EML 4312 Fall 2007

Final Exam - SOLUTION

THERE ARE PROBLEMS ON BOTH SIDES OF THE PAGE (10 total
problems)
1. (10 points)
Determine f (t) given F (s) as
F (s) =

Y (s)
s2 + 2s + 2
=
R(s)
(s + 2)2

Use the Final Value Theorem (show your steps exactly) to determine the final
value of y(t) for a step input.
F(s) is not a strictly proper function, so we must divide.
2
2
2
s2 + 2s + 2
=
1
+
=
1

+
s2 + 4s + 4
(s + 2)2
(s + 2) (s + 2)2
2t
2t
F (t) = (t) 2e + 2te

F (s) =

s2 + 2s + 2
s (s2 + 4s + 4)
2 1
=
=
4 2

Y (s) =
lim sY

s0

2. Draw the root locus for the following open-loop transfer functions.
a) (7.5 points)
(s + 2) (s + 3)
(s + 5) (s + 1 + j) (s + 1 j)

H(s) =

Root Locus
1.5

Imaginary Axis

0.5

-0.5

-1

-1.5
-9

-8

-7

-6

-5

-4

Real Axis

-3

-2

-1

b) (7.5 points)
H(s) =

1
(s + 1)(s + 2)(s + 3)(s + 4)
Root Locus

Imaginary Axis

-2

-4

-6
-8

-6

-4

-2

Real Axis

3. (10 points ) Consider the following block diagram

Gc

Gp

Block diagram.
2
.
(s + 1) (s + 10) (s + 15)
Design a Lead/Lag Compensator so that a closed-loop pole is 6 + 5j with a 0.01
steady state error. Use s = 11 and s = 0.1 as zeros in your design.
Gp =

Answer Design Lead First. Could use MC/AC or Coe. Matching

Angle Condition
6

zeros 6 poles = 180

= 6 s + 11 6 s + b 6 s + 1 6 s + 10 6 s + 15|s=3+5j
5
5
5
5
5
) tan1 ( ) tan1 ( ) tan1 ( )
= tan1 ( ) tan1 (
5
b6
5
4
9
5
) + 45 51 29
180 = 45 tan1 (
b6
tan(190) but out of range so use tan(170)
5
tan(170) = 0.17 =
b = 35.3
b6
2

Bode Diagram
100

Magnitude (dB)

50

-50

Phase (deg)

-100
-45

-90

-135

-180
-2

10

-1

10

10

10

10

10

Frequency (rad/sec)

Figure 1:
My numbers have round o so, check their process and make sure their answers are close to
mine.
Now use the magnitude condition

s
+
11

2k
= 1
(s + 1) (s + 10) (s + 15) (s + 35) s=6+5j

5
+
5j
= 1
2k
(5j 5) (5j + 4) (5j + 9) (5j + 29)

2
50

= 1
50 16 + 25 81 + 25 292 + 25

k 1.030 9 103 = 1
1
= 970
k =
1.030 9 103
4. (15 points) For the following open-loop transfer function
H=

(s + 1)(s + 10)
s2 (s + 50)

determine a proportional controller that will yield a 45 deg phase margin.Desired phase
is

45 = 180 + 6 Gp
Gp = 135
3

From Bode Plot 6 Gp = 135 corresponds to 9dB.

20 log K 9dB = 0
K = 109/20 = 2.8
5. (5 points) Given a SSR, write down the formula you would use to find the open-loop
poles, directly in one step.
det(sI A) = 0 or inverse (does not matter)
6. (5 points) Given a SSR, write down the formula you would use to find the closed-loop
poles, directly in one step. Write your answer in terms of the original SSR.
det(sI (A BK)) = 0 or inverse (does not matter)
7. (5 points) Given a SSR, write down the formula you would use to determine the transfer
function.
C(sI A)1 B
8. (10 points) Determine the State Transition Matrix for the following SSR

a b
0
A=
B=
C= 0 1 .
0 c
1
(Of course, your answer will be in terms of a, b, c).

Sol:
At

s a b
0
sc

= L (sI A) =
1
ac+as+css2
1
a+s
= L
1
0
c+s

at b
ct
at
(e

e
)
e
ca
=
0
ect

9. (10 points) Determine the most general conditions on a, b, c, d so that the following
SSR is both controllable and observable.

1
a b
C= 1 1
B=
A=
1
c d
Sol:
C(A, B) =

B AB

1 a+b
1 c+d

Controllability condition

Observability condiiton

a + b 6= c + d

a+c b+d
O(C, A) = CA C =
1
1
a + c 6= b + d

10. (15 points) Consider the controllable and observable SSR

0
a b
B=
A =
1
0 c

1 1
C =

where a, b, c are some non-zero constants. Find the controller/observer gains K and L
so that closed-loop poles are at s = 2, 4 for a reference signal of a step function,
with observer poles that die out like e2t et . (Of course, your answer will be in
terms of a, b, c).

Sol: Controller
Desired characteristic equation is
(s + 2) (s + 4) = s2 + 6s + 8
4DCL (A) = A2 + 6A + 8I

2
a b
8 0
a b
+6
+
=
0 c
0 8
0 c

2
6a + a + 8 6b + ab + bc
0
6c + c2 + 8
:
AB =

C(A, B) =
1

C(A, B)

a b
0 c

0
1

B AB
0 b
1 c

b
c

0 b
1 c

1b c 1
1
0
b

0 1 C(A, B)1 4DCL (A)

1c 1
6a + a2 + 8 6b + ab + bc
b
0 1
=
1
0
6c + c2 + 8
0
b
1

(6a + a2 + 8) 1b (6b + ab + bc)

=
b

K =

Observer:
Desired characteristic equation is
(s + 2) (s + 1) = s2 + 3s + 2
4DO (A) = A2 + 3A + 2I

2
a b
2 0
a b
+3
+
=
0 c
0 2
0 c

2
3a + a + 2 3b + ab + bc
=
0
3c + c2 + 2
CA =
:

1 1

a b
0 c

a b+c

a b+c
CA C =
O(C, A) =
1
1
1

1
a b+c
abc
O(C, A)1 =
=
1
1
1
abc

1
0

L = 4DO (A)O(C, A)

1
3a + a2 + 2 3b + ab + bc
abc
=
1
0
3c + c2 + 2
abc
3b+ab+bc

1
abc + abc
(3a + a2 + 2)
=
1
(3c + c2 + 2)
abc

bc
abc
a
abc

bc
abc
a
abc

1
0