MEM 355

Homework 2

1. Consider the satellite control problem shown where the parameters are
J = 10, N-m-sec 2 / rad
θ = satellite attitude, rad
θ r = reference satellite attitude, rad
=
H y 1,=
Hr 1
w = disturbance torque, N-m
w

θr 1 1
Hr D (s) θ
Js s
-

Hy

Determine the system type and error constants with respect to the reference
and disturbance inputs for the following cases:
a. PD control D ( s=) k p + k D s
b. PI control D=( s ) (k p s + kI ) / s
c. PID control D ( s ) = k p + kI / s + kD s
Solution:
Part a. PD – We have
1
G p ( s=
) , D ( s=
) k p + kd s
Js 2
The error response transfer function is
1 Gp
=E Θr − W
1 + DG p 1 + DG p

We easily compute the error constants

k p + kd s
K p = lim D ( s ) G p ( s ) = lim = ∞
s →0 s →0 Js 2
k +k s
K v = lim sD ( s ) G p ( s ) = lim s p 2 d = ∞
s →0 s →0 Js
k + k s Kp
= K a lim s= 2
D ( s ) G p ( s ) lim= s2 p 2 d
s →0 s →0 Js J
The error constants can be used to compute the ultimate state error for step, ramp and
parabolic reference inputs.

For the disturbance inputs we directly compute the ultimate state error using
 Gp 1
E=
− W=
− 2
1 + DG p Js + kd s + k p
Step disturbance –
1 1 1
e ( ∞ ) =− lim s =−
s →0 Js + kd s + k p s
2
kp
Ramp disturbance -
1 1
e ( ∞ ) = − lim s = −∞
s →0 Js + kd s + k p s 2
2

Parabolic disturbance –
1 1
e ( ∞ ) = − lim s = −∞
s →0 Js + kd s + k p s 3
2

Part b. PI – We have
1 k sk + k
Gp ( s ) = 2
, D (s) = kp + i = p i
Js s s
As a result, the closed loop system transfer function is
1 1
= E = Θr Θr
1 + DG p Js + k p s + ki
3

The system is unstable so the error constants and ultimate state errors are not meaningful.

Part c. PID – We have

1 ki k d s 2 + k p s + ki
G p ( s ) = 2 , D ( s ) = k p + + kd s =
Js s s

Consequently,
k d s 2 + k p s + ki
K p = lim D ( s ) G p ( s ) = lim = ∞
s →0 s →0 Js 3
k d s 2 + k p s + ki
K v = lim sD ( s ) G p ( s ) = lim s = ∞
s →0 s →0 Js 3
k s 2 + k p s + ki
K a = lim s 2 D ( s ) G p ( s ) = lim s 2 d = ∞
s →0 s →0 Js 3

For disturbance inputs

Step disturbance –
s 1
e ( ∞ ) =− lim s =0
s →0 Js + kd s + k p s + ki s s
3 2

Ramp disturbance -
s 1 1
e ( ∞ ) =− lim s =−
s →0 Js + kd s + k p s + ki s
3 2 2
ki
Parabolic disturbance –
 s 1
e ( ∞ ) = − lim s = −∞
s →0 Js + kd s + k p s + ki s 3
3 2
 2. Sketch the root locus with respect to K for the equation 1 + KL ( s ) =
0 where
1
L (s) =
s ( s + 3s + 10 )
2

Solution: The open loop transfer function can be written

1 1
=L (s) =
s ( s 2 + 3s + 10 ) s ( s + 1.5 + j 2.784 )( s + 1.5 − j 2.784 )
Which exposes the open loop roots.
Step 1 - Identify the locations of poles and plot them.

Step 2 – Identify parts of real axis which form a part of the root locus.
Step 3 – Identify asymptotes. There are three asymptotes, at angles
2n + 1 π π
=θ π ⇒ , − ,π
3 3 3
Intersect at centroid
σA =
∑ poles − ∑ zeros = −1.5 + j 2.784 − 1.5 − j 2.784 + 0
= −1
# poles − # zeros 3
Step 4 – Locate imaginary axis crossing
1
1+ K = 0 ⇒ s 3 + 3s 2 + 10 s + K = 0
s ( s 2 + 3s + 10 )
Substitute s = jω to obtain − jω 3 − 3ω 2 + 10 jω + K =
0 . Set real and imaginary parts to zero.
From imaginary part
−ω 3 + 10ω =⇒
0 ω=0, ω =± 10
From real part
−3ω 2 + K =0 ⇒ K =30

Im

Re
 3. Sketch the root locus with respect to K for the equation 1 + KL ( s ) =
0 where
s+2
L(s) =
s ( s − 1)( s + 6 )
2

Verify your sketch with a MALAB plot.

Solution:

Sketch

Im

Re

MATLAB Verification

>> s=tf('s');
>> G=(s+2)/(s*(s-1)*(s+6)^2);
>> rlocus(G)
>> sgrid
 Root Locus

25

0.81 0.7 0.56 0.4 0.2

20
0.9

15

0.955
)
-1

10

0.988
5

40 35 30 25 20 15 10 5

-5
0.988
Imaginary Axis (seconds

-10

0.955

-15

0.9
-20

0.81 0.7 0.56 0.4 0.2

-25

-40 -30 -20 -10 0 10 20

-1
Real Axis (seconds )