Manufacturing, Control and Environmental Sustainability

EN7908

Project (Open Book Competency Based)

INSTRUCTIONS

Answer all questions.

Submit your solutions on the following MOODLE link

https://moodle.polytechnic.bh/moodle/mod/assign/view.php?id=151854

The deadline is Thursday 18th June 2020

THIS IS A MUST PASS ASSESSMENT. A RESIT WILL BE AVAILABLE.

To pass this assessment, you must

• Attempt all questions in this assessment.
• You must answer all sub-questions of Q5 correctly and completely.
• You must achieve a Competent grade for at least 8 out of the 20 sub-
questions from Q1, Q2, Q3 and Q4.

Student Name: Student ID:

Assessor: Dr. Saam Najat Due Date:

Date of Marking: Grade/Mark:

By submitting this assessment for marking, either electronically or as hard copy, I confirm the following:

• This assignment is my own work

• Any information used has been properly referenced.
• I understand that a copy of my work may be used for moderation.
• I have kept a copy of this assignment

Comments:

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Learning outcomes (LOs)
On successful completion of this test the student will be able to:
4) Critically analyse the effectiveness of a feedback control system for a practical
engineering application.

Question
Topic LOs
number
Q1 Block Diagrams 4
Q2 Second Order Systems 4
Q3 Poles and Zeros 4
Q4 Time Response 4
Q5 PID Control 4

Feedback

According to Bahrain Polytechnic policy,

• Feedback will be provided to students within 10 working days of
submissions.
• Students are required to apply for a remark of any contested grading
within 4 working days of receiving back their work.
• All marks/grades given are provisional and subject to change as a possible
result of post moderation

Rules on Open book Competency Based Assessment

• Plagiarized work will receive the appropriate penalty as set out in Bahrain
Polytechnic Policy. (A-AB-003 Academic Integrity and Honesty);
• You are responsible for the complete submission of your assessment(s);
• This work can be used for moderation purposes.
• This work may be submitted to Turnitin and if so, it will be stored in the Turnitin
database for comparison purposes.

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Centrifugal Casting
Centrifugal casting is the casting of metal in a rapidly revolving mold. They are
used to produce duplexed mill rolls, cylinder liners, bronze or copper alloy
tubes, brake drums, discs, bottle molds, flywheels, etc. Centrifugal casting is a
cost-effective means of providing complex shapes with reduced machining
requirements and lower manufacturing costs as compared to forgings and
fabrications. In the centrifugal casting process, molten metal is poured into a
preheated, spinning die. The die may be oriented either on a vertical or
horizontal axis depending on the configuration of the desired part.
Figure 1 depicts a vertical centrifugal casting machine. The mold rotates at
certain speed by an electric motor. By spinning a mold while molten metal is
poured into the die, centrifugal force acts to distribute the molten metal in the
mold with a magnitude approaching 100 times the force of gravity. Once the
casting has solidified, the part is removed from the die and residual impurities
are machined away, resulting in a defect-free structure without cavities.
.

Figure 1 – Schematic of the vertical Centrifugal Casting

To be able to provide the appropriate rotational speeds during the pouring
and solidification phases. A DC motor is needed. However, vibrations and other
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unwanted transients in the speed of the motor can occur and this can lead to
unwanted casting defects. A feedback system is required to compensate for
these unwanted effects and to ensure that the speed of the motor is maintained
throughout the pouring and solidification phases
The Electromechanical System
A DC motor is an electromechanical component that yields a mechanical
output generated by an electrical input. The motor’s schematic for the vertical
centrifugal casting is shown in Figure 2. The system contains an electrical
subsystem and a rotational mechanical subsystem. First, we identify and
model the individual subsystems for which we must find transfer functions.

Figure 2 – Electromechanical System representing the casting process

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Electrical Subsystem
The electrical subsystem contains a rotating circuit called the armature, which
is wound on a rotor and represented by its resistance and inductance. A
magnetic field is developed by a stationary electromagnet called the fixed
field. The armature, through which current 𝑖𝑎 (𝑡) flows, passes through this
magnetic field at right angles to the magnetic field. Which in turn produces a
resulting torque that turns the rotor.
Current flows to the rotor armature through slip rings, and thus a force on
each conductor in the armature is generated. Since the conductors in the rotor
initially rotate through the stationary fixed field, this causes a relative rate of
change of flux and it also rotates due to the torque generated from the
interaction of the armature current and the stator magnetic field. Since the
rotor is not part of the electrical circuit but due to its rotation within the fixed
stator field it results in the generation of the back emf 𝑣𝑏 (𝑡) across the
armature. The induced back emf (Faraday’s law) 𝑣𝑏 (𝑡) will oppose this
motion (Lenz’s law), hence the requirement for the armature voltage 𝑒𝑎 (𝑡).

Figure 3 – Electrical Subsystem

Since the back emf opposes the supply voltage 𝑒𝑎 (𝑡). Hence, the supply
voltage 𝑒𝑎 (𝑡) induces the current in the coil which rotates the armature. The
electrical work required by the motor for causing the current against the back
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emf is converted into the mechanical energy. Rotational energy of the motor
shaft is induced in the armature of the motor. Any change in the magnetic
environment of a coil of wire will cause a voltage (emf) to be "induced" in the
coil. No matter how the change is produced, the voltage will be generated.
Hence, we can conclude that the back emf will be proportional to the angular
speed.
𝑑
𝑣𝑏 (𝑡) = 𝐾𝑏 {𝜃 (𝑡)} (1)
𝑑𝑡 𝑎
𝑣𝑏 (𝑡) is the back electromotive force (back emf) which is a voltage that
appears in the opposite direction to current flow because of the motor's coils
moving relative to a magnetic field. The constant 𝐾𝑏 is a constant of
proportionality called the back emf constant. The voltages across the resistor
𝑣𝑅𝑎 (𝑡) and inductor 𝑣𝐿𝑎 (𝑡) can be defined as
𝑣𝑅𝑎 (𝑡) = 𝑖𝑎 (𝑡)𝑅𝑎 (2)
𝑑
𝑣𝐿𝑎 (𝑡) = 𝐿𝑎 {𝑖 (𝑡)} (3)
𝑑𝑡 𝑎
Where 𝑅𝑎 and 𝐿𝑎 are the armature resistance and inductance respectively.
The relationship between the armature current, 𝑖𝑎 (𝑡) and the applied
armature voltage 𝑒𝑎 (𝑡) and the back emf, 𝑣𝑏 (𝑡), is found by writing a
Kirchhoff’s voltage loop equation around the armature circuit
𝑒𝑎 (𝑡) = 𝑣𝑅𝑎 (𝑡) + 𝑣𝐿𝑎 (𝑡) + 𝑣𝑏 (𝑡) (4)
Substituting equations (1), (2)and (3) in equation (4) yields
𝑑 𝑑
𝑒𝑎 (𝑡) = 𝑖𝑎 (𝑡)𝑅𝑎 + 𝐿𝑎 {𝑖𝑎 (𝑡)} + 𝐾𝑏 {𝜃𝑎 (𝑡)} (5)
𝑑𝑡 𝑑𝑡
The torque developed by the motor 𝑇𝑎 (𝑡) is proportional to the armature
current 𝑖𝑎 (𝑡); thus,
𝑇𝑎 (𝑡) = 𝐾𝑡 𝑖𝑎 (𝑡) (6)
where 𝐾𝑡 is a constant of proportionality, called the motor torque constant,
which depends on the motor and magnetic field characteristics.

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Rotational Mechanical Subsystem
The DC motor contains a rotor which has a moment of inertia 𝐽𝑎 and a
rotational viscous damping 𝐷𝑎 at the armature, and the spinning die along
with the flywheel (The load) will have moment of inertia 𝐽𝐿 and a rotational
viscous damping 𝐷𝐿 . We shall assume that the shafts are rigid, and that the
moment of inertia is a constant and rotating along a fixed axis. The motor
drives the load through the gear trains 𝑁1 and 𝑁2 . The angular displacements
and torques for the armature and the spinning die are denoted as 𝜃𝑎 (𝑡), 𝜃𝐿 (𝑡),
𝑇𝑎 (𝑡) and 𝑇𝐿 (𝑡) respectively.

Figure 4 – Rotational Mechanical Subsystem

The units for the above quantities are

• 𝑇𝑎 (𝑡) and 𝑇𝐿 (𝑡) N-m (newton-meters)
• 𝜃𝑎 (𝑡) and 𝜃𝐿 (𝑡) rad (radians)
• 𝜔𝑎 (𝑡) and 𝜔𝐿 (𝑡) rad/s (radians/second)
• 𝐷𝑎 and 𝐷𝐿 N-m-s/rad (newton-meters-seconds/radian)
• 𝐽𝑎 and 𝐽𝐿 kg-m2 (kilograms-meters2)

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The Gear Trains
The motor drives the load through the gear trains

Figure 5 – Gear Trains

Gear trains generally exhibit backlash, which occurs because of the loose fit
between two meshed gears. The drive gear rotates through a small angle
before contacting the meshed gear. The result is that the angular rotation of
the output gear does not occur until a small angular rotation of the input gear
has occurred.

Figure 6 – Backlash
In this case, we shall idealize the behaviour of gears and assume that there is
no backlash. An input gear with radius 𝑟1 and 𝑁1 teeth is rotated through angle
𝜃𝑎 (𝑡) due to the armature torque, 𝑇𝑎 (𝑡) . Conversely, the output gear with
radius 𝑟2 and 𝑁2 teeth responds by rotating through angle 𝜃𝐿 (𝑡) and
delivering the load torque, 𝑇𝐿 (𝑡). Let us now find the relationship between the
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rotation of Gear 1, 𝜃𝑎 (𝑡) and Gear 2, 𝜃𝐿 (𝑡). As the gears turn, the distance
traveled along each gear’s circumference is the same.
𝑟1 𝜃𝑎 (𝑡) = 𝑟2 𝜃𝐿 (𝑡)
Or
𝜃𝐿 (𝑡) 𝑟1 𝑁1
= =
𝜃𝑎 (𝑡) 𝑟2 𝑁2
Since the ratio of the number of teeth along the circumference is in the same
proportion as the ratio of the radii. We can conclude that the ratio of the
angular displacement of the gears is inversely proportional to the ratio of the
number of teeth.
We will also assume the gears are lossless, i.e. they do not dissipate or store
energy, the energy into Gear 1 equals the energy out of Gear 2. In other words,
the gears have negligible inertia and damping. Since the translational energy
of force times displacement becomes the rotational energy of torque times
angular displacement then,
𝑇𝑎 (𝑡)𝜃𝑎 (𝑡) = 𝑇𝐿 (𝑡)𝜃𝐿 (𝑡)
In this case, the torques are directly proportional to the ratio of the number of
gear teeth.
𝑇𝐿 𝜃𝑎 (𝑡) 𝑁2
= =
𝑇𝑎 𝜃𝐿 (𝑡) 𝑁1
Rotational Mechanical Impedance Equivalence
Rotational mechanical impedances can be reflected through gear trains by
multiplying the mechanical impedance by the gear ratio squared. where the
impedance to be reflected is attached to the source shaft and is being reflected
to the destination shaft or vice versa.
We shall represent 𝜃𝐿 (𝑡) as an equivalent system at 𝜃𝑎 (𝑡) without the gears. In
other words, the mechanical impedances be reflected from the output to the
input, thereby eliminating the gears. Assuming that all the spinning die inertia
and damping values are known, then 𝐽𝐿 and 𝐷𝐿 can be reflected back to the
armature as some equivalent inertia and damping to be added to 𝐽𝑎 and 𝐷𝑎 ,

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respectively. Hence the load torque 𝑇𝐿 can be reflected to the armature shaft
𝑁
by multiplying it by 1 , from which we write the equation of motion as
𝑁2

𝑁1 𝑁2 𝑁1 𝑑 2 𝑁2 𝑁1 𝑑
𝑇𝐿 (𝑡 ) ( ) = [( ) 𝐽𝑎 + 𝐽𝐿 ( )] 2 {𝜃𝐿 (𝑡 )} + [( ) 𝐷𝑎 + 𝐷𝐿 ( )] {𝜃𝐿 (𝑡 )}
𝑁2 𝑁1 𝑁2 𝑑𝑡 𝑁1 𝑁2 𝑑𝑡

Now convert 𝜃𝐿 (𝑡) into an equivalent 𝜃𝑎 (𝑡), and 𝑇𝐿 (𝑡) to an equivalent 𝑇𝑎 (𝑡)
so that it will look as if it were written at the input. We have

𝑁1 𝑁1
𝜃𝐿 (𝑡) = 𝜃𝑎 (𝑡) and 𝑇𝐿 (𝑡) ( ) = 𝑇𝑎 (𝑡)
𝑁2 𝑁2

𝑁2 𝑁1 𝑁1 𝑑 2 𝑁2 𝑁1 𝑁1 𝑑
𝑇𝑎 (𝑡 ) = [( ) 𝐽𝑎 + 𝐽𝐿 ( )] { 𝜃𝑎 ( 𝑡 )} + [( ) 𝐷𝑎 + 𝐷𝐿 ( )] {𝜃 (𝑡)}
𝑁1 𝑁2 𝑁2 𝑑𝑡 2 𝑁1 𝑁2 𝑁2 𝑑𝑡 𝑎

Hence

𝑁1 2 𝑑 2 𝑁1 2 𝑑
𝑇𝑎 (𝑡) = [𝐽𝑎 + 𝐽𝐿 ( ) ] 2 {𝜃𝑎 (𝑡)} + [𝐷𝑎 + 𝐷𝐿 ( ) ] {𝜃𝑎 (𝑡)}
𝑁2 𝑑𝑡 𝑁2 𝑑𝑡

Thus, the equivalent inertia 𝐽, torque and equivalent damping, 𝐷 at the

armature are approximated by
𝑁1 2 𝑁1 2
𝐽 = 𝐽𝑎 + 𝐽𝐿 ( ) and 𝐷 = 𝐷𝑎 + 𝐷𝐿 ( )
𝑁2 𝑁2
𝐽 is the equivalent inertia at the armature and includes both the armature
inertia and the spinning die inertia reflected to the armature. 𝐷 is the
equivalent viscous damping at the armature and includes both the armature
viscous damping and the spinning die viscous damping reflected to the
armature. The equation of motion for the reflected load on the armature is
𝑑2 𝑑
𝑇𝑎 (𝑡) = 𝐽 2 {𝜃𝑎 (𝑡)} + 𝐷 {𝜃𝑎 (𝑡)} (7)
𝑑𝑡 𝑑𝑡

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The Overall Model
We need to develop a relationship between 𝜃𝑎 (𝑡) and the armature current
𝑖𝑎 (𝑡), substituting the armature torque in equation (6) in equation (7) and
rearranging
1 𝑑2 𝑑
𝑖𝑎 (𝑡) = [𝐽 2 {𝜃𝑎 (𝑡)} + 𝐷 {𝜃𝑎 (𝑡)}] (8)
𝐾𝑡 𝑑𝑡 𝑑𝑡
Combining the resultant armature current in equation (8) with the Kirchhoff’s
law shown in equation (5) around the armature circuit gives
𝑅𝑎 𝑑 2 𝑑 𝐿𝑎 𝑑 3 𝑑2
𝑒𝑎 (𝑡) = [𝐽 {𝜃 (𝑡)} + 𝐷 {𝜃𝑎 (𝑡)}] + [𝐽 3 {𝜃𝑎 (𝑡)} + 𝐷 2 {𝜃𝑎 (𝑡)}]
𝐾𝑡 𝑑𝑡 2 𝑎 𝑑𝑡 𝐾𝑡 𝑑𝑡 𝑑𝑡
𝑑
+ 𝐾𝑏 {𝜃𝑎 (𝑡)}
𝑑𝑡
Rearranging gives
𝐿𝑎 𝐽 𝑑 3 𝐿𝑎 𝐷 𝑅𝑎 𝐽 𝑑 2 𝑅𝑎 𝑑
𝑒𝑎 (𝑡) = [ ] 3 {𝜃𝑎 (𝑡)} + [ + ] 2 {𝜃𝑎 (𝑡)} + [ 𝐷 + 𝐾𝑏 ] {𝜃𝑎 (𝑡)}
𝐾𝑡 𝑑𝑡 𝐾𝑡 𝐾𝑡 𝑑𝑡 𝐾𝑡 𝑑𝑡
The angular velocity of the motor at the armature can be defined as
𝑑
𝜔𝑎 (𝑡) = {𝜃 (𝑡)}
𝑑𝑡 𝑎
Hence, this will simplify to a second order differential equation representing
ωa (t) as the output and ea (t) as the input

1 𝑑2 𝑑
𝑒𝑎 (𝑡) = [𝐿𝑎 𝐽 2 {𝜔𝑎 (𝑡)} + [𝐿𝑎 𝐷 + 𝑅𝑎 𝐽] {𝜔𝑎 (𝑡)} + [𝑅𝑎 𝐷 + 𝐾𝑡 𝐾𝑏 ]𝜔𝑎 (𝑡)]
𝐾𝑡 𝑑𝑡 𝑑𝑡

Taking the Laplace transforms assuming zero initial conditions 𝜔𝑎 (0) =

𝜔̇ 𝑎 (0) = 0
1
𝐸̅𝑎 (𝑠) = [𝐿 𝐽𝑠 2 𝜔
̅𝑎 (𝑠) + (𝐷𝐿𝑎 + 𝐽𝑅𝑎 )𝑠𝜔
̅𝑎 (𝑠) + (𝑅𝑎 𝐷 + 𝐾𝑡 𝐾𝑏 )𝜔
̅𝑎 (𝑠)]
𝐾𝑡 𝑎

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Rearranging yields the following input output relationship

𝐾𝑡
̅𝑎 (𝑠) =
𝜔 𝐸̅ (𝑠)
𝐿𝑎 𝐽𝑠 2 + (𝐷𝐿𝑎 + 𝐽𝑅𝑎 )𝑠 + (𝐷𝑅𝑎 + 𝐾𝑡 𝐾𝑏 ) 𝑎

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Tasks
Q1) The block diagram depicting the vertical casting process described
above is shown in figure Q1. By solving sub-question a) to d), simplify the
block diagram to show that the closed loop transfer function between the
input signal 𝐸̅𝑎 (𝑠) and the output signal 𝜔
̅𝑎 (𝑠) is

3.3
̅𝑎 (𝑠) =
𝜔 𝐸̅ (𝑠)
𝑠 2 + 1.46𝑠 + 7.13 𝑎
Where

1 1
̅𝑎 (𝑠) = 𝐺𝐸𝜔 (𝑠)𝐸̅𝑎 (𝑠);
𝜔 𝐹(𝑠) = ; 𝐺(𝑠) = ;
𝑠𝐿𝑎 + 𝑅𝑎 𝐽𝑠 + 𝐷

Figure Q1

a) Simplify the forward path of the block diagram to show that the
transfer function between 𝜔̅𝑎 (𝑠) and 𝑉̅ (𝑠) is

𝐾𝑡
̅𝑎 (𝑠) =
𝜔 ∙ 𝑉̅ (𝑠)
(𝑠𝐿𝑎 + 𝑅𝑎 )(𝐽𝑠 + 𝐷)

Figure Q1a

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 b) Using the shortcut rule show that the closed loop transfer function
between 𝐸̅𝑎 (𝑠) and 𝜔
̅𝑎 (𝑠) is

𝐾𝑡 /𝐿𝑎 𝐽
̅𝑎 (𝑠) =
𝜔 𝐸̅ (𝑠)
2 𝐷𝐿𝑎 + 𝐽𝑅𝑎 𝐷𝑅𝑎 + 𝐾𝑡 𝐾𝑏 𝑎
𝑠 +( 𝑠+(
𝐿𝑎 𝐽 ) 𝐿𝑎 𝐽 )

𝐾𝑡
(𝑠𝐿𝑎 + 𝑅𝑎 )(𝐽𝑠 + 𝐷)

Figure Q1b

c) Define the following quantities in MATLAB

• 𝐷𝑎 = 0.02 and 𝐷𝐿 = 2 N-m-s/rad (newton-meters-

seconds/radian).
• 𝐽𝑎 = 6 × 10−4 and 𝐽𝐿 = 6 kg-m2 (kilograms-meters2).
• 𝑁1 = 100; 𝑁2 = 1000
• 𝐾𝑡 = 2; 𝑅𝑎 = 8Ω; 𝐾𝑏 = 2 volts, 𝐿𝑎 = 10 mH
and calculate the parameters 𝐽 and 𝐷 using the following relations
𝑁1 2 𝑁1 2
𝐽 = 𝐽𝑎 + 𝐽𝐿 ( ) ; and 𝐷 = 𝐷𝑎 + 𝐷𝐿 ( )
𝑁2 𝑁2

d) By using appropriate MATLAB commands, show that the closed loop

transfer function between the input signal 𝐸̅𝑎 (𝑠) and the output signal
̅𝑎 (𝑠) is
𝜔
3.3
𝜔̅𝑎 (𝑠) = 2 𝐸̅ (𝑠)
𝑠 + 1.46𝑠 + 7.13 𝑎

̅𝑎 (𝑠) = 𝐺𝐸𝜔 (𝑠)𝐸̅𝑎 (𝑠)

𝜔
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Q2) By equating the standard second order transfer function to 𝐺𝐸𝜔 (𝑠),
calculate the following analytically

a) Undamped natural frequency 𝜔𝑛 .

b) Damping ratio 𝜁.
c) Steady state gain.
d) Steady State output to a unit step.

Q3) Verify the stability of the system by carrying out the following

a) Write down the denominator equation of the transfer function and

set it to zero.
b) Calculate analytically the poles of the transfer function
c) Verify the result in b) using an appropriate MATLAB command.
d) Verify using MATLAB the stability of the system by graphically
computing the poles of the system.
Q4) Evaluate the impulse response of 𝜔𝑎 (𝑡), where
3.3
̅𝑎 (𝑠) =
𝜔 𝐸̅ (𝑠)
𝑠 2 + 1.46𝑠 + 7.13 𝑎

a) By substituting a unit impulse signal for the input 𝐸̅𝑎 (𝑠) and by
completing the square, write down the signal 𝜔 ̅𝑎 (𝑠).

b) Using inverse Laplace transforms, evaluate the impulse response

𝜔𝑎 (𝑡).

c) Using the MATLAB impulse function, produce a unit impulse

response for the output 𝜔𝑎 (𝑡),

d) Using MATLAB, verify the result in c) by plotting it with the

analytical result derived in b). Select the time scales so that both the
transients and the steady state regions are visible.

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Q5) Consider the following feedback loop arrangement outlined in Figure Q5.
Assume that disturbances 𝑑̅ (𝑠) enter the system as shown in the diagram. It is
assumed that the reference input 𝑟̅ (𝑠) is normally held constant, and the
response characteristics to disturbances are a very important consideration for
the casting process. A PID controller is placed at the forward path

𝐾𝑖 3.3
𝐶(𝑠) = 𝐾𝑝 + + 𝑠𝐾𝑑 ; 𝐺𝐸𝜔 (𝑠) = 2 ; 𝐻(𝑠) = 1
𝑠 𝑠 + 1.46𝑠 + 7.13

𝑑̅ (𝑠)

𝑟̅ (𝑠) ̅𝑎 (𝑠)
𝜔
𝐺𝐸𝜔 (𝑠)

Figure Q5

a) In the absence of the reference input, i.e. 𝑟̅ (𝑠) = 0, analytically derive the
closed-loop transfer function between 𝜔 ̅𝑎 (𝑠) and 𝑑̅ (𝑠).
b) The performance specification for the closed loop system requires that
the unit step disturbance response be such that the settling time to be 1
to 2 seconds and the system’s transient response has reasonable
damping. We may interpret the specification as 𝜁 = 0.8 and 𝜔𝑛 =
4 rads/sec for the dominant closed-loop poles. We may choose the third
pole at 𝑠 = – 10 so that the effect of this real pole on the response will be
negligible.

Derive the required closed loop characteristic polynomial that satisfies

the above performance specification.

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 c) Design a Proportional Integral Derivative Controller (PID) that satisfies
the requirements in b).

d) Assuming a unit step disturbance, show analytically that the steady

state output due to a disturbance of the closed loop system with the PID
controller is zero. Demonstrate this with an appropriate time response
plot using MATLAB. What are the implications of the integrator
placement on either 𝐺𝐸𝜔 (𝑠) or 𝐶(𝑠) on the steady state error due to a
disturbance?

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RULES

• Demonstrate your results with suitable MATLAB/SIMULINK plots &

code (very, very strict rule).
• Label the axes of each graph. This includes attaching a figure legend when
appropriate. Include the unit with the label itself (“speed m/s” versus
“time in milliseconds” or "time [ms]") so that we know what’s being
measured and that it is not an arbitrary variable (very, very strict rule).
• Instead of sending many figures for one question, you can use the subplot
command to group relevant figures (not-so-strict rule).
• Every m-file code must contain some comments describing the function
of the MATLAB code/command (very, very strict rule).
• Every graph must have a descriptive title. Label and scale all axes (very,
very strict rule).
• If a plot contains multiple lines, you must add a legend explaining each
curve. (very, very strict rule).
• For SIMULINK *.mdl block diagrams, avoid overlapping and crossing
lines as much as possible. Re-arrange the icons so that a clear path from
left to right is visible. (very, very strict rule).
• Number plots and graphs sequentially, e.g. Fig.1, 2 etc. (very, very strict
rule).

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 PLAGIARISM & COLLUSION

WARNING ON PLAGIARISM & COLLUSION

Plagiarism – is defined as the misrepresentation of another person's ideas,

thoughts or words as though they were your own. All types of deliverables
are covered by this definition, including, written work, diagrams, designs,
engineering drawings and pictures.

At Bahrain Polytechnic, we encourage independent thinking and you

are entitled to criticize other people’s work and include it in your
report. However, you MUST acknowledge your sources. This can be
achieved by quoting and citing the published or unpublished work of
others, which include sources from the internet, books, journal
articles, conference proceedings, and any other credible or uncredible
sources. A full reference to the source must be provided in an
appropriate format and should be included in your
References/Bibliography section of your report.

Collusion – is defined as an unauthorized conscious collaboration between

two or more students in producing work that is deemed to be identical or
largely similar in content and representing the work as though they were
their own.

If a tutor suspects a plagiarism and/or collusion offence in a report, then

this may result in an allegation of cheating. Such cases will be dealt with
under the Bahrain Polytechnic's procedure and may result in a severe
penalty being taken against any student found guilty and it may result in
the student being expelled from the course indefinitely.

Departments are able to give advice about the appropriate use and correct
acknowledgements of other sources in your own work.

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 Useful MATLAB commands

Command Description

axis Set the scale of the current plot, see also plot, figure

clf Clear figure

clear Clears the defined workspace variable

Convolution (useful for multiplying polynomials), see also
conv
deconv

deconv Deconvolution and polynomial division, see also conv

feedback Connect linear systems in a feedback loop

Create a new figure or redefine the current figure, see also

figure
subplot, axis

for For loop

format Number format (significant digits, exponents)

function Creates function m-files

grid Draw the grid lines on the current plot

gtext Add a piece of text to the current plot, see also text

help MATLAB help documentation

hold Hold the current graph, see also figure

i,j The imaginary unit √−1

if Conditionally execute statements

imag Returns the imaginary part of a complex number, see also real

impulse Impulse response of linear systems, see also step, lsim

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 input Prompt for user input

legend Graph legend

length Length of a vector, see also size

linspace Returns a linearly spaced vector

load Loads workspace variables from a file

lsim Simulate a linear system, see also step, impulse

parallel Connect linear systems in parallel

plot Draw a plot; see also figure, axis, subplot.

poly Returns the characteristic polynomial

polyval Polynomial evaluation

print Print the current plot (to a printer or postscript file)

pzmap Pole-zero map of linear systems

real Returns the real part of a complex number, see also imag

roots Find the roots of a polynomial

series Connect linear systems in series

Set(gca,'Xtick',xticks,'Ytick',yticks) to control the number and
set
spacing of tick marks on the axes

Generate grid lines of constant damping ratio (𝜁) and natural

sgrid
frequency (𝜔𝑛 ), see also sigrid, zgrid

sqrt Square root

step Plot the step response, see also impulse, lsim

subplot Divide the plot window up into pieces, see also plot, figure

Creation of transfer functions or conversion to transfer

tf
function

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 tfdata Access to transfer function data, see also ssdata

title Add a title to the current plot

Add a label to the horizontal/vertical axis of the current plot,

xlabel/ylabel
see also title, text, gtext

zeros Returns a vector or matrix of zeros

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 TABLE OF FORMULAS
Initial Value Theorem
lim 𝑦(𝑡) = lim 𝑠𝑦̅(𝑠)
𝑡→0 𝑠→∞

Final Value Theorem

lim 𝑦(𝑡) = lim 𝑠𝑦̅(𝑠)
𝑡→∞ 𝑠→0

Delay time 𝑻𝒅 : Time required for the response to reach half the steady state,
i.e.
𝑦(𝑇𝑑 ) = 0.5𝐾𝐴
Rise time 𝑻𝒓 : Time required for the response to rise from 10% to 90% or 5%
to 95% of the steady state KA.
1 𝜔𝑑
𝑦(𝑇𝑟 ) = tan−1 ( )
𝜔𝑑 −𝜁𝜔𝑛
Peak time 𝑻𝒑 : Time required to reach the first peak of the maximum
overshoot
𝜋
𝑇𝑝 =
𝜔𝑑
Maximum Overshoot 𝑶𝒎𝒂𝒙 : The maximum peak value of the response
measured from the steady state value KA. This measure indicates the relative
stability of the system.
𝜁
𝑦(𝑇𝑝 ) − 𝑦𝑠𝑠 −𝜋(
2
)
𝑂𝑚𝑎𝑥 = = 𝑒 √1−𝜁
𝑦𝑠𝑠
Settling time 𝑻𝒔 : Time required for the response to reach within either 2% or
5% of the steady state value KA.
4 3
𝑇𝑠 = (2% criterion) or 𝑇𝑠 = (5% criterion)
𝜁𝜔𝑛 𝜁𝜔𝑛

Damped natural frequency𝝎𝒅

𝜔𝑑 = 𝜔𝑛 √1 − 𝜁 2

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 TABLE OF LAPLACE TRANSFORMS

Laplace Transform Theorems & Properties

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 LAPLACE TRANSFORMS THEOREMS

Standard Second order transfer function

𝐾𝜔𝑛2
𝐺(𝑠) = 2
𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2

Poles of a second order transfer function

𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛 2 = 0

−2𝜁𝜔𝑛 ± √4𝜁 2 𝜔𝑛 2 − 4𝜔𝑛 2

𝑠1,2 = = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 √1 − 𝜁 2
2
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 Marking Rubric & Criteria
To pass this assessment, you must
• Attempt all questions in this assessment.
• You must answer all sub-questions of Q5 correctly and completely.
• You must achieve a Competent grade for at least 8 out of the 20 sub-
questions from Q1, Q2, Q3 and Q4.

Pass Levels
Competent (C)
• Correct MATLAB commands are
used.
• Correct answers are shown.
• Correct mathematical derivation is
shown
• MATLAB syntax is in the right order.
• Correct graph is shown with clear
axis labels.
• Correct calculations and
procedures.
• Correct use of formulae.
Not Yet Competent (NYC)
• Most of the code written have incorrect
MATLAB command and result
• Incorrect answers are shown.
• Wrong MATLAB syntax.
• Error strewn code.
• Incorrect graph is shown with no axis or
title labels.
• Incorrect calculations and procedures.
• Incorrect use of formulae.
• Incorrect mathematical derivations.

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 Question 1
Competent (C)/ Not yet
Part Feedback
Competent (NYC)
a
b
c
d
Question 2
Competent (C)/ Not yet
Part Feedback
Competent (NYC)
a
b
c
d
Question 3
Competent (C)/ Not yet
Part Feedback
Competent (NYC)
a
b
c
d
Question 4
Competent (C)/ Not yet
Part Feedback
Competent (NYC)
a
b
c
d

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 Question 5
Competent (C)/ Not yet
Part Feedback
Competent (NYC)
a
b
c
d

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