HAPTER 10 The Design of Feedback Control Systems Exercises E101 £10.2 From the design specifications, we determine that our desired ¢ = 0.7 and Wn = 5.66. The characteristic equation is K(s+a) 14+G.G(s) = 1 =0, + GeG(s) = 1+ Ty +(84+K)s+Ka=0, Our desired characteristic polynomial is £4 Mugs +2 = 6? + 85432 =0 Thus, K +3= 8, o1 K=5 and Ka a=64 The characteristic equation is 400 400(K1s + 1) 14+6G,(s) =1+ —“" _ (x, AOMis+D 9, ay ++) ( oe +3 +40) 4008 1+ Ky 3+ 405? + 400£10.3 We desire ¢ = 0.45 for an overshoot of 20%. ‘The root locus is shown in Figure 10.2, We select a point slightly inside the performance region (defined by ¢ = 0.45 ) to account for the zero. Thus, Ky =05 and the closed-loop poles are 31 = 35 Sg = 2.7 £j2 ‘The actual P.O. = 20.7% a i Rea Axis FIGURE £10.2 Root locus for 1+ Ki srrittaas = 0 ‘The step response is shown in Figure 510.3 for r= land K = 05. It can be seen that the PO.=4%, so this is a valid solution.E104 Anptinde Dw FIGURE £10.3 Step response for K Sand ‘The Bode plot is shown in Figure F104, The phase and gain margins are marked on the plot, where it can be seen that P.M. = 75 4° and GM. = 286 dB. Bode Diagram (Gm = 28.6 48 (at 11 8 rad'sec) , Pm-=75.4 deg (at 0.247 radisec) 150/— a 7 3 3 3 2 & i Frequency (radsec) FIGURE £10.4 on(a4 0415)(040.7 Bode plot for GCe(0) = arorigt SPIT£10.5 E10.6 £10.7 We require that Ky > 2.7, ¢ = 0.5 and wy = 3 for the dominant roots, ‘We want to place a zero to left of the pole at -2, so the complex roots will dominate. Set. the zero at s = —2.2. Then for the desired roots find the location of pole p in compensator Ki(s+2.2) (s+p) to satisfy 180° phase at the desired roots. This yields Ges) = 16.4. Using root locus methods, we find that KK; = 165.7, so with K, = 7.53, we determine that K = 22, and _ 7.46(s + 2.2) Gels) = 6a) Then Ky= ‘The closed-loop transfer function is 7 226(s-+4) ~ 14+GH{s) + 14-7655 + 151-38? + 349.85 + 1304 ‘The roots are 0.87 + 73.2 6.54 58.7 S34 Assuming 81,2 dominates, then we expect overshoot, P.O. = 43% and T, = 4.6 sec ‘The diserepencies with the actual P.O. and T; are due to the poles 53,1 and the zero at s = ~4. ‘The open-loop transfer function is Ke-05s GO = e410) A plot of P.M. as a function of K is shown in Figure E10.7. It can be seen that P.M. = 50°7 phase marin vrs K PASO KM 7 FIGURE E10.7 Plot of phase margin versus 1 E10.8 The open-loop transfer function is Ge) 2257 8060714 % S0:00285 FT) ss + 357-14) * and the compensator is, Gals) Mera . where 2 = Ko/JC. The characteristic equation is, 88 +357. 1ds" + Kis + Ke =0 Using Routh-Hurwitz methods, the system is stable for 0< Ky < 35714 Ki or Ko/ Ky < 357.14, Select the zero z at s = —10, then using root locus methods we determine that Ky, = 0.08 and Ky = 0.8. The roots of the characteristic equation are s1=-106 and sy3= 1754 j175, and (= 707, as desired. The step response is shown in Figure E10.8.£10.9 Alta Time ee) FIGURE £10.8 Step response with Ki = 0.08 and Ka = 08. ‘The open-loop transfer funetion is Kils+ Ko/Ki) GG.(8) = s(¢+1) and Ky = lim sGG.(s) = Ka - Select Ky = 5. The characteristic equation is P+ (Ki +1) + Ke and we want 8? + wns +, =0. Equating coefficients yields wy = VK = V5. Also, since we want P.O. = 5%, we require ¢ = 0.69. Thus, 2g = Ky +1 implies Ky = 2.08 ‘The step response with Ky = 2.08 and Ky = V5 yields a PO. > 5%, This£10.10 is due to the zero at s=-108 So, we raise the gain Ki is shown in Figure F10.9. 3 and then the P.O. = 5%. The step response Arline t ‘ eo °y 0s t s 2 25 a ine (ses) FIGURE 10.9 Step response with Ky =3 and Ky = 5 ‘The open-loop transfer function is __(Kis+ Ka) GGL) = To etd Let Ky = 4. Then, the plot of the phase margin as a funetion of Ky is shown in Figure E10.10, where it can be seen that P.M. = 53.4° is the maximum achievable phase margin. This occms when Ky = 5.5, Por Ky = 5.5 and Ko =4 we have P.O. = 13.3% and Ty = 1.5 seePhase Magn de) & xi FIGURE 10.10 Phase margin versus Ky with Ky = 4 £10.11 The Nichols diagram and the closed-loop Bode plot are shown in Fig- ures E10.11a and E10.11b, respectively. ia aB 38025008 Paseo) sores htt 0m FIGURE £10.11 {a) Nichols diagram for GCc(s)£10.12 £10.13 Orin he oe vo! wo: vos Fences) te we Wo! wo 0 Frjency ates) FIGURE £10.11 aus CONTINUED: (b) Clsed-toop Bode plot for Ges) = rept ‘The open-loop transfer funetion is KK (s+ GG(s) Ver) When KK, = 5.12, the roots are sig = 0.58 = 50.58 384 ‘The complex poles have ¢ = 0.707 and the predicted settling time is, T, = 4/0.58 = 6.89 sec. The actual settling, time is T. = 6.22 sec For the cascade compensator, we have B.A(s+1) G0) ne)= sey rhe) “THEGS) where 7 = —1 + j2 and ry = —1.67, For the feedback compet ator, wehave G(s) 8.1(5 +3.6) 14+GG.(s) (s+rij(s+7*ij(s+re) * where Gs) = es and Gels) = ean . ‘The response of the two systems differ due to different value of the zero of T; and To, however, both systems have the same characteristic equation. £10.14 The Bode plot (with the lag network) is shown in Figure B10.14; the Wo SIMD EOE BO | ~ a “50 4 | 4 toy : | he GTS a io Frequency dae) £10.15 At the desired crossover frequency we = 10 rad/sec, we have 20 log |GH (10) -8.1dB and 4GH{(j10) = -169°£10.16 B10.17 ‘Therefore, the phase maigin is PM. = 11°. So, = 30-11? = 19° and M=8.1 dB Since ¢ > 0 and M > 0, a lead compensator is required. At the desired crossover frequency we = 2 rad/sec, we have 20log |GH(j2)| = 17 AB and LGH(j2) = -134° ‘Therefore, the phase margin is P.M. = 46°. So, 6 = 30° — 46° = —16° M=~17dB Since ¢ <0 and M <0, a lag compensator is requited, Using a prefilter 7 _ Ke Col) = Fist Ke the closed-loop transfer function is Ky Ts + (Ki + s+ Ky ‘The required coefficients for a deadbeat system are a = 1.82 and T, = 4.82. Therefore, Ky =uh Ky = 00m -1 Since we desired a settling time less than 2 seconds, we determine that, 7/2 = 4.82/2 = 241 ‘Then, the gains are Ky Ke 3.39 81 ‘The step response (with the prefilter) is shown in Figure E10.17. The percent overshoot is PO. = 0.098% and the settling time is T, = 1.99 seconds,£10.18 £10.19 o8| 06) Amplitude oa) 02! os 1 is 2 2s 3 35 4 455 ‘Time (sees) FIGURE £10.17 Step response for the deadbeat system Consider the PI controller Ge) = Ky + KE and the prefilter G p(s) ‘Then, the closed-loop system is (0) = 3008+ 8000 °F 2808+ 3000 * The percent overshoot is P.O. = 9.2% and the settling time T, = 0.16 seconds. The steady-state tracking error to a unit step is zero, as desired Consider the PID contioller 100s? + 1000s + 10000 Gels) = *‘The closed-loop transfer function is _ __100(s? + 10s + 100) 33 905? + 1000s + 10000 ‘The settling time to a unit step is T, = 0.42 seconds. T(s)