EE 131 Comprehensive Exam 2nd Semester 2019-2020

Name: Arasa, Brizle N.

Student Number: 2015-65308

Section: EE131-CD

Date Submitted: July 11, 2020

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:

Figure 1
Figure 1 shows a simple open-loop control system. The operation of this system is very simple,
when an input signal directs the control element to respond, a certain output will be produced. A
manual control system is also a good example of an open-loop control system.

Figure 2

Figure 2 shows an example of an open-loop control system. This example is a bread toaster
where this machine toast bread for pre-adjusted time, it does not matter how much the bread are toast.
The input is the timer level where it controls the timer then the bread will be toast at a certain time
where the input is assigned, and the final output will be a toasted bread.
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:

Figure 3

Figure 3 shows a simple closed-loop control system. Feedback is a special feature of a closed-
loop system because the output signal is feedback to the input to produce a new output. This unique
and well-designed feedback system can often increase the accuracy of the output.

Figure 4
Figure 4 is an example of a closed-loop control system. The computer detects the desired input
of the passenger. The Motor/Pulley do the mechanical process of the machine and the elevator will
elevate/lower the machine depends on the passenger desire and the sensor ensures that the elevator is
aligned with the flooring of a certain floor level.
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:

I made an example of a simple control system of just focusing a specific person who is an active
case of the COVID-19 disease. Once, the person is proven that he/she is positive on COVID-19 contact
tracing shall be done quickly so that the person who was close to the patient will be isolated
immediately, then the treat for the person will also started after the treatment swab test will be done.
The Philippines is clearly failing against the COVID-19 disease the government is the main reason why
we are failing because of its lack of urgency, lack of planning and lack of leadership. The mass-testing
should’ve been done before because we’re having a lot of money because of lending from the
international banks but until today we don’t know where the money went. The people of the Philippines
will continue to suffer because of this government, they don’t care about the needs and protection of
the people they just care about their personal intentions. The Anti-Terror Bill has been approved within
2 months while the mass testing hasn’t been in the plan of the government. On fighting COVID-19 I think
the best way to win against the said disease is by doing mass-testing then treat immediately the people
who are positive. The government shall provide better transportation because a lot of people are
commuting and causing overcrowded places of terminals, the government should’ve given bicycle or
free shuttle with a given route to ease the problem in transportation.
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:

For a control system a 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:

The significance of a mathematical model is that is 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:

The feedback in a closed-loop control system has an important role that 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. Consequently, closed-loop system is
having a higher accuracy than the open-loop system.

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:

A negative feedback is present on closed-loop system when there is a mechanism or process that tends
to reduce the fluctuation of a certain output, because of the disturbances. Negative feedback is widely
use in the industry because it more stable than the positive feedback. There’s a lot of advantages on
using a negative feedback against the positive feedback namely it has less frequency distortion, reduce
noise, stabilized gain, less harmonic and amplitude distortion and many more.
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:

a.)
𝑅(𝑠)
𝐸(𝑠) =
1 + 𝐺 (𝑠)𝐻(𝑠)

𝐾(𝑠+2) 46.24 425

𝐺 (𝑠 ) = ( )( ) 𝐻 (𝑠 ) =
𝑠+200 𝑠 2 +16.7𝑠+72.9 𝑠+425

𝑅(𝑠)
𝐸 (𝑠) =
𝐾(𝑠 + 2) 42.24 425
1 + ( 𝑠 + 200 ) ( 2 )( )
𝑠 + 16.76 + 72.9 𝑠 + 425
𝑅(𝑠)
𝐸 (𝑠) =
(𝑠 + 200)(𝑠 2 + 16.7𝑠 + 72.9)(𝑠 + 425) 𝐾(𝑠 + 50) 46.24 425
( )
(𝑠 + 200)(𝑠 2 + 16.7𝑠 + 72.9)(𝑠 + 425) + ( 𝑠 + 200 ) ((𝑠 2 + 16.7𝑠 + 72.9)) 𝑠 + 425
 𝑅(𝑠)
𝐸(𝑠) =
(𝑠 + 200)(𝑠 2 + 16.7𝑠 + 72.9)(𝑠 + 425) + (𝐾(𝑠 + 50))(46.24)(425)
(𝑠 + 200)(𝑠 2 + 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 type is Type 0.

b.)

1
𝑅 (𝑠 ) = 𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠)
𝑠2 𝑠→0
1
( 2 ) (𝑠 + 200)(𝑠2 + 16.7𝑠 + 72.9)(𝑠 + 425)
𝑒𝑠𝑠 = lim 𝑠 ( 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 = ∞

c.)

1
𝑅(𝑠 ) = 𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠)
𝑠 𝑠→0
1
( ) (𝑠 + 200)(𝑠2 + 16.7𝑠 + 72.9)(𝑠 + 425)
𝑒𝑠𝑠 = lim 𝑠 ( 𝑠 )
𝑠→0 (𝑠 + 200)(𝑠2 + 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
d.)
1 1
𝑒𝑠𝑠 ≤ 0.1 = 1 + 0.1585733882𝐾 =
1+0.1585733882𝐾 0.1
9
𝐾=
0.1585733882
𝐾𝑚𝑖𝑛 = 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:

a.)

Equations:
𝑎 𝜋
ζ= 𝜔𝑛 = √𝑏 𝑇𝑝 =
2𝜔𝑛 𝜔𝑛 √1−ζ2

ζπ
−( )
√1−ζ2 4 2.16ζ+0.6
%𝑂𝑆 = 𝑒 𝑥100 𝑇𝑠 ≅ 𝑇𝑟 =
ζ𝜔𝑛 𝜔𝑛

𝜔𝑛 2
Y(s) = (𝑠2 2) 𝜔𝑛 2 = 5𝐾𝑎 𝜔𝑛 = √5𝐾𝑎
+2𝜁𝜔𝑛 𝑠+𝜔𝑛
Substitutions:

𝑎 10√5𝐾𝑎
ζ= = 𝐾𝑎 = 74.8454 𝜔𝑛 = 19.3449
2𝜔𝑛 5𝐾𝑎

b.)

𝜋 2.16(0.5169)+0.6 4
𝑇𝑝 = 𝑇𝑟 = 𝑇𝑠 ≅ (0.5169)(19.3449)
19.3449√1−0.51692 19.3449

𝑇𝑝 = 189.7120 𝑚𝑠 𝑇𝑟 = 88.7348 𝑚𝑠 𝑇𝑠 ≅ 400 𝑚𝑠

c.)

i. 3-story elevator system

This system is an overdamped transient response because the 3-story elevator system is having
only few floors where the control system can be easily controlled. It also takes longer to reach steady
state than the critically damped.

ii. 100-story elevator system

This system is a critically damped transient response because the 100-story elevator system is
having serving a so many floors that the control system is having a difficult time to make a system more
stable.

iii. A refrigerator/cooling system

This system is an underdamped transient response because the system can easily control a
space of control system and it moves quickly to equilibrium.
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:

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:

Figure 5
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’s a lot of machine and
control involve in a certain system.
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:

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.

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:

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.
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:

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.