CHEE 319 Assignment 9 Solutions

[This version:

18:07 Tuesday 26th April, 2011]

1. Problem 1; We consider the following system

G(s) =

s + 3
.
(s + 3)(s + 5)

(s)
with integral action. The
We are asked to design a pole placement controller C(s) = PL(s)
desired closed-loop characteristic polynomial is Acl (s) = (s + 1)(2s + 1)r with r such that the
controller parameters can be determined uniquely. Since we require integral action we specify
L(s) by

L(s) = sL0 (s)

where L0 (s) is the new denominator polynomial to be determined. We shift the integrator
part form the controller to the open-loop system by defining the new open-loop characteristic
polynomial A0 (s) = sA(s) such that we can write the equation
A(s)L(s) + B(s)P (s) = Acl (s)
as
A0 (s)L0 (s) + B(s)P (s) = Acl (s).
We will design our controller based on the new, equivalent system. We have n0 = 3; using
the results from the notes we specify nq = 2n0 1 = 5, and so r = 4.
(s + 3)(s + 5)s(l00 + l10 s + l20 s2 ) + (s + 3)(p0 + p1 s + p2 s2 ) = Acl (s) = (s + 1)(2s + 1)4 ,
(s3 + 8s2 + 15s)(l00 + l10 s + l20 s2 ) + (p2 s3 + (3p2 p1 )s2 + (3p1 p0 )s + 3p0 ) = Acl (s).
After collecting terms:
l20 s5 + (l10 + 8l20 )s4 + (l00 + 8l10 + 15l20 p2 )s3 + (8l00 + 15l10 p1 + 3p2 )s2
+(15l00 p0 + 3p1 )s + 3p0 = Acl (s)
Comparing coefficients, we arrive at the following relations:
l20 = 16,
l10 + 8l20 = 48,
l00 + 8l10 + 15l20 p2 = 56,
8l00 + 15l10 p1 + 3p2 = 32,
15l00 p0 + 3p1 = 9,
3p0 = 1.
The first and last equations determine l2 and p0 . The parameter l1 follows once l2 is known.
To determine the other three parameters p1 , p2 , and l0 , re-arrange the left-over equations into
vector-matrix format:

1
0 1
l0
456
8 1 3 p1 = 1232 ,
15 3
0
p2
9 31
1

and use, for example, MATLAB to calculate the matrix inverse. We then arrive at

0
162.6944
l0
p1 = 810.3611 .
293.3056
p2
Our controller is then given by:
C(s) =

P (s)
293.3056s2 810.3611s + 1/3
=
.
L(s)
s(16s2 80s + 162.6944)

2. Problem 2
(2.1) In standard form,
G(s) =
This gives K = 19 , =

s/9 + 1/9
4/9s2 + 12/9s + 1

p
4/9 = .816 and =

12
9(2)( )

= 0.816.

(2.2) In standard form

G(s) =
hence K = 2, =

9 = 3 and =

s2
9s2 + 9s + 1
9
2( )

= 1.5.

(2.1) underdamped
(2.2) overdamped
Process (a) is underdamped the maximum overshoot is given
!

OS = exp p
= 84.33
(1 2 )
Solution 2.4
(2.1) As there are no non-invertible part in the given system
C (s) =

s+1
,
4s2 +12s+9

1
(4s2 + 12s + 9)
(s + 1)r
(s + 1)

To keep C(s) proper, plug r = 1, we get

C (s) =

(4s2 + 12s + 9)
(s + 1)2
(4s2 +12s+9)
(s+1)2
(4s2 +12s+9)
s+1
4s2 +12s+9
(s+1)2

C(s) =

1


9
1
C(s) = 4s + 12 +
s (s + 1)

So it is a PID with first order filter.

2

So

(2.2) As there is non-invertible part in the given system 9s2s2

, G0 + =
+9s+1
2
G0 = 9s2 +9s+1
1
(9s2 + 9s + 1)
C (s) =
(s + 1)r
2

(s2)
2

and

To keep C(s) proper, plug r = 2, we get

C (s) =

C(s) =

(9s2 +9s+1)
2(s+1)2
(9s2 +9s+1)
s2
9s2 +9s+1
2(s+1)2

C(s) =

((9s2 + 9s + 1)
s(2s + 5)

C(s) =
It is a PID with first order filter i.e

(9s2 + 9s + 1)
2(s + 1)2

(9s + 9 + 1s )
(2s + 5)

1
2s+5

3. Problem 3
(3.1) Design a controller with integral action using pole-placement so that Acl = (s + 2)(s + 4)r ,
where r is to be specified for the system given by
G(s) =

1
.
(s + 2)(s 4)

We wish to find P (s) and L(s) so that

A(s)L(s) + P (s) = Acl (s) = (s + 2)(s + 4)r .
Since we require integral action, re-write the above as
A(s)sL(s) + P (s) = Acl (s),
(s)

and now design the controller C(s) = PL(s)

with L(s)
= sL(s) Our new system is of

degree 2, so nq = 2
n = 4, therefore choose r = 3.

(s + 2)(s 4)s(l0 + l1 s) + (p0 + p1 s + p2 s2 ) = (s + 2)(s + 4)3 ,

Now we begin expanding and solving for our parameters:
l1 s4 + (l0 2l1 )s3 + (8l1 2l0 + p2 )s2 + (8l0 + p1 )s + p0 = Acl (s),
with
Acl (s) = s4 + 14s3 + 72s2 + 160s + 128.

Comparing coefficients, we find:

l1 = 1,
l0 2l1 = 14,
8l1 2l0 + p2 = 72,
9l0 + p1 = 160,
p0 = 128.
which implies:
l0 = 16,

p2 = 112,

p1 = 288.

Finally, we write the final form of our controller:

P (s)
(p0 + p1 s + p2 s2 )
=
,
L(s)
s(l0 + l1 s)
(s + 4/7)(s + 2)
.
C(s) =
s(s + 16)

C(s) =

(3.2) The complementary sensitivity function is given by:

Gcl (s) =
=

G(s)C(s)
1 + G(s)C(s)
1
(s+2)(s4)
1
(s+2)(s4)

(s+4/7)(s+2)
s(s+16)
(s+4/7)(s+2)
+
s(s+16)

(s + 4/7)(s + 2)
(s + 4/7)(s + 2) + (s + 2)(s 4)s(s + 16)
(s + 4/7)(s + 2)
(s + 4/7)(s + 2)
=
=
,
Acl (s)
(s + 2)(s + 4)3
=

as desired. To find the steady-state error, cancel the (s + 2) terms and evaluate Gcl (s = 0):
128
= 1,
128
as desired (recall that we insisted that our controller have integral action).
Gcl (0) =

Evaluating the amplitude ratio (AR) and phase () follows by considering four individual
1st order processes and the added effect of a zero. Use the facts:
kp
AR1 = q
,
p2 2 + 1

1 = tan1 (p ),

where the subscript 1 indicates for first order systems. Extending this to our system:
"
#3
p
1
1
p
AR =
(1.75)2 + 1,
112
(0.25)2 + 1
= 3 tan1 (0.25) + tan1 (1.75).

Bode Diagram
30
System: G
Frequency (rad/sec): 3.04
Magnitude (dB): 32.3

40
System: G
Frequency (rad/sec): 0.0114
Magnitude (dB): 41

Magnitude (dB)

50

60

System: G
Frequency (rad/sec): 39.3
Magnitude (dB): 63.9

70

80

90
45

Phase (deg)

45

90

135

180
2

10

10

10

10

Frequency (rad/sec)

Figure 1: Bode plot for question 3 with sample data shown.

4. Problem 4: Calculate the amplitude ratio (AR) and phase () for
(4.1)
10
.
(s + 2)(s + 10)
Express G(s) in a more standard form for convenience:
G(s) =

G(s) =

5
0.1

,
(0.5s + 1) (0.1s + 1)

and use the fact that the AR and for 1st order processes is given by:
kp
AR = q
,
p2 2 + 1

= tan1 (p ),

Then,
0.1
,
+1
0.12 2 + 1
= tan1 (0.5) + tan1 (0.1).

|G()| =

0.52 2

10

(4.2)
G(s) =

1
.
(s + 4)(s 2)

This system is unstable (pole at s = +2), therefore the concepts of amplitude ratio and
phase are not applicable.
(4.3)
G(s) =

s1
.
s2 + s + 1

Re-write G(s):
G(s) = (s 1)

1
1
= (s 1) 2 2
.
s2 + s + 1
s + 2 s + 1

Comparing coefficients of the denominator polynomial we obtain = 1, = 0.5. Now

use the fact that for a second order system
kp
,
|G2nd order ()| = p
2
2
(1 )2 + 4 2 2 2


2
1
.
2nd order = tan
1 2 2
We then have:
|G()| = |G2nd order ()| |Gzero ()|,

2 1
|G()| = p
,
(1 2 )2 + 2



1
= tan
+ tan1 ().
1 2
(4.4)

1
s(s+3)

Amplitude Ratio for

1
s

Amplitude Ratio for

1
s+3

Amplitude Ratio for

1
s(s+3)

because AR for
1/3
1+.3332 2

K
s

because AR for

K
s+1

K
1+ 2 2

1/3

1+.3332 2

Phase angle for 1s = 2

1
= tan1 ( ) = tan1 (.333)
Phase Angle for s+3
Phase Angle for
(4.5)

1
s(s+3)

= tan1 (.333)

3s+1
(s+1)(s+2)

Amplitude Ratio for

1
s+1

1
1+ 2

because AR for

K
s+1

K
1+ 2 2

Bode Diagram
10
5
0

Magnitude (dB)

5
10
15
20
25
30
35
40
180

Phase (deg)

90

90
2

10

10

10

10

10

Frequency (rad/sec)

Figure 2: Bode plot for question 4.3. Note the resonant peak at the systems natural frequency
= 1 rad/s
Bode Diagram

Magnitude (dB)

50

50

Phase (deg)

100
90

135

180
2
10

10

10

10

10

Frequency (rad/sec)

Figure 3: Bode Plot for 4.4.

Amplitude Ratio for

1
s+2

1/2
1+.52 2

because AR for

K
s+1

K
1+ 2 2


Amplitude
Ratio for (3s + 1) = 1 1 + 32 2

K 1 + 22

1/2
3s+1
1
AR for (s+1)(s+2)
= 1 + 32 2 1+.5
2 2
1+ 2
Phase Angle for
Phase Angle for

because AR for K( s + 1) =

= tan1 ( ) = tan1 ()

1
s+1
1
s+2

= tan1 ( ) = tan1 (0.5)

Phase Angle for (3s + 1) = tan1 ( ) = tan1 (3)

3s+1
= tan1 (3) tan1 (0.5) tan1 ()
Phase Angle for (s+1)(s+2)
Bode Diagram
10

Magnitude (dB)

0
10
20
30

Phase (deg)

40
360

270

180

90
2
10

10

10

10

10

Frequency (rad/sec)

Figure 4: Bode Plot for 4.5.

(4.6)

s+3
(s+3)(s+5)

Amplitude Ratio for

1
s+3

1/3
1+.3332 2

Amplitude Ratio for

1
s+5

1/5
1+.22 2

because AR for
because AR for

K
s+1

K
s+1

K
1+ 2 2

K
1+ 2 2

because AR for K( s + 1) =
Amplitude
Ratio for (s + 3) = 3 1 + .3332 2

K 1 + 22

1/5
1/3
s+3

AR for (s+3)(s+5)
= 3 1 + .3332 2 1+.2
2 2
1+.3332 2
Phase Angle for (s + 3) = tan1 ( ) = tan1 (.333)
1
Phase Angle for s+3
= tan1 ( ) = tan1 (.333)
Phase Angle for
Phase Angle for

1
1
1
s+5 = tan ( ) = tan (.2)
s+3
1
1
(s+3)(s+5) = tan (.2) tan (.333)

+ tan1 (.333)

Bode Diagram
10

Magnitude (dB)

15
20
25
30
35

Phase (deg)

40
360

270

180

90
1
10

10

10
Frequency (rad/sec)

Figure 5: Bode Plot for 4.6.

10