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Mechatronic Control Systems
Spring 2013
Dr. Bin Yao
FINAL EXAM
April 30, 2013
Problem
Point Value
Points Gained
1
20
2
20
3
40
4
20
Total
100
INSTRUCTIONS:
This is a Closed book exam. You are allowed one help sheet of hand-written summary.
Your exams must be stapled.
Circle your final answers.
Be neat and clear.
PROBLEM 1 (20Points)
Consider the following feedback system:
Y(s)-
Y(s)
-
Controller
Plant
where
.
You are required to design a controller to meet the following performance specifications:
Zero steady-state error for ramp type reference input and constant disturbance
The resulting closed-loop system should not have excessive transient responses for step reference input , i.e., your design should avoid either excessive large overshoot or large undershoot in the step responses.
To solve this problem, you are required to follow the following procedure:
Determine the correct controller structure that is needed to meet the performance requirement P1. To receive full credit, you need to justify your answer as well.
Determine the suitable desired pole locations of the closed-loop system so that the performance requirement P2 can be satisfied. Again, to receive full credit, you need to justify your answer as well.
Determine the unknown controller parameters to meet the above performance requirements.
Solutions:
由上面两条定理可以得到结论：
1、
a). As the plant has an integrator, to satisfy (P1), the controller only needs one integrator, i.e.,
(1)
With the controller (1), the closed-loop output is given by
(2)
Thus, for ramp type reference input (i.e., ) and constant disturbance (i.e., ), the system output tracking error is
(3)
So as long as the CL system is stable (i.e., the denominator in (3) has all roots in LHP), the condition for applying FVT is satisfied. By FVT, you can easily show that the steady-state error in (3) is zero.
PROBLEM 1 (conts)
b). As the plant has an unstable pole at 1, to avoid excessive overshoot due to this unstable pole,
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