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EE 380 - Control Engineering I - Semester 211

Major Exam I I– November 21, 2011
06:00-8:00 PM

Student ID Student Name Section Ser.

Guidelines

Read the following instructions.

 Check that your full name and ID are written in the appropriate boxes above.
 This exam has (13) pages including blank pages. The exam has 10 independent
MCQs and four independent problems and INFORMATION SHEET. Respond
to all questions. For MCQs, Circle only the RIGHT ANSWER
 This is a closed-book exam.
 Clear hand writing is required.
 Multiple responses to the same question will not be corrected.
 Cell-phones should be turned off. Exchange of calculators is not permitted.
 Do not leave the examination room without the permission of the Instructor.
 Ask the Instructor for any assistance.

Grading

MULTIPLE-CHOICE QUESTIONS /20

PROBLEM 1 /20

PROBLEM 2 /10

PROBLEM 3 /20

PROBLEM 4 /30
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Question 1(2 points)

For a stable second-order system with the damping ratio 𝜁 = 0.5, which of following
statement regarding its response to the unit step input is correct:

a. Increasing the value of its natural frequency 𝜔𝑛 decreases its relative stability.
b. Increasing the value of its natural frequency 𝜔𝑛 yields a shorter rise time.
c. Increasing the value of its natural frequency 𝜔𝑛 yields a larger peak time.
d. None of above answers is correct.

Ans. b

Question 2(2 points)

A system has the closed-loop transfer function T(s) given by

𝑌(𝑠) 2500
𝑇(𝑠) = =
𝑅(𝑠) (𝑠 + 20)(𝑠 2 + 10𝑠 + 125)

Using the notion of dominant poles, estimate the expected percent overshoot

a. 𝑃. 𝑂. ≈ 5%

b. 𝑃. 𝑂. ≈ 20%

c. 𝑃. 𝑂. ≈ 50%

d. No overshoot expected

Solution
The system poles
Are at 𝑠 = −5 ± 𝑗10 𝑎𝑛𝑑 𝑠 = −20
So clearly we can approximate the system by the second order system

2500
𝑇(𝑠) ≈
(𝑠 2 + 10𝑠 + 125)

𝜔𝑛 = √125 𝑎𝑛𝑑 𝜉 = 1/√5 which gives

𝑃. 𝑂. ≈ 20%
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Question 3(2 points)

Consider the feedback control system block diagram

Investigate closed-loop stability for

1
𝐺𝑐 (𝑠) = 𝐾(𝑠 + 1) 𝑎𝑛𝑑 𝐺(𝑠) =
(𝑠 + 2)(𝑠 − 1)

a. Unstable for K = 1.10 and stable for K =3

b. Stable for K = 1.10 and stable for K =3
c. Unstable for K = 1.10 and unstable for K =3
d. Stable for K = 1.10 and unstable for K =3

Solution:
The Characteristic equation is

1+Gc(s)G(s)=0 or
𝐾(𝑠 + 1)
1+ =0
(𝑠 + 2)(𝑠 − 1)

𝑠 2 + (𝐾 + 1)𝑠 + (𝐾 − 2) = 0
Routh –Hurwitz Tabulation
𝑠2 1 𝐾−2
1
𝑠 𝐾+1
𝑠0 𝐾 − 2

Clearly for the system to be stable K>2.

So the correct answer is a.
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Question 4(2 points)

A system is represented by 𝑥̇ = 𝐴𝑥, where

0 1 0
𝐴=[ 0 0 1 ]
−5 −𝑘 −10

The values of k for a stable system are

a. k >1/2
b. k <1/2
c. The system is unstable for all k.
d. The system is stable for all k.

Solution:
The Characteristic equation is
𝑠 3 + 10𝑠 2 + 𝑘𝑠 + 5 = 0

𝑠3 1 𝑘 0
𝑠2 10 5
10𝑘 − 5
𝑠1 0
10
𝑠0 5 0

Clearly for the system to be stable k> 1/2.

So the correct answer is a.
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Question 5(2 points)
When a unit ramp input is applied to a unity feedback system having a closed loop
transfer function

𝑌(𝑠) 𝐾𝑠 + 𝑏
= 2 ( 𝑎 > 0, 𝑏 > 0, 𝐾 > 0),
𝑅(𝑠) 𝑠 + 𝑎𝑠 + 𝑏

The steady state error will be

a. 0
𝑎
b.
𝑏
𝑎+𝐾
c.
𝑏
𝑎−𝐾
d.
𝑏
e. None of the above

Solution:
E(s) = R(s) – Y(s) = (1- T(s)) R(s)
𝐾𝑠 + 𝑏 1
𝑒𝑠𝑠 = lim 𝑠(1 − ) 2
𝑠→0 𝑠2 + 𝑎𝑠 + 𝑏 𝑠
𝑠 2 + 𝑎𝑠 + 𝑏 − 𝐾𝑠 − 𝑏 1
𝑒𝑠𝑠 = lim( )
𝑠→0 𝑠 2 + 𝑎𝑠 + 𝑏 𝑠
𝑠 2 + 𝑎𝑠 − 𝐾𝑠 1
𝑒𝑠𝑠 = lim( )
𝑠→0 𝑠 2 + 𝑎𝑠 + 𝑏 𝑠

𝑠+𝑎−𝐾
𝑒𝑠𝑠 = lim( 2 )
𝑠→0 𝑠 + 𝑎𝑠 + 𝑏

𝑎−𝐾
𝑒𝑠𝑠 =
𝑏
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Question 6(2 points)
The steady state error of a unity feedback linear system for a unit step input is 0.1. The
steady state error of the same system, for a pulse input r(t) having a magnitude of 10 and
a duration of one second as shown in the figure is

a. 0
b. 0.1
c. 1
d. 10

Solution:
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Question 7(2 points)

A unity feedback system has an open loop transfer function which is given as

𝐾
𝐺(𝑠) = .
𝑠(𝑠+4)

The angle of the asymptotes

a. 55 º, 56º
b. 90º, 270º
c. 45º, 115º
d. 109º, 34º

Solution:
Ans b

Question 8(2 points)

The root locus of the feedback system having the characteristic equation
𝑠 2 + 6𝐾𝑠 + 2𝑠 + 5 = 0, 𝐾 > 0,
enters into the real axis at

a. 𝑠 = −1,
b. 𝑠 = −√5
c. 𝑠 = −5
d. 𝑠 = √5
e. None of the above.

Solution
Ans b
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Question 9(2 points)

The open loop transfer function of a system is
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A closed loop pole will be located at s = −10, then the value of K is
a. 300
b. 2400
c. 600
d. None of the above

Solution:
10 × 6 × 2 × 10
𝐾= = 600
2
The answer is c

Question 10(2 points)

A open loop pole-zero plot is shown below

The general shape of the root locus is

Solution:
The open loop transfer function has
two poles at the imaginary-axis
two zeros on the real axis
The locus will start at a pole and terminate at a zero. Therefore, c is correct.

Problem 1 (20 points)

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A system is shown in the figure below.

a. Calculate the values of damping ratio 𝜁 and the natural frequency 𝜔𝑛 , when 𝐾 = 0.
b. Calculate the steady-state error of this system to the unit ramp input signal, when
𝐾 = 0.
c. Determine the value of 𝐾 when the damping ratio 𝜁 = 0.707.

Solution:
(1) when 𝐾 = 0, the open-loop transfer function is
𝜔𝑛2 8
𝐺(𝑠) = =
𝑠(𝑠 + 2𝜁𝜔𝑛 ) 𝑠(𝑠 + 2)
√2
Then 𝜁 = 4 = 0.3536, and 𝜔𝑛 = 2√2 = 2.8284.
(2) when 𝐾 = 0, the open-loop transfer function is Type-I system, its
𝐾𝑣 = lim 𝑠𝐺(𝑠) = 4
𝑠→0
Then its steady-state error to the unit ramp input is 𝑒𝑠𝑠 = 1/𝐾𝑣 = 0.25
(3) The closed-loop transfer function is
𝐺(𝑠) 8
𝑇(𝑠) = = 2
1 + 𝐺(𝑠)(𝐾𝑠 + 1) 𝑠 + 2(1 + 4𝐾)𝑠 + 8
Then 𝜔𝑛2 = 8, and 2(1 + 4𝐾) = 2𝜁𝜔𝑛 , because 𝜁 = 0.707, therefore 𝐾 = 0.2499

Problem 2 (10 points)

If a second order system is written as
𝜔𝑛2
𝐺(𝑠) =
𝑠 2 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
Please label the region of the closed-loop poles satisfying the following conditions on s-
plane:
a. 0.707 ≤ 𝜁 < 1, and meanwhile 𝜔𝑛 ≥ 2 rad/s.
b. 0 < 𝜁 ≤ 0.5, and meanwhile 2 rad/s ≤ 𝜔𝑛 ≤ 4 rad/s.

Solution:
The angle of the poles (count from 180° clockwise) is 𝛽 = ±cos −1 (𝜁) and magnitude is
𝜔𝑛 .
(1) 0° < 𝛽 ≤ 45°, magnitude ≥ 2 rad/s;
(2) 60° ≤ 𝛽 < 90°, 2 rad/s ≤ magnitude ≤ 4 rad/s;
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Problem 3(20 points)

A Motor with mass M and unity electric time constant the transfer function

1
H(s) 
s(Ms  1)(s  1)
The position and velocity feedback system with forward gain K is used to control the
motor.

It is required to know the range of mass a motor can support versus the selected forward
gain while the system is stable.
1- Obtain the characteristic equation of the system as a function of K and M. (mark-
10%)
2- Construct the Routh-Horowitz matrix. (mark-30%)
3- Derive and plot the region in the M-K parameter space (use K as the X-axis and M
as the Y-axis) for which the system is stable. (mark-45%)
4- Answer the followings with a “system stable” or “system unstable” (mark-15%)
a. Is the system stable for M=100, k=1.9
b. Is the system stable for M=10, K= 2.5
c. Is the system stable for M=1, K=10
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Problem 4(30 points)

Consider the feedback system with positive free parameter K. The components of the
system are

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H(s)  G(s)  (s  1)(s  2)
s(s - 1)(s  3)

1- (Mark – 80%) Determine all the relevant features needed to sketch the root-locus
2- (Mark – 20%) Provide an accurate sketch of the root-locus plot
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INFORMATION SHEET

(Some of the information given here may be useful)

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𝑇𝑠 =
𝜁𝜔𝑛

𝜋
𝑇𝑝 =
𝜔𝑛 √1−𝜁 2

2.16𝜉+0.6
𝑇𝑟 =
𝜔𝑛

𝜋
−𝜉
√1−𝜁2
𝑃. 𝑂. = 100𝑒

Useful Factorization

𝑠 4 + 6𝑠 3 + 9𝑠 2 + 5𝑠 − 6 = (𝑠 + 4.23)(𝑠 − 0.52)(𝑠 + 1.15 ± 𝑗1.18)

𝑠 4 + 6𝑠 3 + 15𝑠 2 + 8𝑠 − 6 = (𝑠 + 1.44)(𝑠 − 0.4)(𝑠 + 2.48 ± 𝑗2.06)
4𝑠 3 + 26𝑠 2 + 52𝑠 + 30 = (𝑠 + 1)(𝑠 + 2.5)(𝑠 + 3)
𝑠 + 30𝑠 2 + 70𝑠 + 50 = (𝑠 + 3.62)(𝑠 + 2.5)(𝑠 + 1.38)
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𝑠 4 + 6𝑠 3 + 15𝑠 2 + 18𝑠 − 6 = (𝑠 + 2.23)(𝑠 − 0.34)(𝑠 + 2.06 ± 𝑗1.93)