CONFIDENTIAL EE/AUG 2021/ESE559

UNIVERSITI TEKNOLOGI MARA

FINAL ASSESSMENT

COURSE : MODERN CONTROL SYSTEM IN ELECTRICAL

ENGINEERING

COURSE CODE : ESE559

DATE : JUL 2021

TIME : 3 HOURS

INSTRUCTIONS TO CANDIDATES

1. This question paper consists of four (4) questions.

2. Answer ALL questions. Start each answer on a new page.
3. Please make sure that this question paper consists of:
i) the Question Paper
ii) a two–page Appendix
4. Please refer to lecturer’s instructions for final assessment.

FILL IN THE FOLLOWING PARTICULARS

NAME : ___________________________________________________________________

UiTM ID : ___________________________________________________________________

GROUP : ___________________________________________________________________

LECTURER : ___________________________________________________________________

PROGRAMME CODE ESE559

COGNITIVE MARKS
QUESTION CO PO
LEVEL
Q1 C3, C4 2, 3 2, 3 30
Q2 C3, C5 2, 3 2, 3 32
Q3 C3 1, 2 1, 2 20
Q4 C3 1, 2 1, 2 18
TOTAL

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This paper consists of 7 printed pages

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CONFIDENTIAL EE/AUG 2021/ESE559

QUESTION 1

a) Show the effect of different closed-loop pole locations to the step response of the
system with the given root locus in Figure Q1a.

Figure Q1a
(6 marks)

b) An unmanned aerial vehicle is assigned to move from one location to another. In

order to reach the desired location, a control system based on the feedback from
multiple sensors is applied where initially only gain K is used as the controller.

To understand the performance of the system, the root locus sketch of the system is
required. Use the block diagram of the system shown in Figure Q1b to sketch the
root locus.

R(s) + C(s)
K
_

Figure Q1b
(11 marks)

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CONFIDENTIAL EE/AUG 2021/ESE559

c) With a chosen K for the same system in Q1b, the step response of the system can
be shown as in Figure Q1c. Design a lag compensator such that the steady-state
error could be improved by ten-fold with the same percentage overshoot of 20% and
compensator’s pole at -0.1. Given that from the root locus, the dominant poles for the
percentage overshoot can be found at -1.870+j3.618.

Write the open loop transfer function of the compensated system and calculate the
new gain. Finally, use them to examine the improvement on the steady-state error.
.

Figure Q1c
(13 marks)

QUESTION 2

a) Show the relationship between phase margin and the performance of a closed-loop
system in terms of the transient state and steady-state.
(6 marks)

b) Consider a unity feedback system with the following forward transfer function, .

Using a frequency response technique, solve the value of K so that the closed-loop
step response has a 20% overshoot.
(11 marks)
c) For the same system in Q2b, design a lag compensator using frequency response
technique that will improve the steady-state error by tenfold while still operating with
the 20% overshoot.
(15 marks)

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CONFIDENTIAL EE/AUG 2021/ESE559

QUESTION 3

a) A state space representation of a system in the controllable canonical form is given

by,

  0 1   x1  0
 x1         u
 x   0.4  1.3  x2  1
 2 …….. (Equation 1)
x 
y  0.8 1 1 
 x2 

The same system may be represented by the following state space equation, which
is in the observable canonical form:

    0  0 .4   x   0 .8 
 x1     
1
   u
 x  1  1 . 3   x 2   1 
 2 …….. (Equation 2)
x 
y  0 1 1 
 x2 

Show that the state space representation given in Equation 1 gives a system that is
state controllable, but not observable. On the other hand, show that the state space
representation defined by Equation 2 gives a system that is not completely state
controllable, but is observable. Then, explain the meaning of controllability and
observability of the system.
(5 marks)

b) Consider the following transfer function system,

Construct the state space representation of this system in phase variable form,
controllable and observable canonical forms. Hence, sketch the signal flow graph of
the state space equation.
(15 marks)

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QUESTION 4

a) A unique relationship between z-domain and s-domain is known by equation, z= eTs.

Illustrate how you can map between the regions of stability on the s-plane into z-
plane.
(3 marks)

b) A unity feedback system is shown in Figure Q4b. Given that the transfer function for
the hold circuit and the plant are,

R(s) + C(s)
GZOH(s) G1(s)

- T

Figure Q4b

i. Solve the pulse transfer function in T.

(9 marks)

ii. Based on your answer in Q4bi), write the characteristic equation and solve
the system’s stability by locating the closed loop poles on the z-plane. Use the
sampling time T = 1 second for the system.

(6 marks)

END OF QUESTION PAPER

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CONFIDENTIAL EE/AUG 2021/ESE559
APPENDIX 1

Time Response:

Underdamped Second Order Systems

Settling Time (within 2% of steady 4

Ts 
state value  wn

Peak Time

Damped Frequency

 ln(% OS / 100 )
Damping Ratio 
 2  ln 2 (%OS / 100 )
 n2
Closed-Loop Transfer Function T ( s) 
s 2  2  n s   n2

Frequency Response

wBW 
Ts 
4
1  2  2
4 4  4 2  2


 1  2  
2
4 4  4 2  2
Closed-Loop Bandwith Tp 1   2

 
 wn 1  2 2  4 4  4 2  2

2
Phase Margin  m  tan 1
 2 2  1  4 4

Maximum Phase Shift of 1  

 max  sin 1  
Compensator 1  
1
Magnitude of ωmax M max 


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CONFIDENTIAL EE/AUG 2021/ESE559
APPENDIX 2

TABLE OF LAPLACE AND Z-TRANSFORM

Laplace Transform Time Function, f(t) z-Transform, F(z)

F(s) Number sequence, {f(k)}
~ {1}

~
{k}

~
{k2}

~ {ak}

~
{kak}

~
{sin ak}

~
{cos ak}

1 (t) 1
1
u(t)
s
1
t
s2
1
e  at
sa
a
sin(at )
s  a2
2

s
cos(at )
s  a2
2

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