EE207/21/Maj

EE207: Control Engineering

Major Quiz

Time: 3 hrs (Open Book) Marks: 40

y This quiz commences at 2:30pm and ends at 5:30pm on 3 December 2021.

y Clarifications (if any) may be sought not later than 5:15pm only through e-mail.
y The submission of answers by a student should be through a single e-mail, in which each answer
(without any detail of solution) must be clearly stated against the respective question/part number.
____________________________________________________________________________________

1 A digital linear MIMO system has a forward path transfer matrix GOL(z), with negative feedback through a
matrix H(z):
1/(1 − z −1 ) 5/(1 − 0.9048z −1 ) 1 0
G OL (z ) = ; H(z ) =
1 1/(1 − z −1 ) 0 0

i. How many state variables will be required to represent the open loop system ?
ii. What are the eigenvalues of the open loop system ?
iii. How many state variables will be required to represent the closed loop system ?
iv. What are the eigenvalues of the closed loop system ?
v. What can be said about stability of the closed loop system ?
(one mark each for correct answers to “i-v”)

2 An analog linear second order state space system is characterised by

0 1 0
A= ; b=
−2 −3 1
i. What is the resolvent matrix ?
ii. What is the state transition matrix ?
iii. For any initial state vector x0, what is the state vector at t > 0 if the input is a unit step applied at t = 0 ?
iv. For the input as in “iii”, what is the state vector x(t) for x0 = 0 ?
v. For the input as in “iii”, what is the state vector x(t) for x0 = [ 1 1 ]T ?
(one mark each for correct answers to “i-v”)

3 An analog nonlinear system has the state equation:

d x 1 (t ) −1/x 22 (t )
=
dt x 2 (t ) u(t ) $ x 1 (t )
T
i. For the initial state vector as [ 1 1 ]T, and input u(t) = 0, what will be the state vector x 1 (t ) x 2 (t ) as
a function of time t ?
ii. Obtain expression for A matrix of the system linearised about any x(t ).
iii. Obtain expression for b matrix of the system linearised about any x(t ).
iv. Obtain expression for A matrix of the system, linearised specifically around the vector obtained in “i”.
v. Obtain expression for b matrix of the system, linearised specifically around the vector obtained in “i”.
(one mark each for correct answers to “i-v”)

4 For a digital state equation given by

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x(k + 1 ) = F.x(k ) + g.u(k ) ; y(k ) = C $ x(k )

1 1 g1
with F = ; g= ; c= c1 c2
0 1 g2

i. Under what condition will the system be controllable ?

ii. Under what condition will the system be observable ?
iii. Under what condition will the system be controllable and observable ?
iv. To what extent is the controllability condition dependent on system stability ?
v. To what extent is the observability condition dependent on system stability ?
(one mark each for correct answers to “i-v”)

5 A stepper motor is a rotary machine in which ideally, the rotor moves ahead by a predetermined single position
step every time the stator winding is provided with a unit impulse current. In reality upon receiving the stator
impulse, the physically constructed stepper motor moves ahead according to a decaying oscillatory dynamics,
whose steady state is a step of magnitude unity, peak time is 0.005s, and peak overshoot is of magnitude 0.3
steps.
i. What is the damping ratio for step motion of the constructed stepper motor ?
ii. What is the natural frequency of step dynamics for the constructed stepper motor :?
iii. What is the 2% settling time for step dynamics ?
iv. What is the decaying envelope for oscillatory step dynamics ?
v. What is the analog transfer function of the oscillatory step dynamics ?
(one mark each for correct answers to “i-v”)

6 The OLTF of an analog system consists of a transfer function 10/s(s + 3 ), which is closed by a unity negative
feedback “inner” path. A proportional-derivative controller of transfer function K(s + 2 ) is cascaded to feed the
input to the above; and the overall system has an “outer” unity negative feedback, to which a reference is fed in
the usual manner.
i. What are the open loop poles to the system with “two unity negative feedbacks” as above ?
ii. What are the open loop zeros to the system with “two unity negative feedbacks” as above ?
iii. At what value of K is the CLTF critically damped ?
iv. What is the minimum possible damping ratio for oscillatory dynamics of the CLTF ?
v. What is the minimum possible natural frequency for oscillatory dynamics of the CLTF ?
(one mark each for correct answers to “i-v”)

7 An analog OLTF has poles at −2!j2.

i. What is the bandwidth of the system ?
ii. How is the system bandwidth affected, if a zero at −2 is additionally added to the original system ?
iii. Is the resulting system as in “ii” low pass, high pass, or band pass ?
iv. How is the system bandwidth affected, if a pole at −20 is additionally added to the resulting system as in
“ii” ?
v. Is the resulting system as in “iv” low pass, high pass, or band pass ?
(one mark each for correct answers to “i-v”)

8 An analog state space system is known to have

1 −3 0
A= ; b=
5 0 1
i. What are the eigenvalues of the system ?
ii. What will be the order of gain matrix to be designed for negative state feedback ?

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iii. How should gain matrix elements relate so as to realise natural frequency of 2 rad/s with state feedback ?
iv. How should gain matrix elements relate so as to realise damping ratio of 0.707 with state feedback ?
v. How should gain matrix elements relate so as to simultaneously realise the specifications of “iii” and “iv”
with state feedback ?
(one mark each for correct answers to “i-v”)

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EE207: Control Engineering

Solutions to Major Quiz

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i. Two.
ii. 0.9048, unity.
iii. Three.
iv. 0.5, 0.9048, unity.
v. Marginally stable, since it has a pole at on the unit circle.
(5x1 mark)

2
i. (s + 3 ) 1
1
s 2 + 3s + 2 −2 s

ii. (2e −t − e −2t ) (e −t − e −2t )

(−2e + 2e ) (−e −t + 2e −2t )
−t −2t

iii. (2e −t − e −2t ) (e −t − e −2t ) (1/2 − e −t + e −2t /2 )

x(t ) = $ x0 +
(−2e + 2e ) (−e −t + 2e −2t )
−t −2t (e −t − e −2t )

iv. (1/2 − e −t + e −2t /2 )

x(t ) =
(e −t − e −2t )

v. (1/2 + 2e −t − 3e −2t /2 )
x(t ) =
(−2e −t + 3e −2t )
(5x1 mark)

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x 1 (t ) −t + 1
i. =
x 2 (t ) 1
0 2/x 32 (t )
ii. A(x(t ), u(t )) =
u(t ) 0
0
iii. b(x(t ), u(t )) =
x 1 (t )
0 2
iv. A(t ) =
0 0
0
v. b(t ) =
1−t
(5x1 mark)

4
i. g2 ! 0
ii. c1 ! 0
iii. g 2 ! 0 and c 1 ! 0
iv. Independent, since it depends on elements of g and not A.

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v. Independent, since it depends on elements of c and not A.
(5x1 mark)

5
i. 0.3579
ii. 672.88 rad/s.
iii. 0.016244 s.
iv. exp[ −240.82t ], with time in seconds.
v.
G(s ) = 452767
s 2 + 481.64s + 452767
(5x1 mark)

6
i. −1.5!j2.7839.
ii. −2.
iii. K = 0.6657
iv. ζ = 0.4743.
v. 3.162 rad/s
(5x1 mark)

7
i. 2.8284 rad/s.
ii. Changes to 5.8214 rad/s
iii. Low pass.
iv. Unchanged. Remains at 5.8214 rad/s
v. Low pass
(5x1 mark)

8
i. 0.5!j3.84
ii. 1x2
iii. 3k1 + k2 = 13
iv. 6k1 + k22 = 29
v. k1 = 10/3, k2 = 3. That is K = [ 10/3 3]
(5x1 mark)