11/2/2013 (C) 2001, Ernest L.

Hall, University of Cincinnati 1

Manufacturing
Controls
FALL 2001
Lecture 16
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 2
Syllabus
DATE TOPIC NOTES
1. Sep. 20 Mechatronics Design Process Ch. 1
2. Sep. 25 System Modeling and Simulation Ch. 2
3. Sep. 27 Laplace Transforms and Transfer Functions Ch. 2
4. Oct. 2 Electrical Examples Ch.2, Notes
5. Oct. 4 Mechanical Examples Ch.2, Notes
6. Oct. 9 More Examples, Thermal and Fluid Examples, QUIZ 1 (Take Home)
7. Oct. 11 Sensors and Transducers Ch. 3
8. Oct. 16 Digital control, Advanced MATLAB
9. Oct. 18 Analog and Digital Sensing Ch. 3,
Notes
10. Oct. 23 Actuating Devices, time and frequency response Ch. 4

11. Oct. 25 DC Motor Model, Ch. 4,
Notes
12. Oct. 30 Examples Ch. 5
13. Nov. 1 Boolean Logic ,Programmable Logic Controllers Ch. 5, Notes
14. Nov. 6 Stability and Compensators, P, PI and PD Ch. 6
15. Nov. 8 PID Controllers - Review Ch. 7
16. Nov. 13 QUIZ 2 (In Class - Open Book)
17. Nov. 15 Practical and Optimal Compensator Design Ch. 8
18. Nov. 20 Frequency Response Methods Ch. 9, Notes
19. Nov. 22 THANKSGIVING HOLIDAY Ch. 9, Notes
20. Nov. 27 Optimal Design of a Motion Control System Ch. 9, Notes
21. Nov. 29 QUIZ 3 (In Class - Closed Book)
22. Dec. FINAL EXAM (In Class - Closed Book) Comprehensive
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 3
Todays objective
To test the
accomplishment of our
objective of
understanding systems
theory by solving
problems related to the
concepts of control
systems for feedback
control.
Quiz 2
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 4
1. Using the phase variables as state variables, develop the state space
representation for the system described by the transfer function shown
below using Matlabs tf2ss function. That is, determine the A,B,C and D
matrices. The output is u.
) ( 3 2
2
2
t T
dt
d
dt
d
= + + u
u u
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 5
1. Answer
Num=[1];
Den=[1,2,3];
[A,B,C,D]=tf2ss(Num,Den)
A =

-2 -3
1 0
B =
1
0
C =
0 1
D =

0
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 6
1. General solution and matrix definitions
Note that Matlab has reversed the variables

] 0 [ ] 0 1 [
1
0 1 0
= =
(
(

=
(
(

=
D C
J
B
J
D
J
MgL
A

) (
2
2
2
t T
MgL
dt
d
D
dt
d
J = + + u
u u
x
x
d
dt
1
2
=
=
u
u
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 7
2. Given the differential equation description
of a system shown below, write the transfer
function
) ( ) ( 24 26 9
2
2
3
3
t r t c
dt
dc
dt
c d
dt
c d
= + + +
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 8
2. Answer
24 26 9
1
) (
) (
2 3
+ + +
=
s s s s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 9
3. Given the transfer function of the system
shown below, write the differential equation
6 2 9
2
) (
) (
2 3
+ + +
=
s s s s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 10
3. Answer
) ( 2 ) ( 6 2 9
2
2
3
3
t r t c
dt
dc
dt
c d
dt
c d
= + + +
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 11
4. Given the transfer function shown below
determine the step response using Matlabs step
function.
24 26 9
24
) (
) (
2 3
+ + +
=
s s s
s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 12
4. Answer
Num=[24];
Den=[1,9,26,24];
Sys=tf(num,den);
Step(Sys)
Time (sec.)
A
m
p
l
i
t
u
d
e
Step Response
0 0.5 1 1.5 2 2.5 3
0
0.2
0.4
0.6
0.8
1
1.2
1.4
From: U(1)
T
o
:

Y
(
1
)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 13
5. Cascade two transfer function shown
below into a single equivalent block diagram
H1=1/(s
2
+2s+1) H2=s+1
G(s)
F(s)
G1(s)
=?
F(s)
G(s)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 14
5. Answer
1/(s+1)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 15
6. Compute the transfer function of the
following closed loop system
G(s)=(s+2)/(s+3)
1
R(s)
C(s)
-
+
E(s)
F(s)
G
c
(s)=K
E(s)
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 16
6. Answer
) 2 ( 3
) 2 (
) (
) (
+ + +
+
=
s K s
s K
s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 17
7. Determine if a system is relatively stable using the
Matlab margin function. What is the gain margin? What is
the phase margin?
G(s) = (s+2)/(s+3)
H(s) = 1
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 18
7. Answer
Num=[1,2];
Den=[1,3];
Margin(Num,Den)
As shown the phase
margin is 180 degrees
which is greater than 40
degrees and the gain
margin is inf which is
greater than 10 dB so
the system is relatively
stable.
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-4
-3
-2
-1
0
Gm = Inf, Pm=-179.64 deg. (at 158.09 rad/sec)
10
-1
10
0
10
1
10
2
10
3
0
50
100
150
200
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 19
8. Determine if a system is absolutely
stable by examining the pole zero map
24 26 9
24
) (
) (
2 3
+ +
=
s s s s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 20
8. Answer
Num=[24];
Den=[1,9,-26,24];
Pzmap(num,den)
As shown the system is
absolutely unstable
since it has two poles in
the right half plane.
-12 -10 -8 -6 -4 -2 0 2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
Real Axis
I
m
a
g

A
x
i
s
Pole zero map
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 21
9. Determine the absolute stability of the
following system using pole zero map

24 26
24
) (
) (
2
+
=
s s
s R
s C
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 22
9. Answer
Num=[24];
Den=[1,-26,24];
Pzmap(Num,Den)
As shown it is
absolutely unstable
since it has two poles in
the rhp.
0 5 10 15 20 25 30
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Real Axis
I
m
a
g

A
x
i
s
Pole zero map
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 23
10. Use the open loop transfer function and the Matlab function, margin, to
determine the phase and gain margins of the compensated system shown
below. What is the phase margin?

Step
function
G(s)=.25s+42 3830/(s
3
+2000s
2)
318
Compensator
ZOH DAC Amp Motor and Load
Encoder
-
+
Combined
system transfer
function
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 24
10. Answer
Phase margin is 45 degrees at the crossover
frequency of 200 Hertz.
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 25
10. Compensated open loop
transfer function -GH
% Verfying the open loop transfer function
numz=[0,318*2000];
denz=[1,2000];
numdac=[0.0012];
numamp=[1.2];
nummotor=[0,0,1330];
denmotor=[1,0,0];
numenc=[318];
numoloop=conv(numz,numdac);
numoloop=conv(numoloop,numamp);
numoloop=conv(numoloop,nummotor);
denoloop=conv(denz,denmotor);
sysol=tf(numoloop,denoloop);
numsysol=conv(numoloop,[.25,42]);
syscmp=tf(numsysol,denoloop)
%Open loop transfer function
syscloop=feedback(syscmp,318)

Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-100
-50
0
50
100
Gm=-401.23 dB (at 0 rad/sec), Pm=44.089 deg. (at 198.5 rad/sec)
10
0
10
1
10
2
10
3
10
4
-180
-160
-140
-120
11/2/2013 (C) 2001, Ernest L. Hall, University of Cincinnati 26
Please turn in a hard copy of your
solutions at 11 AM, Thursday, Nov. 15?