AME 50652 Name: SOLUTION

Spring 2015
Homework 3
2/05/2015

This homework assignment contains 6 pages (including this cover page) and 2 questions.
Total of points is 100. Please grade your own assignment according to the rubric contained
inline with this text.

Grade Table
Question Points Score
1 50
2 50
Total: 100

1. (50 points) This is a multi-part problem:

(a) (15 points) For each topology in Fig. 24, compute βi so that if K = 10, Y = −10R.

Table 1: Point allocation for Part a

Points Criterion
9 for getting the correct transfer function of each configuration
6 for correct algebra/arithmetic

The first thing we need to do is get the correct transfer function for each topology.
The transfer function for configuration (a) is:
 
Y
(s) = −K 3 β1
R a

The transfer function for configuration (b) is:

   3
Y K
(s) = −
R b 1 + Kβ2

The transfer function for configuration (c) is:

K3
 
Y
(s) =−
R c 1 + K 3 β3

Now, plugging in Y /R = 10 and K = 10 to each of the above equations, βi can be

solved for to find that: β1 = 0.01, β2 = 0.362, β3 = 0.099.
AME 50652 Homework 3 - Page 2 of 6 2/05/2015

Table 2: Point allocation for Part b

Points Criterion
9 for correctly applying the sensitivity equation to each part
6 for correct algebra/arithmetic

(b) (15 points) For each topology, compute SkG when G = Y /R (Use the respective βi
found in part (a).
First, let’s calculate the sensitivity of each system to the parameter K. Then it’s
simply a matter of plugging in the values we obtained above for βi . Using the given
equation, it can be found that,

SkG a = 3

3
SkG


b
=
β2 K + 1
= 0.647

3
SkG


c
=
β3 K 3 + 1
= 0.03

(c) (20 points) Compute the sensitivies of the systems in Fig. 4.24(b,c) to β2 and
β3 . Using your results, comment on the relative need for precision in sensors and
actuators.

Table 3: Point allocation for Part c

Points Criterion
7 for correctly applying the sensitivity equation to each part
5 for correct algebra/arithmetic
8 for correct commentary on the sensitivity of the system

In the previous part, we calculated the sensitivity of the system to the gain, K.
In this part, we are now examining the sensitivity of systems (b) and (c) to the
parameter, βi . The sensitivities are calculated as:

3
SβG2


b
= −3
β2 K + 1
= −2.35

1
SβG3


= −1
c β3 K 3 + 1
= −0.99
AME 50652 Homework 3 - Page 3 of 6 2/05/2015

The conclusion here is that both systems (b) and (c) are more sensitive to errors
in the feedback path than in the forward path. Recall here that actuators are
typically considered to be in the forward path, while sensors are in the feedback
path. Configuration (b) is about 4 times as sensitive to feedback errors as to
forward path error, while configuration (c) is about 33 times as sensitive. Note also
the book’s abuse of terminology: precision generally refers to repeatability, while
accuracy refers to the closeness of the measurement relative to the true quantity.
A measurement can be very repeatable without being accurate; therefore, we can
conclude from our sensitivity analysis that the sensors must be both more precise
and accurate than the actuators.
Furthermore, the relative sensitivity of systems (a), (b), and (c) to the gain K should
tell you a lot about the benefit of feedback control in general. The open loop system
(a) is the most sensitive to model error, as one may expect. The second system
is sort of a hybrid of feedback and open-loop, giving a bit less sensitivity than
configuration (a) but still more than the fully closed-loop system (c).

2. (50 points) A compensated motor position control system is shown in Fig. 4.31. Assume
that the sensor dynamics are H(s) = 1.
(a) (10 points) Can the system track a step reference input r with zero steady-state
error? If yes, give the value of the velocity constant.

Table 4: Point allocation for Part a

Points Criterion
3 for getting the correct closed-loop transfer function
2 for recognizing that (E/R)(s) rather than (Y/R)(s) should be used in the FVT
2 for getting a steady-state error of zero
3 for calculating the velocity constant correctly

First, let’s get the closed-loop transfer function. We find it to be,

Y C(s)P (s)
(s) =
R 1 + C(s)P (s)H(s)
160(s + 4)
=
s(s + 30)(s + 2) + 160(s + 4)

Now, we need to get the transfer function for the error signal,

E Y
E(s) = R(s) − Y (s) =⇒ (s) = 1 − (s)
R R
which simplifies to,

E s(s + 30)(s + 2)
(s) =
R s(s + 30)(s + 2) + 160(s + 4)
AME 50652 Homework 3 - Page 4 of 6 2/05/2015

Now, we need to use the final value theorem, keeping in mind that the input is a
step response:

ess = lim sG(s)

s→0
E
= lim sR(s) (s)
s→0 R
1 s(s + 30)(s + 2)
= lim s
s→0 s s(s + 30)(s + 2) + 160(s + 4)
=0

So, we can conclude that the system can track a step input with no steady state
error. The velocity constant is:

Kv = lim sP (s)C(s)
s→0
s+4 1
= lim s160
s→0 s + 30 s(s + 2)
= 10.67

(b) (10 points) Can the system reject a step disturbance w with zero steady-state error?
If yes, give the value of the velocity constant.

Table 5: Point allocation for Part b

Points Criterion
5 for getting the correct (Y/W)(s) transfer function
5 for stating the system cannot track a step disturbance with zero error

First, we need the find the closed-loop transfer function with respect to the distur-
bance signal:

Y P (s)
(s) =
W 1 + C(s)H(s)P (s)
s + 30
=
(s + 30)(s + 2)s + 160(s + 4)

This time, we simply note that this is a Type 0 system (no free integrators) with
respect to the disturbance, so the system cannot reject a step disturbance with zero
error in the steady-state.
(c) (10 points) Compute the sensitivity of the closed-loop transfer function to changes
in the plant pole at -2.
Here, we simply need to start with our closed-loop transfer function and replace
the pole at -2 with a dummy variable we’ll call x, and then find the sensitivity with
respect to this parameter.
AME 50652 Homework 3 - Page 5 of 6 2/05/2015

Table 6: Point allocation for Part c

Points Criterion
5 for using the correct transfer function
3 for making the correct pole/variable substitution
2 for correct calculus/algebra

Y
T (s) = (s)
R
160(s + 4)
=
s(s + 30)(s + x) + 160(s + 4)

The sensitivity is then found by evaluating the derivative, simplifying, and replacing
x = 2 as the final step.

x ∂T
STx =
T ∂x  
x ∂ 160(s + 4)
=
T ∂x s(s + 30)(s + x) + 160(s + 4)
(s2 + 30s) x
=− 3
s + s2 (x + 30) + 10s(3x + 16) + 640
2s(s + 30)
=−
s(s + 10)(s + 22) + 640

(d) (20 points) In some instances there are dynamics in the sensor. Repeat parts (a)
20
to (c) for H(s) = s+20 and compare the corresponding velocity constants.

Table 7: Point allocation for Part d

Points Criterion
7 for correctly modifying part a
7 for correctly modifying part b
6 for correctly modifying part c

For part (a), recognize that the system is still Type 1 with respect to the reference
input. We must be careful about the definition of Kv , so let’s first get the new
E(s)/R(s), which is found to be as follows:

E s (s3 + 52s2 + 540s + 560)

(s) = 4
R s + 52s3 + 700s2 + 4400s + 12800

Now let’s use the final value theorem to get the steady state error to a ramp input:
AME 50652 Homework 3 - Page 6 of 6 2/05/2015

ess,ramp = lim sG(s)

s→0
E
= lim sR(s) (s)
s→0 R
1 s (s3 + 52s2 + 540s + 560)
= lim s 2 4
s→0 s s + 52s3 + 700s2 + 4400s + 12800
= 560/12800

So Kv = 1/ess,ramp = 12800/560 = 22.86, which is nearly double what we computed

before. This implies that the system will have a lower steady state error to a ramp
input.
For part (b), since the type of the system does not change with respect to the
disturbance, the system still cannot reject a step disturbance with zero error.
Part (c) follows the same procedure has before and is simply more messy, but you
should find that the sensitivity is:

s(s + 20)(s + 30)x

STx = −
s4 + s3 x + 50s3 + 50s2 x + 600s2 + 600sx + 3200s + 12800

And evaluated at the original pole location, x = 2,

2s(s + 20)(s + 30)

STx = −
s4 + 52s3 + 700s2 + 4400s + 12800