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15 views

Homework

Uploaded by

crtve
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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MA3005 Control Theory

Homework (Due 10/04/22, 23:59)

Instructions
1. Show all of your workings and drawings clearly.
2. Submit your homework as a pdf or word document.
3. You may use numerical software such as MATLAB for this homework. However, you
have to manually sketch the root locus.

1. A simple gravity pendulum system, which has a massless cord supporting a weight, is shown
in Fig. 1. The length of the massless cord is 𝐿, and the gravitational force acting on the
weight is given as 𝑀𝑔, where 𝑔 represents the gravitational constant. An input torque, , is
applied to the massless cord, and the system will experience a damping torque of 𝑐𝜃̇.

𝜃(𝑠)
Assuming 𝜃 is small, find where 𝑇(𝑠) = ℒ(𝜏(𝑡)). Also, find the damping ratio and
𝑇(𝑠)
DC gain of the system. (6 marks)

Fig. 1. A simple gravity pendulum system.


2. Draw the root locus for the unity feedback system shown in Fig. 2 by answering all the
questions below.

R(s) 𝑠 2 + 2𝑠 + 101 C(s)


K (𝑠 + 1)(𝑠 2 + 20𝑠 + 125)

Fig. 2. A unity feedback system.

(a) Identify all the starting and ending points of the locus. (3 marks)
(b) Find all the departure angles (if applicable). (2 marks)
(c) Find all the arrival angles (if applicable). (2 marks)
(d) Find all the break-in and break-out points (if applicable). (4 marks)
(e) Manually sketch the root locus. (4 marks)

3. The transfer function of another system is given as:

𝐶(𝑠) −20(𝑠 + 50)


𝐺(𝑠) = = .
𝑅(𝑠) (𝑠 + 10)2

Find the steady-state output of the system, 𝑐𝑠𝑠 (𝑡), when:

𝜋 𝜋
𝑟(𝑡) = 15 sin (𝑡 + 6 ) − 10 cos (500𝑡 + 2 ). (4 marks)

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