EEE-101 - Control Systems Engineering

MATLAB and Control System Toolbox Assignment

1. Transfer Function and Zero-Pole-Gain Representation

1. Use the zpk command to create a transfer function with zeros at [], poles at [-1, -2, -2], and
a gain of 2. Display the transfer function.
1 F = zpk ([] , [ -1 , -2 , -2] , 2)

2. Convert the transfer function from part (1) to a numerator-denominator form using the tf com-
mand.
1 F_tf = tf ( F )

2: Partial Fraction Expansion

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1. For the transfer function F (s) = (s+1)(s+2)2 , use the residue command to find the partial fraction

expansion. Identify the residues, poles, and direct terms.

1 numf = 2;
2 denf = poly ([ -1 , -2 , -2]) ;
3 [K , p , k ] = residue ( numf , denf )

2. Verify the partial fraction expansion by reconstructing the original transfer function from the
residues and poles.
1 [ numf_recon , denf_recon ] = residue (K , p , k )
2 F_recon = tf ( numf_recon , denf_recon )

3: Inverse Laplace Transform

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1. Use the Symbolic Math Toolbox to find the inverse Laplace transform of F (s) = s(s2 +2s+5) .

1 syms s ;
2 f = ilaplace (3 / ( s * ( s ^2 + 2* s + 5) ) )
3 pretty ( f )

4: State-Space Representation
1. Define the state-space matrices and Convert state-space representation to a transfer function rep-
resented as a numerator and denominator in polynomial form, G(s) = num/den.
1 A = [0 , 1 , 0; 0 , 0 , 1; -9 , -8 , -7];
2 B = [7; 8; 9];
3 C = [2 , 3 , 4];
4 D = 0;
5 [ num , den ] = ss2tf (A ,B ,C , D )

2. Convert the state-space representation to a transfer function using the tf command.

1 F = ss (A ,B ,C , D )
2 F_tf = tf ( F )

3. Convert a transfer function to the state-space representation using the tf2ss command.
1 [A ,B ,C , D ] = tf2ss ( num , den )

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5: Polynomial Roots and Multiplication
1. Find the roots of the polynomial 5s4 + 7s3 + 9s2 − 3s + 2 = 0 using the roots command.
1 P = [5 , 7 , 9 , -3 , 2];
2 rootsP = roots ( P )

2. Multiply the polynomials (s3 + 7s2 + 10s + 9) and (s4 − 3s3 + 6s2 + 2s + 1) using the conv command.
1 P = conv ([1 , 7 , 10 , 9] , [1 , -3 , 6 , 2 , 1])

6: Second-Order System Characteristics

1. For a second-order system with poles at −3 ± 7i, calculate the natural frequency (ωn ), damping
ratio (ζ), settling time (Ts ), peak time (Tp ), and percent overshoot (%OS).
1 p1 = [1 , 3+7 i ];
2 p2 = [1 , 3 -7 i ];
3 deng = conv ( p1 , p2 ) ;
4 omegan = sqrt ( deng (3) / deng (1) )
5 zeta = ( deng (2) / deng (1) ) / (2 * omegan )
6 Ts = 4 / ( zeta * omegan )
7 Tp = pi / ( omegan * sqrt (1 - zeta ^2) )
8 pos = 100 * exp ( - zeta * pi / sqrt (1 - zeta ^2) )

7: Plot the Step Response of Systems (Represented in State

Space)
1. We also can plot the step response of systems represented in state space using the step(T,t) com-
mand.
1 A = [0 , 1 , 0; 0 , 0 , 1; -24 , -26 , -9];
2 B = [0; 0; 1];
3 C = [2 , 7 , 1];
4 D = 0;
5 T = ss (A ,B ,C , D )
6 t = 0:0.1:10;
7 step (T , t )
8 grid on

8: Step Response of Multiple Systems

1. Create three transfer functions:
1 T1 = tf ([24.542] , [1 , 4 , 24.542])
2 T2 = tf ([245.42] , conv ([1 , 10] , [1 , 4 , 24.542]) )
3 T3 = tf ([73.626] , conv ([1 , 3] , [1 , 4 , 24.542]) )

2. Plot the step responses of all three systems on the same graph.
1 step ( T1 , T2 , T3 )
2 title ( ’ Step Responses of T1 ( s ) , T2 ( s ) , and T3 ( s ) ’)

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9: Block Diagram Reduction
For the control system shown in Fig. 1, find the equivalent transfer function from R(s) to Y (s) using
block reduction method.

𝑅(𝑠) 2 −0.125𝑠 − 0.05437 𝑌(𝑠)

−1
− − 𝑠+2 10.23𝑠 2 + 12.59𝑠 + 0.02079

−𝑠

Figure 1

1. Solution via Series, Parallel, & Feedback Commands

1 ’ Solution via Series , Parallel , & Feedback Commands ’
2 numg1 =[ -1];
3 deng1 =[1];
4 numg2 =[0 2];
5 deng2 =[1 2];
6 numg3 = -0.125*[1 0.435];
7 deng3 = conv ([1 1.23] ,[10.226 0.0169]) ;
8 numh1 =[ -1 0];
9 denh1 =[0 1];
10 G1 = tf ( numg1 , deng1 ) ;
11 G2 = tf ( numg2 , deng2 ) ;
12 G3 = tf ( numg3 , deng3 ) ;
13 H1 = tf ( numh1 , denh1 ) ;
14 G4 = series ( G2 , G3 ) ;
15 G5 = feedback ( G4 , H1 ) ;
16 Ge = series ( G1 , G5 ) ;
17 ’T ( s ) via Series , Parallel , & Feedback Commands ’
18 T = feedback ( Ge ,1)

2. Solution via Algebraic Operations

1 ’ Solution via Algebraic Operations ’
2 numg1 =[ -1];
3 deng1 =[1];
4 numg2 =[0 2];
5 deng2 =[1 2];
6 numg3 = -0.125*[1 0.435];
7 deng3 = conv ([1 1.23] ,[10.226 0.0169]) ;
8 numh1 =[ -1 0];
9 denh1 =[0 1];
10 G1 = tf ( numg1 , deng1 ) ;
11 G2 = tf ( numg2 , deng2 ) ;
12 G3 = tf ( numg3 , deng3 ) ;
13 H1 = tf ( numh1 , denh1 ) ;
14 G4 = G3 * G2 ;
15 G5 = G4 /(1+ G4 * H1 ) ;
16 G5 = minreal ( G5 ) ;
17 Ge = G5 * G1 ;
18 ’T ( s ) via Algebraic Operations ’
19 T = Ge /(1+ Ge ) ;
20 T = minreal ( T )

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 3. Solution via Append & Connect Commands
1 ’ Solution via Append & Connect Commands ’
2 ’ G1 ( s ) =( - K1 ) *(1/( - K2s ) ) =1/ s ’
3 numg1 =[1];
4 deng1 =[1 0];
5 G1 = tf ( numg1 , deng1 )
6 ’ G2 ( s ) =( - K2s ) *(2/( s +2) ’
7 numg2 =[ -2 0];
8 deng2 =[1 2];
9 G2 = tf ( numg2 , deng2 )
10 ’ G3 ( s ) = -0.125( s +0.435) /(( s +1.23) ( s ^2+0.226 s +0.0169) ) ’
11 numg3 = -0.125*[1 0.435];
12 deng3 = conv ([1 1.23] ,[10.226 0.0169]) ;
13 G3 = tf ( numg3 , deng3 ) ;
14 System = append ( G1 , G2 , G3 )
15 input =1;
16 output =3;
17 Q =[1 -3 0;2 1 -3;3 2 0];
18 T = connect ( System ,Q , input , output ) ;
19 ’T ( s ) via Append & Connect Commands ’
20 T = tf ( T ) ;
21 T = minreal ( T )

10: Similarity Transformations

 
2 0 0
1. Perform a similarity transformation using the transformation matrix Pinv = 3 2 0.
 

1 4 5
1 Pinv = [2 , 0 , 0; 3 , 2 , 0; 1 , 4 , 5];
2 P = inv ( Pinv )
3 ’ Original ’
4 Ax = [0 , 1 , 0; 0 , 0 , 1; -2 , -5 , -7]
5 Bx = [0; 0; 1]
6 Cx = [1 , 0 , 0]
7 ’ Transformed ’
8 Az = Pinv * Ax * P
9 Bz = Pinv * Bx
10 Cz = Cx * P

11: Diagonalization of Systems

1. Diagonalize the system via Transformation and using the canon command.
1 A = [3 , 1 , 5; 4 , -2 , 7; 2 , 3 , 1];
2 B = [1; 2; 3];
3 C = [2 , 4 , 6];
4 [P , d ] = eig ( A )
5 ’ Via Transf ormation ’
6 Adt = inv ( P ) * A * P
7 Bdt = inv ( P ) * B
8 Cdt = C * P
9 ’ Via Canon Command ’
10 S = ss (A , B , C , 0)
11 Sp = canon (S , ’ modal ’)

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 Assignment

1. Find the Laplace transform of the following time functions:

(a) f (t) = 8t2 cos(3t + 45◦ )

(b) f (t) = 3te−2t sin(4t + 60◦ )

2. Find the Inverse Laplace transform of the following transfer functions:

(s2 + 3s + 10)(s + 5)
(a) G(s) =
(s + 3)(s + 4)(s2 + 2s + 100)
s3 + 4s2 + 2s + 6
(b) G(s) =
(s + 8)(s2 + 8s + 3)(s2 + 5s + 7)

3. Generate the transfer function:

5(s + 15)(s + 26)(s + 72)
G(s) = in the following ways:
s(s + 55)(s2 + 5s + 30)(s + 56)(s2 + 27s + 52)
(a) The ratio of factors

(b) The ratio of polynomials

4. Generate the partial fraction expansion of the following function:

104 (s + 5)(s + 70)
F (s) =
s(s + 45)(s + 55)(s2 + 7s + 110)(s2 + 6s + 95)

5. Find the state-space representation form for each of the systems shown in
Fig. 2.

Figure 2

Y (s)
6. Find the transfer function, G(s) = R(s)
, for each of the following systems
represented in state space:
a.
   
0 1 5 0 0
0 0 1 0 5
  
ẋ =  x +  r

0 0 0 1 8
−7 −9 −2 −3 2

5
 h i
y= 1 3 6 6 x

b.
   
3 1 0 4 2 2
−3 5 −5 2 −1 7
   
   
 0 1 −1 2
ẋ =  x +
8 8 r
 
−7 6 −3 −4 0  5
   
−6 0 4 −3 1 4
h i
y = 1 −2 −9 7 6 x