MECH261

Control Principles
Tutorial #8

Problem 1
Consider the differential equation: y + 2 y + y = u , where
y (0 ) = y (0 ) = 0 and u (t ) is a unit step. The poles of this system
are:

A) s1 = 1, s2 = 2

B) s1 = 1 j , s2 = 1 j

C) s1 = 1, s2 = 1

D) None of the above

Problem 2
Consider the closed-loop transfer function
A1 + kA2
T (s ) =
A3 + kA4

where A1 , A2 , A3 and A4 are constants. Compute the sensitivity

of the system to variations in the parameter k .

k ( A2 A3 A1 A4 )
A) S =
( A3 + kA4 )( A1 + kA2 )
T
k

C) S kT =

k ( A1 + kA2 )
( A3 + kA4 )

k ( A3 + kA4 )
B) S =
( A1 + kA2 )
T
k

D) S kT =

k ( A2 A3 + A1 A4 )
( A3 + kA4 )( A1 + kA2 )

Problem 3

Consider the system in the form of block diagram where R(s ) is the
reference input and Y (s ) is the output and N (s ) is the disturbance.
(a) Determine the sensitivity of the closed-loop system S KT in which
T ( s ) = Y ( s ) R ( s ).
(b) Obtain the effect of the disturbance N (s ) on the output Y (s ).
(c) If K = 10 , what is the steady state error when the disturbance
N (s ) is a unit step input and the input R(s ) is a unit ramp input?

Problem 3

(a) Solution:

4K
Y (s )
4K
s (s + 4 )
T (s ) =
=
= 2
4
K
R (s ) 1 +
s + 4s + 4 K
s(s + 4 )
T K
s 2 + 4s
S =
= 2
K T s + 4 s + 4 K
T
K

Problem 3

(b) Solution:

4
Y (s )
4
s (s + 4 )
=
= 2
N (s ) 1 + 4 K
s + 4s + 4 K
s (s + 4 )

Problem 3

(c) Solution:
Y (s )
4K
= 2
R(s ) s + 4 s + 4 K
Y (s )
4
= 2
N (s ) s + 4 s + 4 K

Y (s ) =

4K
4
R
(
s
)
+
N (s )
2
2
s + 4s + 4 K
s + 4s + 4 K

Problem 3

Y (s ) =

4K
4
R
(
s
)
+
N (s )
2
2
s + 4s + 4 K
s + 4s + 4 K

s 2 + 4s
1
4
1
E ( s ) = R( s ) Y (s ) = 2
+ 2
2
s + 4s + 4 K s s + 4s + 4 K s
s
= 2
s (s + 4 s + 4 K )
s
=0
s 0 (s 2 + 4 s + 4 K )

ess = lim sE (s ) = lim

s 0

Problem 4

Consider a system in the figure. The motor inductance and the

friction are negligible, the motor constant is K m = 10 , the back emf
constant is K b = 0.02 . The moment of inertia is J = 0.005 . The area
of the tank is 50 and the height is h . Note that the system input is
voltage vi . The output is the height h . Let x1 = h , x2 = and x3 = .
Assume that the input flow into the tank is q1 = 80 , where is the
shaft angle. The output flow is q0 = 50h(t ).
(a) Write the state space representation of the system.
(b) Determine the controllability and observability of the system.

Problem 4

(a) Solution:
Electrical
vb = K b

T = K mia

Mechanical

va = K a vi
va = ia R + vb

T = J

q1 = 80

Hydraulic

q0 = 50h
q q
h = 1 0
50

K a vi K b

J = K m

R
R

80 50h
h =
50

Problem 4

K a vi K b

J = K m

R
R

80 50h
h =
50
x1 = h
x2 =
x =
3

u = vi

K m = 10
K b = 0.02
K a = 50
J = 0.005
R = 10

8
x1 = x1 + x2
5
x2 = x3
K K
K K
x3 = m b x3 + m a u = 4 x3 + 10000u
JR
JR
x1 1 8 / 5 0 x1 0
x = 0
x + 0 u
0
1
2

2

x3 0
0 4 x3 10000

x1
y = [1 0 0] x2

x3

Problem 4

(b) Solution:
x1 1 8 / 5 0 x1 0
x = 0
x + 0 u
0
1
2

2

x3 0
0 4 x3 10000
1 8 / 5 0
A = 0
0
1
0
0 4
0
B = 0
10000

S = B

x1
y = [1 0 0] x2

x3
AB

0
16000
0

A2 B = 0
10000

40000

10000 40000 160000

Rank S = 3
Controllable

Problem 4

x1 1 8 / 5 0 x1 0
x = 0
x + 0 u
0
1
2

2

x3 0
0 4 x3 10000
1 8 / 5 0
A = 0
0
1
0
0 4

C = [1 0 0]

x1
y = [1 0 0] x2

x3
0
0
C 1
V = CA = 1 8 5
0
2

CA 1 8 5 8 5

Rank V = 3
Observable

End