EE 131 Comprehensive Exam 2nd Semester 2019-2020

Name: ____Rosendo J. Baron___________________________

Student Number: ___2014-05743________________________

Section: _______EE131-CD______________________________

Date Submitted: ______May 31, 2021____________________

Instructions:

1. This is a guided comprehensive exam. The objective of this exam is to ensure that students who
complete this Adjusted Course Requirement for EE 131 have sufficient understanding of the basic
concepts and principles of Control Systems.
2. This is an open books exam. Students may consult books, videos, and other references. They may
also consult and discuss with their fellow students and their teacher, provided they answer the
questions and write their answers independently.
3. Each question is accompanied by short discussions that will help them understand the question
better and point them in the right direction.
4. Most of the questions in this exam are of the essay type. The student is encouraged to express
answers in their own words even as they can get ideas from various references and sources.
5. Using this same document, provide your name, student, number, section, and date submitted (in
the spaces above) and type in your answers in the spaces below the corresponding questions.
6. After completing your exam, save your exam as: EE131CompreExam_FamilyName_Firstname.doc
7. Submit your exam thru email at: bmmalquisto@up.edu.ph with the Subject Heading: EE131
Comprehensive Exam FamilyName FirstName.

References:

Most of the questions can be answered by taking a quick scan of one of our main reference Modern
Control Systems 12th Edition by Dorf and Bishop. Although any other control system reference will do. For
quick and simplified (no equations!) explanations on some concepts that we have not discussed in class
yet can be found in many Youtube videos. The videos on Control Systems by Brian Douglas I have found
most instructive and easy to understand. One of those videos (on PID Controllers) is found in
https://www.youtube.com/watch?v=UR0hOmjaHp0. You may also refer to Matlab Tech Talks found in
https://www.youtube.com/watch?v=wkfEZmsQqiA.

Scoring:

The total maximum score that you can get from this Exam is 200 points. You only need to sufficiently
answer 60% (or 120 points) in this exam. Any score above 120 are bonus points. However, I would highly
recommend that you answer as many or all of the questions so you will be encouraged to learn more of
the topics that we were unable to discuss in class.
Concept 1: Control System Theory (30 points)

Control systems engineering and control systems theory in general is a subject that deals with
control of continuously operating dynamic systems found in many fields of science and
engineering, and has wide applications even in the social sciences, politics, and even in ordinary
interactions of life. In control systems, we are interested in the control of specific variables and
their behavior given certain inputs, varying conditions, and limitations of the process or system.
In control system design, it is important for the designer to be able to identify and get to know
the system that needs to be controlled, what the desired output or outputs are and how those
outputs are to be achieved, the inputs, the limitations, and the parameters that need to be
modelled, designed and tuned to get the desired output.

Question 1.1: Draw the typical block diagram for an OPEN-LOOP control system. Identify and explain the
significance of each function block and variable input or output. Give an example of an OPEN-LOOP control
system and point the parts of its system corresponding to the function blocks and variables you identified.

Answer 1.1: Write your answer here.

Controller Output
Controller Controlled
Input Output
Process
Process Input

The figure above is an open-loop system. An open-loop system, also referred to as non-feedback system,
is a type of continuous control system in which the output has no influence or effect on the control
action of the input signal. In other words, in an open-loop control system the output is neither
measured nor “fed back” for comparison with the input. Therefore, an open-loop system is expected to
faithfully follow its input command or set point regardless of the result. Also, an open-loop system has
no knowledge of the output condition so it cannot self-correct any errors it could make when the preset
value drifts, even if this results in large deviations from the preset value. This system starts with the
input. The next block is the controller block wherein the system input is set such that the system can
understand what the input means. The controller block will give controller output which will be the
process input for the controlled process block. The controlled process block is where the processing
occurs which in the end gives an output without having a feedback to be compared to a set point.
 Timer Food
Microwave Actual Food
Timer Input Temperature
Heating Time

One example of an open loop system is a microwave heating process. Initially, a microwave time is to be
put in the user interface. Then the microwave will read what the input is as the timer for the heating
process of the food. The heating time can be seen in the interface of the microwave and will serve as the
user’s guide on how much time is left for the heating process. Afterwards the food will begin to heat up.
The actual temperature varies depending on the timer the user had set up. Lastly, the output will be a
warm food to be eaten and enjoyed. For an open-loop system like this, the output temperature is not
measured since it was not considered before the microwave stops.

Question 1.2: Draw the typical block diagram for a CLOSED-LOOP control system. Identify and explain the
significance of each function block and variable input or output. Give an example of a CLOSED-LOOP
control system and point the parts of its system corresponding to the function blocks and variables you
identified.

Answer 1.2: Write your answer here.

Error Detector Actuating

Signal
Controller Process
Error
Signal

Feedback Elements

Feedback Signal

When the control system includes a feedback loop, then the systems are known as feedback control
systems. The output can be controlled accurately by providing feedback to the input. This type of
control system can include more than one feedback.

In the above diagram, the error detector generates an error signal, so this is the variation of the input as
well as the feedback signal. This feedback signal can be obtained from the elements of feedback in the
control system by considering the system output as an input. As an alternative of the input, this error
signal can be given as an input of a controller.
Consequently, the controller generates an actuating signal to control the process. In this arrangement,
the control system output can be corrected automatically to get the preferred output. Therefore, these
systems are also named as automatic control systems. The best example of a closed-loop control system
is a traffic light control system including a sensor at the input.

A pressure thermometer is used inside the system that acts as feedback. When a reference input is set
into the system, the valve present generates a control signal that indicates the system to provide the
required amount of steam. When the steam mixes with the water coming from the outlet, then the
temperature of the water is measured by the pressure thermometer and is compared with the
reference input given to the system. If the desired temperature (reference input) shows equivalency
with the generated temperature, then the control signal is generated, and the flow of steam is stopped.
But if some amount of variation exists between the two temperature values then the controller
generates the control signal regarding the level of temperature difference which is further compensated
during the process. In this way, the continuous process inside the system takes place and a controlled
level of temperature is maintained.

Question 1.3: The Covid-19 crisis experienced here and abroad can be viewed as a very complex control
problem, especially in the Philippine setting. Identify the different parts of the Covid-19 response in relation
to a closed-loop control system. What are the different blocks and variables? What do you think is (or
should be) the desired output of this control problem? Explain why you think we are succeeding or failing
in the fight against Covid-19?

Answer 1.3: Write your answer here.

If a person is a positive carrier of COVID-19 disease, contact tracing shall be done to the people who
were close to the patient. Isolation shall be done immediately. Afterwards, treatment shall be done to
the patient. Then after the treatment and rest, a swab test shall be done to know if the patient does not
have any trace of covid-19 anymore. To know if other people who were close to the patient have covid-
19, they will be swabbed. If other people who were close to the patient were positive, another contact
tracing shall be done, and the cycle shall repeat. The desired output should be a healthy and covid-19
free patient. We are failing in fighting covid-19 due to incompetent politicians and government
employees. We don’t have enough plan and precautionary measures when the covid-19 started
spreading in our country.

Concept 2: Mathematical Models of Control Systems (20 points)

In the study and design of control systems, control engineers need to be able to translate the actual
control system into a mathematical model. The modeling process allows the designer to study and
characterize the behavior of the system and be able to design a system with sensors and controllers and
specified parameters that will result in a system that produces the desired output response. Mathematical
models will typically be in the form of differential equations or state equations due to the dynamic nature
of control systems. They may be converted into Laplace Transforms and analyzed in the frequency domain
for easier analysis. Graphical models such as system block diagrams and signal flow graphs help in the
visualization of the control system and its various elements or functional blocks, and input, intermediate,
and output variables. Block diagrams and signal flow graphs helps visualize process flows. It also helps the
designer simplify the overall transfer function, and thereby the analysis and design of the control system.

Question 2.1: What makes a good mathematical model for a control system? Does the mathematical
model need to be perfect and “super accurate”? Why or why not?

Answer 2.1: Write your answer here.

For a control system, mathematical models are mathematical expressions which describe the
relationships among the elements in the system specifically inputs, outputs, and other variables. A good
mathematical model for a certain control system is achieve by making the mathematical model and
describing the control system is the foundation for analysis and design of control systems. Having a
perfect mathematical model is ideal hence the designer or engineer do their best to achieve an ideal
mathematical model so that a certain machine is convenient to use.
Question 2.2: Explain and illustrate the significance or value mathematical modeling brings into control
system analysis and design.

Answer 2.2: Write your answer here.

It acts as tool to design or solve a certain method on a machine. It can also establish by using theoretical
analysis or practical experiments. The theoretical analysis method can be achieved by analyzing the
system according to physical, electrical or chemistry rules while the experimental method is using a
system identification technique where it has been developed into an independent subject. Mathematical
method for control system has so many ways to use it can be described by differential equations, transfer
function and state space model.
Concept 3: Feedback Control (20 points)

Question 3.1: What role does feedback play in a closed-loop control system? Why is it important and how
does it ensure that the desired output is achieved despite the presence of external disturbance and/or
changes in the plant or process?

Answer 3.1: Write your answer here.

Feedback occurs when outputs of a system are routed back as inputs as part of a chain of cause-and-
effect that forms a circuit or loop.[1] The system can then be said to feed back into itself. The notion of
cause-and-effect must be handled carefully when applied to feedback systems. It enables the system to
adjust its performance to meet a certain output. Through closed-loop system sensitivity to disturbances
and inability to correct the disturbances have been overcome with the help of a feedback system. The
closed-loop system gave action for disturbances by measuring the output response, analyzing the
feedback path, and comparing it then add to the summing junction.

Question 3.2: What does “negative feedback” in closed-loop control systems mean? Why are feedback
control systems typically of the negative-feedback type? What is its advantage over positive-feedback
systems?

Answer 3.2: Write your answer here.

The negative feedback loop is used to control or decrease the excess output of the system, by
subtracting some amount of signal from input. An electronic amplifier is the example of negative
feedback system. As a rule, negative feedback systems are more stable than positive feedback systems.
Negative feedback also makes systems more immune to random variations in component values and
inputs. Negative feedback has a highly stabilized gain. It also has increased bandwidth. It has decreased
output impedance and increased input impedance. It has a reduction in noise level and less distortion
over positive-feedback systems.
Concept 4: Feedback Control Performance: Steady-State Error (50 points)

One of the criteria for evaluating the performance of a feedback control system is steady-state error, the
error signal remaining after the transient response has died down. Ideally, the steady-state error or the
measure of deviation of the actual output to the desired output at steady-state should be minimum or
approaching zero (depending on the application). Feedback control systems can be designed to minimize
such error. The steady-state error is dependent on the System Type and the type of input to the system,
as well as parameters such as the system gain K. The steady-state error is derived by evaluating the error
signal e(t) as t approaches infinity, or in Laplace form, evaluating s*E(s) as s approaches zero.

Question 4.1: Consider the control system shown in the block diagram below.

(a) Derive the error E(s) and determine the system type.
(b) What is the steady-state error for a ramp input?
(c) What is the steady-state error for a step input?
(d) What should be the minimum value of K if it is desired that the steady-state error be less
than 0.1 for a step input?
(e) How should the Controller be modified to make the SSE zero for a step input?

Answer 4.1: Write your answer here.

𝑅(𝑠)
a) E(𝑠)=
1+𝐺(𝑠)𝐻(𝑠)

𝐾(𝑠+2) 46.24
𝐺(𝑠= ( )( )
𝑠+200 𝑠 2 +16.7𝑠+72.9

425
𝐻(𝑠)=
𝑠+425

𝑅(𝑠)
𝐸(𝑠)= 𝐾(𝑠+2) 42.24 425
1+( )( 2 )( )
𝑠+200 𝑠 +16.76+72.9 𝑠+425
 𝑅(𝑠)
𝐸(𝑠)=(𝑠+200)(𝑠2+16.7𝑠+72.9)(𝑠+425) 𝐾(𝑠+50) 46.24 425
+( )( 2 )( )
(𝑠+200)(𝑠2 +16.7𝑠+72.9)(𝑠+425) 𝑠+200 𝑠 +16.7𝑠+72.9 𝑠+425

𝑅(𝑠)
𝐸(𝑠)= (𝑠+200)(𝑠2+16.7𝑠+72.9)(𝑠+425)+(𝐾(𝑠+50))(46.24)(425)
(𝑠+200)(𝑠2 +16.7𝑠+72.9)(𝑠+425)

𝑅(𝑠)(𝑠+200)(𝑠 2 +16.7𝑠+72.9)(𝑠+425)
𝐸(𝑠)=
(𝑠+200)(𝑠 2 +16.7𝑠+72.9)(𝑠+425)+19652𝐾(𝑠+50)

This control system is TYPE 0

1
b.) 𝑅(𝑠)=
𝑠2

𝑒𝑠𝑠 =lim sE(s)

𝑠→0

1
( 2 )(s+200)(𝑠 2 +16.7s+72.9)(s+425)
𝑠
𝑒𝑠𝑠 =lim s( )
𝑠→0 (s+200)(s2+16.7s+72.9)(s+425)+19652K(s+50)

1
( )(200)(72.9)(425)
𝑒𝑠𝑠 = 0
(200)(72.9)(425) + 19652𝐾(50)

(200)(72.9)(425)
𝑒𝑠𝑠 =
0

𝑒𝑠𝑠 =∞
 1
c.) 𝑅(𝑠)=
𝑠

𝑒𝑠𝑠 =lim sE(s)

𝑠→0

(1𝑠)(𝑠+200)(𝑠 2 +16.7𝑠+72.9)(𝑠+425)
𝑒𝑠𝑠 =lim s ( )
𝑠→0 (𝑠+200)(𝑠 2 +16.7𝑠+72.9)(𝑠+425)+19652𝐾(𝑠+50)

(200)(72.9)(425)
𝑒𝑠𝑠 =
(200)(72.9)(425) + 19652𝐾(50)

61961500
𝑒𝑠𝑠 =
61961500+982600𝐾

1
𝑒𝑠𝑠 ≤0.1=
1+0.1585733882𝐾

1
d.) 𝑒𝑠𝑠 ≤0.1=
1+0.1585733882𝐾

1
1+0.1585733882𝐾=
0.1

𝐾=90.1585733882

K 𝑚𝑖𝑛 =56.75605536
e.) The controller can be modified to make the Steady-State
Error equal to zero for a step unit is by multiplying (s) to the
denominator of E(s) so that it will become a Type 1. A Type
1 control system will yield to a result of zero Steady-State
Error for a step unit.
Concept 5: Feedback Control Performance: Transient Response (30 points)

Since control systems are dynamic, in addition to the steady-state error (a measure of the system’s steady-
state response) another important characteristic is the transient response. The transient response is the
system response immediately following a change in the input that eventually dies down. The transient
characteristics of a control system that we are interested in are measured in terms of the swiftness of the
response indicated by the Peak Time (Tp) and the Rise Time (Tr), and the closeness of the response to the
desired response indicated by the Percent Overshoot (P.O.) and the Settling Time (Ts). These transient
characteristics are evaluated for a standard test input signal such as the step input signal, the ramp, and
the parabolic input signal.

For a second-order system, For a step input,

The equation for the output y(t) for a step input response is:

Figure 5.1a illustrates the transient response characteristics of the second-order system for a step input.
Figure 5.1b illustrates the type of response depending on the value of the damping factor  . For  < 1, the
response is underdamped and the transient response is faster (smaller Tr and Ts) at the expense of a
larger overshoot. For  = 1, the response is critically damped and for  > 1, the response is overdamped.
For  >= 1, the response is smoother, more stable, and resembles a first-order response at the expense of
a longer settling time.

Figure 5.1a Figure 5.1b

Question 5.1: Consider the control system shown in Figure 5.46 of the book Modern Control Systems 12th
Ed. by Dorf and Bishop.

(a) What should be the value of the amplifier gain Ka if the overshoot is NOT to exceed 15%?
(b) What is the value of the Peak Time Tp, the Rise Time Tr, and the Settling Time Ts for that
value of gain Ka?
(c) What kind of transient response (overdamped, critically damped, underdamped) should the
following systems have? Explain each briefly.
i. 3-story elevator system
ii. 100-story elevator system
iii. A refrigeration/cooling system

Answer 5.1: Write your answer here.

Equations:
𝑎
ζ=
2𝜔𝑛

𝜔𝑛 =√𝑏
𝜋
𝑇𝑝 =
𝜔𝑛 √1−𝜁 2
𝜁𝜋
−( )
√1−𝜁2
%𝑂𝑆=𝑒 𝑥 100
 4
𝑇𝑠≅
𝜁𝜔𝑛

2.16𝜁+0.6
𝑇𝑟=
𝜔𝑛

𝜔𝑛 2
Y(s)=
(𝑠 2 +2𝜁𝜔𝑛 𝑠+𝜔𝑛 2 )

𝜔𝑛 2 =5𝐾𝑎

𝜔𝑛 =√5𝐾𝑎

Substitutions:
a)
𝜁𝜋
−( )
√1−𝜁2
%𝑂𝑆=𝑒 x 100
𝜁𝜋
ln(0.15) = −
√1−𝜁 2

ζ = 0.5169308662
𝑎 10√5𝐾𝑎
ζ= =
2𝜔𝑛 5𝐾𝑎

𝐾𝑎 = 74.8454

𝜔𝑛 = 19.3449
b)
𝜋 𝜋
𝑇𝑝 = = = 189.7120 ms
𝜔𝑛 √1−𝜁 2 19.3449√1−0.51692

4 4
𝑇𝑠≅ ≅ = 88.7348ms
𝜁𝜔𝑛 0.5169∗19.3449

2.16𝜁+0.6 2.16(0.5169)+0.6
𝑇𝑟= = = 400ms
𝜔𝑛 19.3449

c)

i. 3-story elevator system

This system should have critically damped transient
response even if it only has 3 levels. It may have an
overdamped transient response since the travel distance of
the elevator is short, but the best response is a critically
damped transient response because the elevator can go to
its equilibrium as quickly as possible without any oscillation.

ii. 100-story elevator system

This system should have an overdamped transient response
for the user to feel comfortable while travelling a long
distance. It may be a bit slower to go to the user’s desired
floor but it is much safer to have an overdamped transient
response since it will travel a great distance.
iii. A refrigerator/cooling system
This system should have critically damped transient
response since refrigerator needs an accurate temperature
for the goods not to get spoiled and be thrown away. An
oscillating temperature might make a certain food or
ingredient spoiled and a slower cooling refrigerator too.
Concept 6: Feedback Control Performance: System Stability (20 points)

System stability is an important aspect of control system design. A control system is stable if for any
bounded input, the output is also bounded. This is termed as the bounded input – bounded output
stability or BIBO stability. For a stable system, the output only becomes unbounded (i.e., goes to infinity)
if the system input also goes to infinity. Stability is also a measure of a system’s ability to return to a stable
or equilibrium state when exposed to a momentary disturbance.

Question 6.1: Enumerate four (4) methods of analyzing and determining the stability of a feedback
control system. Briefly describe one of them.

Answer 6.1: Write your answer here.

There are four methods of analyzing and determining the stability of a control system specifically Routh-
Hurwitz Criterion, Root Locus Technique, Steady State Error and Direct Substitution. Routh-Hurwitz
Criterion is the most used method of them all because it does not require calculation of the actual
values of the roots of a certain characteristic polynomial, also it is an analytical technique for
determining whether any roots of the polynomial have positive real parts. Root Locus Technique is a
visual representation of the closed-loop poles as a system data is changed, and it is a powerful method
of analysis and design for stability and transient response. Steady State Error provides the ability to
adjust the transient response. In addition, the sensitivity of the system and the effect of disturbances
can be reduced significantly. Lastly, Direct Substitution is convenient for determining the range of
controller parameters for which the closed-loop response is stable.

Different feedback control systems exhibit different levels of stability. There are feedback control systems
that are unstable, some are very stable, some are stable, and some are operating at the very boundary
between stability and instability -- those are called marginally stable. The more stable a system is, the
more well behaved it is (i.e., it does not run the risk of easily going into instability). However, systems that
are very stable typically have slower response times. On the other hand, systems that are stable but are
nearer to being marginally stable are more maneuverable or controllable (has a faster and a more agile
response to changes input) but runs the risk of easily becoming unstable.

Question 6.2: Give at least two (2) examples of stable feedback control systems - one that is very stable,
the other is much less stable. Describe the system, the desired output, the input, the behavior of the output
in response to inputs and disturbance, response characteristics. What parameter, disturbance, and/or
changes in the system can make the system unstable? Describe the behavior and/or indicators that the
system is now driven to instability.
Answer 6.2: Write your answer here.

The two example that I want to use on comparing the stability of a certain system to another are
Elevator Control System (Figure 5) and Traffic Collision Avoidance System (Figure 6). Even though the
two system have the similar number of elements on the system they have a huge different on the
process and machine involving on each block diagram. Elevator Control System is more stable than the
Traffic Collision Avoidance System (TCAS), because TCAS involved a lot more participants and machine
than the elevator which caused a lot more complicated system than the machine-and-person only
contact on the Elevator system. Disturbances and instability increase when there is a lot of machine and
control involve in a certain system.
Figure 5
Concept 7: Controller Design: PID Controllers (30 points)

In many applications of control systems, the performance of a plant or process may not be operating
according to specifications. In some systems, steady-state error is important and is required to be as small
as possible or as close as possible to zero. Some systems will require a very stable and smooth response.
Some will require the response to be faster, while limiting overshoot. Sometimes, improving one
performance characteristics worsens another. Control system performance requirements can be achieved
by inserting compensators or controllers (Gc(s) in figure below) to improve the performance of the control
system and achieve the minimum desired characteristics.

The analysis and design of the compensator or controller can be done in both time and frequency domain.
The most widely used compensators are the Proportional, Derivative, and Integral Controller, or a
combination of two or all of them --- the P, PI, PD, PID controllers. Each of these compensators or
controllers have typical characteristics that can be used to compensate typical control problems or
applications. For example, a PI controller can be used to increase system type and reduce the steady-state
error or make it zero (depending on the input).

Question 7.1: In simple terms, how does a PD controller work? What performance characteristics does a
PD Controller improve in a control system?

Answer 7.1: Write your answer here.

The Proportional Plus Derivative (PD) Controller gives a definite response to a varying and changing error
signals. With the help of steady state error, it can cope with a constant change in input conditions also, it
can deal with fast process changes better than the Proportional Control alone. The PD controller has
decreased the system settling time considerably; however, to control the steady-state error, the
derivative gain Kd must be high. Using PD controller can Improve the damping and maximum overshoot.
It reduces rise time & settling time. It increases Bandwidth and improves Gain Margin and Phase Margin.
It may attenuate high frequency noise.
Question 7.2: In simple terms, how does a PI controller work? What performance characteristics does a PD
Controller improve in a control system?

Answer 7.2: Write your answer here.

The Proportional Plus Integral (PI) Controller gives integral action and provide low sensitivity to produce
stable control. It is a feedback control loop that is main used for calculating that error signal by taking the
difference between a certain output of a system, that can be drawn from the battery, and the set point.
Using PI controller can improve the damping and reduces maximum overshoot, increases Rise Time,
decreases bandwidth, improves Gain Margin, Phase margin & Peak Resonance. It also filters out high
frequency noise.

Question 7.3: Why do you think the PID is the most popular controller? How is a PID Controller tuned to
meet desired specifications?

Answer 7.3: Write your answer here.

The Proportional Integral Derivative (PID) Controller is the most used and popular controller because it is
the most accurate and stable controller and it also use a control loop feedback mechanism to control
process variables on a specific element.

The proportional term, often called P Constant, can be referred to as Proportional Gain or just Gain, which
is not a unit but instead a ratio. This parameter can also be called Proportional Band and measured in the
unit of percent. The parameter can be called KP, Gain, or others. This is the parameter that determines
how fast the system responds. The name by which it is referred varies with the manufacturer. For
controllers that use the term Gain, adjusting this tuning parameter higher may cause more sensitive, less
stable loops. Conversely, on controllers with proportional band units, decreasing this tuning parameter
affects the loop in the same manner. Regardless of the measurement type, the integral is the sum of all
the values reported from the signal, captured from when you started counting to when you completed
counting or the area under a plotted curve. This parameter can be called Ki, Ti, or others. This parameter
determines how fast the steady-state error is removed. The purpose of the Derivative constant is for
predicting change. The Derivative action acts of the rate of change measured in the Process Variable. The
value of this parameter basically means how far in the future you want to predict the rate of change. This
parameter can help to create a faster response in your loop and a better performing loop as well.
However, since the Derivative term is measuring the rate of change in the Process Variable, the Process
Variable must be a very clean signal meaning no noise within the signal. For that reason, Derivative terms
are not often used in controls.