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Tutorial 6

The document discusses control system design and stability analysis. It covers topics such as selecting a controller gain K to stabilize an automotive engine control system over a range of parameters; using the Routh-Hurwitz criterion to analyze the stability of systems defined by characteristic equations; determining gains and parameters for marginally stable systems; analyzing the stability of feedback control systems using the Routh-Hurwitz criterion; and determining the stability region for various open-loop transfer functions.

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53 views

Tutorial 6

The document discusses control system design and stability analysis. It covers topics such as selecting a controller gain K to stabilize an automotive engine control system over a range of parameters; using the Routh-Hurwitz criterion to analyze the stability of systems defined by characteristic equations; determining gains and parameters for marginally stable systems; analyzing the stability of feedback control systems using the Routh-Hurwitz criterion; and determining the stability region for various open-loop transfer functions.

Uploaded by

Gaurav A
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EE3004 Control Engineering

Tutorial 6
1. The control of the spark ignition of an automotive engine requires constant performance over a wide range
of parameters. The control system is shown in figure:1 with a controller gain , K to be selected. The
parameter p is equal to 2 for many autos but can be equal zero for those with high performance. Select a
gain K that will result in a stable system for both values of p.

Figure 1: Automobile Engine Control

2. Use Routh Hurwitz criterion to determine the stability of the following systems represented by their cor-
responding characteristic equations.
In case the system is unstable, determine the number of roots of the characteristic equation on the right
half of s-plane. Or in case the system is marginally stable, determine the location of the roots on the
imaginary axis.

(a) s5 + s4 + 2s3 + 2s2 + 3s + 5 (b) s6 + 3s5 + 5s4 + 9s3 + 8s2 + 6s + 4


3. The open loop transfer function of an unity feedback system is given by
4
G(s) =
s(s2 + as + 2b)

Find the value of a and b such that the system is marginally stable and oscillates with a frequency of 4
rad/sec.
4. Consider the feedback control system in Figure(2)

Figure 2:

(a) Using the RH criterion, determine the range of KI resulting in closed-loop stability.
(b) Plot the pole locations as a function of 0 < KI < 30 in matlab and comment on the results.
(Hint: use ’for’ function to vary the gain KI in the closed loop transfer function. find the poles of

1
closed loop system using function ’pole’ then plot(real(),imag(),’x’), ’x’ denote symbol for pole(you
can use anything) )

5. A teleoperated control system incorporates both a person (operator) and a remote machine. The normal
teleoperation system is based on a one-way link to the machine and limited feedback to the operator.
However, two-way coupling using bilateral information exchange enables better operation. In the case of
remote control of a robot, force feedback plus position feedback is useful. The characteristic equation for
a teleoperated system, as shown in figure: 3 is,
s4 + 20s3 + K1 s2 + 4s + K2 = 0,
where K1 , and K2 are feedback gain factors. Determine and plot the region of stability for this system
for K1 and K2

Figure 3: Model of a teleoperated system

6. The open loop transfer function of a unity feedback control system is given by
K(s + 1)
G(s) =
s(1 + T s)(1 + 2s)
Determine the region in which the closed-loop system is stable by taking K on x-axis and T on y-axis.
7. The schematic diagram of RC phase shift oscillator is shown in figure 4

Figure 4: RC phase shift oscillator

The circuit will oscillate if it is designed to have poles on the jω-axis


(a) Show that the transfer function for the passive network in the circuit is given by
V2 (s) 1
= 1 1 2 2
V1 (s) (1 + sRC )(2 + sRC ) −3− sRC

(b) Show that the oscillator’s characteristic equation is given by


1
1+K 1 1 2 2 =0
(1 + sRC )(2 + sRC ) −3− sRC
R2
where K = R1

2
(c) Use the Routh-Hurwitz criterion to obtain the oscillation condition and the oscillation frequency.
8. The open loop transfer function with unity feedback control is given by

K(s − a)
G(s) =
s(s − b)

Find the range of K for closed loop stability for the following cases:
(a) a < 0, b < 0
(b) a < 0, b > 0
(c) a > 0, b < 0
(d) a > 0, b > 0
9. Consider the system shown in Figure 5, where K is a proportional controller. Determine the range of
values of K so that the impulse response of the system decays faster than e−2t .
Hint: The rate of decay of the impulse response depends only on the real parts of the poles of the
closed-loop system.

u(t) + K 1
y(t)
s(s2 +10s+29)
−

Figure 5: Proportional controller for a faster response

On the lighter side...

Source: http://controlcartoons.com/

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