KIMATHI UNIVERSITY LIBRARY

Dedan Kimathi University of Technology

University Examinations 2014/2015
FOURTH YEAR EXAMINATION FOR
BACHELOR OF SCIENCE DEGREE IN MECHATRONIC
ENGINEERING

EMT 2402 CONTROL ENGINEERING I

DATE: DURATION: 2 HOURS TIME:

INSTRUCTIONS

1. This paper consists of FIVE questions.

2. You are required to answer THREE questions only.
3. Question ONE is compulsory
4. Attempt ONE question from section B and another ONE question in section C.
5. Question ONE carries 30 Marks and the others carry 20 marks each.
6. All dimensions are in millimeters unless otherwise stated.

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SECTION A
Question One (30 Marks)
1. (a) Consider the inverted pendulum Fig Q1a. Sketch the block diagram of a feedback
control system using Fig Q1a as the model. Identify the process, disturbances, sen-
sor, actuator, the controller and the variables involved. The objective is keeping the
pendulum in upright position. That is to keep θ = 0 in presence of the disturbances.
[5 Marks]

Fig Q1a: Inverted pendulum control

(b) Find the capacitor voltage in the network shown in Figure Q1b if the switch closes
at t = 0. Assume zero initial conditions. Also find the time constant, rise time, and
settling time for the capacitor voltage. [6 Marks]

Fig Q1b: RC circuit

(c) Write the output of the system shown in the block diagram [4 Marks]

Fig Q1c: Block diagram

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(d) i. What is a servo mechanism ? [2 Marks]

ii. State four principles of Linear time invariant systems and how they simplify
system design and analysis [4 Marks]
(e) i. Draw membership function for the following states of room temperature as a
fuzzy variable and then combine them in one membership graph [5 Marks]
0
0 − 70 c Not Hot
• Room very hot 1000 cupwards Very Hot
700 c − 1000 c Hot
0 − 400 c Very cold
• Room very cold 700 cupwards Not Cold
400 c − 700 c Cold
0 − 400 c Not OK
• Room temperature OK 1000 c upwards Not OK
700 c OK
ii. Draw a computational model of a simple neural network (Perceptron) with
three inputs and one output and write the output function [4 Marks]

SECTION B: (Answer only ONE question from this section)

Question TWO (20 Marks)

2. (a) A system with subsystems has been modelled and represented in block diagram
shown below. Reduce the system shown to a single transfer function. [6 Marks]

Fig Q2a.

(b) Suppose that the system in Q2a. yielded a transfer function

4(s + 50)
Y (s) = R(s)
s2 + 30s + 200
i. Find the response y(t) when R(s) is a unit step input [4 Marks]
ii. Find the steady state response value [2 Marks]
iii. Plot the poles on the s-plane, plot response graph and evaluate whether the
system is stable using pole inspection [2 Marks]

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(c) Suppose that the system in Q2a. yielded a transfer function

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

which is the open loop unity feedback with unknown parameter K. Find the value
of K for which the system is just stable [6 Marks]

Question THREE (20 Marks)

3. (a) For the system shown in Figure Q3a. Draw root locus of the system when
1
Gp (s) =
s(s + 3)(s + 3 − j7.4)(s + 3 + j7.4)

[6 Marks]

Fig Q3a

(b) For a closed loop sytem

10(s + 10)
H(s) =
s(s + 1)(s + 100)
. Draw the Bode plots for the system [6 Marks]
(c) Consider the system with open -loop transfer function

500
G(s) =
s(s + 15)
Suppose, this system is placed in a unity gain feedback closed-loop with variable
gain K in the forward path.
i. Find the closed-loop transfer function and the associated closed-loop charac-
teristic polynomial [2
Marks]
ii. Find expressions, in terms of K, for ζ and ωn [2 Marks]
iii. Find the value of K that results in ωn = 30. What is the corresponding value
of ζ? [2 Marks]
iv. If the system is subjected to ramp input of 0.5rad/s, what is the steady- state
tracking error? [2 Marks]

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SECTION C: (Answer only ONE question from this section)

Question FOUR (20 Marks)

4. (a) Figure Q4a illustrates an RLC circuit. The capacitor has capacitance C, the induc-
tor has inductance L and the resistor resistance R. The input is the applied voltage
vi (t) and the output is the voltage across the capacitor and resistor vo (t).

Figure Q4(a)

i. Determine G(s), the transfer function relating vo to vi ., [4 Marks]

ii. Let vi (t) be a unit step applied at t = 0. Use the final value theorem,which
should be stated, to find the steadystate value of vo (t). [2 Marks]
iii. Derive the value of R so that G(s) is marginally stable. What is the frequency
of oscillations? Give your answer in terms of L and C. [2 Marks]
s+1
(b) In Figure 1.2 below,G(s) = s−1
and K is a variable gain.
i. Sketch the locus of the closedloop poles for0 ≤ K < ∞. [1 Marks]
ii. Using the gain criterion, find the value of K for which the closedloop is marginally
stable. [2 Marks]
iii. Find the range of K ≥ 0 for which the closedloop is stable. [1 Marks]
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(c) In Figure 1.2 below,G(s) = s−0.5
and K is a variable gain.
i. Draw the Nyquist diagram of G(s) indicating real-axis intercepts. [4 Marks]
ii. Take K = 0.25. Use the Nyquist criterion, which should be stated, to determine
the number of unstable closedloop poles. [2 Marks]
iii. Take K = 1. Use the Nyquist criterion to show that the closedloop is stable.
Comment on the gain margin. [2 Marks]

Figure Q4(b & c)

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Question FIVE (20 Marks)

5. (a) Consider the mass-spring damper system shown in Figure Q5a in which y(t) denotes
the displacement of the mass M from its rest position. A force f (t) is applied to
the mass M as shown. Take M = 1Kg and D1 = D2 = 1N s/m

Fig Q5a

i. By considering the balance of forces on the mass, derive the differential equation
relating f (t) to y(t). [2 Marks]
ii. Derive the transfer function G(s) between F (s) and Y (s). [2 Marks]
iii. Sketch the root locus of the poles G(s) for 0 leqK < ∞ . [2 Marks]
iv. Find the value of K for which the response is
A. critically damped [2 Marks]
B. marginally damped [2 Marks]
v. Take K = 1N/m. Suppose that f (t) = cos t. Find the steady state response
yss (t). [2 Marks]
vi. Take K = 1N/m. Sketch the Nyquist diagram of G(s). [4 Marks]
(b) Determine the transfer function whose approximate plot is as shown in Figure Q5b.
[4 Marks]

Fig Q5b