Homework Set #1 - Solution

Spring 2013 Control Systems I

Aux_01 – The objective of this problem is to calculate a linear approximation around the operating
point of a non linear component. This linear model becomes the transfer function representing the
component. A Temperature sensor has the following overall nonlinear response to changes
in temperature.

R  Ro e 0 . 3T Where R 0  20,000 ohms and T = temperature in degrees Celsius.

Calclulate a linear model of the thermistor operating at T = 20 0 supporting a
small range of variations of termperature around T = 20 0 Celsius.
Solution Aux_01
Calculate the slope of the R  Ro e 0 . 3T exp ression operating at T = 20 0 C .
dR
 0.3 Ro e 0 . 3T
dT
Substitute in the operating temperature and resistance parameter
dR dR
 ( 0.3)( 20,000 ) e 0 . 3( 20 ) Next solve for
dT dT
dR
 6000e 6  6000  0.00247875  14.8725 ohms / deg C
dT

Answer
dR
 14.8725 ohms / deg C
dt

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Aux_02 – A common example of a two-input control system is a home shower with
separate valves for hot and cold water. The objective is to obtain a desired
temperature of the shower water and a desired flow of water. You are to draw a block
diagram of the closed loop control system. Note there will be two feedback loops and
two command inputs.

Solution Aux_02 – One variation of the block diagram is shown below.

Desired water + Valve Hot water Hot Water

temp adjust system
+
-- Actual water
temp and
+ flow rate
Desired water + Valve Cold
flow rate adjust water Cold Water
- system

Water flow Human

visual &
Water flow touch

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Aux-03 The figure
below shows a
TL
Error
closed loop control Detector
system. The feed
back path is r Controller Engine 
provided by the
Speed
Transducer. Also
shown is a Speed
disturbance Transducer
function labeled as
TL. You are to
predict what the
output of the
system will be for a disturbance input of constant amplitude for the control system without feedback
(no feedback path), and for the system with the feedback path. Show what you think the response
will be on the two plots shown below. Both plots show the output for some desired input idle speed
r. Show what will happen to the output plot for the disturbance input.

Desired
Desired
Idle speed
Idle speed
r
r

Time Time
Without feedback With feedback

Aux-03 Solution:
Desired
Desired
Idle speed
Idle speed
r
r
Desired
Desired
Idle speed
Idle speed
r
r

Time Time
Without feedback With feedback

Time Time
Without feedback With feedback

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Aux-04 Future Closed Loop Control Systems
Let your imagination run wild and dream up a control system concept to control a process that
currently does not exist (as far as you know).
You are to essentially;
a) Concisely define what it is you want to control,
b) How you would sense or measure what it is you want to control, and
c) How you would conceptually implement the closed loop system.

For example when you bring your automobile to a stop at a red light, and there is no cross
traffic at all, you are forced to wait until the cross light turns red and your light turns green
before you can start. This is wasting your time. Consider the following control system:
a) Maximize traffic flow at a 4 way intersection. By changing the traffic lights based
on traffic volume and not by an arbitrary time interval.
b) You have 4 TV cameras scanning each of the 4 incoming traffic lanes. The imagery
is sent a computer with software that detects and counts the moving objects in the
imagery along each incoming lane.
c) Based on the number of objects and the time the lights have been red a decision is
made as to which lights are to be red and green to maximize traffic throughput. If
there are no automobiles in your cross lane, why have your light red.
This would be a suitable answer.

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Aux_05. The objective of this problem is to demonstrate using the Final Value Theorem.
Suppose you have a control system with the transfer function given below. In this problem the
design requires that the magnitude of the final value for a unit step input to be 100. Based on
this value what must the magnitude of the parameter B be set at to meet the final value
requirement? In solving this problem refer to Section 2.4 in the text book discussing the Final
Value Theorem.
C ( s) Bs
 2
R ( s ) s  2s  4
Aux_05 Solution.
C (s) Bs
The open - loop transfer function is  2
R ( s ) s  2s  4
Bs
With R(s) = 1 / s, we have C(s) =
s ( s  2s  4 )
2

From Equation (2.28) in the text book)

Bs Bs B
lim y ( t )  lim s  lim 2  = 100
t  s 0 s ( s  2 s  4 ) s 0 s  2 s  4 4
2

Therefore B = 4 * 100 = 400

Answer

B= 400

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Aux_06 The objective of this problem is to become familiar with using Mason’s signal-flow
gain formula. Solve for the transfer function between the input R(s) and the output Y(s) of the
block diagram shown in Figure P2.36 on page 133 of the text book. Note, use the Mason’s
signal-flow gain formula, Equation (2.96) in Section 2.7 in the text book. Write your answer
with the denominator factored on decreasing powers of s.

Answer

The closed - loop transfer function is:

Y(s) K1
 T ( s)  2
R(s) s  ( K 1 K 2  1) s  K 1

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