Test 2

ENGI 5821: Control Systems I March 15, 2010

Total marks: 20 Name: Student #:

Answer each question in the space provided or on the back of a page with an indication of where to nd the answer. There are 5 questions on this exam, which consists of 6 pages. A separate formula sheet is available for this test.

Q1 [3]
1 (a) [1] Consider a unity feedback system with forward transfer function G(s) = (s+1)(s+2) . Briey describe how you would modify this system to yield a steady-state error of 0 for a ramp input.

(b) [2] Transform the following block-diagram into a signal ow graph. Make sure you label all systems and all signals.

Q2 [4]
Find the closed-loop transfer function for the following system. It is not necessary to simplify the algebra in your answer. You are encouraged to draw the intermediate steps.

Q3 [4]
Consider the following closed-loop transfer function: T (s) = 1 s(s + 1)

Determine the steady-state error for an impulse input to this system (r(t) = (t)).

Q4 [4]
Determine the range of values of K for which the following closed-loop transfer function is stable. T (s) = Assume K 0. K s4 + 3s3 + 3s2 + 2s + K

Q5 [5]
Consider a unity-feedback system with the following forward transfer function: G(s) = s2 2s + 2 (s + 1)(s + 2)

For each of the labelled points below (A-G), state whether or not each point lies on the root locus. You must provide a justication for each point, referencing the denition of the root locus or the rules for sketching the root locus. Some points will require calculations to judge, while others can be ruled in or out by one or more of the sketching rules. Give your nal answers in the form of a table.

2j j 1 E -j F G -2j 2

A -3 C -2 D -1