characteristic equation below, determine the range of values of K for which the system is stable, the value of K for which the system has poles on the j-axis, and the frequency of oscillation when the poles are on the j-axis. s4 + 25s3 + 15s2 + 20s + K = 0 1

s4 s3 s2 s1 s0 The system is stable for 0 < K < 11.36. When K = 11.36:

1 25 14.2
28426K 14.2

15 K 20 K

A(s) = 14.2s2 + 11.36

2 There are poles at j 5 . The system oscillates at 0.894 rad/sec.

3. Work problem 5-3, parts (a), (b), and (d), on page 323 of the text. Part (a): Kp = 1000, Kv = 0, Ka = 0 Part (d): Kp = , Kv = , Ka = 1 4. Work problem 5-8 on page 324 of the text. G(s) = Kp = , Kv = 5/6, Ka = 0 5. Work problem 5-17 on page 325 of the text. (a) Kv = lim sG(s) = lim
s0

Part (b): Kp = , Kv = 1, Ka = 0

5(s + 1) s(s + 2)(s + 3)

K(s + )(s + 3) = 3K s2 1 1 1 = ess = Kv 3K K(s + )(s + 3) Y (s) = 3 R(s) s + Ks2 + (K( + 3) 1)s + 3K
s0

s3 s2 s1 s0

1 K( + 3) 1 K 3K K( + 3) 1 3 3K > 0, K> 3 + 1 +3

Conditions for stability: K > 0, (b) Y (s) = N (s) 1+

K(s+3) s2 1 K(s+3) s+ s2 1 s

Ks(s + 3) s3 + Ks2 + (K( + 3) 1)s + 3K

lim y(t) = lim sY (s)

s0

= lim s(N (s))

s0

Y (s) N (s)

Ks(s + 3) s3 + Ks2 + (K( + 3) 1)s + 3K Ks(s + 3) = lim 3 s0 s + Ks2 + (K( + 3) 1)s + 3K =0 = lim s
s0

1 s

The point of this problem is that if N (s) is something like a bias or slowly varying bias, it will have minimal eect on the system output. 6. Determine K and KI so that the system below will have less than 10% overshoot and less than 2 seconds settling time. Calculate Kp , Kv , and Ka for your design. Use Matlab to plot the step response and verify that your design satises the requirements.

R(s)

K+

KI s

3 s+3

Y (s)

3Ks + 3KI Y (s) = 2 R(s) s + (3K + 3)s + 3KI Let damping ratio = 0.65 and natural frequency n = 2.8. Note that it is possible to start with slightly dierent values and still produce good results. Actual characteristic equation: s2 + (3K + 3)s + 3KI = 0
2 Desired characteristic equation: s2 + 2n s + n = s2 + 3.64s + 7.84 = 0

Therefore, K = 0.64 and KI = 2.61. See the plot below. G(s) = 3(Ks + KI ) s(s + 3) Kp = lim G(s) =
s0 s0

Kv = lim sG(s) = KI = 2.61 Ka = lim s2 G(s) = 0

s0

Step Response 1.4

System: sys Peak amplitude: 1.1 Overshoot (%): 9.87 At time (sec): 1.11

1.2

System: sys Settling Time (sec): 1.88

1 Amplitude

0.8

0.6

0.4

0.2

0.5

1.5 Time (sec)

2.5