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E5.5 (a)
Given that:
Where is the closed‐loop TF, we may derive the TF as the following:
100
100 100
If r(t) and y(t) are the time‐domain response and the ramp input to the system, to find steady state
error, we are actually measuring lim
Since is a stable system with poles on the left‐half plane, we may apply final value theorem
,
(b) For zero overshoot, we need to make sure that the closed‐loop TF is critically damped.
Since:
2
0.2
Poles are located at 1 50 10√1 25
So, for K>0.2, the poles are real and the system is over‐damped and there will be no overshoot.
For 0<K<0.2, the percentage overshoot is determined by the following expression. The poles are
√
complex and to the left of ‐50K. The polar angle tan
. . 100 , 5
E5.10
6 5
1 3 10 6 5
For step input with step magnitude of A:
By the same method in the last question,
1 3 10
lim 1 lim 0
1 3 10 6 5
For ramp input with step magnitude of A:
1 3 10
lim 1 lim
1 3 10 6 5
P5.1 (a)
,
1 1
1
Input can be considered a step input with a magnitude of 25o/s
So,
25 25 1 25
lim 1 lim
1 1
(b) 1 /
25
1
1
24
(c) We notice that the pole of the closed‐loop TF has a root at ‐
Since this is a first order system, which has the loop performance completely characterized by the
associated time constant. The settling time expression such as the following may be used.
0.02
.
1=51.2
P5.3 Given ,
1 1 1
lim 1 lim
P5.5 (a)
1
1
,
. . 100 5
0.05
0.05 , 0.69
1 0.05
,
2 1.38
(b) For step input with magnitude A:
lim 1 lim 0
For ramp input with magnitude A:
lim 1 lim 0
(c) (see pg.308 and pg.312 on textbook)
For step input, the optimum ITAE characteristic equation is 1.4 0
For a ramp input, the optimum ITAE characteristic equation is 3.2 0
10 12
1 10 12 1 120 1
lim 1 lim
10 12 120
(b) For ess=0
1 120
120 120
1
AP5.1 (a)
1 96 3 96 3
lim 1 lim 1 1 0
8 8 36 8 36
Since the zero would affect the response, we cannot use the 2nd order TF alone for the calculation. Here,
we need to refer to the vs P.O. graph on p.289 of the text book. (“a” is the negative of the zero)
So, we have 0.75
.
From the graph, we found that P.O.=45% 1
(c)We can plot this with MATLAB to get a similar graph as below. Actual P.O=33% and Ts=0.94 sec
AP5.5 (a)
For α=0, [same TF for R(s) or Td(s)]
50 2
3 4 50 2
1 3 4 4 3
lim 1 lim 0.11
3 4 50 2 12 100
For α≠0, [for R(s)]
50 2
3 4 50 2
1 3 4
lim 1 lim 0
3 4 50 2
[for Td(s)]
50 2
3 4 50 2
1 50 2
lim 1 lim 1 1
3 4 50 2
(b)