Intelligent Control Mr-5013

Homework # 1
Classical and Modern Control Theory

Name: Israel Ruiz Quinde ID #: A00824089

1. A machine for making paper is diagrammed in Fig.1. There are two controlled
variables under feedback control: the density of fibers as controlled by the
consistency of the thick stock that flows from the Headbox onto the wire, and the
moisture content of the final product that comes out of the dryers.
Stock from the machine chest is diluted by white water returning from under the wire
as controlled by a control valve (CV). A meter supplies a reading of the consistency.
At the “dry end” of the machine, there is a moisture sensor. Draw a block diagram of
the control systems for Consistency and Moisture identifying the generic and
specific names of the following blocks and signals
• Summing block,Controller, Actuator, Plant/Process, Sensor
• Set Point, Error, Manipulated variable, Controlled variable

Figure 1. Paper Making Machine

 a) Consistency

(Actuator) (Plant) Paper’s

(Set point) + Mix and Distribute
consistency
Controller Control Valve
the stock
Desired - (error) (manipulated (controlled
Consistency variable) variable)

Consistency meter

(Sensor)

b) Moisture

Plant Paper’s
(Set point) + (manipulated Drier Moisture
Controller
(error) variable)
Desired - controlled
moisture variable
Moisture meter

Sensor

2. You wish to control the elevation of the satellite-tracking antenna shown in the
following figures. The antenna and drive parts have a moment of inertia J and a
damping B; these arise to some extend from bearing and aerodynamic friction but
mostly from the back EMF of the DC drive motor. The equations of motion are

J ’’+ B’ = Tc

Tc is the torque from the drive motor. Assume that J=600,000 Kg m2, B=20,000 N m sec.

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 (a) Find the transfer function between the applied torque Tc and the antenna angle .

𝐽𝜃̈ + 𝐵𝜃̇ = 𝑇𝑐 J=600,000 Kg m2, B=20,000 N m sec.

𝑠 2 𝐽𝜃(𝑠) + 𝑠𝐵𝜃(𝑠) = 𝑇𝑐 (𝑠)
𝜃(𝑠)(𝑠 2 𝐽 + 𝑠𝐵) = 𝑇𝑐 (𝑠)
1⁄
𝜃(𝑠) 1 𝐽 𝟏.𝟔𝟔𝟕𝒙𝟏𝟎−𝟔
= = =
𝑇𝑐 (𝑠) 𝑠 2 𝐽+𝑠𝐵 𝑆 +𝑆 (𝐵⁄𝑗)
2 𝒔(𝟏+𝒔(𝟏⁄𝟑𝟎)

(b) Suppose the applied torque is computed so that  tracks a reference

command r according to the feedback law
Tc  Kp ( r   ) ,
Kp is a proportional controller gain. Draw a block diagram of the closed loop
control system

𝑇𝐶 (𝑠) = 𝑘𝑝 (𝜃𝑟 (𝑠) − 𝜃(𝑠))

(c) Find the closed loop transfer function between r and .

𝜃(𝑠) 𝐺(𝑠)
=
𝜃𝑟 (𝑠) 1 + 𝐺(𝑠)

1⁄
𝐽
𝐾𝑝 ( )
𝜃(𝑠) 𝑠(𝑠 + 𝐵⁄𝐽)
=
𝜃𝑟 (𝑠) 1/𝐽
1+( )
𝑠(𝑠 + 𝐵⁄𝐽)

𝜃(𝑠) 1
=
𝐾𝑝 (𝜃𝑟 (𝑠)− 𝜃(𝑠)) 𝑠2 𝐽+𝑠𝐵

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 𝐾𝑝 𝜃𝑟 (𝑠) − 𝐾𝑝 (𝑠)
𝜃 (𝑠 ) =
𝑠 2 𝐽 + 𝑠𝐵

𝜃(𝑠)𝑠 2 𝐽 + 𝜃(𝑠)𝑠𝐵 = 𝐾𝑝 𝜃𝑟 (𝑠) − 𝐾𝑝 𝜃𝑟 (𝑠)

𝜃(𝑠)[𝑠 2 𝐽 + 𝑠𝐵 + 𝐾𝑃 ] = 𝐾𝑝 𝜃𝑟 (𝑠)

𝜃(𝑠) 𝐾𝑝
= 2
𝜃𝑟 (𝑠) 𝑠 𝐽 + 𝑠𝐵 + 𝐾𝑃

𝜃(𝑠) 𝐾𝑝 /𝐽
= 2
𝜃𝑟 (𝑠) 𝑠 + 𝑠𝐵/𝐽 + 𝐾𝑃 /𝐽

𝜽(𝒔) 𝟏. 𝟔𝟔𝟕𝒙𝟏𝟎−𝟔 𝑲𝒑
=
𝜽𝒓 (𝒔) 𝟏
𝒔𝟐 + 𝒔 + 𝟏. 𝟔𝟔𝟕𝒙𝟏𝟎−𝟔 𝑲𝒑
𝟑𝟎

(d) What is the value of Kp to have an overshoot of 10%

The system is assumed to be underdamped

And 𝜃𝑟 : unit step
For second order control systems

𝐶(𝑠) 𝑤𝑛 2
=
𝑅(𝑠) 𝑠 +2𝜁𝑤𝑛 𝑠+𝑤𝑛 2
2

𝜁
−( ⁄ )𝜋
𝑀𝑝 = 𝑒 √1−𝜁 2

𝜁
−( ⁄ )𝜋
0.1= 𝑒 √1−𝜁 2
𝜁
ln 0.1 = −( )𝜋
√1 − 𝜁 2

𝜁
-2.3026=−( )𝜋
√1−𝜁 2

(2.3026) (√1 − 𝜁 2 ) = 𝜁𝜋

√(1 − 𝜁 2 ) = (1.3644𝜁)2

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1.8614987 𝜁 2 = 1 − 𝜁 2

2.861987𝜁 2 = 1

𝜁 = 0.591

So, from the Transfer Function:

1
2𝜁𝑤𝑛 =
30
1
𝑤𝑛 =
2(0.591)(30)

𝑤𝑛 = 0.0282

𝑤𝑛 2 = 1.667𝑥10−6 𝐾𝑝

𝑲𝑷 = 𝟒𝟕𝟕. 𝟎𝟕𝟓

(e) What is the value of Kp to have a rise time equal to 80 sec

For a second order system it is possible to write down expressions for the parameters of the step response (for 0
< ζ < 1) as follows: (Characterizing the Response of a Closed Loop System, Corrigan)

𝑡𝑟≈ 1
(2.3𝜁 2 −0.078𝜁+1.12) 𝑓𝑜𝑟 0<𝜁<1
𝑤𝑛

From the Transfer Function:

1
2𝜁𝑤𝑛 =
30

1 1 2 1
80 ≈ (2.3 ( ) − 0.078 ( )+ 1.12
𝑤𝑛 60𝑤𝑛 60𝑤𝑛

2.3 − 0.078(60)𝑤𝑛 + 1.12𝑤𝑛 2 (60)2

80𝑤𝑛 =
602 𝑤𝑛 2

288000𝑤𝑛 3 − 4032𝑤𝑛 2 + 4.68𝑤𝑛 − 2.3 = 0

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Finding the roots of the polynomial:

𝑤1 = 0.0252 𝑤2,3 = −5.78710−3 ± 0.017𝑖

Considering only the real root:

From the transfer function: 𝑤𝑛 2 = 1.667𝑥10−6 𝐾𝑝

𝑤𝑛 2 (0.0252)2
𝑘𝑝 = = = 𝟑𝟖𝟎. 𝟗𝟒𝟕𝟖
1.66𝑥10−6 1.667𝑥10−6

(f) Use Matlab to plot the step response of the antenna system for Kp=200,400,
1000 and 2000. Find the overshoot and rise time of the four step responses by
examining the plots. Do the plots confirm the calculations of parts d and e)?
Why?

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Do the plots confirm the calculations of parts d an e? why?

The results confirm the behaviour of the satellite-tracking antenna system, this
is, when we have kp values less than 477.05 the overshoot was less than 10%, and
while we increase the kp value the rise time decreases. In other words, both the
maximum overshoot and the rise time can not be made smaller simultaneously. If
one of them is reduced, the other necessarily increases.

(g) Draw a block diagram of the closed loop control system if a disturbance input
TL(s) is added between the proportional controller and the antenna transfer
function and find the closed loop transfer function between TL(s) and (s).

The closed loop control system is represented by the following block diagram:

In order to calculate the transfer function between TL(s) and (s) we could represent the block diagram showed above by its
equivalent representation as shown. The force applied to the Transfer Func1 is added as an impulse disturbance.

𝑇𝐿 (𝑠)
=?
𝜃(𝑠)

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𝑇𝐿 (𝑠) 𝐺(𝑠) 1.667𝑥10−6
= ; 𝐺(𝑠) = , 𝐻(𝑠) = 𝐾𝑝
𝜃(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠) 1
𝑠2 + 𝑠
30

1⁄
𝐽
𝑇𝐿 (𝑠) 𝐺(𝑠) 𝑠(𝑠 + 𝐵⁄𝐽) 1⁄
𝐽 𝟏. 𝟔𝟔𝟕𝒙𝟏𝟎−𝟔
= = = =
𝜃(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠) 1 𝐾𝑝 𝟏
𝐽 𝑠 2 + 𝐵⁄𝐽 𝑠 + ⁄𝐽 𝒔𝟐 +
𝟑𝟎
𝒔 + 𝟏. 𝟔𝟔𝟕𝒙𝟏𝟎−𝟔 𝑲𝒑
1+
𝑠(𝑠 + 𝐵⁄𝐽)(𝐾𝑝 )

3.

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a) Find the open-loop pole locations

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 𝑞̇ −0.4 0 −0.01 𝑞 6.3
𝑋̇ = [𝜃̇ ] , 𝐴 = [ 1 0 0 ] , 𝑋 = [𝜃 ] , 𝐵 = [ 0 ]
𝑢̇ −1.4 9.8 −0.02 𝑢 9.8

𝑥̇ = 𝐴𝑥 + 𝐵𝛿
𝑦 = 𝑐 𝑇 𝑥; 𝑖𝑓 𝑤𝑒 𝑤𝑎𝑛𝑡 𝑡𝑜 𝑎𝑛𝑎𝑙𝑦𝑧𝑒 𝑢, 𝑠𝑜: 𝑐 𝑇 = [0 0 1]
𝑢(𝑆)
= 𝑐 𝑇 (𝑠𝐼 − 𝐴)−1 𝐵
𝛿(𝑠)

𝑠 0 0 −0.4 0 −0.01 𝑠 + 0.4 0 0.1

(𝑠𝐼 − 𝐴)−1 = [0 𝑠 0] − [ 1 0 0 ]=[ −1 𝑠 0 ]
0 0 𝑠 −1.4 9.8 −0.02 1.4 −9.8 𝑠 + 0.02

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(𝑠𝐼 − 𝐴)−1 = (𝐴𝑡𝑡𝑎𝑐ℎ𝑒𝑑 𝑀𝑎𝑡𝑟𝑖𝑥 𝑜𝑓(𝑠𝐼 − 𝐴)−1 )
det((𝑠𝐼 − 𝐴)−1 )

Due to we are analyzing only the poles in the Transfer Function we need to calculate only the
determinant of the matrix (𝑠𝐼 − 𝐴)−1 corresponding to the denominator of the Transfer Function

det(𝑠𝐼 − 𝐴)−1 = (𝑠 + 0.4)(𝑠 2 + 0.2𝑠) + 0 + (0.01)(9.8 − 1.4𝑠)

det(𝑠𝐼 − 𝐴)−1 = 𝑠 3 + 0.42𝑠 2 − 6𝑥10−3 𝑠 + 0.098

Finding the roots of the polynomial, we have that the poles of the open loop system are located on:

𝑠1 = −0.6565

𝑠2 = 0.11825 + 0.3678𝑗

𝑠3 = 0.11825 − 0.3678𝑗

b) Is the system controllable?

We have to demonstrate that the rank of the W matrix is n, where W has a dimension of nxnm; A is a
nxn matrix and B is a nxm matrix.

W = [𝐵 𝐴𝐵 𝐴2 𝐵 … … … 𝐴𝑛−1 𝐵]
𝑊 = [𝐵 𝐴𝐵 𝐴2 𝐵]

6.3
𝐵=[ 0 ]
9.8

1
0
 −0.4 0 −0.01
𝐴= [ 1 0 0 ]
−1.4 9.8 −0.02
−2.618
𝐴𝐵 = [ 6.3 ]
−9.016
1.13736
𝐴2 𝐵 = [ −2.168 ]
66.8556
𝟔. 𝟑 −𝟐. 𝟔𝟏𝟖 𝟏. 𝟏𝟑𝟕𝟑𝟔
So: 𝑾=[ 𝟎 𝟔. 𝟑 −𝟐. 𝟔𝟏𝟖 ]
𝟗. 𝟖 −𝟗. 𝟎𝟏𝟔 𝟔𝟔. 𝟖𝟓𝟓𝟔

Obtain the rank of W by the determinants method

det(𝑊) = 6.3(421.19028 − 23.603888) + 9.8(6.8539 − 7.165368) = 2501.74

The determinant of the W matrix is not zero, then the rank of W is 3.

The matrix W is a controllability matrix and has a rank of n or its rows are linearly independent, so the
system is completely controllable.

c) Find the feedback gain that places the poles of the system at 𝑠 = −1 ± 1𝑗 𝑎𝑛𝑑 𝑠 = −2

For a single-input system with n states, the feedback matrix K is a row vector of dimension (1xn), and a control
law can be formulated where 𝑢 = 𝑟 + 𝑘𝑥. Consequently, the state equations can now be written as 𝑥̇ =
(𝐴 + 𝐵𝐾)𝑥 + 𝐵𝑟. The characteristic polynomial now is det(𝑠𝐼 − (𝐴 + 𝐵𝐾)) = 0.

So:

6.3
𝐵=[ 0 ]
9.8
−0.4 0 −0.01
𝐴= [ 1 0 0 ]
−1.4 9.8 −0.02

𝑠 0 0 −0.4 0 −0.1 6.3

(𝑠𝐼 − (𝐴 + 𝐵𝐾)) = [0 𝑠 0] − [ 1 0 0 ] − [ 0 ] [𝑘1 𝑘2 𝑘3 ]
0 0 𝑠 −1.4 9.8 −0.02 9.8
𝑠 + 0.4 − 6.3𝑘1 −6.3𝑘2 0.1 − 6.3𝑘3
(𝑠𝐼 − (𝐴 + 𝐵𝐾)) = [ −1 𝑠 0 ]
1.4 − 9.8𝑘1 −9.8 − 9.8𝑘2 𝑠 + 0.02 − 9.8𝑘3

1
1
det(𝑠𝐼 − (𝐴 + 𝐵𝐾)) = 0

(0.1 − 6.3𝑘3 )(9.8 + 9.8𝑘2 + 9.8𝑘1 𝑠 − 1.4𝑠) + (𝑠 + 0.02 − 9.8𝑘3 )(𝑠 2 + 0.4𝑠 − 6.3𝑘1 𝑠 + (−6.3𝑘2 ))

𝑠 3 + (0.42 − 6.3𝑘1 − 9.8𝑘3 )𝑠 2 + (0.854𝑘1 + 0.148 + 4.9𝑘3 − 6.3𝑘2 )𝑠 + (0.98 + 0.854𝑘2 − 61.74𝑘3 ) = 0

Comparing with the desired poles : (𝑠 + 2)(𝑠 + 1 + 𝑗)(𝑠 + 1 − 𝑗) = 𝑠 3 + 4𝑠 2 + 6𝑠 + 4 = 0

0.42 − 6.3𝑘1 − 9.8𝑘3 = 4 −6.3𝑘1 − 9.8𝑘3 − 3.58 = 0

0.854𝑘1 − 0.148 + 4.9𝑘3 − 6.3𝑘2 = 6 0.854𝑘1 − 6.3𝑘2 + 4.9𝑘3 − 6.148 = 0

0.98 + 0.854𝑘2 − 61.74𝑘3 = 4 0.854𝑘2 − 61.74𝑘3 − 3.02 = 0

Solving the system of equations and obtaining the feedback gain vector:

𝒌 = [−𝟎. 𝟒𝟕 −𝟏. 𝟎𝟖 −𝟎. 𝟎𝟔𝟑]

The negative values of k suggest that the new reference signal has the form 𝒖 = −𝒌𝒙

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