ATTENTION: The Singapore Copyright Act apples tothe uso ofthis document. Nanyang Technological University Library EE3011 NANYANG TECHNOLOGICAL UNIVERSITY SEMESTER 2 EXAMINATION 2014-2015 EE3011 - MODELLING AND CONTROL April / May 2015 Time Allowed: 2 hours INSTRUCTIONS 1 2. This paper contains 4 questions and comprises 8 pages. This is a closed-book examination. Answer All questions. All questions carry equal marks, ‘The Laplace-Transform Table is included in Appendix A on page 7. The Unit-Step Response Curve and performance indices of a standard second- order system are included in Appendix B on page 8. An answer sheet containing the Bode Diagram for Question 3(b) is distributed separately. Attach the answer sheet to your examination scripts. (a) Consider the block diagram of a control system given in Figure 1, where 2 5 10 s+2)° GO) s+10 K G)=T a Gb Derive its closed-loop transfer function ¥(s)/R(s) Ris) Ys) Gs) PR G,(s) |_faop Figure 1 (8 Marks) Note: Question No. 1 continues on page 2.ATTENTION: The Singapore Copyright Act apples tothe uso ofthis document. Nanyang Technological University Library EE3011 (b) The closed-loop transfer function of a control system is given by Ye) K Rs) s(s+2)(s+5)+K (i) Determine the range of K for which the closed-loop system is stable, Determine also the critical gain and critical oscillation frequency that could be used in frequency domain design. (ii) A student claims that he can find some values of K for which the closed-loop system will have a relative stability where all the closed- loop poles are more negative than -1.0. Comment on the student’s claim. ii) Sketch the root-locus of the characteristic equation, In the sketch, indicate clearly the asymptotes, the centroid, the break-away/break-in points and the crossing of the ja-axis, if any. (17 Marks) 2. (a) In the feedback control system shown in Figure 2 on page 3, R(s), Y(s) and D(s)are the Laplace transforms of the reference input, the output and the disturbance input, respectively, and G(s) is the system to be 1 S943 controlled. Suppose G(s)= Design a PID controller 8K) +sKp+K, G, (8) = 9 specifications: to meet the following performance (i) Zero steady-state error with respect to a step disturbance input. (ii) The steady-state error due to a unit ramp reference input is no more than 30%. ii) ‘The closed-loop system has a critically damped response with two iii) The closed-l has a critically damped ith poles located at s,, = -2.0. Does the resultant closed-loop system produce a dominant second order response? Note: Question No. 2 continues on page 3.ATTENTION: The Singapore Copyright Act apeies tothe uso ofthis document. Nanyang Technological University Library EE3011 D(s) RCs) Controller 76) G.(s) Figure 2 (18 Marks) (b) A student claims that if specification (ii) in part (a) is made stronger by requiring that the steady-state error due to a unit ramp reference input is no more than 3%, then a resultant PID controller will produce a better response than that obtained in part (a). Comment on the student’s claim. (7 Marks) 3. (@) Am industrial process is known to be minimum phase. The corresponding magnitude plot and its asymptotes are given in Figure 3. 100 50 Magnitude (4B) “100 150 10" 10" io 10° w 10 Frequency (rad/s, lagi scale) Figure 3, Note: Question No. 3 continues on page 4.ATTENTION: The Singapore Copyright Act apples tothe uso ofthis document. Nanyang Technological University Library EE3011 (® Determine the transfer function G(s) of this process based on a frequency domain modeling approach, (ii) Suppose that the input to this process is u(t) =3cos(¢ +20"). Based on the transfer function obtained in part (i), calculate the steady state response of the process. (10 Marks) (6) Consider the control system as shown in Figure 4, where G(s) is the transfer function of the plant and C(s) is the compensator to be designed. R(s) ¥(s) cs) G(s) > Figure 4 The transfer function of G(s) is given by 01 Gs)=——-__ s(s+0.1\5+1) and its Bode plot is given in Figure 5 on page 5. Design the compensator C(s) to achieve the following design objectives for the closed-loop system: (i) The steady-state error with respective to the unit ramp input is no more than 1.0. (ii) Gain crossover frequency is more than 0.3 rad/s. (ii) The Phase Margin g,, is at least 20°. A copy of the Bode plot of the transfer function G(s) (ie., Figure 5 on page 5) is given in a separate answer sheet. Note: Due to the unavailability of Matlab, you are NOT required to plot C(s)G(s) to check the validity of your design. ‘Note: Question No. 3 continues on page 5. 4ATTENTION: The Singapore Copyright Act applies tothe use of this document. Nanyang Technological University Library EE3OI1 100 Magnitude (6) Phase (deg) 10 10 10 10° 10' 10 Frequeney (adie) Figure 5 (15 Marks) 4. — Consider the feedback control system as shown in Figure 6, where s42 6O= Ges ‘The Nyquist plot of G(s) is shown in Figure 7 on page 6, R(s) ¥(s) > K Gs) ‘Note: Question No. 4 continues on page 6.ATTENTION: The Singapore Copyright Act apeies tothe uso ofthis document. Nanyang Technological University Library E3011 Imaginary Axis Real Axie Figure 7 (a) Determine the coordinates of the points where the Nyquist plot of G(s) crosses the real axis and the imaginary axis. (10 Marks) (6) Can the closed-loop system be stabilized for any K>0? Justify your answer and determine the number of stable and unstable poles in the closed- loop system. (8 Marks) (©) Investigate whether it is possible to stabilize the closed-loop system by using K<0. Determine the number of stable and unstable poles in the closed-loop system. (Hint: Construct the Nyquist plot of G(s) with the help of the Nyquist plot of G(s) as shown in Figure 7.) (7 Marks)ATTENTION: The Singapore Copyright Act apples tothe use ofthis document. Nanyang Technological University brary BE3011 Appendix A Laplace-Transform Table LAPLACE TIME FUNCTION TRANSFORM 0) Fo) a Unit-step function u(t) s 1 oo e sto 2 at s(s+a) FO = -# (+a)? “e o “sino, JI-Ct (<1) e* sin(, y1-C? +0) where 0 = cos! 6 (<) 37 +260,5+03 oF s(s? +2C@,8 +02) we wera? l-e*(l+ar) so? s°+2C0,s+02 where 0=cos*¢ (6 <1) ©, Jo? = 200, +05 cm sin(o, yI-C? 1+0) o2(s+a) ta 260,5+ 02 re)ATTENTION: The Singapore Copyright Act apples tothe uso ofthis document. Nanyang Technological University Library BE3011 Appendix B Unit-Step Response Curve and performance indices of a standard second-order system. Ys) @, Rs) 8° +260,8+0, Unit-Step Response Curve vO) Allowable tolerance pee % a t,=— M, for x% tolerance criterion where 0= cos"! and o, = @, END OF PAPER 8ATTENTION: The Singapore Copyright Act applies tothe use of this document. Nanyang Technological University LibraryATTENTION: The Singapore Copyright Act applies tothe use of this document. Nanyang Technological University LibraryATTENTION: The Singapore Copyright Act applies tothe use of this document. Nanyang Technological University LibraryEE3011 MODELLING AND CONTROL Please read the following instructions carefully: 1. Please do not turn over the question paper until you are told to do so. Disciplinary action may be taken against you if you do so. 2. You are not allowed to leave the examination hall unless accompanied by an invigilator. You may raise your hand if you need to communicate with the invigilator. 3. Please write your Matriculation Number on the front of the answer book. 4. Please indicate clearly in the answer book (at the appropriate place) if you are continuing the answer to a question elsewhere in the book.ATTENTION: The Singapore Copyright Act applies tothe use of this document. Nanyang Technological University Library Matriculation Number: E3011 SEMESTER 2 EXAMINATION 2014-2015 EE3011 - MODELLING & CONTROL Magnitude (4B) Phase (deg) ANSWER SHEET FOR QUESTION NO. 3 Note: This Answer Sheet is to be attached to your Answer Book. Bode Diagram 100 oT 60 100 -150 20 135 ii i 10 10 10° 10° 10 10 Frequency (rads)