Final 2016

Mechanical, Automotive, & Materials Engineering
401 Sunset Avenue

Windsor, Ontario, Canada N9B 3P4
519 253 3000 (2616)
www.uwindsor.ca/mame
92-321 Control Theory

Summer 2016
Final Exam
Engineering is a professional faculty, and as a student of engineering, it is expected that you will behave in a
professional manner during your exam, and abide by the following standards of conduct.
1. Unless explicitly allowed, a candidate must not give assistance to, or receive assistance from, or commu-
nicate in any manner with any person other than the examiner or proctors. A candidate who is involved
in such activity may be subject to disciplinary procedures of the University.
2. The possession of any telecommunications device is strictly prohibited during an exam, and will be con-
sidered as cheating, whether it is used or not. Students found with said devices may be subject to to
disciplinary procedures of the University. If you are in possession of any telecommunications devices,
identify yourself to the proctor and surrender them immediately for the duration of the exam. Please note
that the University is not responsible for lost or stolen items.
3. The possession of any unauthorized aids during an exam will be considered as cheating, whether it is used
or not. Students found with said materials may be subject to disciplinary procedures of the University.
4. Be prepared to hand in your exam to the proctors immediately after time expires. Students who delay
collection of the exams by the proctor (i.e., they must wait for you to finish writing, sign your name, etc.,)
may be subject to downward adjustment of their grade.
5. Remain seated quietly until all the exams have been collected, not just your own. Recognize that other
students are still holding their exams and could be influenced by any discussions. There will be plenty of
opportunity to discuss the exam outside the hall.
6. Each student will be allowed a maximum of three inquiries regarding the exam material; further requests
for clarification will be denied. If you have uncertainties about the exam, make sure you have read the
entire question, state your assumptions, and proceed. Do not waste the examiner’s time by asking questions
regarding the correctness of your solution.
7. Answer all questions, to the best of your ability.
1
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Question 1
A electrical cable consists of three parts, starting with an inner metallic conductor, and followed by a two layer
covering. The inner layer of the covering is an insulator, a polymer coating to prevent oxidation, and unwanted
electrical contact. This layer is thin, with relatively much lower mass than the conductor, and may be modelled as
a thermal resistance. The outer layer is a woven metallic sheath, to protect the cable from damage. An electric
current passes through the cable, raising the temperature of the inner conductor, and in turn, the protective
sheath. A schematic cross section is shown in Figure 1.
The temperature of the inner conductor is determined by the heat input qin caused by the electrical current
passing through it, and the heat transfer out through the insulator. The temperature of the outer sheath is
determined by the heat transfer coming through the insulator, and the convective dissipation to the ambient air,
at temperature T∞ . The parameters of a given length of the cable are given in Table 1.
Table 1: Parameters of cable and covering

T∞
Parameter Value
condutor mass m1 0.5 kg
conductor, T1 sheath mass m2 0.1 kg
insulator insulator thermal conductive resistance R 5 K◦ /W
sheath, T2
sheath surface convective resistance R 10 K◦ /W
cable thermal capacitance c p 380 J/kg K◦
Figure 1: Cable cross section sheath thermal capacitance c p 440 J/kg K◦
a) Write two differential equations describing the temperature behaviour of the system, using an energy
balance for each of the inner conductor, and the outer sheath. Take the temperature of the conductor to
be T1 , and the temperature of the sheath to be T2 . (The temperatures may be assumed to be uniform
along the length of the cable, i.e., only radial heat transfer is of concern.) Hint: q = ∆T /R.
b) Cast the equations into state space form. Treat both the heat from the electrical current and the ambient
temperature as inputs, and the convective dissipation heat transfer from the sheath to the atmosphere as
the output.
c) Find the eigenvalues and eigenvectors of the system matrix. What do they tell you about the behaviour
of the system?
2 c BP Minaker PhD PEng 2016

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Solution
a) For the conductor,
m1 c p Ṫ1 = qin − qout
or
1
0.5(380) Ṫ1 = qin − (T1 − T2 )
5
or
1 1
Ṫ1 = qin − (T1 − T2 )
190 5(190)
or
1 1 1
Ṫ1 = − T1 + T2 + qin
5(190) 5(190) 190
Similarly, for the sheath
m2 c p Ṫ2 = qin − qout
or
1 1
0.1(440) Ṫ2 = (T1 − T2 ) − (T2 − T∞ )
5 10
or
1 3 1
Ṫ2 = T1 − T2 + T∞
220 440 440
b) The state space equations
1 1
1
Ṫ1 − 950 T1 0 qin
= 1
950
3 + 190 1 (1)
Ṫ2 220 − 440 T2 0 440
T∞

1
T1 1
qin
y =q= 0 10 + 0 − 10
T2 T∞
c) Find the eigenvalues and eigenvectors
det[Is − A] = 0
1 1

s + 950 − 950
det 1 3 =0
− 220 s + 440
1 3 1 1

s+ s+ − =0
950 440 950 220
(950s + 1)(440s + 3) − 2 = 0
418000s2 + 3290s + 1 = 0

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p
−3290 ± 32902 − 4(418000)(1)
s=
2(418000)
s = −3.17 × 10−4 , −7.55 × 10−3
Both eigenvalues are negative real, indicating that the system is stable, and non-oscillatory. The two time
constants, τ1 = 132 seconds, τ2 =3158 seconds are quite different, by about a factor of over 20. Obviously,
the slow mode is the one which has the more visible effect on the solution. It will take 157 – 210 minutes
to reach steady state temperature.
[Is − A]X = 0
s = −3.1669 × 10−4
1 1
(−3.1669 × 10−4 + )T1 − T2 = 0
950 950
7.3594 × 10−4 T1 − 0.0010526T2 = 0

1.43
X1 =
1
s = −7.5541 × 10−3
1 1
(−7.5541 × 10−3 + )T1 − T2 = 0
950 950
−0.0065015T1 − 0.0010526T2 = 0

1
X2 =
−6.18
In the slow mode, the temperatures change in a ratio of about 1.43:1, (conductor:sheath).

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Question 2
Consider the block diagram in Figure 2.
a) Reduce the block diagram to its simplest form, to find the associated transfer function.
b) Determine the values of k P and k D such that the system has a time constant τ = 0.5 seconds, and a
damping ratio ζ = 0.707.
c) Find the resulting natural frequency, and the resonant frequency of the system. Explain the significance
of the difference in this case.
u y
8 1
kP + kD s s s
Figure 2: A block diagram

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Solution
a) See Figure 3.
1
G=
s
H =4
G 1
=
1 + GH s+4
8
G=
s(s + 4)
H = 5s
8
G s(s+4) 8
= = 2
1 + GH 40
1 + s+4 s + 44s
(k P + k D s)8
G=
s2 + 44s
H =1
(k P +k D s)8
G s2 +44s 8k P + 8k D s
= (k +k D s)8
=
1 + GH 1 + sP2 +44s s2 + (44 + 8k D )s + 8k P
b) The transfer function of the simplified block digram is

8k P + 8k D s
G(s) =
s2 + (44 + 8k D )s + 8k P
−44 − 8k D ± (44 + 8k D )2 − 32k P
p
s=
2
2
τ= = 0.5
44 + 8k D
4 = 44 + 8k D
k D = −5
The damping ratio is
44 + 8k D
ζ= p = 0.707
2 8k P
4
p = 0.707
2 8k P
p Æ
2 2 = 8k P
8 = 8k P
kP = 1

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c) The natural and resonant frequencies are

p
ωn = 8 = 2.424 rad/s = 0.386 Hz
Æ
ω r = 1 − 2ζ2 ωn = 0
When the damping ratio is 0.707 or greater, there is no resonance possible. The maximum amplitude
response occurs at steady state.

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u y
8 1
kP + kD s s s
5s
u y
8 1
kP + kD s s s
5s
u y
8 1
kP + kD s s s+4
u y
8
kP + kD s s2 +44s
u y
8k P +8k D s
s2 +(44+8k D )s+8k P
Figure 3: A block diagram

401 Sunset Avenue
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Question 3
Consider the schematic diagram of the vehicle active suspension pictured in Figure 4. The active suspension
is similar to a typical vehicle suspension, with a spring and damper, but is also fitted with an additional force
actuator. In practice, the actuator may be hydraulic cylinder or an electric servomotor but for the purposes of
the problem, allow that it can generate a force as commanded. A simple dynamic model of the suspension can
be built, in much the same way as a spring-mass-damper system, so that the equation of motion becomes
mz̈1 + c(ż1 − ż0 ) + k(z1 − z0 ) = f ac t
where z1 is the motion of the vehicle, z0 is the size of the bumps in the road, and f ac t is the force in the actuator.
(This model assumes that the wheel stays firmly in contact with the road, and ignores the mass of the wheel
and the flex of the tire.)
truck and load, of mass ‘m’
z1
spring with stiffness ‘k’
damper with coefficient ‘c’ actuator
z0
Figure 4: Schematic of active suspension system
a) The equations of motion can be represented as a block diagram as shown in Figure 5. Reduce the block
diagram to the form shown in Figure 6, to determine G1 (s) and G2 (s).
b) Before the active suspension system is installed, the performance of the passive suspension should be
quantified as a baseline. Allow that the mass m = 500 kg, the damping c = 2000 N s/m, and the stiffness
k = 20000 N/m. Let f ac t = 0, and suppose that the road surface is well approximated by a sine wave with
an amplitude of z0 = 0.1 m, and a frequency of ω = 1.5 Hz. Find the amplitude of the vehicle motion z1 .

401 Sunset Avenue
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z0
k k
s c c
f ac t 1 1 1
m s s
z1
Figure 5: Block diagram of suspension system
z0
G1 (s)
f ac t
G2 (s)
z1
c) Now, suppose that a closed loop feedback PI controller is added, using the difference between the desired
vehicle displacement z r e f and the actual displacement z1 to determine the force that the actuator should
apply, as shown in Figure 7. Substitute the expressions for the PI controller and simplify the block diagram
to the form shown in Figure 8 to find G3 (s) and G4 (s). Note that the road displacement is effectively a
disturbance input.
k
d) Suppose that the control gains are set using the relation the k I = TPI , where TI = 2 seconds. Determine
the values of k P and k I that would reduce the amplitude of motion of the vehicle to one half its value with
the passive suspension, given the same road disturbance. Determine if the resulting gains give a stable
controller.
Question 4
Bonus Question
(1 mark) Non-minimum phase systems are defined as those in which the transfer function has a positive zero,
i.e., a root of the numerator is greater than zero. With these types of systems, it is notoriously difficult to achieve
good feedback control performance. Why?

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z0
G1 (s)
zr e f
PI G2 (s)
z1
z0
G3 (s)
zr e f
G4 (s)
z1

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Solution
a) The transfer functions
G1 (s) = cs + k
1
G2 (s) =
ms2 + cs + k
b) m = 500 kg, the damping c = 2000 Ns/m, and the stiffness k = 20000 N/m.
s = iω = (1.5)2πi = 9.425i
cs + k 2000(9.425i) + 20000
G1 (s)G2 (s) = =
ms2 + cs + k −500(9.425)2 + 2000(9.425i) + 20000
v
t 20002 (9.425)2 + 200002
|G1 (s)G2 (s)| = = 0.891
20002 (9.425)2 + (20000 − 500(9.425)2 )2
The resulting amplitude 0.1(0.891)=0.0891 m.

c) closed loop
G1 G1 cs2 + ks
G3 = = =
PI k P s+k I kP s + kI
s
k P s+k I
(P I)G2 s(ms2 +cs+k) kP s + kI
G4 = = =
1 + (P I)G2 k P s+k I
1 + s(ms2 +cs+k) ms 3 + cs 2 + (k + k )s + k
P I
d) With the controller in place
cs2 + ks kP s + kI cs2 + ks
G3 (s)G4 (s) = =
k P s + k I ms3 + cs2 + (k + k P )s + k I ms3 + cs2 + (k + k P )s + k I
2000s2 + 20000s
G3 (s)G4 (s) =
500s3 + 2000s2 + (20000 + k P )s + k P /2
−2000(9.425)2 + 20000(9.425i)
G3 (s)G4 (s) =
−500(9.425)3 i − 2000(9.425)2 + (20000 + k P )(9.425i) + k P /2
v
t 20002 (9.425)4 + 200002 (9.425)2
|G3 (s)G4 (s)| =
(−500(9.425)3 + (20000 + k P )(9.425))2 + (k P /2 − 2000(9.425)2 )2

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20002 (9.425)4 + 200002 (9.425)2

= (0.891/2)2
(−500(9.425)3 + (20000 + k P )(9.425))2 + (k P /2 − 2000(9.425)2 )2
20002 (9.425)4 + 200002 (9.425)2
= (−500(9.425)3 + (20000 + k P )(9.425))2 + (k P /2 − 2000(9.425)2 )2
(0.891/2)2
3.3806e11 = (−4.1861e5 + 188500 + 9.425k P )2 + (k P /2 − 1.7766e5)2
3.3806e11 = (−230110 + 9.425k P )2 + (k P /2 − 1.7766e5)2
89.081k2P − 4.3376e6k P − 1.7766e5k P + 3.1563e10 + 5.2951e10 − 3.3806e11 = 0
k P = 84407 or − 33720
The -ve solution will give an unstable controller, so k P = 84407, k I = 42204. Check for stability:
500(42204) < 2000(20000 + 84407)
Checks, system is stable.

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Useful Information For a state space A,B,C,D, the transfer function is
Laplace transforms G(s) = C[Is − A]−1 B + D

F(s) f(t) det[Is − A + BC] − det[Is − A]
= +D
1 δ(t) det[Is − A]
det[Is − (A − BC)] − det[Is − A]
1 = +D
s us (t) det[Is − A]
1
s+a e−at
Complex numbers
b
s2 +b2
sin bt
The magnitude of a complex number
s
s2 +b2
cos bt p
c + di c2 + d 2
=p
b
e−at sin bt a + bi a2 + b2
(s+a)2 +b2
s+a The angle of a complex number

(s+a)2 +b2
e−at cos bt
c + di

df d −1 b
sF (s) − f (0) dt ∠ = t an −1
− t an
a + bi c a
df d2 f
s2 F (s) − s f (0) − dt d t2
t=0
Determinants
The determinant of a matrix A is computed by choos-

State space
ing any row or column, proceeding along this row or
For a transfer function of the form column, multiplying each entry of the row or column
by the determinant of the ‘minor’ (i.e, the matrix, with
c3 s3 + c2 s2 + c1 s + c0 the row and column of the current entry ommitted.)
G(s) =
s4 + d3 s3 + d2 s2 + d1 s + d0 Additionally, the sign of every other entry is reversed.
This relies on the recognition that the determinant of
A possible state space representation is
a 2x2 matrix is the product of the main diagonal, less

0 1 0 0
 the product of the off-diagonal. For example, using the
 0 0 1 0  first column
A=
0 0 0 1
  
−d0 −d1 −d2 −d3 a11 a12 a13
A = a21 a22 a23 
0

 a31 a32 a33
 0 
B=
0 det[A] =a11 (a22 a33 − a23 a32 )

1
− a21 (a12 a33 − a13 a32 )

C= c0 c1 c2 c3 + a31 (a12 a23 − a13 a22 )

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Matrix Inverse Frequency response

A−1 A = I s = iω
If Æ
a b ωr = 1 − 2ζ2 ωn
A=
c d
then Dynamics
−1 1 d −b
A = The equations of motion for translation
ad − bc −c a
Σ F~ = m~
aG
Eigen analysis
The equations of motion for rotation for planar prob-
det[Is − A] = 0 lems can be written using A, an arbitrary point as a
[Is − A]X~ = 0 reference
ΣM~ A = I Aα
~ + ~rG/A × m~
aA
For an eigenvalue s = a ± bi, the natural frequency and
or
damping ratio are
~ A = IG α
ΣM ~ + ~rG/A × m~
aG
p
ωn = a2 + b2 If the point A is chosen as either the centre of mass, G,
or a fixed point, O, the equations can be simplified
−a
ζ= p
a2 + b2 ~ G = IG α
ΣM ~
a = −ζωn
or
~ O = IO α
Æ
b = ω d = 1 − ζ2 ω n ΣM ~

Final 2016

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Mechanical, Automotive, & Materials Engineering

401 Sunset Avenue

92-321 Control Theory

7. Answer all questions, to the best of your ability.

Table 1: Parameters of cable and covering

2 c BP Minaker PhD PEng 2016

3 c BP Minaker PhD PEng 2016

s = −3.17 × 10−4 , −7.55 × 10−3

7.3594 × 10−4 T1 − 0.0010526T2 = 0

4 c BP Minaker PhD PEng 2016

Consider the block diagram in Figure 2.

Figure 2: A block diagram

5 c BP Minaker PhD PEng 2016

b) The transfer function of the simplified block digram is

6 c BP Minaker PhD PEng 2016

c) The natural and resonant frequencies are

7 c BP Minaker PhD PEng 2016

Figure 3: A block diagram

mz̈1 + c(ż1 − ż0 ) + k(z1 − z0 ) = f ac t

truck and load, of mass ‘m’

spring with stiffness ‘k’

damper with coefficient ‘c’ actuator

Figure 4: Schematic of active suspension system

9 c BP Minaker PhD PEng 2016

Figure 5: Block diagram of suspension system

Figure 6: Block diagram of suspension system

10 c BP Minaker PhD PEng 2016

Figure 7: Block diagram of suspension system

Figure 8: Block diagram of suspension system

11 c BP Minaker PhD PEng 2016

The resulting amplitude 0.1(0.891)=0.0891 m.

d) With the controller in place

12 c BP Minaker PhD PEng 2016

20002 (9.425)4 + 200002 (9.425)2

500(42204) < 2000(20000 + 84407)

Checks, system is stable.

13 c BP Minaker PhD PEng 2016

Useful Information For a state space A,B,C,D, the transfer function is

Laplace transforms G(s) = C[Is − A]−1 B + D

s+a The angle of a complex number

The determinant of a matrix A is computed by choos-

14 c BP Minaker PhD PEng 2016

Matrix Inverse Frequency response

15 c BP Minaker PhD PEng 2016

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