Control Systems - Experiment 3
Control Systems - Experiment 3
Control Systems - Experiment 3
a.
c.
b.
2. Consider the mechanical system shown in Figure 1. The system is at rest initially. The
displacements and are measured from their respective equilibrium positions. Assuming that
is a step force input and the displacement
is the output; obtain the transfer function of
the system. Then assuming that,
,
,
,
, and
is a step force of magnitude
. Obtain an analytical solution of
.
The equations of motion for the system are
Figure 1
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EED3016 Control Systems Laboratory, 2015 Spring
and
and
and -8.
.
.
.the gain
and
.
.
5. Obtain the transfer functions of the cascaded system, parallel system, and feedback system
shown in Figure 2. Asume that
and
are as follows:
Figure 2
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EED3016 Control Systems Laboratory, 2015 Spring
where some of and may be zero. In MATLAB, row vectors num and den specify the coefficients
of the numerator and denominator of the transfer function. That is,
The command
finds the residue the residues ( ), poles ( ), and direct terms ( ) of a partial-fraction expansion of the
two polynomials
and
.
For examples:
a. Transfer function to state space. The command
to state-space form
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EED3016 Control Systems Laboratory, 2015 Spring
b. Transformation from state space to transfer function. To obtain the transfer function from
state-space equations, use the command
represents the system. Figure 3.b shows a block with a state-space representation. The MATLAB
representation of such a system is given by
Figure 3.a
Figure 3.b
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EED3016 Control Systems Laboratory, 2015 Spring
provided that the two systems are defined in terms of transfer functions. Then, the series-connected
system (sys) can be given by
sys
Figure 4
If systems
respectively,
and
is given by
b. Parallel-connected blocks:
Figure 5.a and 5.b show parallel-connected systems. In Figure 5.a, the outputs from two systems
and
are added, while in Figure 5.b the output from system
is subtracted from the output of
system .
If
and
is given by
Figure 5.a
Figure 5.b
5
c. Feedback-connected blocks:
Figure 6.a shows a negative-feedback system and Figure 6.b shows a positive-feedback system. If
and are defined by in terms of transfer functions, then
or
Figure 6.a
Figure 6.b
Note that, in treating the feedback system, MATLAB assumed that the feedback was negative. If the
system involves a positive feedback, we need to add +1 in the argument of feedback as follows:
Alternatively, you can use sysh in the statement sys; That is,
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EED3016 Control Systems Laboratory, 2015 Spring
where
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EED3016 Control Systems Laboratory, 2015 Spring
Lab Procedure:
1. Find the residues ( ), poles ( ), and direct terms ( ) of a partial-fraction expansion of the two
polynomials
and
given in preliminary work question1. Write your codes and result
in given table.
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EED3016 Control Systems Laboratory, 2015 Spring
2. Define the transfer function and state-space representation of the systems given in preliminary
work question 3 with MATLAB.
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EED3016 Control Systems Laboratory, 2015 Spring
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EED3016 Control Systems Laboratory, 2015 Spring
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EED3016 Control Systems Laboratory, 2015 Spring
4. Define the transfer functions and state-space representations of the systems given in
preliminary work question 4 with MATLAB.
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EED3016 Control Systems Laboratory, 2015 Spring
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EED3016 Control Systems Laboratory, 2015 Spring
which has two inputs and one output. Obtain transfer functions
for the given system by using MATLAB.
and
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EED3016 Control Systems Laboratory, 2015 Spring
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EED3016 Control Systems Laboratory, 2015 Spring
7. Consider the system shown in below. Obtain the closed-loop transfer function
the system with MATLAB.
of
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EED3016 Control Systems Laboratory, 2015 Spring