EE411 – Control Systems

Sample Final Exam Name: ________________________

Open Book, Open Notes. Calculator is allowed.

Answer the following four questions (25 points each):

1. Consider the R-L-C filter shown in the figure below, with input voltage vi(t) and output voltage vo(t):

L
is(t) R C vo(t

i) Write down the Ordinary Differential Equation(s), describing this system. Then derive the transfer function
M(s) = Vo(s)/Vi(s) for this filter using any means you wish.

ii) Let R = 0.5Ω, L = 0.25H and C = 1F. Compute the State Space matrices A, B, C, and D for this system using
state definitions that correspond to storage elements in the circuit.

iii) Using the same component values for R, L, and C, what is the transfer function of this circuit? Use this to
compute the following (attach units as appropriate):
a. The natural frequency of this system.
b. The damping ratio of this system.
c. The rise time, τr, response to a step input.
d. The settling time, τs, response to a step input.

iv) Will this filter output ring when the input is a step function? Why or why not?

Page 1 of 4
2. Consider the mass-spring-damper shown below:

C
K2
M

K1
y(t)
f(t)

i) (8 points) What is(are) the ordinary differential equation(s), describing this system? From this derive
the Transfer Function G(s) from force f(t) to position y(t), G(s) = Y(s)/F(s).

ii) (7 points) Let M = 2, K1 = 5, K2 = 1 and C = 4. Compute the State Space matrices A, B, C, and D for this
system.

iii) (6 points) Using the same component values, (above), compute the Transfer Function from i) above. Use
this to compute the following:
a. The DC gain of this system.
b. The natural frequency of this system.
c. The damping ratio of this system.

iii) (4 points) Will the output ring when the input is a step function? Why or why not?

Page 2 of 4
3. The closed loop system below represents a satellite control system with angular position and angular velocity
feeback. Constant gains K and Kv are to be chosen.

i) What type of constroller is being used in this system?

ii) What is the closed-loop transfer function M(S) = Θ(s)/R(s).

iii) Determine the allowable ranges of K and Kv to ensure closed loop BIBO stability.

iv) Choose values of K and Kv so that the step response has an overshoot of 20% and a natural frequency of ½ rad/sec.

Page 3 of 4
4. The system below shows a potential tracking problem with the reference input r(t) and disturbance input d(t).
d(t)
Controller Plant
r(t) + e(t) 5*K + + 6 y(t)
- (s+10) (s+2)

i) Suppose d(t) = 2u(t) and K=1. Wha is the steady state component of y(t) due to d(t)?

ii) What value of K will limit the steady state component of y(t) due to d(t) to 2% of the value of d(t)? I.e. the steady
state error of y(t) due to d(t) = 2% of d(t).

iii) With the value of K computed in ii) above, what is the steady state tracking error of y(t) to a step in r(t), expressed
as a percentage, and ignoring d(t)?

Page 4 of 4