University of Mousl Final Exam.

College of Engg. Time: 180 Mi"- 2 ( ) j3

111*1 JluflC *y Q t j
Date: Sun. 13
Elect. Eng. Dcpt.
Class: (4|P) Electronics Lecturer: Dr. B.

Subject: Control Engineering Code: ENEE13F403

Answer Four Questions

Materials provided:
Cm-squared graph paper
Nicholschart
1.
a) Determine the region in the s-plane where the closed loop poles must lie in order to satisfy
the following specifications.
5% < percent overshoot < 25%
0.5 < settling time < 2 sec.
co < 12.6 rad/sec.
Is the location of poles - 5 ± j 7.5 in the acceptable region?

(Cm-squared graph paper provided to assist the solution)

20 s 2
b) Given the plant, G(s)= ( + )
s(s + 4)(s+6)
Design the state variable feedback gains to yield 10% overshoot and settling time of 2 sec.
Place the third pole 10 times as far from the imaginary axis as the dominant pair of poles.
Draw the state diagram of the designed system.
[7+8] Marks

2.
The root locus of a unity feedback control system shown on cm-squared graph paper.
a) Initially the controller of the system is a gain of (k).
i) Determine the value of (k) so that the response of the system has maximum
overshoot 16.3%.
ii) Corresponding to the value of (k) in (i), determine the steady state error, settling
time, peak time, gain and phase margins,
iii) Write the equation of the response y(t).

b) Design a suitable controller so that the response has the same maximum overshoot as in (a)
but damped by e"4' with zero steady state error.
Draw the root locus of the compensated system.
(Cm-squared graph paper provided to assist the solution)
[7.5+7.5] Marks

3 Answer any Two of the following:

•i) A control system shown in the figure below. It is desired for the system to be stable and
steady state error for a unit step input to he less than or equal (0.05).
i) Determine the range of a that satisfies the error requirement,
ii) Determine the range of a that satisfies the stability requirement,
iii) Select an a that meet both requirements.
s + cx [5] Marks
 b) i) Derive the transfer function of lead compensator then draw its pole-zero configuration.
List the advantages of lead compensator.
[4J Marks

C mpcnsators bel
n v ° ™' then draw the network of any possible passive
ion available among them.
V
s
ii)
M.l)(s + 5)
*\ / \

s
s+0.1
iii)
s + 0.01
s+2
iv)
s +5
[6] Marks
•

4.
An open loop frequency response test on an unknown system produced the following results.

03 0.1 0.5 1 1.5 2 3 4 5 6 8 9 10 15 20 30

Mcg.dB 20 20 19 18.5 17 15 11 7 4 2 0 -2 -7 -12 -20
Phase0 -5 -20 -40 -60 -90 -110 -127 -130 -120 -113 -112 -113 -140 -170 -210

Find the following performance characteristics of the system,

i) Gain and phase margins.

Peak resonance and resonant frequency.
iii) Steady state error due to unit step input.
iv) Open and closed loop bandwidths.
v) Find out how much the gain be changed from its nominal value so that the gain
crossover frequency to be (5 rad/scc.).
vi) Find out how much the gain must be changed so that the undamped natural
frequency is equal to damped frequency.
vii) Find how much the loop gain be changed from it nominal value so that the peak
resonance to be (1.3).
viii) Find out how much the gain must be changed from its nominal value in order the
bandwidth to be (5 rad/sec.).
ix) Find out how much the gain must be changed so that the percent overshoot to be
1 0 /o.
x) Estimate the type and order of the system, then write the expected transfer function
(Nuchols chart provided to assist the solution)

[15] Marks
5,
a) For the

1 Ol Ml
u(t),
-1

c,]x(t)

Shou that the c o n d i t i o n for t h e s \ s t c m to be complete!) observable,

;; c c
^
|51 Ma

b > 1 l i e t'ons a r d t r a n s f e r f u n c t i o n of a u n i t ) feed b a t I . c o n t r o l -.\ s ( <

0=
-1.5S-1)

D o tlu i ' .
i) Plot t h e N\ q u i s t diagram.
ii) 1 mt ho\s many Zeros Of F(s) With p i > s i t i \ i - real p a r t s . ( ( m i n u n t on t h e s(a
i i i ) I f a n a i n ( k ) i s cascaded with the f o r w a r d transfer f u n c t i o n d e t e r m i n e f l i c i
\ a l l i e s (l) of (k) so t h a t the system is s t a b l e .
iv) Mevisnn the gain margin for k i and k

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