TEST 2  CONTROL ENGINEERING  BDA 3073
SEM 1 SESSION 2011/12
SOLUTION Q1
Q1(a) Draw Free Body Diagram
The transfer function
( )
( )
( ) 4 2
4
2
+ +
= =
s s s U
s Y
s G
………….ANSWER (3 Marks)
Q1(b) Find the response if excited with unit step input
From
( ) t u y
dt
dy
dt
y d
4 4 2
2
2
= + +
, take laplace both sides
( ) t Lu Ly
dt
dy
L
dt
y d
L 4 4 2
2
2
= + +
……………………………(1)
( ) ( ) ( ) ( ) 1 0 0
2 2
2
2
− = − − =
(
¸
(
¸
s y s
dt
dy
sy s y s
dt
y d
L
( ) ( ) ( ) s sy y s sy
dt
dy
L = − =
(
¸
(
¸
0
  ( ) s y y L =
( )  
s
t u L
1
=
) ( 4 t u
) (t y
a
D
F
K
F
m
From Newton 2
nd
Law of Motion
( )
2
2
4
dt
y d
m t u F F
D K
= + − −
( ) t u y
dt
dy
dt
y d
4 4 2
2
2
= + +
Take Laplace Transform to get transfer
function, by letting all I/C to be zero, thus
( ) ( ) ( ) ( ) s U s Y s sY s Y s 4 4 2
2
= + +
Put into equation (1)
( ) ( ) ( )
s
s y s sy s y s
4
4 2 1
2
= + + −
( )
( ) 4 2
4
2
+ +
+
=
s s s
s
s y
………………………………(2)
Factorize into its partial fractions
( )
( ) ( )
( )
( ) ( )
( ) 4 2
4 2
4 2
4 2
4 2
2
2
2
2
2
+ +
+ + + +
=
+ +
+ + + +
=
+ +
+
+ =
s s s
A s C A s B A
s s s
s C Bs s s A
s s
C Bs
s
A
s y
Compare with standard 2
nd
order general equation
1
4 4
1 2
0
=
=
= +
= +
A
A
C A
B A
1
1
− =
− =
C
B
Put into equation
( )
( )
4 2
1 1
2
+ +
+
+ =
s s
s
s
s y
……………………(3)
From relation of ( )
2 2 2 2 2
2 ω ω + + + = + + a as s a s compare with 4 2
2
+ + s s
Thus,
3
1
2 2
=
=
=
ω
a
a
Taking inverse laplace to (3) to obtain time response then
( )
( )
( ) 3 1
1 1
2
+ +
+
− =
s
s
s
t y
( ) t e t y 3 cos 1
1 −
− = ………………………………..……..ANSWER (12 Marks)
SOLUTION Q2
Q2 ) Find K1 dan K2 for the servo system
Reduce the system to obtain the transfer function
Consider T1
( )
( )
s K s s
s s
s K
s s
T
2
2
2
20 2
20
2
20
1
2
20
1
+ +
=
+
+


¹

\

+
=
Using negative feedback to obtain transfer function ) (s G
( )
1 2
2
1
2
2
1
2
2
1
20 20 2
20
20 2
20
1
20 2
20
K s K s s
K
s K s s
K
s K s s
K
s G
+ + +
=


¹

\

+ +
+


¹

\

+ +
=
( )
1 2
2
1
20 20 2
20
K s K s s
K
s G
+ + +
=
Compare TF with general 2
nd
order equation
( )
2 2
1 2
2
1
2 20 20 2
20
n n
n
s s K s K s s
K
s G
ω ξω
ω
+ +
=
+ + +
=
+

+

U(s) Y(s)
1
K
s s 2
20
2
+
s K
2
T1
The given specification
2
1
5 . 0
ξ ω
π
−
= =
n
P
T
……………………….(1)
n
S
T
ξω
4
2 = =
………………………………….(2)
Also
2
20 2 2 K
n
+ = ξω ………………………..(3)
1
2
20K
n
= ω …………………………..(4)
From (2), 2 =
n
ξω ……………………………..(5)
Put (5) into (3), then
2
20 2 4 K + = to obtain 1 . 0
2
= K …….ANSWER ( 6 Marks)
From (1),
2
1
1
5 . 0


¹

\

−
=
n
n
ω
ω
π
Then, π ω 2 1
2
= −
n
From (4) and (2), then ( )
1
2
20 1 2 K = + π
Thus 02 . 2
1
= K ……………..ANSWER ( 2 Marks)
Q1(b) Find the percentage overshoot
From (6), then 478 . 40
2
=
n
ω
From (5), then
478 . 40
2 2
= =
n
ω
ξ
05 . 0 = ξ
Thus %OS =


¹

\

−
−
2
1
100
ξ
ξπ
e
%OS =


¹

\

−
−
2
05 . 0 1
05 . 0
100
π
e
%OS = 85.4%..........ANSWER ( 2 Marks)
( ) 1 2
2 2
+ = π ω
n
…………………..(6)
Q2 (c.) Calculate steady state error
Open loop TF is obtained based from the Figure and T1.
s s
GH
4
4 . 40
2
+
=
For ramp input,
(
¸
(
¸
+
= =
s s
s s sGH K
V
4
4 . 40
lim ) ( lim
2
1 . 10 =
V
K
1 . 0
1 . 10
1 1
= = =
−
V
ramp ss
K
e
…………………….ANSWER ( 3 Marks)
2 functions of adding integrator element is
1) to offset / onset the steady state error based on class type
2) act as a compensator element to modify time response of a system
( 2 Marks)
SOLUTION Q3
a) A stable system is a dynamic system with a bounded response (bounded
output) to a bounded input.
(2 marks)
b)
2 2
2 2
4 3 2 3 2
4 3 2
K
s s s 7s 10
T s
K
1
s s s 7s 10
K
s 7s 10s s 7s 10s K
K
s 8s 17s 10s K
( )( )
( )
( )( )
+ + +
=
+
+ + +
=
+ + + + + +
=
+ + + +
(2 marks)
4
s 1 17 K
3
s
8 10 0
2
s
15.75 K 0
1
s
8K 157 5
15 75
.
.
−
0 0
0
s
K 0 0
(4 marks)
If K 19 69 . < , all terms in the first column will be positive, and since there are no sign
changes, the system will have four poles in the left half plane and be stable. Stability will
be ensured if 0 K 19 69 . < < .
i) Stable: 0 K 19 69 . < <
ii) Marginally stable, K 19 69 . = (2 marks)