ME 311: Autumn 2020

End-semester Examination
Nov 21, 2020

Instructions

ˆ This is a proctored exam. Instances of malpractice will be dealt as per the Institute’s policy.
ˆ No questions regarding the content of the paper would be answered by any proctor. If something is unclear,
state your assumptions in your answer script and proceed.
ˆ You are not allowed to use MATLAB or other control design tools/packages. Your working has to be based
on stuff you can construct by hand on paper. Use of calculators is permitted.
ˆ Time: 3 hours

PART A

1. [2 marks] Let P, Q, R represent transfer functions associated with LCC ODEs. Express, in terms of P, Q
and R, the transfer function captured by the MATLAB expression feedback(feedback(P*Q, 1), -R).
2. [4 marks] Obtain the Fourier transform of the function f (t) = 1, −∆ < t < ∆, f (t) = 0 otherwise. Obtain
the Fourier Transform F (ω) of f (t). Plot the magnitude of F (ω) vs ω.
3. [4 marks] Consider the map G : u → y given by the LCC ODE ÿ(t) + 11ẏ(t) + 10y(t) = u(t). Obtain a
first order LCC ODE approximation Gf o to G such that the response of Gf o (u(t)) ≈ G(u(t).
4. [5 marks] Consider a time-delay map DT : u → y given by y(t) = u(t − T ), where T represents the time
delay.
(a) [2 marks] Does the map DT represent an LTI operation? Justify your answer.
(b) [1 mark] Obtain the map H(s) from U (s) to Y (s), where U (s), Y (s) are respectively the Laplace
Transforms of u(t), y(t).
(c) [2 marks] Draw the Bode plot of H(s)
5. [3 marks] Provide one example where the negative feedback interconnection of transfer functions P (s), K(s)
results in a BIBO stable interconnection but where neither P (s) nor K(s) represents a BIBO stable map.
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6. [12 marks] Consider a plant P modeled as an LCCODE with a transfer functions P (s) = s(s+1) . Design
a controller K(s) such that the protoypical closed loop negative feedback interconnection satisfies:
(a) Nominal stability

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 (b) Bandwidth ≈ 10 rad/s
(c) Step Response: 2% settling time < 2 sec
Explain, succintly, your thought process in your choice of K(s) and show your working.

PART B

7. [9 marks] In braking application in vehicles, the ultimate objective is to minimize the stopping distance.
This objective is often reduced to controlling wheel slip in automated braking systems such as anti-lock
braking (ABS) systems. Wheel slip (s) is defined as:
v − rω
s =
v
where v, r, ω respectively represent the velocity of the centre of mass of the wheel, the radius of the wheel
and the angular velocity of the wheel.

In an ABS of a car, braking torque applied to a wheel is adjusted with the desire of keeping wheel slip
close to where the the µ − s curve reaches a maxima (µ stands for coefficient of friction, see Figure 1).
Braking torque application is often realized through a hydraulic system where pressurized fluid is released
through the opening (partial or full) of the valve. The opening of the valve is often effected by solenoid which
in turn is commanded by an electronic control unit (ECU). The ECU is fed with wheel speed information
from all the four wheel speeds.

Figure 1: Typical shape of a mu-slip curve, Image: Courtesy NI

(a) [3 marks] Draw a free body diagram of a wheel on a flat road. Clearly indicate the direction of motion
of the centre of mass of the wheel, the direction of angular velocity, the direction of braking torque
and the direction of braking force on the wheel due to the road.
(b) [2 marks] Comment on the following claim: During braking, slip (s) is always positive. You need to
agree/disagree and provide a justification.
(c) [4 marks] Consider the control algorithm residing in the ECU of the ABS control system. You may
assume that the algorithm estimates the forward velocity of the car by averaging the tangential speeds
of the wheels using measured information of wheel speeds. Further, you may assume that the algorithm
assumes the forward velocity of the centre of mass of each wheel to be this estimated forward velocity
of the car. Clearly identify the conditions under which the algorithm would be required to effect an
increase in the braking torque and when it would effect a decrease in braking torque.

8. [19 marks] A single link robot arm is actuated using a DC motor with a gearbox. The equation governing
this system can be written in the form

Jm θ̈m + Bm θ̇m = τm − τl /r

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 where θm is the motor position (in radians), Jm is the combined inertia of the actuator and the gearbox,
Bm is the damping, τm is the generated motor torque, τl is the link torque and r is the gear ratio. The
motor torque is related to the supply voltage through the following relationships
dia
L + Ria = V (t) − Vb
dt
Vb = Kb θ̇m
τm = Km ia

where, V (t) is the supply voltage, L is the armature inductance, R is the armature resistance, ia is the
armature current, Vb is the back emf and Kb/m are constants.
(a) [2 marks] Make a block diagram (using integral and multiplication operators) that relates the torque
generated by the motor τm to the input supply voltage V (t).
Θm (s) Θm (s)
(b) [3 marks] Derive the expressions for the transfer functions V (s) and τl (s) .

(c) [2 marks] It most electromechanical system, a reasonable assumption can be made that L/R <<
Jm /Bm . Set L/R ≈ 0 to obtain a reduced order approximation of the transfer functions obtained in
part (b) above.
(d) [2 marks] Write the second order differential equation corresponding to the transfer functions you
find in part (c).
(e) [2 marks] Let τl = Jl θ̈l + g sin θl , where Jl is the link inertia, g is the acceleration due to gravity
and θl = θm /r is the link position. Use your equations from part (d) to write the differential equation
relating θl to V (t).
(f) [4 marks] A controller of the form V (t) = Kp (θd − θl ) + Kd θ̇l , where θd is the desired link position
with Kp and Kd as constants. The gravity term in the equation is considered as a disturbance. Obtain
the expression for Kd (dependent upon Kp) such that the closed loop system is critically damped.
(g) [4 marks] Consider two cases for the gear ratio, r1 = 20 and r2 = 200 with other parameters remaining
the same. In which case will the closed loop system bandwidth be higher (for same values of Kp and
θd )? In which case will the steady state error be higher (for same values of Kp and θd )?
9. [12 marks] Consider the automatic cruise control problem in a car. Suppose it is assumed that the throttle
angle α influences the speed v of the vehicle as:

1000v̇(t) = 1500α(t) − FL (t)

where FL (t) represents the net external force on the vehicle influencing its longitudinal speed.
Rt
Assume that a PI controller with the structure αdes (t) = 2(vdes − vm (t)) + 1.5 0 (vdes − vm (τ ))dτ is used
to achieved closed loop control of vehicle speed where αdes (t) is the desired throttle angle computed by the
controller, vdes is the desired vehicle speed and vm (t) is the measured vehicle speed. You may assume that
vm (t) = v(t) + n(t) where n(t) is the noise in the measurement of v(t)

(a) [4 marks] Show that, under the assumption of a perfect actuator, the closed loop system satisfies
nominal stability. Obtain an estimate of the closed-loop bandwidth for the assumption of a perfect
actuator.
(b) [8 marks] Now suppose that the actuator, in reality, does not behave like a perfect actuator but
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displays dynamics described as: α̈(t) + 1.6ωac α̇(t) + ωac α(t) = ωac αdes (t). Estimate the smallest value
of ωac for which the closed loop would be BIBO stable. Express your thought process clearly and show
your working.

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10. This is a BONUS question. Not answering will not impact your marks. Answering it correctly
may bolster your marks.

[10 marks] Consider the prototypical negative feedback interconnection of a LCC ODE plant P , with
LCC ODE controller K. Let P (s) denote the transfer function of P . Assume P (∞) = 0 and that P (z) = 0
for some z ∈ RHP (right half of the complex plane) with z real and z > 0. Let H(s) denote the transfer
function from r → e.

Suppose that a controller with transfer function K(s) has been designed such that stability of the feedback
loop is assured, and for unit step in r, the signal e satisfies |e(t)| < α for t ∈ [0, T ] and |e(t)| < β for t > T
with 0 < β < 1 < α. .

(a) [2 marks] Carefully argue that, irrespective of the choice of the controller K, the value of H(s)|s=z = 1.
(b) [6 marks] Show that, irrespective of the choice of the controller K, it must be that:

1 α −β

T ≥ ln
z α−1
where ln is the natural logarithm
(c) [2 marks] Answer this part even if you did not successfully answer part (b). Clearly explain how the
lower bound arrived at in part(b) illustrates the effect of RHP zeros on the achievable speed of tracking
response.