Control Systems-1: Home Assignment

PRESENTATION

The presentation of the assignment solutions must be organized, clear, and descriptive. Consider the
following example.

Using an appropriate software package express the following algebraic fraction as partial fractions

3𝑠𝑠 2 + 2𝑠𝑠 + 3
𝑠𝑠 2 + 3𝑠𝑠 + 2

Two methods of presentation of the answer to this question are given below.

Answer-1

3𝑠𝑠 2 + 2𝑠𝑠 + 3 11 4
2
=3− +
𝑠𝑠 + 3𝑠𝑠 + 2 𝑠𝑠 + 2 𝑠𝑠 + 1

Answer-2

3𝑠𝑠 2 + 2𝑠𝑠 + 3
𝑠𝑠 2 + 3𝑠𝑠 + 2
Package used is Matlab.

The Matlab code and the results returned are

>> num=[3 2 3];

>> den=[1 3 2];
>> [r, p, k]=residue(n,d)

r =
-11
4
p =
-2
-1
k = 3

Hence, we get
3𝑠𝑠 2 + 2𝑠𝑠 + 3 11 4 11 4
2
=3− + =3− +
𝑠𝑠 + 3𝑠𝑠 + 2 𝑠𝑠 − (−2) 𝑠𝑠 − (−1) 𝑠𝑠 + 2 𝑠𝑠 + 1

Answer-1 is not acceptable. Answrer-2 is the correct way to present your answer to the question.
Task
A] Find the quotient and the remainder of the following algebraic fraction and then reduce the
remainder into partial fractions

(𝑠𝑠 + 2)2 (𝑠𝑠 2 + 10𝑠𝑠 + 𝑘𝑘)

𝑠𝑠(𝑠𝑠 + 10)

i. Using hand calculations. Clearly show the steps followed

ii. Using a suitable software package. Clearly show the commands written and the results
returned

where k is your height in centimeters.

B] The attitude of an aircraft is controlled by controlling the positions of the control surfaces of the
aircraft. The main control surfaces are the ailerons, rudder, and elevators

Control of one of the control surfaces is considered here. The control system consists of the
sensors, control electronics, a DC motor, gear train, and the load on the motor. In this control problem,
input is the desired position of the control surface commanded by the pilot and the output is the
measured position of the control surface by the sensors. The objective of the control system is to have
the output of the system, 𝜃𝜃𝑦𝑦 (𝑡𝑡), follow the input, 𝜃𝜃𝑟𝑟 (𝑡𝑡).

The system parameters are:

Gain of the position sensor 𝐾𝐾𝑠𝑠 = 1 V/rad

Adjustable gain of the preamplifier 𝐾𝐾 = variable

Gain of power amplifier 𝐾𝐾1 = 10

Gain of current feedback 𝐾𝐾2 = 0.5 V/A

Gain of tachometer feedback 𝐾𝐾𝑡𝑡 = 0 V/rad/s

Motor armature resistance 𝑅𝑅𝑎𝑎 = 5 Ohms

Torque constant of motor 𝐾𝐾𝑖𝑖 = 9 oz − in./A

Motor back-emf constant 𝐾𝐾𝑏𝑏 = 0.0636 V/rad/s

Inertia of motor rotor 𝐽𝐽𝑚𝑚 = 0.0001 oz − in. −sec 2

Inertia of load 𝐽𝐽𝐿𝐿 = 0.01 oz − in. −sec 2

Viscous friction coefficient of motor 𝐵𝐵𝑚𝑚 = 0.005 oz − in. −sec

Viscous friction coefficient of load 𝐵𝐵𝐿𝐿 = 1.0 oz − in. −sec

Gear-train ratio between motor and load 𝑁𝑁 = 0.1

Since the motor shaft is coupled to the load through the gear train, the total inertia and Viscous-friction
coefficient seen by the motor are

𝐽𝐽𝑡𝑡 = 𝐽𝐽𝑚𝑚 + 𝑁𝑁 2 𝐽𝐽𝐿𝐿 and 𝐵𝐵𝑡𝑡 = 𝐵𝐵𝑚𝑚 + 𝑁𝑁 2 𝐵𝐵𝐿𝐿 .

The forward path transfer function is given by

𝐾𝐾𝑠𝑠 𝐾𝐾1 𝐾𝐾𝑖𝑖 𝐾𝐾𝐾𝐾

𝐺𝐺(𝑠𝑠) =
𝑠𝑠[𝑠𝑠 + (𝐾𝐾𝑏𝑏 𝐵𝐵𝑡𝑡 + 𝐾𝐾1 𝐾𝐾2 𝐽𝐽𝑡𝑡 )𝑠𝑠 + 𝐾𝐾1 𝐾𝐾2 𝐵𝐵𝑡𝑡 + 𝑅𝑅𝑎𝑎 𝐵𝐵𝑡𝑡 + 𝐾𝐾𝑖𝑖 𝐾𝐾𝑏𝑏 + 𝐾𝐾𝐾𝐾1 𝐾𝐾𝑖𝑖 𝐾𝐾𝑡𝑡 ]

(a) Substitute the system parameters and obtain 𝐺𝐺(𝑠𝑠) in the following form

𝑎𝑎𝑎𝑎
𝐺𝐺(𝑠𝑠) =
𝑠𝑠(𝑠𝑠 + 𝑏𝑏)

where a and b are constants.

(b) The closed-loop transfer function is the ratio between the output and the input in the s-domain
given by
Θ𝑦𝑦 (𝑠𝑠) 𝐺𝐺(𝑠𝑠)
=
Θ𝑟𝑟 (𝑠𝑠) 1 + 𝐺𝐺(𝑠𝑠)
 This expression can be used to obtain the system output for various inputs. When the input is a
1
unit step change, Θ𝑟𝑟 (𝑠𝑠) = . Giving the steps, manually obtain the unit step response of the system in
𝑠𝑠
the s-domain, Θ𝑦𝑦 (𝑠𝑠), and reduce it to partial fractions when

(i) K=8
(ii) K = 15
(iii) K = 182.

(c) Use a suitable software package to obtain the results in part (b). Clearly mention the software
package used, give the commands (code) you wrote, and the result as returned by the software
package.
(d) The s-domain responses can be transformed into the time domain using transformation
techniques popular in engineering. The corresponding time responses for 𝑡𝑡 ≥ 0 when K = 181.17
is given below.

𝜃𝜃𝑦𝑦 (𝑡𝑡) = 1 − 𝑒𝑒 −180.6𝑡𝑡 cos 884.7𝑡𝑡 − 0.2041𝑒𝑒 −180.6𝑡𝑡 sin 884.7𝑡𝑡

Using a suitable software, plot the output response for 0 ≤ 𝑡𝑡 ≤ 50 𝑚𝑚𝑚𝑚. Graphically solve the
following problems to 1 ms accuracy. Clearly show how the solutions are arrived at using the graphs
drawn.

i. Rise time is the time required for the unit response to rise to 𝜃𝜃𝑦𝑦 (𝑡𝑡) = 1. Find the rise
time
ii. Settling time is the time required for the unit response to settle down at 𝜃𝜃𝑦𝑦 (𝑡𝑡) = 1. Find
the settling time
iii. Peak time is the time is the time required for the unit response to reach the first peak
overshoot. Find the peak time.