P1. Denote the Laplace Transform of the torque with T .

Then assuming zero initial conditions we have the

polynomial models

(1a) ( s 1000) T 200000 E 200000 ( R Y ) (polynomial model forward path system)

(1b) (s2 20 s ) Y 1T (polynomial model of feedback path system)

Re-organize this into a more standard form:

(2a) 200000 Y ( s 1000) T 200000 R (polynomial model forward path system)

(2b) (s2 20 s ) Y ( 1) T 0 (polynomial model feedback path system)

With matrix notation this becomes

200000 s 1000 Y 200000 R

(3)
s 2 20 s 1 T 0

Now T , the 2nd unknown, has the polynomial model where the multiplier of T is the determinant d of the
matrix on the left hand side of (3) while the product of this d and T is equal to another determinant got
from d by overwriting the 2nd column by a column vector from the right hand side of (3),

200000 s 1000 200000 200000 R

(4) T
s 2 20 s 1 s 2 20 s 0
Hence we obtain the polynomial model

( 200000 ( 1) ( s 1000) ( s 2 20 s ) ) T 200000 0 ( s 2 20 s ) 200000 R

(5) ( s 3 1020 s 2 20000 200000 ) T (s 2 20 s ) 200000 R

The polynomial model (5) is compatible with our old rational transfer function,

( s 2 20 s) 200000
(6) T R Gew R
s3 1020s 2 20000 200000
The result T is a ratio of two Cramer determinants:

200000 200000 R
s 2 20 s 0
T
200000 s 1000
s 2 20 s 1

So here the dividing det is that of the LHS (Left Hand Side) matrix for the vector equation (3).

In the solution of the 1st variable Y the det dividing remains as the same as above while det divided is that of
a matrix where the 1st column of the LHS matrix is replaced by the RHS column vector of (3).

Anyway, the procedure of this problem initially reveals the characteristic polynomial of the closed-loop
system as the det of the matrix which multiplies the vector of the unknown transforms. In the classical Cramer
formula this det appears as the denominator polynomial.

Keep Cramer in your mind if you sometimes must solve linear sets of equations with integer or rational
coefficients but dont want to use procedures subject to rounding and truncation errors. Cramer is nice for
for getting pretty symbolic solutions, too.

E14-1/12
P2. Consider first Figure 10.13b. on M p. 310. The formulae given for proportional gain K P , the
Integration Time TI and the Derivative Time TD are

R1 C1 R2 C2 R1 R2 C1 C2
KP , TI R1 C1 R2 C2 , TD
R1 C2 R1 C1 R2 C2

C1 R2
KP
C2 R1

The Integral Gain K I and the Derivative Gain K D (see LAB instructions and M pages 24, 293-311)
have quite simple presentations,

R1 C1 R2 C2
KP R1 C2 1
KI
TI R1 C1 R2 C2 R1 C2

R1 C1 R2 C2 R1 R2 C1 C2 R1 R2 C1 C2
KD K P TD R2 C1
R1 C2 R1 C1 R2 C2 R1 C2

There are four electric parameters involved to specify three tuning parameters of the controller. Hence the
number of variables exceed that of the equations. Therefore one might assume that there are several if not
infinitely many combinations of R1 , R2 , C1 , C2 to satisfy the tuning requirements. For simplity lets study this
possibility only for PI control where the capacitor in electrical parallel connection with R1 is removed vs.
assumed to have zero capacitance, see Figure 10.13a and set C1 0:

R1 C1 R2 C2 R1 0 R2 C2
KP , TI 0 C1 R2 C2 , TD ... 0
R1 C2 R1 C2

R2 1
KP , TI R2 C2 , KI
R1 R1 C2

Now we may e.g. select a positive value for R2 and then obtain C2 and R1 from the simple equations

TI R2
C2 , R1
R2 KP

However, there may be better solutions taking into accounts a few reasonable facts experts of analog electronics
master.

E14-2/12
P3. Begin with something which may help you to understand certain publications and software manuals but
should not bother you from ASE-1256 exams point of view:

In some books and scientific publications one may represent the derivative operator d / dt by D or p and
higher order derivative operators like d / dt by
n n
D n or p n . Notice that then we have

dn m
y pn m
y pn pm y
dt n m

Then we think we have an operator identity

pn m
pn pm .

1
Here p behaves like a number. In addition, it is then natural, logical and consistent to interprete p as the
integrating operator such that

p 1u u

In fact, this idea follows from the identity

pn m
y pn pm y

since

y p0 y p1 ( 1)
y p1 p 1 y pp 1 y

y p0 y p( 1) 1
y p 1 py p 1 py

1 1
Here we may see that p cancels p and vice versa. Hence p must represent the inverse operation for
differentiation, i.e. integration and vice versa.

Mimicing additional results learned for numbers a 2nd order Ordinary Differential Equation

p2 y py y u

may be re-written in the form

( p2 p 1) y 1 u

This is a polynomial model with operator polynomials which have coefficients familiar from our earlier
polynomial models from eigenfunction studies and Laplace studies where we had the complex number s
instead of the derivative operator p . The roots of the polynomial on the left are important? Strange?

We may mean the same with the operator transfer function models

y ( p2 p 1) 1
u

and

1
y 2
u
p p 1

E14-3/12
Poles, zeros, frequency response,

Getting operator models for ODEs is simple and straightforward without actual arithmetic operations. But for a
Transport Delay system the operator tf business is tougher. Assuming a constant delay a we may exploit a
Taylor expansion:

Taylor
u ( k ) (t ) p k u( t ) ( a p)k
y (t ) u( t a) u( t ( a )) ( a )k ( a )k u (t )
k 0 k! k 0 k! k 0 k!

Write this in the form

( a p )k
y (t ) u( t )
k 0 k!

to notice that we have here formally the Taylor series expansion of the exponential function of ( a p ),

y (t ) exp( a p ) u (t )

Do you recognize something familiar if you imagine here the complex number s instead of the derivative
operator p ? Anyway, exp( a p ) is the operator tf for a Continuous-Time Time-Delay system with a
Constant Delay a .

Back to business: Replace the Greek letters and by letters a and b used in English to enable
convenient presentations of Simulink Gain values. Here we need to present a good block diagram for py . The
2nd order derivative p ( py ) can be solved,

p2 y p ( py ) a 1 (u y b py )

Following Week 02 knowledge we now obtain the following elementary block diagram for production of py
without reference of a Derivative block:

Read now about the RC Cascade Filter from p. 29 of LAB instructions where ... and ... Indeed,
denoting the current through the 2 resistor and the 2 capacitor with i0 and the current through the 1st resistor
nd nd

with i use Kirchoffs current law to conclude that the 1st capacitor is getting the current (i i0 ) , so not a
current equal to i . Therefore we do not have there two RC circuit systems in a tf series connection.

Further memories from Week 02 imply the following elementary block diagram:

E14-4/12
Here the feedback in terms of i0 makes the system to differ from a usual series connection of two sub-
systems. You may regard the system from VC1 to VC2 as a RC filter while the system from Vin to VC1 is not
a typical RC filter since the resistor current and the capacitor current in it are not the same current.

P4.

7 s 2 11 s 13
a) F ( s)
s2 3 s 2

10 s 1
Polynomial division (deconv) : F ( s) 7 2
s 3 s 2

In fact: F (s) F( ) F (s) F ( ) ...

1 1
7 11 13 2
7 s 2 11 s 13 s s
F ( s) F( ) 7
s2 3 s 2 1 1
1 3 2 2
s s

The poles of the strictly proper rational term of F are 1 and 2 . Therefore we obtain

(10 s 1) ( 1)
F ( s) 7
( s 1) ( s 2)

Solution 1. Present the factored form as a product of two realizable and good enough tfs:

10 s 1 1 1 10 s 1
F ( s) 7 parallel ( 7 , series ( , ))
s 1 s 2 s 2 s 1

+
1 10 s 1 +

s 2 s 1

Solution 2. Exploit the partial fraction expansion of the strictly proper term (residue):

19 9
F ( s) 7
s 2 s 1
A sum of tfs is a model of a parallel connection of subsystems modelled by the tfs:

E14-5/12
 7

19
s 2

9
s 1

7 s 2 11 s 13 31 s 162
b) F ( s) 7 7 Q( s) (polynomial division)
s 2 6 s 25 2
s 6 s 25
Here the poles of the strictly proper second order rational function Q above are ( 3 j 4) , so non-real.
Application of the techniques used to solve Problem a would yield e.g. non-real gains. So something else
should be done. We could use a companion (canonical) form provided by M pages 34-35. However, lets
select here another form to improve the numerical characteristics of the model. For the non-real poles
( j ) with 0 for stability and 0 for convenience we can exploit the state space model

x1 x1 x2 1 u diagonals of A: Re part of the poles (1a)

x2 x1 x2 2 u off-diagonals of A : Im and Im (1b)

y x1 1st state as output! (1c)

Below find an elementary block diagram for the parallel connection of this subsystem and a gain 3:

+ +
u + x1 x1 + y
1
+

+
+ x2 x2
2
+

E14-6/12
Here we should select 3 to be the quotient of the initial polynomial division, i.e. 3 7 . The number 3 is
also the limit of the tf in the infinity of the positive Re axis, F ( ) . In the whole state space of the
3

system 3 model is D . The tf G ABC of the ss model (1abc) should also match the tf Q requested,

1 s ( 2 1 ) 31 s 162
G ABC ( s ) 2 2 2
(s ) s 6 s 25

For 3 , 4 the denominators are equal to each other. The numerators are matching iff

1 31 & ( 2 1 ) 162

This set has a unique solution,

162 1 162 ( 3) ( 31) 69

1 31 , 2
4 4

69
So we select: 3 7 , 3 , 4, 1 1 , 2 0 , 1 31 , 2
4
On a possible later DT application: You may have seen or will see DT block diagrams with roughly similar
layout than that of the previous block diagram (or other block diagrams of the course!). An example:

u x1 y
1
1 z

x2
1
2 z

1
Above z represents the a delay equal to the sampling time. The z transfer function of the block diagram
above is G ABC (z ) shown below. The coefficients are obtained from the coefficients of the DT tf given using a
procedure developed for CT tfs. For 0 the tf has the non-real poles ( j ):

1 z ( 2 1 )
G ABC ( z ) 2 2 3
(z )

E14-7/12
P5. Control System Toolbox has the tool nichols. The contours are available by ngrid or through a menu
choice of the grid.

a) The decibel presentation of the gain 0.5 1 / 2 is

1
M dB 20 lg dB 6 dB
2
20*log10(1/2) % -6.0206

o
Put a point with rectangular coordinates ( 120 , 6 dB ) onto the Nichols Chart :

The point is roughly on the contour of ( 5 dB ) for the closed loop dB gain.
Let the gain factor of the closed loop system be x . Then

20 lg x 5 x 10 ( 5 / 20 )
0.56

b) Controller tf F , process tf G , sensor tf H 1 , closed loop tf T :

G( s) F ( s) G( s) F ( s) G( s) F ( s)
T ( s)
1 G( s) F ( s) H ( s) 1 G (s) F ( s) 1 1 G( s) F ( s)

Denote the angular frequency (in the unit rad/s) with w :

E14-8/12
 G ( jw) F ( jw)
frequency response: T ( jw)
1 G ( jw) F ( jw)

2 Euler 2 2
here: G ( jw) F ( jw) 0.5 exp( j ) 0.5 cos( ) j sin( )
gain
3 3 3
phase
in rad

Method 1

G F 0. 5
T
1 G F 1 0.5 cos( 2 / 3) j 0.5 sin( 2 / 3)

0.5
T
1 0.5 ( 0.5) j 0.5 ( 0.5 3)

0.5 4 0.5 2 2 2 2 1
T
3/ 4 j 3/4 3 j 3 32 ( 3)2 9 3 12 2 3 3

Matlab: 1/sqrt(3) % 0.5774 , yes!

Decibels:

1
T dB
20 lg dB 4.77 dB % 20*log10(1/sqrt(3))
3

Matlab

phase = -120 ; % degrees

pharad = phase*pi/180 ; % radians

GF = 0.5*cos(pharad) + i*0.5*sin(pharad) % -0.2500 - 0.4330I

T = GF./(1 + GF) % 0.0000 - 0.5774i

Tabs = abs(T) % 0.5774

Control System Toolbox (assuming GF available)

w = rand(1) % an angular frequency, here unimportant

help frd
GFo = frd(GF,w) % model object, compare with tf and ss objects!

To = feedback(GFo,1) % due to the formula GF/(1 + GF*1)

help frdata
[T,w] = frdata(To) % compare with tfdata , ssdata

Tabs = abs(T)

E14-9/12
P6. A transparency sheet and paper sheet should be available for this.

The solution may be presented using a transparency and a paper. With Matlab knowledge:

G = tf(100,[1,10,0]) % for an initial open loop tf

nichols(G) % open loop dB gain for phase
grid % This is here not for a rectangular grid!
% Zoom to include the contour 3 dB but not too much extra

Nichols Chart

3 dB
10

6 dB
5
Open-Loop Gain (dB)

-5

-10

-225 -180 -135

Open-Loop Phase (deg)

The modified diagram should touch but not intersect the contour for 3 dB . This requires lifting the open
loop Nichols curve with the smallest vertical distance between the Nichols curve and the 3 dB contour.
The distance is about 4.6 dB . This should be obtained from 20 lg k available from the controller gain.
The new gain multiplier k can thus be solved from the equation

20 lg k 4.6 dB

Hence the additional gain factor (multiplier) k must be

k 10 4.6 / 20 1.7

The old numerator gain factor is 100 . Therefore the final numerator gain factor must be

100 k 170

Check

T = feedback(tf(170,[1,10,0]),tf(1));

bodemag(T)

E14-10/12
 System: T
Bode Diagram
10 Peak gain (dB): 2.99
At frequency (rad/sec): 10.9

-10

-20
Magnitude (dB)

-30

-40

-50

-60

-70

-80
0 1 2 3
10 10 10 10
Frequency (rad/sec)

The resonance frequency is slightly larger than 10 rad / sec .

The supremum value or smallest uppper bound of the amplitude gain T ( j ) is called Peak Gain. It is
also the H (H-infinity) norm of the tf T (s ) :

supgain = getPeakGain(T) % in the new CST version

supdB = 20*log10(supgain) % the resonance dB gain

supdB = mag2db(supgain)

help DynamicSystem/norm % in many older CST versions: help lti/norm

supgain = norm(T,inf) % the resonance gain as a gain multiplier

Here the numerical values are

% supgain = 1.4112 , H norm

% supdB = 2.9916 , that of dB plot!

E14-11/12
P7. Contours of T dB
and S dB
on the same Nichols plane where one also plot an Open Loop Curve

Reasoning goes mostly like for Nichols Chart of Complementary Sensitivity,

1 1
S L 1
1 L S

This may be programmed using polar coordinates of S ,

exp( j arg S )
L 1
S

Note that for feedback control systems with an ideal measurement system one could also exploit the formula

S 1 T
Nichols Chart
12

10

8 contour of 3dB closed loop gain

contour of 6dB closed loop sensitivity w.r. to process
6
Open-loop dB gain

-2

-4

-6

-8
-230 -220 -210 -200 -190 -180 -170 -160 -150 -140 -130
Open-loop phase

The the open loop Nichols curve should travel below and perhaps on a few points on a curve or both curves
but without crossing any of the curves.

E14-12/12