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Control_System_Solutions

The document provides solutions for control system analysis, focusing on calculating the error E(s) for a unity feedback system with specified controller, plant, and patient dynamics. It includes the steady-state error calculation using the Final Value Theorem and the steady-state output response to step disturbance. Additionally, it discusses the sensitivity of the system to parameter changes, specifically the parameter p.

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5 views2 pages

Control_System_Solutions

The document provides solutions for control system analysis, focusing on calculating the error E(s) for a unity feedback system with specified controller, plant, and patient dynamics. It includes the steady-state error calculation using the Final Value Theorem and the steady-state output response to step disturbance. Additionally, it discusses the sensitivity of the system to parameter changes, specifically the parameter p.

Uploaded by

fadekeelizabetholuwafemi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Control System Analysis Solutions

1. Calculate the Error E(s)

We are given a unity feedback system:

- Controller: Gc(s) = 1/s (k_D s^2 + k_P s + k_I)

- Plant: Gp(s) = 1/s

- Patient: G(s) = 1 / (s + p)^2

- Sensor H(s) = 1

- Reference input R(s) = R0/s

Total open-loop transfer function:

G_OL(s) = Gc(s) * Gp(s) * G(s)

= (k_D s^2 + k_P s + k_I) / (s^2 (s + p)^2)

Closed-loop error:

E(s) = R(s) / (1 + G_OL(s))

= [R0/s] * [s^2 (s + p)^2] / [s^2 (s + p)^2 + k_D s^2 + k_P s + k_I]

Final Result:

E(s) = R0 * s (s + p)^2 / [s^2 (s + p)^2 + k_D s^2 + k_P s + k_I]

2. Steady-State Error (T_d = 0)

Using Final Value Theorem:

lim s->0 [s * E(s)]

E(s) = R0 * s (s + p)^2 / [s^2 (s + p)^2 + k_D s^2 + k_P s + k_I]

As s -> 0:

Numerator -> 0

Denominator -> k_I


Control System Analysis Solutions

e_ss = 0

3. Steady-State Output to Step Disturbance (R(s) = 0)

Transfer function from disturbance to output:

Y(s) = [G(s)] / [1 + Gc(s) Gp(s) G(s)] * T_d(s)

T_d(s) = D0 / s

Y_ss = lim s->0 [s * Y(s)] = D0 / (p^2 + k_I)

Final Result:

Y_ss = D0 / (p^2 + k_I)

4. Sensitivity S_p^T to Parameter p

Sensitivity:

S_p^T = (p / T(s)) * dT(s)/dp

T(s) = L / (1 + L), where L = Gc * Gp * G

dT/dp = (dL/dp) / (1 + L)^2

L(s) = N(s) / [s^2 (s + p)^2], N(s) = k_D s^2 + k_P s + k_I

dL/dp = -2 N(s) / [s^2 (s + p)^3]

Final Result:

S_p^T = - 2p N(s) / [s^2 (s + p)^3 * L(s) * (1 + L(s))]

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