Faculty of Environment and Technology

Academic Year: 2017

Examination Period: August

Module Leader: Dr. Nuraj I. Rajapakse

Module Code: UFMFV7-15-2
Title of Module: Control

Examination Date: 11th August 2017

Examination Start time: 9.00 A.M
Duration of Examination: 2 Hours

Instructions to Candidates:

Answer four questions in total.

Materials supplied to the candidate will be:

Number of Examination Booklets per Examination 1

Number of sheets of Graph Paper size G3 (Normal) 0

Number of Pre-printed OMR (Multiple Choice Answer Sheet) 0

Additional Instructions to Invigilators:

University approved calculators may be used Yes

Candidates permitted to keep Examination Question Paper No

Material supplied by student allowed (must be collected with answer booklet)
No
please specify:

Additional Specialised Material: NONE

Treasury tags will be supplied as standard

UFMFV7-15-2 Page 1 of 5
QUESTION 1

a) A series circuit consisting of resistance R ohms and an inductance of L henry is

connected to a d.c. supply of E volts. Derive an expression for the steady state
value of the current flowing in the circuit.
[10 marks]

b) Find the Laplace transform of the differential equation given below and hence
evaluate the time solution of the same given that 𝑦(0 +) = 0 and 𝑦̇ (0+) = 6.

𝑑 2 𝑦 5𝑑𝑦
+ + 6𝑦 = 12𝑒 𝑡
𝑑𝑡 2 𝑑𝑡
[15 marks]

QUESTION 2

a) A second order control system is represented by a transfer function given below:

𝜃0 (𝑆) 1
= 2
𝑇(𝑆) 𝐽𝑆 + 𝑓𝑆 + 𝐾

where 𝜃0 is the proportional output in radians and T is the input torque in Nm. A
step input of 10 Nm is applied to the system and test results are given below:

i) 𝑀𝑝 = 6%
ii) 𝑡𝑝 = 1 𝑠𝑒𝑐
iii) The steady state value of the output is 0.5 radian

Determine the value of K.

[5 marks]

b) Determine the value of J.

[10 marks]

c) Determine the value f.

[10 marks]

QUESTION 3

a) Sketch the root locus for the open-loop transfer function of a unity feedback
control system given below:

𝐾
𝐺 (𝑆 ) =
𝑆(𝑆 + 1)(𝑆 + 3)

[20 marks]

b) Describe how the value of K can be found for marginal stability.

[5 marks]

UFMFV7-15-2 Page 2 of 5
QUESTION 4

a) Draw the state block diagram for the transfer function given below:

𝐶(𝑆) 1
=
𝑅(𝑆) (𝑆 + 1)(𝑆 + 3)
[5 marks]

b) Obtain state equations for the above transfer function.

[10 marks]

c) Derive an expression for the time response of a system represented by an

equation, [ 𝑥̇ ] = [𝐴][𝑥 ] + [𝐵][𝑢] on application of input function u along with given
initial conditions.
[10 marks]

QUESTION 5

a) A unity feedback control system is shown below. By using derivative control the
damping ratio is to be made 0.8. Determine the derivative rate feedback constant,
𝐾𝑑 for the system.

R(s) + 16 C(s)
_ 𝑆 2 + 1.6𝑆

G(s)

[10 marks]

b) Draw the block diagram for the system using derivative control.
[5 marks]

c) Find the steady state error of the system in (b) for unit ramp input.
[10 marks]

END OF QUESTION PAPER

UFMFV7-15-2 Page 3 of 5
 Formula Sheet for UFMFV7-15-2 (Control) Sessional Exam

UFMFV7-15-2 Page 4 of 5
Second-order Systems

The damping ratio of the system using derivative control:

𝐾𝑑 𝜔𝑛
𝜀1 = 𝜀 +
2

UFMFV7-15-2 Page 5 of 5