MAE-443/543 Continuous Control: Home Work 3 Solutions 1.

Solution: Transfer function of the system is G(s) = s3 + s + 3 s4 + 11s3 + 49s2 + 111s + 108

Zeros of the system are: 0.61 + 1.45i 0.61 1.45i 1.21 Poles of the system are: 2.00 + 2.24i 2.00 2.24i 4.00 3.00 As all the poles have negative real part, i.e, they lie on the left half of the complex plane, the system is stable. MATLAB code for generating the step and impulse response of the system is given below %Homework 3 Problem 1 num = [1 0 1 3]; %numerator of transfer function den = [1 11 49 111 108];%denominator of transfer function sys = tf(num,den);% defining the system %Finding poles and zeros poles=pole(sys) zeros=zero(sys) tvec = linspace(0,6,201); %Time vector from 0 to 6 seconds %% Unit impulse response [YI,TI]=impulse(sys,tvec); %% Unit Step response [YS,TS]=step(sys,tvec); %% Plots hold on; subplot(2,1,1); plot(TI,YI,color,r,LineStyle,-,Linewidth,2); xlabel($Time(s)$,Interpreter,Latex) ylabel($Amplitude$,Interpreter,Latex) title(Problem 1: Unit Impulse Response); 1

grid on; subplot(2,1,2); plot(TS,YS,color,b,LineStyle,-.,Linewidth,2); xlabel($Time(s)$,Interpreter,Latex) ylabel($Amplitude$,Interpreter,Latex) title(Problem 1: Unit Step Response); grid on;

Problem 1: Unit Impulse Response 1

0.8

0.6 Amplitude

0.4

0.2

0.2

3 T ime(s)

0.4

Problem 1: Unit Step Response 0.07 0.06 0.05 0.04 Amplitude 0.03 0.02 0.01 0 0.01 0.02 0.03 0 1 2 3 T ime(s) 4 5 6

Figure 1: Unit impulse and unit step response of system given in problem 1 2. Solution: MATLAB code for simulating the system using impulse response is given below: %Homework 3 Problem 2 a=[1.15e-5 0 0 .0273]; %Coefficients for transfer function Gf b=[-.0057 .023 .8185 .1642];%Coefficients for transfer function Gf zeta=[.05 .005 .05 .005];%parameters for transfer function Gf 2

omega=[70 2200 4000 9000];%parameters for transfer function Gf Gr=tf([1e6],[1 12.5 0]);%Transfer function Gr sys =Gr; %Generating the system transfer function for i=1:4 Gf=tf([omega(i)*(a(i)+b(i)*omega(i))],[1 2*zeta(i)*omega(i) omega(i)^2]); sys = sys*Gf; end %Finding the poles of the system poles=pole(sys) tvec = linspace(0,5,701); %Time vector from 0 to 5 seconds %% Unit impulse response [YI,TI]=impulse(sys,tvec); %% Plots hold on; plot(TI,YI,color,r,LineStyle,-,Linewidth,1.5); xlabel($Time(s)$,Interpreter,Latex) ylabel($Amplitude$,Interpreter,Latex) title(Problem 2: Unit Impulse Response); grid on; We can see from the impulse response of the system shown in gure 2 that the system settles down to a nal value of -1.4 in around 1.5 seconds. The transient response shows oscillations due to the presence of exible modes contributed by the transfer function Gf . Also, the transfer function Gr introduces a pole at -12.5 and a rigid body pole at the origin. The presence of a pole at the origin makes the system marginally stable and thus the system doesnt return to a nal value of zero on application of impulse input.

Problem 2: Unit Impulse Response 0

0.5

Amplitude

X: 1.429 Y: 1.41

1.5

0.5

1.5

2.5 T ime(s)

3.5

4.5

Figure 2: Unit impulse response of system given in problem 2