Solutions EE342 Spring 2008 Final Exam Last three questions in this exemination refer to the standard feedback systera shown below. Ge a(t) = Aa(t)+ Bult) y(t) =a(t) where a-[% | a-[}]. (a) What are the poles of the open loop system? (b) Design a state feedback control in the forra u(t) = u(t) — K2(t) so that the closed loop system poles are at -1+. Compute K using two different methods. Cay poler= 2964) = -1, & (b) det sI- (A-8k)) = (st4 2s 42) = )7 2 ao [rik 1K, a-wes [3 {]-[1]™ KOE ie a del (st B-B1)) = (S4 Uke) (S61) + KA -K) © we Sh (Ki tKe) S HIKE KG HK “LK oT = 8% (BAK )s + Kl K-le2 > Kis8 34-2 2 Ke-d Ke [-! 3] > other mathod : Ackerman's formula Ke Lo tJ & ata) © ele] qm eet dele { | eli) RES tba 2 desired © - cto ap YS ee ob alee I~ 5Problem 2: (25 points) In the standard feedback control system the plant is given as 10 G,)=2 and the controller is restricted to be in the form EH lins ut 04) = (45) (FEBS). adhe Design G,(s) 50 that the feedback system is stable subject to the following conditions: S «# steady state error for unit ramp reference input is zeroand = =P PHO © phase margin is greater or equal to 40°. re 10 Bode Plot < Gag S)= a : : : 038. DILL sine [Gotu (je) = - 190? ve e ag watroller dees act work 7 it design lead conver ye hte Wy kvl °° = 4S ta GS") & OF PMou = O° Plena — Psa +° sefely = 457 sta 45") 2 Lt og ro) alo ley (648 = - 7.748 i 03 x Cae petit lee ps D> Wow? 5 red fee lo CEs ! : 44 0.55 ) AT, GOGO = OT See —_——— oun 14 0. 08s@) Ge) a) Problem 3. (25 points) Bode plot of a stable plant Gp is as shown in the figure. Let the controller be Go(s) = € gain with time delay between control action and the plant input. {a) Roughly sketch the Nyquist plot of G, on the empty figure (b) Detorming if the feedback system is stable for the following cases: h = fj see. h = sec., and h= a seo, Mie. unity Bote PatetG, Draw Nyquist plot st Gp here: 2 1.2ead /rec 5 “Uggs 2red/see Opts i ai } hwee Di2e Be Wey oe Seb "By 12 6 4 — hw, Bere 7 hu, = Hx t2 2 198? te . 2 at Phase drop ts [0° at wa, 190? phase drvp ARS? 180" < ~E -20°— 108° > — 180° Uns table 3} pis ——= hwr2 2 phasedrp i 355° hwy = 42m = 20" Aber phare drop 3 216° cll 5hProblem 4. (25 points) Consider the standard feedback system with G, and G, given as Ke+) with K>0, 6>0. a= 22D Gi) = aha (a) Let r1,72, 15,774 be the poles of the feedback system. It is desired to have m1 = rz = r3 and Re(r;) <0 for all ¢=1,2,3,4. Determine the value of K and §. What are the values of r;’s for this design? (b) Roughly sketch the root locus as K varies from 0 to +00 for the value of § found in part (a). and gen 5 lestred char. eqn, is (s4xy*(sey) a> lee 22 -GQe-f@=-G (sre3asts 3xteez® sty) co acheal char eqns st(stoy + K¢stp) so 4 34 20s?4100 st+ Kst Kp -_® Sera) Gat Sey) sega a“ 22 duty y= 20 -3x . loo = 3x4 3xy foo = 32% + 3u( 20-3x) 2 k = dxtyend Cxt-box +o =o 3 erlox+B Kpe @ ve b+ (ene = st & ig we select x= BC Ang =) we get Y= 2o~ 1s (44-2) 0, 650. (a) Let rs,rayrayr4 be the poles of the feedback system. It is desired to have ry = rz = rg and Re(r:) <0 for oll ¢=1,2,3,4. Determine the value of K and . What are the values of 7's for this design? (b) Roughly sketch the root locus as K varies from 0 to +00 for the value of 8 found in part (a). le xe Ge =-G& and ya, 5 clestred char en. is (s+2)*(s4y) mo (sie 3aste Batre z® \Csty) == acheal cher. ean s'(s+to) +K(stp) co 3%4 203° +180 oe Kat Kp Gb) St Grey)s'e Gets xy) sa Gelengs p tary 20 Baty ye 20 -3x Woo = 3x4 3xy 5 {00 = 3274 3x( 20 -3x) lox +B Gri—box +o =0 5 Xa bt fe-B = SHE ys 2o~ Is (44#-) we get Not Im -onts coosss (b) st{ 1 loo KB. Ss | 20 K ° 5s [t0-K, ke © si| x ° s | ke alottle breal print 02% (£ a) K - kp ab -estGecG “p> Gr eel ae