6

PROBLEM NO. 3 (20%)

Consider a PD controller of the form:

C ( s) = K ( s + a) , R(s) Y(s)
C(s) P(s)
and a plant: "
1
P (s) =
( s + 1) ( s + 2 )
for the following closed-loop system.

Determine:
a) The values of K and a that correspond to closed-loop pole locations of -3 and -8.
b) The time constant that corresponds to the dominant closed-loop pole location.
c) Using the values of K and a determined in part a), find the steady state error when the input
is a unit step (use the final value theorem, and show all of your work).

C (s) P (s) K ( s + a) K ( s + a)
CLTF: G ( s ) = = = 2
1 + C ( s ) P ( s ) ( s + 1) ( s + 2 ) + K ( s + a ) s + ( 3 + K ) s + 2 + Ka

CLCE: 0 = s 2 + ( 3 + K ) s + 2 + Ka

Desired CLCE: 0 = ( s + 3) ( s + 8 ) = s 2 + 11s + 24

Comparing coefficients of the two CEs:
s1 : 3 + K = 11 ! K=8
22 22
s 0 : 2 + Ka = 24 ! Ka = 22 ! a= =
K 8
1 1
Most CL dominant pole: p = !3 " #= =
p 3

Steady-state solution to unit step:

" G (s) % Ka 22 11
yss = lim { sY ( s )} = lim # s & = G (0) = = =
s!0 s!0 $ s ' 2 + Ka 2 + 24 12
11 1
ess = rss ! yss = 1 ! =
12 12
 2

PROBLEM NO. 1 (20%)

A) Sketch the root locus for the following system,
where
1
P (s) = .
s ( s + 2 )( s + 4 )
Make sure to clearly calculate (and show on the
sketch) any relevant characteristics, including:
break-in points, break-away points, imaginary
axis crossings, asymptote angles and
intersections, angles of departure, angles of
arrival, etc.
1
CLCE: 0 = 1 + K ! s 3 + 6s 2 + 8s + K = 0
s ( s + 2 )( s + 4 )
OL zeros: none
OL poles: p1 = 0, p2 = !2, p3 = !4
RL on the real axis: p2 < s < p1 and s < p3
Since all 3 RL branches go to ! , we need to find three asymptotes:

!0 =
" pi # " zi = 0 # 2 # 4 = #2
NP # NZ 3# 0
180°
! k = ( 2k " 1) = 120°k " 60° = 60°,180°, 300°
NP " NZ
BA/RE points:

d ! 1 $ d ! 1 $ 3s 2 + 12s + 8
= # & = ' =0 (
ds #" s ( s + 2 ) ( s + 4 ) &% ds " s 3 + 6s 2 + 8s % 2
(3 2
s + 6s + 8s )
3s 2 + 12s + 8 = 0 ( s1 = '0.845 and s2 = '3.15 ( s2 is NOT on the RL, see above)
No complex OL poles/zeros - no need to find departure/arrival angles.
Imaginary axis crossing:
DCL ( j! ) = ( j! ) + 6 ( j! ) + 8 ( j! ) + K = #$ K " 6! 2 %& + #$ "! 2 + 8 %& ! j = 0
3 2

Imag : ! 2 = 0, 8 ' ! = 0, ± 8
Real : K = 6! 2 = 0, 48
8

K = 48

X X X
p3 p2 p1
K = 48

! 8

s = !0.845
 3

PROBLEM NO. 1 (20%) (continued)

B) Sketch the root locus for the following system, where

s +1
P (s) = .
(
( s + 2 ) s 2 + 2s + 2 )
Make sure to clearly calculate (and show on the sketch)
any relevant characteristics, including: break-in points,
break-away points, imaginary axis crossings, asymptote
angles and intersections, angles of departure, angles of
arrival, etc.
s +1
CLCE: 0 = 1 + K ! s 3 + 4s 2 + ( 6 + K ) s + 4 + K = 0
( s + 2 )( s 2
+ 2s + 2 )
OL zeros: z1 = !1
OL poles: p1 = !2, p2,3 = !1 ± j
RL on the real axis: p1 < s < z1
Since all 2 RL branches go to ! , we need to find two asymptotes:

!0 =
" pi # " zi = $% 0 # 2 + ( #1 + j ) + ( #1 # j )&' # [ #1] = #1.5
NP # NZ 3#1
180°
! k = ( 2k " 1) = 180°k " 90° = 90°, 270°
NP " NZ
BA/RE points: No BA/RE points since cannot breakin/re-enter the real axis between an OL zero
and OL pole. If you calculate these points, you find:
d ! s +1
3 2
( 2
$ (1) s + 4s + 6s + 4 ' ( s + 1) 3s + 8s + 6) ( )
# &=
ds " s 3 + 4s 2 + 6s + 4 % 2
(
s 3 + 4s 2 + 6s + 4 )
2s 3 + 7s 2 + 8s + 2
0= ' 2
(
(s 3 2
+ 4s + 6s + 4 )
2s 3 + 7s 2 + 8s + 2 = 0 ! s1 = "0.343, s2,3 = "1.58 ± 0.653 j
Note that s1 = !0.343 is NOT on the RL (see above) – no BA/RE points on real axis.
Departure/arrival angles:
! ( p2 " z1 ) " ! ( p2 " p1 ) " # P2 " ! ( p2 " p1 ) = ( 2k + 1)180°
! ( j ) " ! (1 + j ) " # P2 " ! ( 2 j ) =
$ 1' $ 1' $ 2'
tan "1 & ) " tan "1 & ) " # P2 " tan "1 & ) =
% 0( % 1( % 0(
90° " 45° " # P2 " 90° = *
# P2 = 180° + 45° = 135°
Since RL is symmetric about the real axis, ! P2 = "135° .
 4
Imaginary axis crossing:
3 2
DCL ( j! ) = ( j! ) + 4 ( j! ) + ( 6 + K ) ( j! ) + 4 + K
= #$ 4 + K " 4! 2 %& + #$ "! 2 + 6 + K %& ! j = 0

Imag : ! 2 = 0, 6 + K

( )
Real : K = 4 ! 2 " 1 = "4, 4 ( 5 + K ) ' NO values of K > 0 possible

135°

p2 X

p1
X Oz
1

p3
X

135°

s = -1.5
 7

PROBLEM NO. 4 (20%)

For the feedback system shown in Figure 1, the root locus for K ! [0, ") is sketched in Figure 2.

R(s) Y(s)
K P(s)

30.7°

!max

z1 p2 p1

!1 / " min !1 / "

a) Find P(s).
b) What is the smallest possible dominant time constant and what is the corresponding
controller gain K?
c) Indicate the pole locations that correspond to %OS ! 0.5 and 2% settling time
! 2 seconds.
d) What is the maximum possible %OS for any value of gain K ( K ! [0, ") )? (Clearly
show your work and an approximate estimation for the maximum %OS).
 8

Observed from figure:

OL zeros: z1 = !2
OL poles: p1 = 0, p2 = !1
!max " 45°
1 1
! # !3.4 $ " min = = 0.29
" min 3.4

a) OLTF: GOL ( s ) = KP ( s ) = K
( s ! z1 ) = K ( s + 2 ) " P (s) =
s+2
( s ! p1 ) ( s ! p2 ) s ( s + 1) s ( s + 1)

b) Smallest possible time constant (see above): ! min = 0.29

c) For %OS = 0.5 we need

(
ln 100 / 0.5 )
!= = 0.86 # () ( )
$ = cos %1 ! = cos %1 0.86 = 30.7°
2 2
(
" + ln 100 / 0.5 )
1
For ts = 2 = 4! " =2
!
Therefore, the acceptable CL pole locations are shown in the above wedge.

d) Maximum %OS corresponds to (see above):

! = !max " 45° # $ min = cos (!max ) = 1 / 2 #
' *
' &$ * &/ 2
) ,
%OS = 100 exp ) % , = 100 exp ) % = 4.32%
)( 2,
1 % $ 2 ,+ )( 1% 1/ 2 ( ) ,+

4

'1.2 
.&

) +

+
  
  

  
!/ #    , # 
 

 






 








$



+


$

 






   
   
 
!

"



#

  ??Σ # "  I   # #  

 
#

  <Σ@
# !  
# # "
#

A@A#