Q1.
(a) Differentiate the following systems giving a simple example for each.
(i) Positive Feedback VS Negative Feedback Control systems.
(ii) Feedback control systems VS Feed forward control systems.
(b) Figure Q1(a) shows a wheeled human transportation vehicle (WHTV).
Figure Q1(a)
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In the past decade, lightweight and uncomplicated vehicles have been created for use
as individual conveyance tools. Many passenger transportation vehicles such as two
wheeled cars, singlewheeled motorcycles and bicycles have been developed. WHTV
is a simple electric moving platform and a modern model of individual conveyance
tools. WHTVs have superior maneuverability (a strategic way to change its
movement) and are appropriate for use in urban areas. The selfbalancing WHTV is
actively controlled to allow safe and easy transportation of a single person.
(i) Draw the block diagram of this feedback control system by clearly
showing each and every blocks and variables.
(ii) Describe how the closedloop feedback control system assists the rider
of the WHTV in balancing and maneuvering the vehicle.
(c) Figure Q1 (b) shows a mechanical vibratory system. When a 2N force (step
input) is applied to the system, the mass oscillates as shown in Figure Q1(c).
(iii).Determine ‘m’, ‘b’, and ‘k’ of the system from the response curve.
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Q2.
(a) Define the following terms related to 2nd Order Control Systems.
(b) How do the following responses of a 2nd Order systems behave when applying a
step input?
Figure Q2
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Q3.
Figure Q3
(a) Reduce the block diagram shown in Figure Q3 to a single transfer function.
(b) Draw the signal flow graph for the block diagram.
(c) Use Mason’s Gain Formula to obtain the transfer function C(s)/R(s) of the system.
(Clearly show all steps).
Q4.
Consider the second order control system shown in the figure Q4.
R(s) ++ C(s)
G(s)

Figure Q4
Select one of the control systems from the table 4.1 according to the last digit of your
registration number.
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Table 4.1
0 1 2 3 4 5 6 7 8 9
G(s) 8 25 16 64 12 81 1 3 1 12
𝑠(𝑠 + 4) 𝑠(𝑠 + 10) (𝑆 + 4) − 16 𝑠(𝑠 + 64) 𝑠(𝑠 + 3) 𝑠(𝑠 + 12) (𝑠 + 3)2
2 2
𝑠(𝑠 + 2) (𝑠 + 2) − 9 𝑠(𝑠 + 4)
(a) (I) Obtain the characteristic equation and calculate the following when a unit
step input is applied to the system.
(i) Damping ratio (ii) Natural Frequency (iii)Peak time
(iv) Settling time
(II) Use MATLAB to plot the step response of your system and verify the answers in
a (I).
(b) How would your system respond when a Unit ramp input is applied? Explain
how the above characteristics in part a(I) of your system change with this new
input.
(c) Plot your system with ramp response by using MATLAB and verify the above
answer in part (b).