1/9 pages Carleton University Mechanical and Aerospace Engineering MAAE 4500 / Feedback Control Systems Fall 2013 Quiz No.2 November 22, 2013 Duration: 80 minutes (6:05 pm-7:25pm) Professors M. Ahmadi and J. Liu Read these important notes before you start: ‘© There are two questions in this exam, both should to be answered. ‘* Closed-book: no lecture notes, no textbooks, no personalized formula sheet. A common formula sheet is provided at the end of these exam papers for your reference. ‘¢ Students must count the number of pages in this examination paper before beginning to write and report any discrepancy immediately to a proctor. This paper has 9 pages. Do not detach any of the pages (except the formula sheet on the last two pages, however, you should write your information at the top of the formula sheet and no scribble should be on it if removed). Standard calculators are allowed (except advanced graphical ones). ‘The space provided for each question is enough and report to a proctor if you need more blank pages for your solutions. ‘© For the last 10 minutes of the exam, be seated and do not leave the room until all exam papers are collected and the proctor announces you can leave. IMPORTANT: Have your ID cards ready before the exam. poles F Family Name: _ »bbicly First Name: Si Student ID; 100850244 Section (circle one) (Brahma B (Liu)2/9 pages Question | __1 (20 points) 2 (20 points) Total | Mark 18 | zo 38 Question 1 [20 points: For the system shown here a) ce) eO——>| aie) >} oxo | —r—> lat y iS oud (aks) Contoter Plt eke es {_______ 5 2e 8). S(t) ‘The transfer funetions forthe plant Gy(s) and the cntollrGe(s) are given by 4a) [10 points] Sketch the root-locus for this controlled system, Determine the asympiotes and the breakaway/in points where appropriate [Note you may use s*+ 11s? + 35s +15 = (5 + 0.5051)(s + 5.2475 + j1.4709)(s + 5.2475 — j1.4709)]. ™ (b) [4 points] Show the dominant closed loop poles on your root locus sketch that can give the maximum overshoot Mp= 15% in the unit-step response. —~(e) [3 points] What's the type of the system. Determine the steady-state errors when the reference inputs are a step input (1/s) and a ramp input (1/s°) (@) [3 points] To ensure the system stays stable and non-oscillatory in the step response for all gains, a PID controller is proposed to replace the above PI controller. The PID controller is in the form of Gc(s) = ““*2*®, Determine the range of the parameter a that would guarantee an always-stable and non-oscillatory system in the step response for all possible positive gains K.Greton ¥1 Of ep TE: GtO-Gio> Ke Dfer5J” ke 26545)_ =< i 5(3%4 4596) 6631s) \a) Sa Rat Lew i 3/9 pages ee - Je OSG Pes ond gens! 2e0s: $2°5 5 plu 520) SeaSert \ e@ b ophker rag: ond el ta) 22 : ot ee a } eye Cette eee) t ee Tei) se” @ Biad_awy par: 3 jaa bo55)] Ae 21505) 22510, Be SHBs “| eo ; Ws 3s4 sah » BN-BAZO (634 B4bs) (2) —(35°a0454 &) (25410) = O erst rea Ae as ~ (654428544125 430s+IM0s + 6) = 0 WEARS - (GA558F 1575 46d) = 0 ae ua -140s ~60-260 +, 62-0505 CD Se SNF 9 j)ION 6,2 - 5.24 F-jiaPoh . _ Bey _ _[ Seb ee ie eee = , oi +k =0185| Not Requin ds. () hp=1s%= me ie aie ~ ones? . ACS Bion LAGS = dG . (&) \Ww(0-15) gx . 2 ye 0.5088 =a |: x\ {tnloas)) Ls wend the padi Wo) phd Ne vets : ee Pre Y= O53 Pe oe 30466 | Lednet ced boy pe x cat Os sieas | fe | | | [=y (LO Op by OY ee Thad Vis gH ms | Vy 1 syle oo | Seat, Sete ever won step ‘mpl, & (4) = OFF i Ba, Me eee ee op op, wb) = E ak, > Ms SG LOG 2 Yona K-20) 285) soe Alsi) (x) 0) (6) 4 3 ee: 6 SRES)GNT = hy on OM, 5 Ope bp Mel Gat [coqp = 1tsd69)| — eaten _| te = \3-2\= 1 yo fen wat be ds) Pac ed isin - Ge aie bbe eal, ae ey Ve 1. Sine By onl ave, N deyt Ye syypk 4 Ts gfe bd. Mey apis ol O value, Aw, Russe wil * pone 06" “ty ale: & De ages bbe dk he yh bX arbk wh hath GunemcCcOn cer, i seaeie | 7 ene <0) Te wed fe Be gts Va oe Hoh ond sen aed Se | \ 4 wor be Ms 2. | seis <0 “ : i lates # un ste ble | Eero oscil 34 yD 204M 2s bbua] = : x ten( 8440") %. 26.22 G2 (sx622) HAR wynbh | | (54622 con dilans 5(s4 2 _ | = \ 55 pi 3) 2 tye 2035) = Dolly ! ie % Ww NErGron eins Yeipiy o PL atwly 95 Yn op- lop Na fading is cedy & Ty L gsten 6,0 bin <3 Ur L sytem alwys \owe el (S45) (9 5) ae Body TN eae by hy op, x -io kth ahe atl te ad WL dae OD whl Gg RL otal pneveais Ye v & Ye opie My o VL bes hy te os tw coral will wk weal ma y \yy tT a / “by Se over Gor A, ep on) rep ph ove ZO- y oe.