‫المملكة العربية السعودية‬

KINGDOM OF SAUDI ARABIA

Ministry of Higher Education ‫وزارة التعليم العالي‬
Umm Al-Qura University ‫جامعة أم القرى‬
College of Engineering at Al-Lith (CEL)
Electronics & Communications Engineering ‫كلية الهندسة بالليث‬
Department (ECED) ‫قسم هندسة االلكترونيات واالتصاالت‬

Final Exam
Control Systems
(58013504-4)

Form C

Thursday, 25 April, 2021

This Home work consists of five questions

Answer at the provided spaces

‫عبدهللا المالكي‬
Name (‫)باللغة العربية‬:

438018152
Student number:

/ 40 Grade:

Q1 Q2 Q3 Q4 Q5

/9 /6 /6 /8 /9

Notes

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Question 1: (9 points)
a) Find the Laplace transform of the following functions:
1. y ( t ) =18 e−5 t +0.6 sin 4 t
2. y ( t ) =3 t 2−2 t 3
3. y ( t )=9 sin5 t

b) Find the inverse Laplace transform of the following functions:

s−5
1. y ( s )= 2
(s + 9)
5 5 9
2. y ( s )= s +3 − 2 s−6 + 4
s
2
3. y ( s )= 5
s
Question 2: (6 points)

For the following closed loop system, Fig.1, calculate

system specifications ( tr, tP , tS, Mp ). 11
s (s+6)
Question 3: (6 points)

Consider a system with closed-loop transfer function. By using a Routh-Hurwitz stability

criterion, determine K in order to make the system to operate in a stable condition.

K
H ( s )=
s ( s +3 s +4 ) ( s +3 ) + K
2
Question 4: (8 points)

For the following Root-Locus diagram in Fig.1, find:

 Open loop system poles and zeros.
 The value of the gain k at the open loop.
 The value of k for the system to be
marjenally stable and unstable.
 Closed loop poles and overall system
transfer function at gain k=25.

Question 5: (9 points)
For the following open loop transfer function, derive the transfer function of PID controller,
Gc (s) by using Ziegler-Nichols critical gain and critical period method. Determine: critical
gain ( K cr ), proportional gain ( K p), critical periode ( Pcr ), integrator time (T i), deferential time (
T d), controller transfer function and overall system transfer function.

1
G p ( s )=
s (s+2)( s+3)( s+ 4)