5/31/2013

Automatic Control Systems (ELEC332004)

Assignment II – Solutions

Dr. Kalyana C. Veluvolu

①. For the given system,

(i) Type-1.
(ii) Position error constant, lim → ∞
Velocity error constant, lim → 100
Acceleration error constant, lim → 0
(iii) 0.01

②. 1 6 ⇒

Consider, +
6
⇒ lim →0 lim
→0
0.1 ⇒ 1 60
1

③. . .
⇒ ∞, , 0
1
(i) : 0
1

1 1 100
(ii) :
5
1
(iii) : ∞

Since the system is of the third order, the values of and must be constrained so that the
system is stable. The characteristic equation is

12 20 2000 100 0

RH-criterion:

1 20 2000

12 100

100
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Stability conditions: 0 12 1 100 5 0

④. For the given system, let us take e(t) as error signal.

.
(i) When 0: ⇒
1
For a unit-ramp input, , ,
RH-criterion:

1 0.02

25
.

Stability conditions: 0 25 0.02 0 0.02

(ii) When 0, , 1/
⇒ lim 1
. →0

⑤. For the given system,

(i) lim 10 1000 ⇒ 100

→0

Consider,

100 100

10 100 2 ⇒ 100 100 ⇒ 0.9

(ii) For the second part, damping ratio does not provide accurate estimate of peak overshoot
because of the presence of .

⑥. 0.1 ⇒ 0.59
.
As ⇒ 3.62 &
Therefore, 3 2
If p is a non-dominant pole; therefore comparing both sides of above equation and:
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2 3 , 2 3 ,
If we con
nsider 10 (non-do
ominant polee), 0.6 aand 4, then:
4.8 10 0 3 ; 48 166 3 ; 160 → 1160;
⇒ 8.3, 89.88, 83

⑦. PID controlleer design is as

a follows:
1
(i) lim ∞ ⇒ 1
0 if 0
→0
(ii) & (iii) outputt due to distu
urbance,
lim → . 0 if 0
2

We op C.E to “deesired” 3
W equate the closed-loo oorder system
m, with 1
10 i.e.
10 ≡ 12 20 10
12 (1)
10 20 (2)
10 (3)

Seelect 50 ⇒ 1.93 / , 1 6.28 & 30.21

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⑧. PID controlleer design is as

a follows:
(i) lim 100. 100 ⇒ 100
0
→
/
(ii) 0.02 ⇒ 0.779 ( 0.8
(iii) 0.01 ⇒ 393
3.71 rad/secc
The
T C. E is, 10 100 100 1 00 10
00 0
It’s rd
I a 3 ordeer system, eq
quate to a ‘d rd
desired’ 3 oorder system, ( 10 )
10 100 2 3687.84 4……
100 100 2 …………..
100 ………………………………
From , ,& ⇒ 36.777, 204 40 (values aare too high when 393.71)

In
n the other way,
w calculatte from (keepingg 1)
Then,
T 10
1 rad/sec & 20, 1.19
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⑨. . .
; Let 1
MAGNIITUDE PLO
OT
Terrm Corner frequency
f Slope Chhange in sloppe
rad
d/sec db/dec db/dec
40
1 1 20 40 20 20
5
1 0.2
0 0.2
1 1 20 2
20 20 0
50
1 0.02
0 0.02
0
PHASE PLOT
The phasse angle of as a fu
unction of is given by,,
180 tan
n 0.2 ttan 0.02
0.5 1 5 10 50
rad/ssec
174 168 1130 106 50
deg
g

At 5 rad/sec, thee gain is 28 db. If gain cross

c over freequency is 5 rad/sec thenn at that
frequencyy the db gain
n should be zero. Hence to every poiint of magniitude plot a ddb gain of -228 db
should bee added. Thee value of is calculated d by equatinng 20log too 28 db.
Then, 200log 28
2 db ⇒ 0.0398
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⑩. 16 100 2ζ ⇒ 100, 10 & ζ 0.8

. . .
. .

. .
⇒
. .

At 5 is the corner frequency. At the corner frequency, 20log 4.08

MAGNITUDE PLOT

Term Corner frequency Slope Change in slope

rad/sec db/dec db/dec
0.75 20

1 0.2 1 20 20 20 0
5
0.2
1 10 40 0 40 40
1 0.01 2 0.16

PHASE PLOT

The phase angle of as a function of is given by

.
 0.2 90° for
.

.
 0.2 90° 180° for
.

0.5 1 5 10 20 50
rad/sec
-88 -88 -92 -116 -148 -168
deg
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⑪. (ii) We have 3 and 1

Open looop zeros: 0
Open looop poles: 0, 2 3, 2 3
Rule 1: The
T loci starrt from 0 at the OL poles
Rule 2: The
T loci end d at → ∞ at a 3 infinite zeros
z at |∞|
Rule 3: The
T number of loci is 3, as 3
Rule 4: Root
R loci aree symmetrical with respeect to real axxis
Rule 5: There
T are 3 1 2 asymptotes.
a The
T angles oof asymptotees are given by:
2 1 3
, ; 0,1
3 1 2 2
.
Rule 6: The
T point off intersectionn of the asymmptotes is, 2
2.25
Rule 7: Identify
I bran
nches of locii on the real axis
Rule 8: The
T breakaw t solution of
way point is the 0
The charracteristic eq
quation is, 1 5 1.5 0
. .
⇒ 0
. .
5.25 9 3.75 0.6 2.3
2 0.89
6 is the valid
0.6 d breakaway point for 0
Rule 9: Crossing
C thee imaginary axis
a
The C. E is, 1 5 1.5 6 5 1.5 0
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Put ⇒ 6 5 1.5 0
On equatting the imagginary part to
o zero, 5 ⇒ 5
On equatting real partt to zero, 6 1.5 0⇒ 6 5 1.5 0, 6.67

(ii) We have
h 3 and 0
Rule 1: The
T loci starrt from 0 at the OL poles
Rule 2: The
T loci endd at → ∞ at a 3 infinite zeros
z at |∞|
Rule 3: The
T number of loci is 3, as 3
Rule 4: Root
R loci aree symmetrical with respeect to real axxis
Rule 5: There
T are 3 0 3 asymptotes. The angles of asymptottes are givenn by:
2 1 3 4
, , ; 0,1,2
3 0 3 3 3
Rule 6: The
T point off intersection
n of the asym
mptotes is, 1.33
Rule 7: Identify
I bran
nches of locii on the real axis
Rule 8: The
T breakaw t solution of
way point is the 0
4 13
1 ⇒ 3 8 13 0⇒ 1
1.33 1.6
Since thee values of for 1.33
1 1.6, are not real and positivee, these poinnts are not ann
actual breeakaway or break-in poiints. The roo
ot locus has nneither breakkaway nor bbreak-in poinnts.
Rule 9: The
T angle off departure from
f mplex pole att 2
the com 3 is given by::
180
0 180 tan 90 33.7
3
By conju
ugate symmeetry, angle off departure from
f mplex pole aat ( 2
the com 3 is 33.7
Rule 10: Crossing th he imaginary
y axis.
The charracteristic eq
quation, 4 13 0
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Put ⇒ 4 13
1 0
On equatting imaginaary part to zeero, 13 0 ⇒ 3.6
On equatting real partt to zero, 4 0 ⇒ 52
2
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⑫. We
W have 4 and 0
Rule 1: The
T loci starrt from 0 at the OL poles
Rule 2: The
T loci end d at → ∞ at a 4 infinite zeros
z at |∞|
Rule 3: The numberr of loci is 4, as 4
Rule 4: Root
R loci aree symmetrical with respeect to real axxis
Rule 5: There
T are 4 0 4 asymptotes. The angles of asymptottes are givenn by:
2 1 3 5 7
, , , ; 0
0,1,2,3
4 0 4 4 4 4
. .
Rule 6: Centroid
C is, 0.333
Rule 7: Identify
I bran
nches of locii on the real axis
Rule 8: The
T breakaw
way point is the
t solution of 0
⇒ 0
4.78, 11.02,, 1.4277 1.309
4.78 is the vallid breakawaay point.
Rule 9: The
T angle off departure from
f the commplex pole att 2 2.6646 is givenn by:
1800 49.8
85
The angle of departuure from the complex
c polle at 2 2.646 is ggiven by: 4
49.85
Rule 10: Crossing th he imaginary y axis.
The C. E is, 10 35 66 9 0
Put ⇒ 35 9 10 66 0
On equatting real and
d imaginary parts
p to zero,
35 9 0 &10 66 0⇒ 26.45, 708.45
26.4
45 is real an
nd positive gaain at which h root locus ccrosses axxis.
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⑬. System’s tran
nsfer function
n in frequen
ncy domain i s calculated as follows:

1 → 20 ,2 →0 ,3 → 4
40 /
1 break‐freequency, 1.3, drop from coorner to actu ual curve 3
2 break-freequency 9, op from cornner to actual curve 6
dro
Initial asymp i 20
ptotic slope is nd it has a vaalue of 0
an at 0.455. There sysstem
gain
g 0.4
45.
From
F the abo
ove,
/ . /
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⑭. The
T Nyquist contour
c ns , , , . The mappping of eachh section is
has four section
performeed separately
y and the oveerall Nyquistt plot is obtaained by com
mbining the eeach sectionn.

We will consider
c when varies from 0 to ∞ & ∞ to 0.

When thee locus croosses real axis the imaginnary

term willl be zero and
d the corresp
ponding frequ uency is the
phase cro
ossover frequuency, .
At , 1 0⇒ 1rad/seec
At 1 raad/sec ⇒ 2
As → 0, → ∞∠ 27
70
As → ∞, → 0∠ 90
0
When, 2 1, the contour passes throu
ugh 1 0 point
and corrresponding value
v of is the limitingg value of for

stability.

Limiting value of ½ 0.55

Now, connsider the mapping
m of seections & .

The mappping of sectiion from s-plane to plaane is obtainned by lettingg

lim
m → in
i and varying
g from /2 to /22. Since → and
→ ∞, the
t can be app a shown beelow, [i.e., 1
proximated as .
2 2
1
3 3

Let lim → ⇒ 0
→

When /2, 0
When /2, 0

The mapp
ping of sectiion s-plan
ne to plane is obtained byy letting
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lim
m → in
n and varying
g from /2 to /2. Since → and → 0,
the n below, [i.e ., 1
can bee approximatted as shown 1.
2
1 ∗1
3 3 3

Let lim → ⇒ ∞
→

When /2, ∞
When /2, ∞

When, 0.5, the contour

c crossses real axiss at a point bbetween 0 annd 1 0. On travellinng
through Nyquist
N ndicated direection it is obbserved thatt the 1
plott along the in 0 point is
encircled
d in clockwisse direction two
t times. Therefore
T thee system is uunstable.

When, 0.5, the contour

c crossses real axiss at a point bbetween 1 0 and ∞ ∞. On travellling
through Nyquist
N plott along the in
ndicated direection it is obbserved thatt -1+j0 point is encircledd in
both clocckwise and anticlockwise
a e direction on
o time. Hennce net encirrclement is zzero. Therefoore
the system
m is stable. Therefore
T th
he system is stable whenn 0.5.