MAE 143B

Linear Control

Prof. M. Krstic

MIDTERM SOLUTION

May 3, 2012

Problem 1: Block Diagram Reduction (3 points) Consider the following block diagram:

Using block diagram algebra, reduce the block diagram to find the transfer function T =
Simplify the transfer function as much as possible to recieve full credit.

Y
.
U

Problem 2: Transfer Function (4 points) Find the transfer function

+-

++

b ++

y
r

for the following system:

G
G
The best way to solve this problem is by writing a system of equations involving the signals
a and b. It is probably impossible (or very difficult) to solve this problem using only block
diagram manipulations, whereas the use of Masons rule is possible but overly complicated.
Equations involving the signals a and b:
a = r Gb
b = a + Gy
y =a+b
Plugging (2) in (1) and (3), we have
a = r Ga G2 y
y = 2a + Gy
which lead to
y=2

2
G G2
r G2 y
+ Gy =
r+
y
1+G
1+G
1 + G

G G2
2
1
y=
r
1+G
1+G
y
2
=
r
1 + G2

(1)
(2)
(3)

Problem 3: Time Domain Specifications and Sensitivity (8 points) The following block diagram
models an armature-controlled DC motor.

(a) (3 points) Find the transfer function G(s) from Td (s) to (s), and the transfer function H(s)
from Va (s) to (s).
G(s) =
=
H(s) =
=

1+
La

1
Js+F
k4 k5
(Js+F )(La s+Ra )

Js2

La

La s + Ra
(Js + F )(La s + Ra ) + k4 k5

La s + Ra
+ (Ra J + La F )s + Ra F + k4 k5

k5
(Js+F )(La s+Ra )
4 k5
+ (Js+F k)(L
a s+Ra )

Js2

k5
(Js + F )(La s + Ra ) + k4 k5

k5
+ (Ra J + La F )s + Ra F + k4 k5

(b) (2 points) Given La = 1, Ra = 1, J = 2, F = 3, k4 = 5, calculate the sensitivity of the

closed-loop transfer function H(s) with respect to changes in k5 .
Define A(s) , La Js2 + (Ra J + La F )s + Ra F . Then, H(s) =

k5
.
A(s)+k4 k5

dH k5
(A(s) + k4 k5 ) k5 k4
A(s)
(A(s) + k4 k5 ) =
=
2
dk5 H
(A(s) + k4 k5 )
A(s) + k4 k5
2
La Js + (Ra J + La F )s + Ra F
=
La Js2 + (Ra J + La F )s + Ra F + k4 k5
s2 + 5 s + 3
2s2 + 5s + 3
= 2
= 2 5 2 3 25
2s + 5s + 3 + 5k5
s + 2 s + 2 + 2 k5

SkH5 =

(c) (1 points) Determine k5 such that the overshoot is Mp = e

2
From Mp = e/ 1 = e/ 3 , we have

1
p
=
3
1 2

2
1
=
1 2
3
3

4 2 = 1

1
2

From
2n =
we have

5
2

25
3 5
+ k5 = n2 =
2 2
4

n =

5
2

k5 =

19
10

(d) (2 points) What are the settling time, rise time, and peak time for H(s) determined in (c)?
4.6
4.6
=
= 3.68
n
(1/2)(5/2)
1.8
1.8
tr =
=
= 0.72
n
5/2

4
4 3

tp = p
= q

= 53 = 15
5
1 2
n 1 2
1 2
2
ts =

Problem 4: PID Control (7 points) Consider the following system:

+-

1
s3 + 2s2 + 2s + 1

(a) (2 points) Using Rouths criterion, find the gain K that would make the feedback system
marginally stable.
K
K
Y
3
2
= 3
= s +2s +2s+1
K
U
s + 2s2 + 2s + 1 + K
1 + s3 +2s2 +2s+1
This closed-loop system is asymptotically stable. 1 + K > 0 and 4 > 1 + K
1 < K < 3
Therefore, the closed-loop system becomes marginally stable when K = 1 or 3.
(b) (1 points) Using Ziegler-Nichols tuning, find the gain kp needed for P (proportional) control.
As we increase K from 0, the closed-loop system becomes marginally stable when K = 3,
which means that the ultimate gain is Ku = 3. Thus, the ultimate sensitivity method leads
us to kp = K2u = 32 .
(c) (2 points) The ultimate
period corresponding to the Ziegler-Nichols tuning in (b) can be

shown to be Pu = 2. What should be the PI, PID control gains?

With the ultimate gain Ku = 3 in (b), we have
PI

P ID

Pu
2
5 2
kp = 0.45Ku = 1.35, TI =
=
=

1.2 1.2
6

Pu
2
Pu
2
kp = 0.6Ku = 1.8, TI =
=
, TD =
=

2
2
8
8
4

(d) (2 points) Show that indeed Pu =

2.

When K = 3, we have
K
K
K
Y
= 3
= 2
= 2
2
U
s + 2s + 2s + 4
s (s + 2) + 2(s + 2)
(s + 2)(s + 2)
Thus, n2 = 2, which leads to
Pu =

2
2
= = 2
n
2

Problem 5: Stability (3 points) Are the following polynomials stable? If not, how many eigenvalues in the right-half plane do they have?
(a) (1 points) pa (s) = s3 + 2s2 + 2s + 5
s3 1 2
s2 2 5
s1 21
s0 5
Unstable. There are 2 poles in the right-half plane.
(b) (2 points) pb (s) = s6 + s5 + 2s4 + 4s3 + 3s2 + 3s + 2
s6 1 2 3 2
s5 1 4 3
s4 2 0 2
s3 4 4
s2 2 2
s1 0
a1 (s) = 2s2 + 2
s1 4
a01 (s) = 4s1
0
s
2
Unstable. There are 2 poles in the right-half plane.