Lecture 20

ECE 581
Feedback Control Systems (II)
Doug Looze

Mar. 30, 2007 Feedback Control Systems (II) © Douglas Looze 1

 Announce
 PS4 due Monday
 Midterm Exam
– Tuesday, April 3
– 7–9 PM
– ELAB 325
– Through Lecture 17 (Continuous time)
– Practice exam available on course site
– Open book, open notes
– No laptops; Calculators allowed

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 Today
 Review for exam
– Brief overview of material
– 2005 exam
– Sample problems from homework
– Questions?

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 Material
 Analysis Tools
– Root-locus (1st semester)
– Nyquist plot
• Imag vs. Real of loop transfer function
• Construction (for simple systems)
• Interpretation
– Stability and #RHP poles
– Gain/phase margins

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 Bode plots
– Two plots of loop transfer function
• Log magnitude vs. log frequency
• Phase vs. log frequency
– Construction (1st semester)
– Interpretation
• Response
• Gain/phase margins
– Relation to Nyquist plots

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 Design objectives
– Stability
– Relative stability
• Gain/phase margins
– Transient response
• Step response measures
• Two dominant pole model
• Relation of measures to dominant pole locations

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 Design objectives (cont.)
– Frequency response
• Command following
• Disturbance rejection
• Measurement noise rejection
• Steady-state errors
– Express objectives in terms of requirements for
loop transfer function

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 Design
– Specification of design objectives
– Control elements
• Integrators
• PI
• Lead/lag filtering
• Noise suppresion filters (Butterworth)
• Notch filters
– Use of control elements with Bode polts
– Impact of design objectives on control architecture

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2005 Midterm Exam
 Problem 1
– # poles in RHP

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  Problem 1
– # poles in RHP

– Which is stable?

k1  0.5
k2  1.0
k3  2.0

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  Problem 1
– # poles in RHP

– Which is stable?

k1  0.5
k2  1.0
k3  2.0
– Margins

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 Problem 2
– Plant 1
G s 
s 1
– Objectives
• 1) Zero steady-state error to step references;
• 2) Rise time tr ≈ 0.6 sec (10–90%); and
• 3) Peak overshoot Mp ≈ 10%

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 1
– Objectives G s 
s 1
• 1) Zero steady-state error to step references;
• 2) Rise time tr ≈ 0.6 sec (10–90%); and
• 3) Peak overshoot Mp ≈ 10%
– Damped natural frequency and damping ratio

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 1
– Objectives G s 
s 1
• 1) Zero steady-state error to step references;
• 2) Rise time tr ≈ 0.6 sec (10–90%); and
• 3) Peak overshoot Mp ≈ 10%
– Gain crossover and phase margin

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 1
– Objectives G s 
s 1
• 1) Zero steady-state error to step references;
• 2) Rise time tr ≈ 0.6 sec (10–90%); and
• 3) Peak overshoot Mp ≈ 10%
– Compensator (symmetric design for lead)

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 – Compensator

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  Problem 3

– Gain margin

– Phase margin

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  Problem 3

– Dominant CL poles

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  Problem 3
– Peak overshoot

– Settling time

– SS error to a ramp

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  Problem 3
– Maximum frequency: output
disturbance attenuated by 99%.

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 Problems
 FPE 6.23
– How many RHP poles as gain varies?

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 FPE 6.23

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 FPE 6.24
a) Why –270°?
b) Nyquist plot
c) Stable?
d) Stable with gain reduced by factor of 100?

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 Im s

Re s

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 FPE 3.25
– Peak overshoot < 25%

– Settling time (1 %) 0.1 s

– Phase margin

– Gain crossover

M  100   40

 g  n 1  4  4  2  2  114  
1  4 0.44  2  0.4 
2

 97.4 rad/s
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 FPE 6.45
– DC gain of K(s) = 1
– Phase margin > 40°

Ts  1
K  s  k p
 Ts  1
Ts  1
K  s 
 Ts  1

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