Ch.12 Design Via State Space - Assignment

11/12/2020
System Dynamics and Control 1 Design via State Space - Problems System Dynamics and Control 2 Design via State Space - Problems
12.1 Consider the following open-loop TF, where 𝐺(𝑠) = 𝑌(𝑠)/𝑈(𝑠) 12.2 The following open-loop TF can be represented by signal-
(𝑠 + 3) 𝑠 flow graphs in cascade form
i. 𝐺 𝑠 = ii. 𝐺 𝑠 =
(𝑠 + 4)2 (𝑠 + 5)(𝑠 + 7) 30(𝑠 + 2)(𝑠 + 7) 5(𝑠 2 + 3𝑠 + 7)
i. 𝐺 𝑠 = ii. 𝐺 𝑠 =
20𝑠(𝑠 + 7) 30(𝑠 + 2)(𝑠 + 3) 𝑠(𝑠 + 3)(𝑠 + 5) (𝑠 + 2)(𝑠 2 + 2𝑠 + 10)
iii. 𝐺 𝑠 = iv. 𝐺 𝑠 =
(𝑠 + 3)(𝑠 + 7)(𝑠 + 9) (𝑠 + 4)(𝑠 + 5)(𝑠 + 6) For each, do the following
𝑠 2 + 8𝑠 + 15 a.Draw the signal-flow graph and show the state variable feedback
v. 𝐺 𝑠 = 2
(𝑠 + 4𝑠 + 10)(𝑠 2 + 3𝑠 + 12) b.Find the closed-loop TF with state variable feedback
For each of these TF, do the following Solution
a.Draw the signal-flow graph in phase-variable form
b.Add state-variable feedback to the signal-flow graph
c.For each closed-loop signal-flow graph, write the state equations
d.Write, by inspection, the closed-loop TF 𝑇(𝑠) for your closed-
loop signal-flow graphs
e.Verify your answers for 𝑇(𝑠) by finding the closed-loop TF from
the state equations and Eq.3.73
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
12.3 The following open-loop TF can be represented by signal- 12.4 Given the following open-loop plant
flow graphs in parallel form 20
𝐺 𝑠 =
50(𝑠 2 + 7𝑠 + 25) 50(𝑠 + 3)(𝑠 + 4) (𝑠 + 2)(𝑠 + 4)(𝑠 + 8)
a. 𝐺 𝑠 = b. 𝐺 𝑠 =
𝑠(𝑠 + 10)(𝑠 + 20) (𝑠 + 5)(𝑠 + 6)(𝑠 + 7) design a controller to yield a %𝑂𝑆 = 4.32% and 𝑇𝑠 = 4𝑠. Place the
For each, do the following third pole 10 times as far from the imaginary axis as the dominant
a.Draw the signal-flow graph and show the state variable feedback pole pair. Use the phase variables for state-variable feedback
b.Find the closed-loop TF with state variable feedback
12.5 Section 12.2 showed that controller design is easier to 12.6 Given the following open-loop plant
implement if the uncompensated system is represented in phase- 100(𝑠 + 2)(𝑠 + 20)
variable form with its typical lower companion matrix. We alluded 𝐺 𝑠 =
(𝑠 + 1)(𝑠 + 3)(𝑠 + 4)
to the fact that the design can just as easily progress using the design a controller to yield 15% overshoot with a peak time of
controller canonical form with its upper companion matrix 0.5𝑠. Use the controller canonical form for state-variable feedback
a.Redo the general controller design covered in Section 12.2,
assuming that the plant is represented in controller canonical
form rather than phase-variable form
b.Apply your derivation to the system
20(𝑠 + 5)
𝐺 𝑠 = , %𝑂𝑆 = 9.5%, 𝑇𝑠 = 0.74𝑠
𝑠(𝑠 + 1)(𝑠 + 4)
if the uncompensated plant is represented in controller canonical
form
1
11/12/2020
12.7 Given the following open-loop plant 12.8 Given the following open-loop plant
20(𝑠 + 2) 20
𝐺 𝑠 = 𝐺 𝑠 =
𝑠(𝑠 + 5)(𝑠 + 7) (𝑠 + 2)(𝑠 + 4)(𝑠 + 8)
design a controller to yield %𝑂𝑆 = 10% and 𝑇𝑠 = 2𝑠. Place the design a controller to yield a %𝑂𝑆 = 4.32% and 𝑇𝑠 = 4𝑠. Place the
third pole 10 times as far from the imaginary axis as the dominant third pole 10 times as far from the imaginary axis as the dominant
pole pair. Use the phase variables for state-variable feedback pole pair. Use the cascade form for state-variable feedback
12.18 If an open-loop plant 12.20 Consider the plant

100 1
𝐺 𝑠 = 𝐺 𝑠 =
𝑠 𝑠+5 𝑠+9 𝑠(𝑠 + 3)(𝑠 + 7)
is represented in parallel form, design a controller to yield a whose state variables are not available. Design an observer for
closed-loop response of 15% overshoot and a peak time of 0.2𝑠. the observer canonical variables to yield a transient response
Design the controller by first transforming the plant to controller described by ζ = 0.4 and 𝜔𝑛 = 75. Place the third pole 10 times
canonical form farther from the imaginary axis than the dominant poles

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11/12/2020

12.18 If an open-loop plant 12.20 Consider the plant

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