Ghulam Ishaq Khan Institute of

Engineering Sciences and Technology,

Topi, KP

Faculty of Mechanical Engineering

ME 464: System Dynamics and Control Prepared By: Prof S M Ahmad

Reviewed By: Dr. A Imran

Instructor: Prof S M Ahmad
Approved By: Dr K Rehman

19th Jan 2022 Final Exam Time allowed: 1hr 45 mins

Fall 2021 Total Marks: 40

INSTRUCTIONS

1 . This is a closed book and closed notes exam. To receive credit for a
problem, you must follow instructions, show all the work. Attempt All
the Questions and ensure that your answers are in correct units. Answers
without detailed work will be given ZERO credit.

2. Write your name and reg. number on the given answer sheet.

3. State assumptions, show free body diagram, sketches and write

engineering units (SI units) and equations where appropriate. Answers
without engineering units will be regarded as incomplete. Make use of
the Laplace Transform Tables provided towards the end of the paper.

4. Please write in readable handwriting.

5. Marks for each question are mentioned alongside.

6. The use of cell phones or any other sources of communication are

strictly prohibited during examinations.

7. Please take the question paper along with you.

1
Q1. Figure 1 shows a single-disk mechanical system, whose mathematical model is represented

by . The motor provides a torque directly to the rotor inertia J. Find

(a) the angular velocity response of this mechanical system if the rotor is initially spinning at
(1146 rpm) and the input torque is a step function of magnitude 15 N-
m (applied at t > 0). The rotor moment of inertia is J = 0.4 kg- and the viscous friction
coefficient is b = 0.06 N-m-s/rad. [8 Marks]

(b) time constant and final settling time.

[4 Marks] (CLO-1 C3)

Figure 1. Single-disk mechanical system

Q.2 Consider a position control system with low damping where the output signal is given in
mm. Let the plant be modelled by the transfer function . Assume,

. Design a proportional controller so that the following design

specifications are achieved.

(a) Steady state reference tracking error for a unit step input in reference r(s)
[4 Marks]

(b) Steady state reference tracking error for a step input of 2 in disturbance

d(s). Note for a regulator problem . [4 Marks]

(c) Analyse the gains for (a) and (b). [2 Marks]

(CLO-2 C5)

2
Q3. Figure 2 shows a closed-loop system for controlling the angular velocity of a DC motor.
Synthesize a proportional plus integral type controller so that the closed-loop: natural frequency
of 62.24 rads/sec and a damping ratio of 1.75 are obtained.

Figure 2. Closed-loop control system for DC motor

[8 Marks] (CLO-2 C5)

Q 4. For a given electro-mechanical system the open-loop transfer function is given by

Utilizing a single varying control gain K closed-loop

system characteristics is investigated resulting in closed-loop poles as given in Table-1.

a) Trace the root-locus also clearly depicting the open loop poles and a zero. Use Figure 3a
for Numbers 1-3 and Figure 3b for Numbers 3-5. [6 Marks]
b) Synthesize/identify a closed-loop controller from amongst the given gains to provide
a damping ratio of 0.98 and a closed-loop undamped natural frequency of
approximately of 5.73 rad/s. [4 Marks] (CLO-2 C5)

Table 1

No Control gain, K Closed-loop poles

1 0.0012 -0.041; -0.26

2 0.004 -0.154; -0.154;

3 0.74 -0.88 - 1.91i; -0.88 + 1.91i;

4 5.48 -5.63 - 1.09i; -5.63 + 1.09i;

5 5.69 -5.84; -5.84

3
Figure 3 (a)

Figure 3 (b)

4
5