SoC Presentation Title 2004

ME2142 - Feedback Control Systems

Tutorial Problem Set 1

Tutor: Li Jinfu, PhD

Office: EA 04-06 Control and Mechatronics Lab 1
Email: li.jinfu@nus.edu.sg

SoC Presentation Title 2004


Before the lecture
Teach and explain the tutorial questions in the tutorial lectures
Consultation of tutorial questions and lecture notes after class
Consultation of previous exam papers before exams
Three ways to communicate:
Ask questions in and after the tutorial lectures
Send emails: simple questions
Approach to my office: complex questions
SoC Presentation Title 2004


Open-Loop

Plant Controller
u, control effort r, reference input y, actual output
Closed-Loop

Plant Controller
u
r
y
Sensor
e, error
_
+
Feedback Loop
Introduction to Feedback Control Systems
Control Systems
SoC Presentation Title 2004


Some Reviews
Laplace Transform
Differential equation
Transfer function
Control Systems Description
Time domain f(t) vs. Frequency domain F(s)
By definition
The table of transformation pairs => Most useful
f(t)
F(s)
Laplace Transform
Inverse Laplace Transform
Why need frequency
domain: Analyze Systems
and Design Controller
SoC Presentation Title 2004


Some Reviews
Two ways to use exponential function
Method 1
Method 2
Translation Property
Frequency Shift Property
SoC Presentation Title 2004


Question 1
( Table of Laplace Transform Pairs )
SoC Presentation Title 2004


Question 1 Solution
time
t = 2
f(t)=g(t-2)
g(t)
G(s)=
SoC Presentation Title 2004


Question 1 Solution
By Laplace Transform Definition
f(t)=1
f(t)=0
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Question 1 Solution
minus
Built by Basic Functions
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Question 1 Solution
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Question 2
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Question 2 Solution
(Using Partial Fractions)
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Question 2 Solution
(frequency domain)
(time domain)
SoC Presentation Title 2004


Question 2 Solution
(Using Partial Fractions)
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Question 2 Solution
(From Table of Laplace Transform Pairs)
We also could solve it using Final Value Theorem in frequency domain!
SoC Presentation Title 2004


Question 2 Solution
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Question 2 Solution
b
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Question 3a
Procedures:
1. First find the differential equation of motion
2. Time domain to frequency domain via Laplace Transform
3. Transfer function
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Question 3a Solution
Free body diagram at point A:
A
(Note: direction force will determine the equation!)
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Question 3a Solution
Free body diagram
Using Newtons Law:
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Question 3b
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Question 3b Solution
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Question 3b Solution
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Question 3c
c)
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Question 3c Solution
Recap that
Z
i
Z
f
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Question 3c Solution
Therefore,
SoC Presentation Title 2004


Li Jinfu

Email: li.jinfu@nus.edu.sg

THANK YOU