ECEN 605 - Linear Control Systems Instructor: S.P. Bhattacharyya Homework 1 1.

Block Diagram Reduction Determine the transfer function Y(s) / R(s) using block diagram reduction techniques.

+
R(s)

G1

G2

+ --

G3

G4

G5 Y(s)

--

H1

H2

H3

Solution G1 followed by G2 can be reduced to G1*G2. Similarly G3, G4 and G5 part is reduced to G3*G4*G5 and H1, H2 part becomes H1*H2.

+
R(s)

G1*G2

+ --

G3*G4*G5 Y(s) H1*H2

--

H3

+
R(s)

G1*G2

-H3

G3*G4*G5 1 + G3*G4*G5*H1*H2

Y(s)

+
R(s)

-H3

G1*G2*G3*G4*G5 1 + G3*G4*G5*H1*H2

Y(s)

+
R(s)

-H3

G1*G2*G3*G4*G5 1 + G3*G4*G5*H1*H2

Y(s)

R(s)

G1*G2*G3*G4*G5 1 + G3*G4*G5*H1*H2 + G1*G2*G3*G4*G5*H3

Y(s)

2. RouthHurwitz stability criterion The characteristic equation of a system is given by s4 + 4s3 + 13s2 + 36s + K = 0. Find the values for K for which the system is stable by using Rouths criterion for stability. Solution

S4 S3 S2 S1 S0

1 4 4 36-K K

13 36 K

K 0

The Rouths stability criterion says that for the system to be stable there should be no sign change in the first column. 36-K > 0 and K > 0 So the the range of values that K can have without effecting the systems stability is 0 < K < 36

3. Step Input to a first-order system A thermocouple has the transfer function linking its output Y in volts to its input X in Fahrenheit of 10-5 G(s) = ------------17s + 1 What will be (a) the time taken for the output of the thermocouple to reach 95% of its final value (b) the final steady value when there is a step input of 100o F Solution (a) As the transfer function represents, the thermocouple is a first-order system. Consider the general first-order system: G(s) = The Laplace transform of the output is thus G(s) * Laplace transform of input The Laplace transform for a unit step input is 1/s. Therefore, the Laplace transform of output is = = = Therefore the output
+1 +1/ +1

(1)

* *

1 1/

y = G [1 - / ]

Thus comparing the transfer function in the question with the equation (1), we have: G=10-5 v/oF and a=17s. The time taken to reach 95% of the output is 3a. Thus time taken is 51s. (b) We can use the final value theorem lim0 () = lim () For a step input of magnitude 1 (assumed), the Laplace transform of the output is 1/s, hence Laplace transform of output =

+1

sF(s) =

+1

As s ->0 then sF(s) tends to G, and so this is the final steady value, which is 10-5*100V.

4. Bode plot Draw the Bode Plot for a system having the transfer function of 10 (s+2) G(s) = -----------------(2s + 1) (s+1) Solution We can re-write G(s) = 20((s/2) + 1) ----------------------(2s + 1) (s+1)

The transfer function is made up of four components: An element with transfer function 20, one with transfer function 1/ (2s+1), one with transfer function 1/s+1 and other with (s/2 + 1). A system with transfer function of G(s) = 20 is a constant-gain system. The plot is thus given as shown below. The constant magnitude, in decibels, is 20lg20 = 26db. The constant phase is 0o. The Bode plots can be drawn for each of these and then added together to give the required plot or we can find the corner frequency of each of these components and use +/- 20 db/decade line to mark the change in the magnitude.

5. Root Locus For the system shown, sketch the root loci diagram and specify the value of gain K at which the system starts to oscillate.

1 s +4s+1
2

Solution The closed-loop transfer function is K/ (s2+4s+1) / {1+K/ (s2+4s+1)} Simplifying and getting the roots of the denominator of the transfer function we get: P = -2+ (3 ) , -2- (3 ) The open-loop poles are when K=0 and hence are p = -0.27 and p = -3.73. When K = 3 then both roots have the same value p = -2. When K is greater than 3 the roots are complex. Thus the value of K at which the system is critically damped is 3, for K greater than this the roots are complex and so there are oscillations.

6. Polar plot Plot the Nyquist diagram for a system having a transfer function of 1 G(s) = ------------------------(2s + 1) (s2 + s + 1) Solution The frequency-response function G(j) is G (j) = = The magnitude is thus | G (j) | = And the phase is = -tan-1(
3 2 3 13 2 1 [ 13 2 2+(32 3)2] 1 2 +1 ( 2+ +1)

13 2 (3 2 3) 1 3 2 2+(32 3)2

When = 0 then | G (j) | = 1 and = -tan-1 0 = 0o. When = then G (j) = 0 and = -tan-1
3
1

2
1 3

(3/ )

= -tan-1(-) = 90o. The crossing points of the real axis are given by = 0o or 180o. The 0o point is given by = 0, as indicated above. For = -180o then tan = -0 and so we must have 3 - 23 = 0 This means = 0 or (3/2) = 1.2 rad/s. With this value the magnitude has a value of -0.3. The crossing points of the imaginary axis are given by = + or 90o. The = gives the +90o point, as indicated above. For = -90o then tan = - and so we must have 1-32 = 0 This means =1/ 3 = 0.6 rad/s. With this value the magnitude has value of -0.7. To aid in plotting the Nyquist diagram other values can be obtained. Thus for = 1 rad/s the |G (j)| = 0.4 and = -153o, for = 0.5 rad/s then |G (j)| = 0.8 and = 68o, for = 0.2 rad/s then |G (j)| = 0.95 and = 34o. Here is the Nyquist plot.

7. Nyquist Stability Criterion What is the condition on K, a1, a2 for a system with the following open-loop transfer function to be stable? Consider K > 0, a1 > 0, a2 > 0 K G(s) = -----------------------s (a1s + 1) (a2s + 1) Solution The frequency-response function is Go(j) = = The magnitude is thus |Go(j)| = And the phase = tan-1
1 2 1 2 ( 1+ 2) [ 4 1+ 2 2+ 2(1 2 1 2)2] 1+ 1 (1+ 2)

1 2 1 2+1 2( 1+ 2) 2 1 2 1 2 2+ 4( 1+ 2)2

For the stability the magnitude must not exceed 1 when the phase is 180o. Thus the limiting condition for the phase is = tan-1 0. Hence 1- 2a1a2 = 0 And so = 1/ 12. Substituting this value of into the magnitude equation gives
[
1 1 2

|Go (j)| = If the system is to be stable then

2 1+ 2 2+

1 1 2

11 2]

1 1 2

( 1+ 2)

<1

K < (a1 + a2) / a1a2

8. Algebraic Extension for Thevenins Theorem For the following circuits show that the Extension for Thevenins theorem explained in the class holds true. a.) Plot the currents, voltages and power in the branches R1 and R2 as a function of R1, R2 as well as both R1, R2 I1

R1 V + R2 I2 R3 I3 I

By using Kirchhoffs and Ohms laws the circuit equations are V = I1R1 + I2R2 0 = I3R3 - I2R2 I = I2 + I3 - I1 These equations can be re-written in the matrix form as AX = B. A
R1 0 -1 R2 -R2 1 0 R3 1

X
I1 I2 I3

B
V 0 I

I2(R2) = det(A2) / det(A)

R1

V 0 I

0 R3 1

det(A2) = det

0 -1

= -R1R3I VR3 Similarly det(A) = R2(-R1-R3) R1R3 So I2(R2) = a / R2 + b where a = (R1R3I + VR3) / (R1+R3) b = R1R3 / (R1+R3)

Current, Voltage and Power in the branch R2 A = (R1*R3*I + V*R3) / (R1+R3); B = R1*R3 / (R1+R3); I2(R2) = A / (R2+B);

I2

R2

V2(R2) = R2*A / (R2+B);

V2

R2 P2 (R2) = ((R2*A)*A) / (R2+B) 2

P2

R2

Current, Voltage and Power in Branch R2 in terms of R1 A = R3*I / (R2+R3); B = V*R3 / (R2+R3); C = R2*R3 / (R2+R3); I2(R1) = (R1*A + B)/(R1 + C);

I2

V2(R1) = R2*((R1*A + B)/(R1 + C));

R1

V2

P2(R1) = R2* ((R1*A + B)/ (R1+C)^2);

R1

P2

R1 Current, Voltage and Power in Branch R2 in terms of R2 and R1 I2(R1R2) = (R1*R3*I + V*R3) / (R1*R2 + R1*R3 + R2*R3);

V2(R1R2) = (R2*(R1*R3*I + V*R3)) / (R1*R2 + R1*R3 + R2*R3);

P2(R1R2) = I2(R1) *V2(R1);

Current, Voltage and Power in the branch R1 in terms of R1 A = (R2*R3*I - V*(R3+R2)) / (R2+R3); B = R2*R3 / (R2+R3); I1(R1) = A/(R1+B); V1(R1) = R1*A/(R1+B); P1(R1) = I1(R1)*V1(R1); Current, Voltage and Power in the branch R1 in terms of R2 A = (R3*I-V)/(R1+R3); B = -V*R3/(R1+R3); C = R1*R3 / (R1+R3); I1(R2) = (R2*A + B)/(R2 + C); V1(R2) = R1*((R2*A + B)/(R2 + C)); P1(R2) = I1(R2)*V1(R2); Current, Voltage and Power in the branch R1 in terms of R1 and R2 I1(R1R2) = (R2*(R3*I-V)-V*R3) / (R1*R2 + R1*R3 + R2*R3); V1(R1R2) = R1* ((R2*(R3*I-V)-V*R3) / (R1*R2 + R1*R3 + R2*R3)); P1(R1R2) = I1(R1) *V1(R1);

b.) Plot the currents, voltages and power in the branches R1 and R2 as a function of R1, R2 as well as both R1, R

I1

R1

I3

R3

*Ib V Ib
0

Vcc + -

+ -

I2

R2

I4

R4

By using Kirchhoffs and Ohms laws the circuit equations are V0 = I2R2 I4R4 VCC = I1R1 + I2R2 0 = I1-I2+I3-I4 0 = I1- I2+I3

These equations can be re-written in the matrix form as AX = B. A

0 R1 1 R2 R2 -1 - 0 0 1 1 R4 0 -1 0

X
I1 I2 I3 I4

B
V0 VCC 0 0

I2(R2) = det(A2) / det(A) det(A2) = -V0R1 R4VCC(1 - ) det(A) = -R2(R1 + R4(1- )) + R4R1( 1) So I2(R2) = a / R2 + b where a = (V0R1 + R4VCC(1- )) / (R1 + R4(1- )) b = R4R1(1- ) / (R1+R4(1- )) I1(R2) = det(A1) / det(A) det(A1) = R2(V0 VCC) + VCCR4( 1) So I1(R2) = R2a + b/ R2 + c where a = (VCC V0) / (R1 + R4(1- )) b = VCCR4(1- ) / (R1 + R4(1- )) c = R4R1(1- ) / (R1+R4(1- ))

Current, Voltage and Power in the branch R2 in term of R2 A = (V0*R1 + R4*VCC*(1- ))/(R1+(R4*(1-))); B = (R4*R1*(1-)) / (R1+(R4*(1-))); I2(R2) = A/(R2+B); V2(R2) = R2*A/(R2+B); P2(R2) = R2*A*A/((R2+B)^2); Current, Voltage and Power in the branch R2 in term of R1 A = V0 / (R2+(R4*(1-))); B = (R4*VCC*(1-)) / (R2+(R4*(1-))); C = (R4*R2*(1-)) / (R2+(R4*(1-))); I2(R1) = (R1*A + B)/(R1 + C); V2(R1) = R2*((R1*A + B)/(R1 + C)); P2(R1) = I2(R1)*V2(R1); Current, Voltage and Power in the branch R2 in term of R2 and R1 I2(R1R2) = (R1*V0 + VCC*R4*(1-)) / (R1*R2 + R1*R4*(1-) + R2*R4*(1-)); V2(R1R2) = R2 * ((R1*V0 + VCC*R4*(1-)) / (R1*R2 + R1*R4*(1-) + R2*R4*(1-))); P2(R1R2) = I2(R1)*V2(R1);

Current, Voltage and Power in the branch R1 in term of R1 A = (R2*(VCC-V0)+ R4*VCC*(1-))/(R2+(R4*(1-))); B = (R4*R2*(1-)) / (R2+(R4*(1-))); I1(R1) = A/(R1+B); V1(R1) = R1*A/(R1+B); P1(R1) = R1*A*A/((R1+B)^2); Current, Voltage and Power in the branch R1 in term of R2 A = (VCC-V0)/(R1+(R4*(1-))); B = (R4*VCC*(1-))/(R1+(R4*(1-))); C = (R4*R1*(1-)) / (R1+(R4*(1-))); I1(R2) = (R2*A + B)/(R2 + C); V1(R2) = R1*((R2*A + B)/(R2 + C)); P1(R2) = I1(R2)*V1(R2); Current, Voltage and Power in the branch R1 in term of R1 and R2 I1(R1R2) = (R2*(VCC-V0)+ R4*VCC*(1-)) / (R1*R2 + R1*R4*(1-) + R2*R4*(1-)); V1(R1R2) = R1 * ((R2*(VCC-V0)+ R4*VCC*(1-)) / (R1*R2 + R1*R4*(1-) + R2*R4*(1-))); P1(R1R2) = I1(R1)*V1(R1);

c.) Plot the currents, voltages and power in the branches R2 and R3 as a function of R2, R3 as well as both R2, R3 R3 I3 I4 I1 R4 R1 I2 R2 + V1 + + VC V2 Gnd +

Gnd

Gnd

Gnd

By using Kirchhoffs and Ohms laws the circuit equations are 0 = I4R4 I3R3 V1 = I1R1 V2 = I2R2 0 = I1 + I2 + I3 + I4 These equations can be re-written in the matrix form as AX = B. A
R1 0 1 0 0 R2 1 0 0 0 1 -R3 0 0 1 R4

X
I1 I2 I3 I4

B
V1 V2 0 0

I2(R2) = det(A2) / det(A) det(A) = R1R2(R4+R3) det(A2) = R1V2( R4 R3) So I2(R2) = a / R2 + b where a = V2 b=0

I3(R3) = det(A3) / det(A) det(A3) = - (V2R1R4 + V1R2R4) So I3(R3) = a/ R3 + b where a = -(V2R1R4 + V1R2R4) / R1R2 b = R4 Current, Voltage and Power in the branch R2 in terms of R2 A = V2; B = 0; I2(R2) = A/(R2+B); V2(R2) = R2*A/(R2+B); P2(R2) = R2*A*A/((R2+B)^2); Current, Voltage and Power in the branch R2 in terms of R3 A = 0; B = V2; C = R2 ; D = 0; I2(R3) = (R1*A + B)/(D*R1 + C); V2(R3) = R2*((R1*A + B)/(D*R1 + C)); P2(R3) = I2_R3*V2_R3; Current, Voltage and Power in the branch R2 in terms of R2 and R3 I2(R3R2) = (V2/R2); V2(R3R2) = V2; P2(R3R2) = I2(R2)*V2(R2);

Current, Voltage and Power in the branch R3 in terms of R3 A = -(V2*R1*R4 + V1*R2*R4)/(R1*R2); B = R4 ; I3(R3) = A/(R3+B); V3(R3) = R3*A/(R3+B); P3(R3) = R3*A*A/((R3+B)^2); Current, Voltage and Power in the branch R3 in terms of R2 A = -V1*R4 / (R1(R3+R4)); B = -(V2*R4)/(R3+R4); C = 0; I3(R2) = (R2*A + B)/(R2 + C); V3(R2) = R3*((R2*A + B)/(R2 + C)); P3(R2) = I3(R2)*V3(R2); Current, Voltage and Power in the branch R3 in terms of R2 and R3 I3 (R3R2) = -(R2*V1*R4 + V2*R1*R4) / (R2*R3*R1 + R2*R4*R1); V3 (R3R2) = R3 * I3(R3) P3 (R3R2) = I3(R3)*V3(R3);