Automatic Control Systems Assignment-2 Solutions

Dr. Kalyana C. Veluvolu

1. (a) Position error constant,  = limG(s)H(s) =

()
 ()
=∞
→
()
Velocity error constant, " = lim sG(s)H(s) = lim =∞
→ →  ()
()
Acceleration error constant, $ = lim %  G(s)H(s) = lim %   () = 20
→ →
*() -  ()    ()   ()
(b) ) (%) = = . /− . /+ . /
+(),()   ()()   ()() - 2   ()()

Steady state error, 5 = lim e(t) = lim s) (s) = (Case 1)
6→7 → 8
-   - A
Case 2: The given problem is @(%) = − + = −
  -   - 
*() -  () A  ()
) (%) = +(),() = 
.
 ()()
/− .
-   ()()
/
Steady state error, 5 = lim e(t) = lim s) (s) = 0
6→7 →
NOTE: Both the selections will get credits.

2. Let, the closed loop transfer function, J(%) = *() =

K()
+()
+()
[M (%) = 1]
Q() ST
⇒ P(%) = J(%) + J(%)P (%) ⇒ P (%) = RQ() = [($RS)]
ST T  $RS
" = lim sG(s)H(s) = lim % [($RS)] = $RS ⇒ 5 = S = T
→ → U

3. (a) With X = 0, %  + 2% + 8 = 0 ⇒ Z[ = √8 ]X^/%5` & 2ζZ[ = 2 ⇒ ζ = 0.353

d 
" = = 4 & 5 (fg hijf − ]Xkl) = = 0.25
 m
(b) With derivative feedback, 1 + P (%) = 0 ⇒ %  + (2 + 8X)% + 8 = 0 ⇒ X = 0.245
" = 8/(2 + 8X) ⇒ 5 (2 + 8X)/8 = 0.495
(c) Let the gain of 8 in the forward loop be adjust to a higher value q .
S
C.E ⇒ %  + (2 + Xq )% + q = 0 ⇒ " = r ⇒ 5 (2 + Xq )/q = 0.25
$Sr

Z[ = s(5q ) & ζ = 25. v , q = 31.36; X = 0.186

tu

4. (i) % z : 1 24 24 23
% 8 : 9 24 24 15
Divide % 8 row by 3 to simplify the computations
% z : 1 24 24 23
%8 : 3 8 8 5
%A : 1 1 1
%m : 1 1 1
 %- : 0 0
%- : 2 1
%  : 0.5 1
% : -3
% : 1
The auxiliary equation is, % m + %  + 1 = 0
Put, %  = { ⇒ {  + { + 1 = 0 ⇒ { = 0.5 ± }0.866 = 1∠120 g] 1∠−120
2 roots are lying on right half of s-plane and five roots are lying on left half of s-plane.
(ii) Case 1: There was a typo in the given problem. % - + ( + 1)%  + % + 2 = 0
%- 1 
% 
+1 2
S SR
% 0
S
S SR
For all terms of the first column to be positive, S
> 0 ⇒  > 1.0
At  = 1.0, the system will oscillate & A.E is %  ( + 1) + 2 = 0 ⇒ % = ±}1.0 = }Z
The frequency of oscillation at  = 1.0 is 1.0 rad/sec.

Case 2: The given problem is % - + ( + 1)% - + % + 2 = 0

%- +2 
% 
0 2
% 
∞ 0
For all terms in the first column to be positive,  + 2 > 0 ⇒  < −2
At  = −2, the system will oscillate.

NOTE: Students who met anyone of the above two cases will get full marks.

5. (a) C.E is % - + X%  + %(2 +  ) + 1 +  = 0

%- 1 2+
% 
X 1+
$(S)R(S)
% 0
$
S
For the system stable, X > 0, X > S
 (b) (i) when X = 0,  > −1

A.E is, % - + (2 +  )% = 0

At √ + 2 it has sustained oscillation

S
(ii) When X > 0, X = S

A.E is, X%  + (1 +  ) = 0

S
% = 0, }ƒ
$

$(S)R(S) R$
(c) For sustained oscillation, =0 ⇒ =
$ $R
S
A.E ⇒ X%  + (1 +  ) = 0 ⇒ % = 0, }ƒ
$

S
Given % = ±}5 ⇒ ƒ $
= 5 ⇒  = 25X − 1
$(S)R(S)
From % row, $
= 0 ⇒ 2X − 1 + (X − 1) = 0
Put  = 25X − 1 ⇒ 25X − 24X = 0 ⇒ X ≠ 0 & X = 24/25
m
When X = A ,  = 23
(d) Let % = − 2 ⇒ `(%) = -
+ (
X − 6) + ( − 10 − 4X) + (4X −  − 11)

-
1  − 10 − 4X

X−6 4X −  − 11
($R8)(SRRm$)R(m$RSR)

$R8
0
($R8)(SRRm$)R(m$RSR) m$  R$Rz
⇒ >0 ⇒>
$R8 $RA

S‡  Sˆ S‰ S‡  Sˆ S‰

6.

Let P† (%) = & P (% ) = ⇒ Š (% ) =
  m ( m)

(i)  = lim→ Š(%) = ∞, 5 = S‹
=0
S‰  m
(ii) " = lim→ %Š(%) = m
, 5 = SU
= S‰
< 0.1 ⇒ Œ = 40
Ž

ƒ
(iii) Max overshoot, J = 5 < 0.015
Ž
R
ƒ
5 = 0.015 ⇒ ‘ = 0.8
 “() S‡  Sˆ S‰
’ (% ) = *()
= ( m)S‡  Sˆ S‰
 ⇒ ” (%) = %(%  + 4) + • %  + – % + Œ = 0

We equate the closed-loop characteristic equation to a desired third order system

i.e.,
% - + • %  + (– + 4)% + Œ = — - + (2‘˜[ + ™)%  + (2‘˜[ ™ + ˜[ )% + ™˜[

For a dominant 2[š order system, ™ ≥ 10‘˜[ with ζ = 0.8, ™ = 10 ‘˜[

Equate the coefficients: • = 2‘˜[ + ™ (1), – + 4 = 2‘˜[ ™ + ˜[ (2), Œ = ™˜[ (3)

Solving eq’s (1), (2) & (3) ⇒ ˜[ = 1.71 ]X^/%5` • = 16.416 & – = 36.35

7. Let P (%) =
 %2 +™ %+ž
%(%2 +4)

(i) – = lim→ P(%) = ∞, 5 = =0
Sˆ
S‰  m
(ii) Ÿ = lim→ %P(%) = m
, 5 = S
= S‰
=0
Theoretically Œ = ∞. So, select Œ as maximum value. Let Œ = 500
Ž

ƒ
(iii) J = 5 < 0.04 ⇒ ‘ = 0.695
With ™ = 10‘˜[ ⇒ • = 12‘˜[ (1), – + 4 = (20‘  + 1)˜[ (2), Œ = 10‘˜[- (3)
From eq. (3), ˜[ = 4.16 ]X^/%5`, • = 34.71, – = 180.48
-m.z d.mdA
PID Controller P† (%) =


8. (a)
“()
*()
=
¡
 ¡
=
vw

  ¢vw vw
⇒ Z[ = 3]X^/%5`, ‘ =

8
= 0.166
Ž
R
ƒ ¦R§
(b) J– = 100 ∗ 5 = 58.8% & f¥ = = 0.8057 %5` [¨ = cosR ‘ = 1.403 ]
vw sR¢ 
“() +() ¡ ¡   
(c) *() = +()
=  ¡
⇒ P (% ) =  
& 5 = SU©ª
= «¬­®→¯ +()
= ¡

°(%) 9+^ % ²1+ ^ %³Z2i
If (%) = 9 + ^ % ⇒ = ≈ 9
⇒ ^ = 5
@(%) %2 +(1+^ )%+9 %2 +2‘Zi %+Z2i
Sµ š “() ¡Sµ 
¡A
´(f) = ´ (f) + ´ (f) & *() =  (S )¡ =  8¡
¡ š6  µ
9+5% 1 9 5% 5 ^
°(%) = . = %(%2 +6%+9) + %(%2 +6%+9) ⇒ ´(f) = ´′ (f) + 9 ^f ´′ (f)
%2 +6%+9 %
·( ) R-6 ( ) ( )
When ‘ = 1, ´ f = 1 − 5 1 + 3f ⇒ ´ f − 1 = 5t5R-6
− 5 (1 + 3f)
R-6
R-6 (
If 5t5 R-6
−5 1 + 3f) > 0, there is overshoot ⇒ 5f − (1 + 3f) > 0 ⇒ f >  & ´(f) > 1

9. “‡ ()
¸()
=

 ()Sˆ S‰
: °• (%) → output due to the disturbance
$
´• = lim→ % °• (%)  = 0 [Case 1: Œ ≠ 0, Xi´ – ]
$
Case 2: Œ = 0, – = 0 ⇒ ´• = lim  2   = ∞
→
 $ $
Case 3: Œ = 0, – ≠ 0 ⇒ ´• = lim  2 S =
→ ˆ Sˆ
“() Sˆ  S‰
Consider = . For stability,
*()  2  Sˆ  S‰
%- 1 –
% 10 Œ
Sˆ RS‰
% 
0
% Π0
Sˆ RS‰ S‰

> 0 ⇒ 10– > Œ ⇒ – > 
, Π> 0

10. (i) We have i = 4 and k = 0

Rule 1: The loci start from  = 0 at the OL poles
Rule 2: The loci end at  → ∞
Rule 3: The number of loci is 4, as i = 4
Rule 4: Root loci are symmetrical with real axis
Rule 5: There are (4 − 0) = 4 asymptotes. The angles of asymptotes are given by
(¹)¦
¨¹ = -R
= ±45 , ±135 ; } = 0,1,2,3
∑ ¼½‹¾ª©® R∑ ¼½¿©À¾®
Rule 6: The point of intersection of asymptotes is, º† = [RÁ
= −2
Rule 7: Identify branches of loci on the real axis.

Rule 8: The angle of departure from the complex pole ™- = (−2 + }4) is given by:
m m
¨š = 180 − ²180 − tanR ³ + (90 ) + ²tanR ³Ã = −90
By conjugate symmetry, angle of departure from the complex pole at ™- = (−2 − }4)
is ¨š = +90
Rule 9: The C.E is % m + 8% - + 36%  + 80% +  = 0
Put % = }Z, Zm − }8Z- − 36Z + }80Z +  = 0 & equate real and imaginary parts
 Crossing point root locus is ±}3.2 & the value of  at this point is 260.
šS
Rule 10: The breakaway point is the solution of =0
š
šS
⇒  = −(% m + 8% - + 36%  + 80%) ⇒ = −(4% + 24%  + 72% + 80) = 0
-
š
Solving, % = −2, −2 ± }2.45

(ii) We have i = 3 and k = 2

Rule 1: The loci start from  = 0 at the OL poles
Rule 2: The loci end at  → ∞
Rule 3: The number of loci is 3, as i = 3
Rule 4: Root loci are symmetrical with real axis
Rule 5: There are (3 − 2) = 1 asymptotes. The angles of asymptotes are given by
(¹)¦
¨¹ = -R
= ±180 ; } = 0,1,2,3
∑ ¼½‹¾ª©® R∑ ¼½¿©À¾®
Rule 6: The point of intersection of asymptotes is, º† = = −3
[RÁ
Rule 7: Identify branches of loci on the real axis.

Rule 8: The angle of arrival from the complex pole Ä = (−3 + }4) is given by:
m m m
¨š = 180 − (90 ) + ²180 − tanR -³ + ²180 − tanR ³ + ²180 − tanR ³Ã = 77.5
 By conjugate symmetry, angle of arrival from the complex pole at Ä = (−3 − }4)
is −77.50 .
Rule 9: The C.E is % - + (3 +  )% + (2 + 6 )% + 25 = 0
Put % = }Z, −}Z3 − (3 + )Z2 + }(2 + 6)Z + 25 = 0 & equate real and imaginary
parts.
Crossing point on imaginary axis,  = 0.4 ± }0.9 & Z = 2 + 6
šS
Rule 10: The breakaway point is the solution of š = 0
R 2 R-  R šS R( Å  2 ¡  AA)
=   8A
⇒ š
= (  8A)
= 0 ⇒ % m + 12% - + 91%  + 150% + 50 = 0
% m + 12% + 91%  + 150% + 50 ⇒ % = −0.45, −1.55, −5 ± }6.7
-

% = −0.45 is the valid breakaway point for  > 0.

S(¹v) (¹v)
11. (i) P (}Z) = (.¹v)(.¹v) & jÆ  = 1 ⇒ P (}Z) = (¹.v)(¹.v)

Magnitude plot:

Term Corner frequency Slope ^È/^5` Change in slope

rad/sec ^È/^5`
(}Z) --- +40
1/(1 + 0.2}Z) Z† = . = 5
 -20 40-20 = 20

1/(1 + 0.02}Z) 1
Z† = = 50
-20 20-20 = 0
0.02
Phase plot:

É = ∠P (}Z) = 180 − tanR 0.2Z − tanR 0.02Z

 Z(rad/sec) tanR 0.2Z(deg) tanR 0.02Z(deg) ∅ = ∠P(}Z)(deg)
0.5 5.7 0.6 173.7~174
1 11.3 1.1 167.6~168
5 45 5.7 129.3~130
10 63.4 11.3 105.3~106
50 84.3 45 50.7~50
100 87.1 63.4 29.5~30

20 ËgÌ = −28 ^È ⇒  = 0.0398

.8A
(ii) Let  = 1 ⇒ ∴ P (}Z) =
¹v(¹.Av)(¹.Av)

Magnitude plot:
plot

Term Corner frequency Slope ^È/^5` Change in slope

^È/^5`
0.0625 ----- -20
}Z

1/(1+j0.5Z) Z† = .A
=2 -20 -20-20 = -40

1/(1 + }0.125Z) 1
Z† = =8
-20 -40-20 = -60
0.125
Phase plot:
d¯
É = −0.2Z ∗ ¦
− 90 − tanR 0.5Z − tanR 0.125Z

Z(rad/sec) d¯
-0.2Z ² ¦ ³ tanR 0.5Z(deg) tanR 0.125Z(deg) ∅=
∠P (}Z)(deg)
(deg)
0.01 -0.1145 0.2864 0.0716 -90.4~-90
0.1 -1.145 2.862 0.716 -94.7~-94
0.5 -5.7 14 3.6 -113.3~-114
1 -11.4 26 7.12 -134.4~-134
2 -22.9 45 14 -171.9~-172
3 -34.37 56.30 20.56 -201.2~-202
4 -45.84 63.43 26.57 -225.5~-226

Phase margin, Î = 180 + ÏІ

When Î = 45 , ÏІ = Î − 180 = −135 & the gain at É = −135 is −24 ^È
 20ËgÌ = 24 ⇒  = 15.84

Gain margin = −(−32) = 32. But the required gain margin is 2db. Hence to every point
of magnitude plot a ^È gain of 30 ^È should be added.

20ËgÌ = 30 ⇒  = 31.62

Fig.1 for 11. (i) problem Fig.2 for 11. (ii) problem
12.

šT šT
16 X%´klfgf5 → +20 šÑ† , 2[š X%´klfgf5 → 0 šÑ† , 3¥š X%´klfgf5 → −40 ^È/^5`
16 break-frequency, Z = 1.3, ^È drop from corner to actual curve 3 ^È
2[š break-frequency Z = 9, ^È drop from corner to actual curve 6 ^È
Initial asymptotic slope is +20 ^È and it has a value of 0 ^È at Z = 0.45. There
system gain K=0.45.
S(¹v)
From the above, P (}Z) = (¹v/.-)(¹v/¡)