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Unformatted text preview: MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Aeronautics and Astronautics 16.060: Principles of Automatic Control Fall 2003 PROBLEM SET 3 Solutions Problem 1 1. 10( s + 2) s + 4 10 G ( s ) = s + 5 4 s + 10 ( s + 2)( s + 4) = 25 ( s + 5)( s + 10) K rl = 25 2. 10(0 . 25 s + 1) 2(0 . 5 s + 1) G ( s ) = . 1 s + 1 5(0 . 2 s + 1) (0 . 5 s + 1)(0 . 25 s + 1) = 4 (0 . 1 s + 1)(0 . 2 s + 1) = 4 K 3. There are no integrators, so the type number of the system is 0. For a type system with unity feedback, the steadystate error for a unit step input is given by 1+ 1 K , where K is the standard 1 gain of the transfer function G ( s ). So the steady state error would be 1+4 = . 2. Problem 2 1. First write C ( s ) in root locus form, with R ( s ) = 1 : s 3 s 2 + 5 s + 6 4 1 C ( s ) = 2 6 s 2 + 5 s + 4 s ( s + 3)( s + 2) = s ( s + 4)( s + 1) So K rl = 1. The polezero plot has zeros at s = 2 and s = 3, and poles at s = 0, s = 1, and s = 4. The partial fraction expansion is: K 1 K 2 K 3 C ( s ) = + + s s + 1 s + 4 The residues are: 1 (2 0)(3 0) 3 3 K 1 = = = (1 0)(4 0) 2 2 (1 0)(2 0) 2 2 K 2 = (1 180)(3 0) = 3 180 = 3 (2 180)(1 180) 1 1 K 3 = = = (4 180)(3 180) 6 6 3 / 2 2 / 3 1 / 6 C ( s ) = + s s + 1 s + 4 Taking the inverse Laplace transform gives the output as a function of time (for t > 0): 3 2 1 2 4 t t c ( t ) = e + e 3 6 2. Using the same method as before: s + 1 s + 1 C ( s ) = 1 = s 2 25 ( s + 5)( s 5) K rl = 1 and there is a zero at s = 1 and two poles at s = 5 and s = 5. K 1 K 2 C ( s ) = + s + 5 s 5 4 180 2 2 K 1 = = = 10 180 5 5 6 3 3 K 2 = = = 10 5 5 2 / 5 3 / 5 C ( s ) = s + 5 + s 5 2 5 t 3 5 t ( t ) = e + e c 5 5 Note that the output is unbounded, because of the pole in the righthalf plane. 3. 2 s + 4 1 2( s + 2) C ( s ) = = s 2 + 2 s + 2 s s ( s 2 + 2 s + 2) K rl = 2 and there is a zero at s = 2, and a complex conjugate pair of poles at s = . 1 j K 1 K 2 K 3 C ( s ) = + + s s + 1 j s + 1 + j ( 2 45)( 2 45)...
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This note was uploaded on 11/06/2011 for the course AERO 100 taught by Professor Willcox during the Fall '03 term at MIT.
 Fall '03
 willcox
 Aeronautics, Astronautics

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