EE250 Quiz 03 Solution

Total marks - 60 19-04-2024

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1. The block diagram of a control system is given in Fig. 1. Plot the root locus as a function of
parameter K > 0 and comment on range of K for which the system is stable. (15 marks)

Figure 1: Block diagram of a system.

Centroid and angle of asymptotes

The open loop zeros are 2 and the open loop poles are 2 + 3j.

(2 + 3j) + (2 − 3j) − 2
Centroid σa = = 2.
2−1
±(2k + 1) × 180o
Angle of asymptotes: ϕa = = 180o .
2−1
Imaginary axis crossing and corresponding K
s−2
The characteristic equation: 1 + K 2 = 0 ⇒ s2 + (K − 4)s + (13 − 2K) = 0.
s − 4s + 13
The RH-array is

s2 1 13 − 2K
1
s K −4
s 13 − 2K
For imaginary axis crossing, we must have K − 4 = 0 ⇒ √ K = 4. With K = 4 the auxillary
equation is s2 √
+ (13 − 2K) = 0 ⇒ s2 + 5 = 0 ⇒ s = ±j 5. Hence, one of the imaginary axis
crossing is at 5 rad/sec and corresponding K = 4.
13
Further, another imaginary axis crossing will be when 13 − 2K = 0 ⇒ K = . The auxillary
2
equation in this case is (K − 4)s = 0. Hence, the other imaginary axis crossing is at s = 0.
Breakaway/breakin points
s−2 s2 − 4s + 13
The characteristic equation: 1 + K 2 =0⇒K=− .
s − 4s + 13 s−2

dK 2(s − 2)2 − (s2 − 4s + 13)

=− = 0 ⇒ s = −1, 5.
ds (s − 2)2

Since there Root locus does not exist from [2, ∞), hence, the only breakaway point is −1.
 Angle of departure/arrival

θd = ±(2k + 1)180o + (θ2 − θ1 )

⇒ θd = ±(2k + 1)180o + 90o − 90o
⇒ θd = 180o

Angle of departure from 2 + 3j is 180o .

Sketch the root locus

Comment on the stability of the system (Range of K for stability)

13
The closed loop system will remain stable for the range 4 < K < .
2
2. For the open-loop transfer function G(s) given below, sketch the Nyquist plot with K > 0.
Using the Nyquist plot, comment on the range of K for the system to be stable. (15 marks)
K(s + 4)
G(s) =
s(s − 2)
Draw the Nyquist contour

Analysis required to draw Nyquist contour

Analysis for set C1 :

K(4 + jω)
G(jω) =
jω(−2 + jω)
6K K(8 − ω 2 )
=− +j
(4 + ω 2 ) ω(4 + ω 2 )
√
K 16 + ω 2 ω    ω 
= √ ∠tan−1 − 90o − 180o − tan−1
ω 4 + ω2 4 2

3K
G(jω)|ω→0+ = − + j∞ = ∞∠90o .
2
G(jω)|ω→∞+ = −0 − j0 = 0∠ − 90o .
√ K
R-axis intersection at ω = 2 2 rad/sec with intersection at − .
2
Analysis for set C2 :

lim G(Rejθ )|, = 0∠ − 90o to 0o and + 90o .

R→∞
θ→+90o to 0o to −90o

Analysis for set C4 :

lim G(ϵejθ ) = ∞∠270o to 180o and + 90o .

ϵ→0
θ→−90o to 0o to +90o
 Nyquist plot

K
Since P = 1, we must have N = 1 for stability. Hence > 1 ⇒ K > 2 for system to be
2
stable.
1
3. The unity feedback system shown in Fig. 2 with G(s) = is to be designed for a settling time
s2
of 1.667 seconds and a 16.3% overshoot. (8 marks)

Figure 2: A standard unity negative feedback system.

 If the compensator zero is placed at −1, do the following:
(a) Find the coordinates of the dominant
√ (desired) poles.
2
Sol: Given Mp = 16.3% ⇒ e−πζ/ 1−ζ = 0.163 ⇒ ζ = 0.5.
4 5
= ⇒ ωn = 4.8 rad/sec.
ζωn 3 p
The dominant (desired) pole location are −ζωn ± jωn 1 − ζ 2 = −2.4 ± j4.157.
(b) Find the compensator pole.
Sol: Let θp be the angle contribution from the compensator pole at −2.4 + j4.157. We
must have

θ2 − 2θ1 − θp = 180o
     
o −1 4.157 o −1 4.157
180 − tan − 2 180 − tan − θp = 180o
1.4 2.4
 
o −1 4.157
⇒θp = 48.62 ⇒ tan = 48.62o ⇒ p = 6.06.
p − 2.4
The compensator pole will be p = 6.06.
(c) Find the system gain K.
s+1
Sol: The compensator is Gc (s) = s+6.06
. Therefore, we must have
K(s + 1)
|KGc (s)G(s)|s=−2.4+j4.157 = 1 ⇒ = 1 ⇒ K = 29.10.
s2 (s + 6.06) s=−2.4+j4.157

(d) Compensator transfer function

s+1
Sol: The compensator is Gc (s) = s+6.06
.
4. Design the value of gain, K, for the system in Fig. 2 to achieve a gain margin of 10 dB for
K
G(s) = . (8 marks)
s(s + 4)(s + 10)
Sol: Method-1: Let ωpc be the phase crossover frequency. Then we have
−1 ω
  ω
o −1
− 90 − tan − tan = 180o
4  10
√

ω/4 + ω/10
⇒tan−1 = 90o
⇒ ω = 40 rad/sec.
1 − ω 2 /40
 Hence
K
0 − 20log (|G(jωpc )|) = 10 ⇒ √ √ √ = 10−10/20 ⇒ K = 177.09.
40 16 + 40 100 + 40

Method-2: Find the phase crossover frequency from the point where root locus of G(s) intersects
the imaginary axis. To do that we find the RH array corresponding to

1 + G(s) = 0 ⇒ s3 + 14s2 + 40s + K = 0.

The RH-array is
s3 1 40
s2 14 K
560−K
s 14
s0 K
Hence, for imaginary axis intersection
√ K = 560 and the intersection point is√given by solution
2
of 14s + 560 = 0, i.3., s = ±j 40. Thus, the phase crossover frequency is 40 rad/sec.
To attain 10 dB gain margin, we must have (Similar to Method-1)

K
0 − 20log (|G(jωpc )|) = 10 ⇒ √ √ √ = 10−10/20 ⇒ K = 177.09.
40 16 + 40 100 + 40

5. Find out the state feedback gain matrix K ∈ R1×3 for the following system such that the closed
loop system with control law u = Kx + r has a settling time of 0.8 sec and a peak overshoot
of 15%. (14 marks)
   
0 0 1 0  
ẋ = −2 −3
 0 x + 2 u, y = 1 0 0 x + u.
 
0 2 −3 0

Sol: Note that Mp = 15% ⇒ ζ = 0.517 and ts = 0.8 ⇒ ωn = 9.673 rad/sec. The desired
dominant pole location are −5 ± j8.28. We choose the third pole to be 10 times away from the
dominant ones. Let the third pole be −50.
The desired characteristic equation is

(s + 50)(s + 5 + j8.28)(s + 5 − j8.28) = s3 + 60s2 + 593.56s + 4677.84

The desired state-matrix in phase variable form is

 
0 1 0
Ades :=  0 0 1
−4677.84 −593.56 −60

Phase-variable form of the given system

The characteristic equation is s3 + 6s2 + 9s + 4. The phase-variable form of the system is

   
0 1 0 0
Ap =  0 0 1 , Bp = 0
 
−4 −9 −6 1

Feedback matrix for states in phase-variable form

 
Ades = Ap + Bp Kp ⇒ Kp = −4673.84 −584.56 −54
Computation of transformation matrix
 
1 0 0
  −1 1
T = Bp Ap Bp A2p Bp B AB A2 B = 0 0 1
4
0 2 −3

Control law
 
u = Kp T x + r ⇒ u = −1168.46 −27 −105.64 x + r
 
Therefore, K = −1168.46 −27 −105.64 .