Control Systems 4B (TKNMCB4-TKN4B21)

Semester Test #1

Date 13th September 2022

Time 180 min
Marks 100

Internal Examiner: Prof JR Ren

External Moderator: Prof. SZ Du

Notes
1. Answer ALL questions
2. This paper contains 5 questions
3. Number all answers according to the numbering in question paper.
4. Make sure that you understand what the question requires before attempting it.
5. Draw proper sketches where required with all relevant information
6. No pencil work will be marked. Please use pen for parts to be marked.
7. Answer all questions in English.
8. Explain answers and give all the necessary steps – simply giving the answer is
not sufficient
9. OPEN BOOK: Nise 6th Edition
10. Submit into Blackboard system, NO EMAILS!

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Question 1 – Modelling (20)

In some mechanical positioning systems, the movement of a large object is controlled by

manipulating a much smaller object that is mechanically coupled with it. Figure 1 below depicts
such a system, where a force 𝑢(𝑡) is applied to a small mass 𝑚 in order to position a larger
mass 𝑀. The coupling between the two objects is modeled by a spring constant 𝑘 with a
damping coefficient 𝑏.

Figure 1 (a)

1.1 Draw the free-body diagrams of the system. (5’)

1.2 Write the equations describing the dynamics of the system. (5’)
1.3 Select the appropriate state variables to express the equations of motion in the state-variable
matrix form (A, B, C, D). (5’)
1.4 Find the transfer function model for the translational mechanical system shown in Figure
1 (b). (5’)

Figure 1 (b)

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2
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Question 2 – Conversion between Transfer function model and State variable model (20)

2.1 Find the state variable model for the systems (a) and (b) shown in Figure 2.

𝑅(𝑠) 8𝑠+10 𝐶(𝑠)

(a) → → (5’)
𝑠 2 + 5𝑠 + 13

𝑅(𝑠) 7𝑠+6 𝐶(𝑠)

(b) → → (5’)
13𝑠 3 + 10𝑠 2

Figure 2

2.2 The State-space model of a dynamic system is represented as following:

𝐱̇ = Ax + Bu
y = Cx + Du
(a) Define the terms A, B, C, D, x and u. (5’)
(b) Given that
−2 −2 1
𝑨= [ ] 𝑩=[ ]
−3 −5 5

𝑪 = [3 2] 𝑫=0

Find the Transfer Function model of the system. (5’)

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Question 3 – Time response and design (20)

Given %OS =20%, Tp =1 in a control system as shown in Figure 3, write its transfer function
into the general second-order transfer function form, and then find ζ, Wn, K, τ, Tr, and Ts,
respectively.

R(s) C(s)

Figure 3

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Question 4 – Stability analysis (20)

4.1 Determine the stability of the closed-loop transfer function (5’)

20
𝑇(𝑠) = 6
𝑠 + 2𝑠 + 3𝑠 + 4𝑠3 + 5𝑠 2 + 6𝑠 + 7
5 4

4.2 Determine the number of right-half-plane poles in the closed-loop transfer function (5’)
15
𝑇(𝑠) = 5
𝑠 + 𝑠 + 3𝑠 + 3𝑠2 + 2𝑠 + 2
4 3

4.3 Find the range of K to keep the system shown in Figure 4 stable. (5’)

R(s) C(s)

Figure 4
4.4 The following system in state space represents the forward path of a unity feedback system.
Use the Routh-Hurwitz criterion to determine if the closed-loop system is stable. (5’)

0 02 0
𝐱̇ = [ 0 2] x + [0] u
1
−3 −4 5 1

y = [0 2 2] x

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Question 5 – Steady-state errors (20)

For the system shown in Figure 5:

R(s) C(s)

Figure 5

(a) Write out the forward transfer function. (5’)

(b) Evaluate the system type. (5’)
(c) Find Kp, Kν, and Ka. (5’)
(d) Find the steady-state errors for an input of 60 u(t), 60 tu(t), and 60 t2u(t). (5’)
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APPENDIX A: Force-velocity, force-displacement, and impedance translational
relationships for springs, viscous dampers and mass.

APPENDIX B:

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APPENDIX C: The general second-order transfer function format and parameters.

APPENDIX D: Routh-Hurwitz Criterion

+ …..+ + =0

APPENDIX E: Relationships between input, system type, static error constants, and
steady-state errors.