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Linear Control Theory Tutorial Problems

The document contains tutorial problems for Linear Control Theory (EE 326) focusing on steady-state errors in unity feedback systems. It includes calculations for steady-state errors with various input types and discusses system stability and type classification. Key findings include the determination of static constants and the implications of system type on error behavior.

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5 views4 pages

Linear Control Theory Tutorial Problems

The document contains tutorial problems for Linear Control Theory (EE 326) focusing on steady-state errors in unity feedback systems. It includes calculations for steady-state errors with various input types and discusses system stability and type classification. Key findings include the determination of static constants and the implications of system type on error behavior.

Uploaded by

omkedare26
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Linear Control Theory (EE 326):

7. Tutorial Problems

Krishnan C.M.C.
Dept. of Electrical and Electronics Engineering
NITK Surathkal
P1: Type, static constants and errors
For the unity feedback system with open loop TF 𝐺 𝑠 given below
calculate the steady-state error with inputs:25𝑢 𝑡 , 37𝑡𝑢 𝑡 , 47𝑡 2 𝑢(𝑡)

450(𝑠 + 8)(𝑠 + 12)(𝑠 + 15)


𝐺 𝑠 =
𝑠 𝑠 + 38 (𝑠 2 + 2𝑠 + 28)
T(s) has left half plane poles -> stable (verify as HW)

Thus: 𝐾𝑝 → ∞ 𝑒𝑠𝑡𝑒𝑝 → 0
It is a Type-1 system

𝐾𝑎 = 0 𝑒𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑎 → ∞

450 ∙ 8 ∙ 12 ∙ 15 37
𝐾𝑣 = = 609.02 𝑒𝑟𝑎𝑚𝑝 =
38 ∙ 28 609.02

Important to
note this gain

EE326 Dept. of E & E, NITK Surathkal


2
P2: Type, static constants and errors
For the system shown in
Figure, what steady-state
error can be expected for the
following test inputs:
10𝑢 𝑡 , 10𝑡𝑢 𝑡 , 10𝑡 2 𝑢(𝑡)

After Block Dia Reduction

𝑅(𝑠) + 𝐸(𝑠) 6 𝑠 + 1 6 𝑠+1 ➔stable


𝐶 𝑠 𝑇 𝑠 = 2
𝑠(𝑠 + 28) 𝑠 + 34𝑠 + 6
−

Type-1 System
𝑒10𝑢(𝑡) = 0 𝑒10𝑡 2𝑢(𝑡) → ∞
1
6 𝑒10𝑡𝑢(𝑡) = 10 × = 10
𝐾𝑣 = = 1 𝐾𝑣
6

EE326 Dept. of E & E, NITK Surathkal


3
P3: Type, static constants and errors
For a unity feedback system with forward transfer function
𝐾 Calculate 𝐾 such that steady state error is
𝐺 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 0.2 units

Type-1 System Thus talking about ramp response

1 𝐾 1
⇒ 𝐾𝑣 = ⇒ = ⇒ 𝐾 = 10
0.2 2 0.2

10
𝑇 𝑠 = Poles:−3.3, +0.15 ± 𝑗1.73
𝑠 3 + 3𝑠 2 + 2𝑠 + 10

Unstable, thus it is not allowed!

EE326 Dept. of E & E, NITK Surathkal


4

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