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G 1 G 2 (s)
C (s)
=
R ( s ) 1+G1 G 2( s)
Suppose
G1 ( s ) =
280 ( 2 )
560
=
( s+10 ) ( s+ 10)
1
and G2 ( s ) = (s +0.2)(s +4 ) ;
560
C (s)
(s +10)(s +0.2)(s +4 )
=
R (s )
560
1+
( s+10)(s+ 0.2)( s+ 4)
C( s)=
560 R (s )
s +14.2 s 2+ 42.8 s +568
3
Let
C(s) =
560
A B
C
Ds+ E
+ +
+ 2
2
2
s ( s+14.034 ) ( s +0.166 s+40.47 ) = s s s +14.034 s + 0.166 s+ 40.47
2
560= A [s 3+ 0.166 s 2+ 40.47 s +14.034 s 2 +2.329 s+ 568]+ B[s 4 +14.2 s 3+ 42.8 s 2 +568 s ]+C [s 4 +0.166 s 3 +40.4
s
[ 3+14.034 s 2 ]
3
2
4
3
2
4
3
2
4
3
560= A [s +14.2 s +42.8 s+568]+ B [s + 14.2 s + 42.8 s +568 s]+C [s +0.166 s + 40.47 s ]+ D[s +14.034 s
560=s 4 ( B+C + D ) +s 3 ( A +14.2 B+0.166 C+ 14.034 D+ E ) + s2 (14.2 A+ 42.8 B+ 40.47 C+14.034 E )+ s ( 42.8 A
s4;
0=B+C+D
s3;
0=
- (b)
s2;
0=
- (c)
s1;
0=
42.8 A+568 B
s0;
560 =
- (a)
- (d)
568 A
- (e)
560
568 =0.9859
- (f)
From (a),
A=
42.196
= - 0.07428
568
- (g)
- (h)
E=
13.814+ 40.47 D
14.034
= -0.9843 +2.883D
- (i)
+ (-
0.9843 +2.883D)
0.9859-1.0547+0.0123-0.166D+14.034D-0.9843+2.883D= 0
16.751D =1.0408
1.0408
D = 16.751
= 0.0621
- (j)
- (k)
- (l)
Thus, substitute the value of A as in (f), B as in (g), C as in (k), D as in (j) and E as in (i) into
C(s) equation,
C(s) =
0.083
s +
2
2+6.36
0.083
C(s) =
s +
0.0621(s +0.083)
0.9859 0.07428 0.0121
+
+
+
2
s
s +14.034
s
Apply inverse laplace transform to get time-domain equation,
-1 C(s) =
0.083
s +
2+6.362
0.083
-1
[
]
s +
(s +0.083)
0.9859 0.07428 0.0121
+
+
+0.0621
2
s
s +14.034
s
C(t) = 0.9859t - 0.07428+ 0.0122e-14.034t + 0.0621e-0.083t cos6.36t 0.1274 e-0.083t sin6.36t
>>sys= tf(num,den)
>>step (sys)
>>grid
>>[r,p,k]=residue(num,den)
r=
0.0121
0.0311 + 0.0637i
0.0311 - 0.0637i
-0.0743
0.9859
p=
-14.0342
-0.0829 + 6.3613i
-0.0829 - 6.3613i
0
0
k=
[]
Transient Response of System with Step Disturbance for ramp input (Analytical Method)
As in previously stated that,
C ( s )=
Suppose
G1 ( s ) =
G2 ( s ) G1 ( s ) R(s)
G2 ( s ) D( s)
1
560
G2 ( s ) =
and
( s+ 0.2 )( s+ 4) ;
(s +10)
560 R (s)
D( s)
( s+10 ) ( s +0.2 ) ( s+ 4)
( s+ 0.2 ) (s +4 )
C ( s )=
560
560
1+
1+
( s+ 10 )( s+ 0.2 ) (s +4)
( s+10 ) ( s +0.2 ) ( s+ 4)
C ( s )=
560 R(s)
( s+ 10 ) D(s)
3
2
2
s +14.2 s + 42.8 s +568 s +14.2 s2 +42.8 s2 +568
3
R ( s )=
1
1
2 and Step Disturbance D ( s ) =
s
s
C ( s )=
1
560 ( 2 )
( s +10 ) ( 1 )
s
s
3
3
2
2
s +14.2 s +42.8 s+568 s +14.2 s + 42.8 s +568
C ( s )=
s
s ( 3+14.2 s 2+ 42.8 s +568 )
=
560s 210 s
560s 210 s
s 2(s+ 14.034)(s 2+ 0.166 s +40.47)
C ( s )=
Let
A B
C
Ds+ E
+ +
+ 2
2
s s s+ 14.034 ( s +14.2 s +40.47 )
A B
C
Ds+ E
560s 210 s
+ +
+ 2
2
2
2
s (s+ 14.034)(s + 0.166 s +40.47) = s s s +14.034 s + 0.166 s+ 40.47
560s2 10 s= A ( s +14.034 ) ( s2 +0.166 s+ 40.47 ) + B(s)(s +14.034)( s2 +0.166 s+ 40.47)+C ( s 2 ) ( s 2+ 0.166 s +
s 3+14.034 s 2
2
3
2
2
4
3
2
4
560s 10 s= A[ s +0.166 s +40.47 s+14.034 s + 2.329 s+568]+ B [s +14.2 s + 42.8 s +568 s]+C [s + 0.16
s
[ 3+ 14.034 s 2 ]
560s2 10 s= A[ s3 +14.2 s 2+ 42.8 s +568]+ B[s 4 +14.2 s 3 +42.8 s2 +568 s ]+C [s 4 +0.166 s3 +40.47 s2 ]+ D [s 4 +
560s2 10 s=s4 ( B+C+ D )+ s 3 ( A+14.2 B +0.166 C+14.034 D+ E )+ s 2 ( 14.2 A +42.8 B+40.47 C +14.034 E )
s4;
0=B+C+D
s3;
0=
- (a)
- (b)
s2;
-1 =
s1;
-10 =
42.8 A+568 B
- (d)
s0;
560 =
568 A
- (e)
- (c)
From (a),
A=
560
568 = 0.9859
- (f)
52.1965
= - 0.09189
568
- (g)
- (h)
14.7856+ 40.47 D
14.034
= -1.05356 +2.883D
- (i)
1.3572
D = 16.751
= 0.081
- (j)
- (k)
- (l)
Thus, substitute the value of A as in (f), B as in (g), C as in (k), D as in (j) and E as in (l) into
C(s) equation,
C(s) =
0.083
s +
2
2+6.36
0.083
C(s) =
s +
0.081(s +0.083)
0.9859 0.09189 0.1089
+
+
+
2
s
s +14.034
s
Apply inverse laplace transform to get time-domain equation,
-1 C(s) =
0.083
s +
2
2+6.36
0.083
-1
[
]
s +
(s +0.083)
0.9859 0.09189 0.01089
+
+
+0.081
2
s
s +14.034
s
Transient Response for system without disturbance for the ramp input through simulink
(MATLAB Analysis)
Transient Response for system with disturbance for the ramp input through simulink (MATLAB
Analysis)
Transient Response for system with disturbance for the ramp input and ramp reference through
simulink (MATLAB Analysis)
G ( s )=G1 ( s ) G 2 (s )
G ( s )=280
G ( s )=
2
1
s +10 ( s+0.2 ) ( s +4 )
560
(s+10)(s +0.2)(s +4 )
-10, -0.2, -4
ii. Root locus on real axis is at between -0.2 and -4 and between -10 to -.
Pi Zi
( Poles ) ( Zeroes )
(14.20)
3
4.733
A=
(2 k +1)
,
( Poles )(Zeroes)
( s +10 ) ( s+ 0.2 )( s+ 4 )+ K =0
s
( 3+ 4 s +0.2 s + 0.8 s+10 s2 + 40 s+ 2 s+8 )
K =
2
dK
2
=(3 s +28.4 s+ 42.8)
ds
Let
dK
=0,
ds
s=1.881,7.586
28.92
K breakaway =
3 +42.8 ( j )=0
( 2 42.8 ) =0
= j6.542 rad s1
Substitute ,
K c +814.2 2=0
vi. The root locus plot is shown as Graph 1.
den =
1.0000 14.2000 42.8000
8.0000
K c =599.728
Transfer function:
560
--------------------------s^3 + 14.2 s^2 + 42.8 s + 8
Eigenvalue
Damping
Freq. (rad/s)
-2.00e-001
1.00e+000
2.00e-001
-4.00e+000
1.00e+000
4.00e+000
-1.00e+001
1.00e+000
1.00e+001
Wn =
0.2000
4.0000
10.0000
zeta =
1
1
1
P=
-0.2000
-4.0000
-10.0000
2.5 Frequency-response method(Bode plots using both asymptote and MATLAB) and
Nichols chart
2.5.1 Frequency-response method (Bode plots using asymptote method)
D(s)
R(s)
280
+
G ( s )=
OLTF,
C(s)
C ( s)
R( s) =
280(2)
(s +10)(s +0.2)(s +4 )
560
s
s
s
8( +1)(
+1)( +1)
10
0.2
4
G ( j )=
70
j
j
j
( + 1)(
+ 1)( +1)
10
0.2
4
Phase
CF
Slope
Slop
e
LCF
Slope
Slop
e
HCF
Slope
Slop
e
(1+
j 1
)
0.2
0.2
20dB
-20dB
0.0
2
-45
-45
45
-90
(1+
j 1
)
4
20dB
-40dB
0.4
-45
-90
40
45
-45
(1+
j
)
10
10
20dB
-60dB
1.0
-45
-135
100
45
Therefore, Bode plot is shown as Graph 2. From the Bode plot shown, the system is unstable
with Gain Margin = -2db and Phase Margin = -4.8.
den =
1.0000
14.2000
Transfer function:
560
--------------------------s^3 + 14.2 s^2 + 42.8 s + 8
42.8000
8.0000
sys =
GainMargin: 1.0711
GMFrequency: 6.5425
PhaseMargin: 1.8248
PMFrequency: 6.3230
DelayMargin: 0.0050
DMFrequency: 6.3230
Stable: 1
and Bode plot via MATLAB shown in Figure 2.
>>sys = feedback(sysp,1);
>> w = logspace(-1,2);
>> bode (sys,w);
>> [mag, phase, w] = bode (sys, w);
>> [Mp, k] = max (mag);
>>bandwidth = bandwidth(sys)
MATLAB responds with
Transfer function:
600
--------------------------s^3 + 14.2 s^2 + 42.8 s + 608
bandwidth =
12.1376
and closed loop bode diagram via MATLAB is shown as Figure 3.
From Figure 3, it shows that the closed loop bode diagram is an unstable system with resonant
peak of 5.82dB and resonant frequency of 7.91rad/sec.
simulation or modeling of real system as well. Moreover, error analysis can be separate into
forward error analysis and backward error analysis in numerical analysis.
Root Locus is one of the common technique for design criteria, this method is involved
iterating on a design by manipulating to the compensator gain, poles and zeros in root locus
diagram. Usually, this method is used to tune the gain of single input and single output (SISO)
control system with specifying a designed set of closed-loop pole location.
Frequency response method can be explain as the steady state response of the system to a
sinusoidal input signal which involved a unique input signal, resulting output signal for linear
system and signal from the system. The frequency-response function usually is used to describe
the amplitude change and also the phase shift as a function of frequency.
Lastly, Nichols chart is one of the graphical methods for frequency response. Its display
the magnitude in term of dB plotted against the phase in term of degrees of the system response.
Furthermore, it useful to analyze open loop and closed loop system for SISO.