DEPARTMENT OF ELECTRICAL ENGINEERING

MEMO-TEST 2-CONTROL SYSTEMS II, SEM 1, 12/08/2020

Lecturer: Dr BP NUMBI

QUESTION 1 (Marks: 18)

1.1
Kn2
 The general form of second-order transfer function is G  s   2
s  2n s  n2
 ln Os  ln 0.12
 First find the damping ratio:     0.56 [2]
  ln Os
2 2
 2  ln 2 0.12
4 4
 Find the undamped natural frequency: Ts   0.6  n   11.9 rad / s [2]
n 0.6  0.56
141.6
 Hence, the transfer function is: G  s   [2]
s  13.3s  141.6
2

1.2

The response is of a first order system: G s  

K

s  1
 First read the final output value: Cfinal =0.5 [1]
 63% of 0.5 = 0.315 [1]
 Then read time at 0.315: τ=0.5 second [1]
Output in steady stae C final 0.5
 The dc gain K     0.25 [2]
Input in steady state rfinal 2
0.25
 Hence, the transfer function is G  s   [1]
0.5s  1

1.3
Kn2
 The general form of second-order transfer function is G  s   2
s  2n s  n2
15
 First, write the given transfer function in a standard form: G  s   [1]
s  4s  9
2

n2  9 ( Eq.1)

 By identification (comparison), we have 2n  4 ( Eq.2) [1]

 K n  15
2
( Eq.3)

1
  Solve Eq.1, we find the undamped natural frequency: n  9  3 rad / s [1]
4
 Solve Eq.2, we find the damping ration:    0.667 [1]
23
 
 The peak time: Tp    1.4sec ond [1]
n 1   2
3 1  0.667 2
 Characteristics of the response: Since 0    1 , hence the response is underdamped. [1]

QUESTION 2 (Marks: 32)

2.1 Mechanical system

a) Find the transfer function.

 F  s   sBX  s   kX  s   Ms 2 X  s   F  s   Ms 2  Bs  k X  s   [1]
X s 1
 Hence, the transfer function is G  s    [2]
F s Ms  Bs  k
2

b) Find values of the mass M, the spring coefficient k, and the viscous damping coefficient B:

1
 First write the transfer function into its general form: G  s   M [1]
B k
s2  s
M M
 1
 K n  M
2
( Eq.1) [1]

 B
 By identification (comparison), we have  2n  ( Eq.2) [1]
 M
 2 k [1]
n  M ( Eq.3)

 The above is a system of 3 equations and 6 unknown. This means, we need two more equations to solve
this problem.
 The two more equations are:
 ln Os Cmax  C final 0.029
   (Eq.4) with Os    0.967 [1]
  ln Os
2 2 C final 0.03
 ln 0.967
 Hence    0.0107 [0.5]
 2  ln 2 0.967

 Also, we can read the peak time: Tp  (Eq.5):
n 1   2
  
 We have Tp   2  n    1.57 rad / s [0.5]
n 1   2 2 1  2 2 1  0.0107 2
Output in steady stae C final
 We also determine the dC gain K   (Eq.6)
Input in steady state rfinal

2
 C final 0.03
 Hence, K    0.00337 [1]
f final 8.9
1 1
 From (Eq.1), we get M    120.5 Kg [2]
Kn 0.00337 1.57 2
2

 From (Eq.2), we have damping coefficient: B  2n M  2  0.0107 1.57 120.5  4.05 Ns / m [2]
 From (Eq.3), we get spring coefficient: k  M   120.5  1.57  297 N / m
2
n
2
[2]

2.2 Electrical system

VC s 
a) Find the transfer function G s  
V s 
 1 
  850  Ls   I s  V s (Eq.1) [0.5]
 Cs 

 I s   CsVC s  (Eq.2) [0.5]

  
Eq.(2) in (1) gives: LCs 2  850Cs  1 VC  s   V  s  [1]

VC  s  1
 Hence, the transfer function is G  s    [1]
V s LCs  850Cs  1
2

b) Find values of capacitance C and inductance L

1
 The general transfer function form is: G  s   LC [1]
850 1
s 
2
s
L LC
 2 1
 n  ( Eq.1) [1]
LC

 850 [1]
 Through identification, we have 2n  ( Eq.2)
 L
 1
 K n  LC
2
( Eq.3) [1]

 This a system of 3 equations and 5 unknown. This means, we need two more equations to solve the problem.
 ln Os
   (Eq.4) [0.5]
 2  ln 2 Os
 ln 0.15
 Hence    0.517 [0.5]
 2  ln 2 0.15
4
 Also: Ts   0.2 (Eq.5): [1]
n

3
 4 4
 We have n    38.7 rad / s [1]
0.2 0.2  0.517
850
 From (Eq.2), We calculate the inductance: L   21.24 H [3]
2  0.517  38.7

1 1
 From (Eq.1), We calculate the capacitance: C    3.14 105 F or 31.4  F [3]
Ln 21.24  38.7
2 2