Bài giảng Fundamentals of Control Systems - Chapter 6: Design of continuous control systems - Huỳnh Thái Hoàng

Exercises
Fundamentals of Control Systems
Instructor: Dr. Huynh Thai Hoang
Department of Automatic Control
Faculty of Electrical & Electronics Engineering
Ho Chi Minh City University of Technology
Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com
Homepage: www4.hcmut.edu.vn/~hthoang/
30 October 2014 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1
Exercises for Chapter 6
DESIGN OF CONTINUOUS 
CONTROL SYSTEMS
30 October 2014 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 2
References
K t hik Ot M d C t l E i i 3 d d a su o aga, o ern on ro ng neer ng, r e .,
Prentice Hall, (1997)
 Franklin, Powell, and Emami-Naeini, Feedback Control of
Dynamic Systems, 6th ed., Prentice Hall, (2009)
 Farid Golnaraghi and Benjamin C. Kuo, Automatic Control
Systems, 9th ed., 2009, Prentice Hall.
 Richard C. Dorf and Robert H. Bishop, Modern Control
Systems, 11th ed, Peason (2008)
30 October 2014 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 3
Design of phase lead / phase lag
compensator
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Exercise E10.14 (Modern Control Systems) 
 Remote-robot control system (cont ).
R( ) Y( )s
G(s)+
s
GC(s)
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Exercise AP10.1 (Modern Control Systems) 
 Pick and place robot control- -
 Design requirements:
13%POT £
s 3sec (2% criterion)t <
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Exercise AP10.8 (Modern Control Systems) 
 Manutec robot dynamics:
250( )
s( 2)( 40)( 45)
G s
s s s
= + + +
 Design requirements:
20%POT <
1.2sec (2% criterion)st <
10vK ³
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Exercise DP10.6 (Modern Control Systems) 
 Antenna position control
 Design requirements:
5%POT £
s 2sec (2% criterion)t <
0.01 (ramp input)sse £
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Exercise DP10.1 (Modern Control Systems) 
 Two robots cooperate to insert a shaft
 Design requirements:
25%POT £
s 2sec (2% criterion)t <
0.0125 (ramp input)sse £
R( ) Y( )s
G(s)+
s
GC(s)
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Exercise P10.9 (Modern Control Systems) 
 Path-controlled turret lathe
3 2
R0.1; 10 ; 10 ; 5n J b K
- -= = = =
 Design a cascade compensator to be inserted before the
silicon-controlled rectifiers such that:
5%;POT < 2.5% (step input)sse £
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 Design using root locus method and Bode diagram method
Exercise P10.19 (Modern Control Systems) 
 Remote-robot control system
CG
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Exercise P10.19 (Modern Control Systems) 
 Remote-robot control system (cont ).
CG
1 28; 0 25T t
 Design requirements: 5% (step input)e £
. .= =
 ss
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D i f PID t lles gn o con ro ers
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Exercise P10.7 (Modern Control Systems) 
 Nuclear reactor control
0.4s
( )
0 2 1
eG s
-
= +
( ) IC P
KG s K= +
. s
s
 Design requirements: 10%POT <
 E ti t th ttli ti (2% it i )
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s ma e e se ng me cr er on
Exercise DP10.8 (Modern Control Systems) 
 Engine control system
0.066secT =
 Design requirements:
5%POT £
10 (2% i i )
0 (step input)sse =
s sec cr ter ont £
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Exercise DP10.9 (Modern Control Systems) 
 Roll angle control of a jet airplane-
 Design requirements: step response is well behaved and the 
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steady-state error is zero. 
Exercise DP10.4 (Modern Control Systems) 
 Control a robot by vision feedback
 Design requirements:
5%POT £
0 ( i )
s 6sec (2% criterion)t £
 step nputsse =
R(s) Y(s)
G(s)+ GC(s)
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Design of state feedback controller 
and state observer
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Exercise P11.16 (Modern Control Systems) 
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Exercise P11.14 (Modern Control Systems) 
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Exercise P11.27 (Modern Control Systems) 
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Exercise AP11.13 (Modern Control Systems) 
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