Solution to Mid-term

1)

1)

5 1 1 5
F (s) = ( ) f (t ) = (e 3t e 6t )
3 s+3 s+6 3
9 3
overdamped , n = 3 2, = = = 1.06
2*3 2 2 2
2)

1
f (t ) = (sin 5t sin t )
2
1 5
F (s) = ( 2 2
2 )
2 s + 25 s + 2
Two under-damped components

3)
6 1
n = 144 = 12, = = = 0.25 underdamped
2*12 4
Note that

20 20 135
F (s) = 2
= 2
( s + 3) + 135 135 ( s + 3) + 135
20 3t
f (t ) = e sin 135t
135

4)

s 2
F (s) = 2
+ 2 under damped
s +9 s +9
2
f (t ) = cos 3t + sin 3t
3
5)
X (s) 10
F (s) = = 2 n = 5
U ( s) s + 8s + 25
8 8
= = = 0.8 underdamped
2*5 10
10 3 10
F (s) = 2 2
f (t ) = e4t sin 3t
3 ( s + 4) + 3 3
2) Note that
Kb Kt K
T = + 50 t gives
Ra Ra

= 0 T = 100 (See figure), so

Kt
100 = 50
Ra
Kb K t K
T = 0 = 150, so : 150 + 50 t = 0
Ra Ra
we have :

1
K t = Kb =
3
1
Ra =
6
1) Since

1 1
Ea ( s ) = I a (s) + (s)
6 3
1 50 1
T = I a ( s), N = =
3 150 3
1
T T f = T NT f' = T (18* L ( s) s + 36L ( s )) = 2*3L ( s ) s + 2*3L ( s )
3

So

T = (6 s + 6)L ( s ) + 6 sL ( s) + 12L ( s )
= (12 s + 18)L ( s ) = (12 s + 18) s L ( s)
and
I a ( s ) = 3s (12s + 18) L ( s)
1 1 1
Ea ( s ) = 3s (12 s + 18) L ( s ) + 3s L ( s ) = s(12 s + 18) + s L ( s )
6 3 2
L (s) 1
=
Ea ( s ) (6 s + 10) s
2) For

ea = (t ) Ea ( s) = 1
1 1 6
L (s) = =
s(6 s + 10) 10 s 10(6 s + 10)
5
t
L (t ) = 0.1(1(t )) 0.1e 3

3)
1) Note for ref = 0 , we have :

1
m (s) Js + b 0.5s + 1
= =
D( s) 10kp 1 (0.5s + 1)( Js + b) + 10kp
1+
0.5s + 1 Js + b

1
when D ( s) = , ( D (t ) = 1(t ))
s
1 0.5s + 1
m ( s ) =
s (0.5s + 1)( Js + b) + 10kp

1 1
so m () = lim s m ( s ) = =
s 0 b + 10kp 1 + 10kp
2) For D(t)=0, then

E ( s) 1
=
ref ( s ) 1 + 10kp
(0.5s + 1)( Js + b)

1 1 1
E (s) = for ref ( s ) = , ref (t ) = 1(t )
s 1+ 10kp s
(0.5s + 1)( Js + b)

1
e() = lim sE ( s ) =
s0 1 + 10kp
Obviously, the disturbance will incur a comparable error in the tracking error at the steady state.