Exercise
Chapter 2: Mathematical model of control systems
Problem: Write the transfer function of the systems:
Y (s) X (s)
G1 ( s ) = G2 ( s ) =
U (s) U (s)
Problem: Find the transfer function of the following systems
Problem: Plot the block diagram and find the transfer function of the blocks in the flowing
system:
Problem: Write the transfer function of the following controller:
(a)
(b)
Problems: 2.1, 2.8, 2.16 a and b, 2.23 (Feeback Control of Dynamic Systems", Franklin et. al.)
Problems: 3.7, 3.8, 3.9, 3.10 and 3.21, (Automatic Control Systems, 9th edition, Golnaraghi
and Kuo)
Problem: Calculate the equivalent transfer function of the following systems:
G4(s)
R(s) Y(s)
+
G1(s) + G2(s)
Figure 1 G3(s)
G5(s)
G5(s)
Figure 2
R(s) Y(s)
G1(s) + G2(s) ++ G3(s) ++
G4(s)
G4(s)
G5(s)
R(s) Y(s)
+
G1(s) +
G2(s) ++
Figure 3 G3(s)
G6(s)
Problem: Calculate the equivalent transfer function:
Y ( s) Y ( s)
GR ( s ) and GN ( s )
R( s ) N ( s ) 0 N ( s) R( s ) 0
G5(s)
Figure 4 N(s)
G4(s)
R(s) Y(s)
+ + G1(s) ++ ++ G2(s)
G3(s)
Problem: Given a system in the block diagram below.
Y (s) Y (s)
Calculate the transfer function and
R( s ) N ( s )0 N ( s) R ( s )0
N(s)
G4(s)
R(s) Y(s)
+
+ G1(s) + G2(s) ++ G3(s) ++
G5(s)
G6(s)
Problem: AP2.3 (Dorf and Bishop, Modern Control Systems, 11th edition).
Problems: 10.1b, 10.1d, 10.2a, 10.2d, 10.4b, 10.4c (Automatic Control Systems, 9th edition,
Golnaraghi and Kuo)
Problem: Write the state space equation for the system described by the following differential
equation:
d 4 y (t ) d 3 y (t ) dy (t ) d 2 u(t ) du(t )
4
+ 5 3
- 2 3
+ 3 y ( t ) = 2 2
+4 + 10u(t )
dt dt dt dt dt
Problem:
Establish the state space equation describing the system:
Problem: Write the differential equation and state space equation describing the following
system:
u
y1 m1
k1 b1
y2 m2
k2 b2
Problem:
qin1
u(t)
y1(t)
qout1=qin2
y2(t) qout2
Consider the cascade tanks above. The parameters of the tanks are:
a1, a2: cross area of the dischage valve 1 and 2.
A1, A2: cross area of the tank 1 and 2
g: gravity acceleration (981cm/s2)
k: constant
C: discharge constant
The differential equations describing the system are below:
1
y1 (t ) A Ku (t ) a1C 2 gy1 (t )
1
y (t ) 1 a C 2 gy (t ) a C 2 gy (t )
2 A2
1 1 2 2
The values of the parameters assigned to each groups as in the Table 1 (see the last page)
1. Write the nonlinear state space equation describing the dynamics of the system.
2. Linearized the system around the equilibrium state with y 2 100cm .
3. Find the transfer function Y~2 ( s ) / U~( s) around the equilibrium state.
4. Simulate the cascade tanks in the problem 1 using Simulink. Plot the output of the system
when the input is u(t ) 1(t ) (unit step input)
Table 1
Group A1 (cm2) A2 (cm2) a1 (cm2) a2 (cm2) K (cm3/s/V) Cd
1 180 100 1.0 1.0 100 0.6
2 200 120 1.5 1.5 110 0.7
3 220 140 2.0 2.0 120 0.8
4 100 160 1.0 1.0 130 0.6
5 120 180 1.5 1.5 140 0.7
6 140 200 2.0 2.0 150 0.8
7 160 220 1.0 1.0 100 0.6
8 180 100 1.0 1.5 110 0.7
9 200 120 1.5 2.0 120 0.8
10 220 140 2.0 1.0 130 0.6
11 100 160 1.0 1.5 140 0.7
12 120 180 1.5 2.0 150 0.8
13 140 200 2.0 1.0 100 0.7
14 160 220 1.0 1.5 110 0.8
15 170 200 1.1 1.4 130 0.9
Computer exercise
Problem: Given the transfer functions:
3
G1 ( s )
s 1
5
G2 ( s )
s 4 s 20
2
2
G3 ( s )
s 5
s 1
G4 ( s ) 2
s 2s 2
a. Using Matlab to find the equivalent transfer function of the following systems:
G1(s) + G3(s)
G2(s)
G1(s) + G3(s)
G4(s)
b. Plot the step response of the systems: G1 ( s ) , G2 ( s ) , G3 ( s ) , G4 ( s ) . Explain the response of
the systems (why the response has oscilation or increase to infinity,...)