ORDRE DES INGÉNIEURS DU QUÉBEC

MAY 2017 SESSION

Open-book examination

Calculators : only authorized models

Duration : 3 hours

16-EL-A2 SYSTEMS AND CONTROL

Question 1 (5% + 5% + 10% + 5% = 25%)

Let us consider a dynamic system whose Bode diagram appears below in Figure 1.

Figure 1: Bode diagram for question #1

a) How many poles and zeros have this system?

b) Obtain the transfer function of this dynamic system. Explain the method used to find
this transfer function.
c) Calculate the output in the time domain y (t) of this system when the input is a step of
unit amplitude. Explain the method used to obtain the output equation.
d) Obtain the gain margin and phase margin of this system. Is it stable?
Question 2 (5% + 2% + 3% + 10% = 20%)

Consider the root locus plot given below :

Figure 2: Root locus plot for question #2

Answer the following questions:

a) From the roots locus plot and knowing that the steady-state response of the output to a
unit step stabilizes at 1.0, what is the transfer function of this system? (Hint: The
coordinates of the poles and zeros are integers).
b) How many asymptotes has the root locus and what are their angles?
c) What is the point of intersection of the asymptotes?
d) For which range of gain K will the system be stable in closed loop, with unit feedback?
For the critical gain value, what will be the position of the poles of the system in closed
loop, always with a unit feedback?
Question 3 (6% + 7% + 7% = 20%)

Figure 3: Block diagram for question #3

Consider the feedback controlled system as the one depicted in Figure 3 where the subsystems
S 1 and S 2 can be modeled as follow:

0 1  3
=
S1 : x (t )   x (t ) + 1 u (t )
 −1 −2    (1)
(t ) [1 −1] x(t )
z=

and:

S 2 : v(t ) =
−5v(t ) + 2 z (t )
. (2)
q (t ) = 0.5 v(t )

a) Give the transfer function G 1 (s) = Z(s)/U(s) of the subsystem S 1 , considering U(s) and Z(s)
as the Laplace transforms of u(t) and z(t) respectively;
b) Give the transfer function G 2 (s) = Q(s)/Z(s) of the subsystem S 2 , considering Q(s) and
Z(s) as the Laplace transforms of q(t) and z(t) respectively;
c) Give the transfer function of the complete system: G(s) = Z(s)/R(s), considering R(s) and
Z(s) as the Laplace transforms of r(t) and z(t) respectively.
Question 4 (4% + 4% + 4% + 3% = 15%)

Consider the Nyquist plot shown in Figure 4:

a) Determine with this diagram the gain margin (sketch this figure on a page of your
notebook and show how this value is obtained).
b) Determine with this diagram the phase margin (sketch this figure on a page of your
notebook and show how this value is obtained).
c) Discuss about the stability of this closed loop system.
d) If the numerator of the open loop transfer function is a pure gain, what is the order of
the denominator polynomial?

Figure 4: Nyquist plot for question #4

Question 5 (5% + 2.5% + 12.5% = 20%)

Consider the controlled system shown in Figure 5, where:

125
G (s) = (3)
( s + 5) ( s + 1)
2

with the Bode diagram given in Figure 6.

Figure 5: Block diagram for question #5

a) Suppose that G C (s) is a proportional compensator defined by G C (s) = K p . Obtain the

gain K p such that the closed loop system exhibit a 10% overshoot on the transient
response. Explain how you find this gain.
b) What is the position constant error of the system with the proportional compensator
obtained in a).
c) Suppose now that G C (s) is a lag compensator. Design this compensator such that the
closed loop system exhibit a 10% overshoot on the transient response and have a
position constant error 5 times higher than the position constant error obtained in b) ?
Clearly state each step of your design approach.
Figure 6: Bode diagram of the system given in question #5