MSc 55-7963 - Control of Linear Systems Assignment

Module Leader: Hongwei Zhang

Set: 02.10.14
Last handing in date: 19.12.14 (before 4pm to Cantor Reception or by email to
H.Zhang@shu.ac.uk)
1. This question relates to the following system.

R(s)

1
s

KB

15
2
s + 11s + 10

(s + 2)
(s + 5)

Y(s)

(a) Determine the closed-loop characteristic equation of this system.

[5 Marks]
(b) Determine the range of values of KB for which this system will operate in a
stable manner.
[10 Marks]
Total: 15 Marks
2.

Given a system having the following state-space model:

1
a11 0
0

A = 1 3 2 , b = 0, c = [0 1 0], d = 0
0
1
0 4
(a) Draw its simulation diagram
[4 Marks]
(b) By reducing the simulation diagram to a transfer function (i.e. not by using the
rank tests), determine and explain any values of the gain a11 for which the
system would be:
(i) unstable.
(ii) uncontrollable.
(iii) unobservable.
[7 Marks]
(c) Confirm the results of parts (2) (ii) and (iii) using rank tests.
[4 Marks]
Total: 15 Marks
1

3.

A system has a transfer function

G (s) =

s+2
.
s + 4s 2 + s 6
3

(a) Obtain a state-space model of the system

[5 Marks]
(b) There are several ways of showing that this system is unstable. Your task is
to stabilise it using state variable feedback. Here are some matters to
consider. Your responses to these will depend on your state space model
and, even if you have generated the same model as a colleague, you still
have an infinite number of choices for the closed-loop pole locations, for
example, so different solutions are quite likely.
Is it necessary to perform a controllability test? If so, do it, if not, why
not?
Is it necessary to perform a stabilisability test? If so, do it, if not, why
not?
Is it necessary to perform an observability test? If so, do it, if not, why
not?
Where are you going to place your closed-loop poles, and why?
[10 Marks]
(c) Produce a simulation diagram, containing no vectors or matrices, showing
how your controller interfaces with the plant, assuming that you can measure
all the state variables.
[5 Marks]
(d) Work out whether your controlled system will exhibit any steady-state error
following a step input (I have in mind an analytical solution, but doing it by
simulation is OK so long as you provide all relevant details). Describe (but do
not design) how a tracking controller could be designed to overcome such
behaviour.
[10 Marks]
Total: 30 Marks

4.
R(s)

C(s)
23
s + 23

K
KP + I
s

Figure Q4 A lateral beam guidance system inner loop

A lateral beam guidance system has an inner loop as shown in Figure Q4, where the
transfer function for the coordinated aircraft is
G (s) =

23
s + 23

Consider the PI controller

Gc ( s ) = K P +

KI
s

(a) Design a control system to meet the following specifications:

a. Settling time (with a 2% criterion) to a unit step input of less than 1
second;
b. Steady-state tracking error for a unit ramp input of less than 0.1.
(b) Verify the design by a Simulink simulation.
Total: 20 Marks
5.

Gc ( s )

GP ( s )

Figure Q5 A control system

A plant to be controlled is described by the transfer function
GP ( s ) =

280 ( s + 0.5 )
s ( s + 0.2 )( s + 5 )( s + 70 )

The block diagram is shown in Figure Q5.

(a) Design a compensator GC ( s ) to satisfy the following specifications of the
closed-loop system:
3

1. Steady-state error for a ramp input ess 0.02;

2. Phase margin PM 45.
(b) Justify your design with plots showing all specifications are satisfied.
Total: 20 Marks

Note: Although you will probably consult colleagues, notes, books and staff during
the execution of this assignment, the work you hand in MUST BE DONE BY
YOU. The University takes cheating very seriously and the appropriate
investigation procedures will be invoked if necessary!