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Tutorial One
0.1. Write down the control signal u(t) in relation to the set-point signal r(t)
and output signal y(t) for the following PID controllers, where the propor-
tional gain Kc , integral time constant τI and derivative gain τD are given
as
1. Kc = 0.5, τI = 0.6 and τD = 0.1;
2. Kc = −1.5, τI = 6 and τD = 1;
3. Kc = 15, τI = 1 and τD = 3.
0.2. Given that Kc = −1.5, τI = 6 and τD = 1, find the Laplace transform
U (s) for PID controllers with following cases.
1. the ideal PID controller given by Problem 0.1;
2. the PID controller with derivative control implemented on the output only
and with filter time constant βτD , where β = 0.1;
3. the PID controller with both proportional control and derivative control
implemented on output only, in addition to a derivative filter with time
constant βτD , where β = 0.1.
0.3. Draw the diagram of a closed-loop feedback control system, where the
plant transfer function is G(s), the controller transfer function is C(s) and
the transfer function for the sensor is H(s). On the diagram, mark set-point
signal R(s), control signal U (s) and output signal Y (s), feedback error E(s).
Find the following closed-loop transfer functions:
Y (s) E(s) U (s)
; ;
R(s) R(s) R(s)
0.4. Continue from Problem 0.3. Add input disturbance signal Di (s), output
disturbance signal Do (s) and measurement noise signal Dm (s) to the diagram
from Problem 0.3. Find the following closed-loop transfer functions:
Y (s) Y (s) Y (s)
; ;
Di (s) Do (s) Dm (s)
0.5. Consider the following transfer functions:
1. G(s) = (s+10)(s2 +2s+2) ;
−s+1
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2. G(s) = (s−1)(s+2)(s+10) ;
(s+1)(s−1)
3. G(s) = (s+3)2 (s−3)
For each transfer function, find its poles and zeros, and mark the locations
of the poles and zero on the complex plane. Is the transfer function stable?
Why?
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0.6. Assume that a system is described by the following transfer function
−s + 3
G(s) =
s2 + 3s + 1
and a proportional controller Kc > 0 is used. Will the closed-loop system be
stable for any choice of Kc > 0? If not, what is the value of Kc that will lead
to a pair of poles on the imaginary axis? Can we apply final value theorem to
determine the steady-state error of the closed-loop system when Kc = 10?
0.7. Suppose that the transfer function model of a system is given by G(s) =
0.01
s+0.1 , and a controller is chosen to have the structure
Kc (s + 0.1)
C(s) = .
s
1. What Kc value do we have to use in order to have a closed-loop system
with a closed-loop pole at −0.5?
2. Supposing that the reference signal is a step signal with amplitude of 0.1,
show that the steady-state error limt→∞ (r(t) − y(t)) = 0 as long as Kc is
positive.
0.8. Assume that a closed-loop control system has the transfer function
Y (s) s+K
= 3 .
R(s) s + 2s2 + 4s + K
Determine the minimum and maximum values of K such that the closed-loop
system is stable by using Routh-Hurwitz criterion.
0.9. Use Routh-Hurwitz criterion to determine the range of the proportional
controller Kc that will stabilize the systems with the following transfer func-
tions.
0.1
1. G(s) = (s+1)(s+3)
(−5s+1)
2. G(s) = (s+2)2 (s+10
s+0.1
3. G(s) = (s−3)(s+6)(s+1)
4. G(s) = −s+3
(s+3)(s2 +s+5)
