EE 357 CONTROL SYSTEMS I FINAL EXAM Apr.

28, 2005 DURATION : 120 Minutes

Question Mark 1 12 2 12 3 16 4 16 5 16 6 12 7 16 Total 100

Instructions
Do all your work in the exam book. If you choose to perform your Bode plots using the semilog paper provided, be sure to include these sheets in your exam book. The exam questions (what you are reading now) will not be collected. Fill in your name and ID number on your exam book immediately. Sign your name where indicated. Do not open your exam book or begin writing until instructed to do so. Stop writing when instructed and remain in your seat until your exam is collected. Make note of the mark distribution and plan your time accordingly. Attempt all questions. Closed book exam, two double sided letter sized aid sheets permitted. Any calculator permitted.

Question 1 (12 Marks) For the following questions, provide brief answers: (i) (3 Marks) Give 3 ways a closed-loop control improves system performance over an open-loop control system. (ii) (3 Marks) Consider a stable system with input u and output y which is described by the transfer function Y (s)/U(s) = P (s) = 1/(s + 1) and we apply u(t) = sin(t), t 0. Is it possible to use the nal value theorem to determine yss = limt y(t). Discuss. (iii) (3 Marks) In the labs you considered an armature-voltage controlled DC motor control system shown in Figure 1. The motor transfer function is (s) = V (s) s(s + ) where , > 0 are constants and the controller is a pure gain i.e., C(s) = K. What kind of response for do you expect for large values of K.
r
e
C (s )

s (s + )

Figure 1: Question 1(iii) (iv) (3 Marks) Given a negative feedback system with forward transfer function G(s) = K (s + a)(s + b)(s + c)

does there exist real a, b, c > 0 such that for all K > 0 the closed-loop system is stable.

Question 2 Steady-state error (12 Marks) For the system shown in Figure 2,

Figure 2: Question 2 (i) (6 Marks) Check the system is closed-loop stable. (ii) (6 Marks) Find the steady-state errors for inputs of 50 1(t), 50t 1(t), 50t2 1(t). Question 3 Routh-Hurwitz, system type, disturbance rejection (16 Marks) Consider the PI controlled system shown in Figure 3 with C(s) = (kp s+ki )/s, P (s) = 10/(s2 +s+20)

W(s) R(s) + _ C(s) + + P(s) Y(s)

Figure 3: Question 3 (i) (2 Marks) Determine the transfer function from R to Y . (ii) (2 Marks) Determine the transfer function from W to Y . (iii) (6 Marks) Use Routh-Hurwitz to nd the range of kp , ki for which the system is stable. (iv) (6 Marks) Show that the system can simultaneously track step reference input r with zero steady-state error, and reject step disturbance input w in steady-state.

Question 4 Root Locus (16 Marks) Consider the system shown in Figure 4. Sketch the root locus for 0. (i) (4 Marks) Determine any break-in or break-away points. (ii) (4 Marks) Determine the value of (if any) where the root locus crosses the j-axis. (iii) (4 Marks) Compute the angles of departure/arrival of any complex poles/zeros. (iv) (4 Marks) Sketch the root locus using all rules.
R(s) + _
5 s ( s 2)

Y(s)

1+ s

Figure 4: Question 4 Question 5 Bode plots (16 Marks) The model for a bandpass amplier is shown in Figure 5. Take R1 = R2 = 1000 , C1 = 100 1012 F, C2 = 1 106 F, K = 100. (i) (5 Marks) Show the transfer function of the amplier is Vo (s)/V1(s) = G(s) is G(s) = 109 s (s + 1000)(s + 107 )

(ii) (8 Marks) Sketch the asymptotes for the Bode magnitude and phase plots of G(s). Use a frequency range from 102 to 108 rad/s. (iii) (1 Mark) From your sketch what is the maximum magnitude of the frequency response of the system G(s)? (iv) (2 Marks) What are the break/corner frequencies of the magnitude plot computed in Part (ii).

Figure 5: Question 5

Question 6 Bode plots (12 Marks) The Bode magnitude of a second order system T (s) = is shown in Figure 6. s2 0.83 + as + 0.83

Bode Diagram 20 10 0 Magnitude (dB) -10 -20 -30 -40 -50 -60 0 System: ss Frequency (rad/sec): 1.4 Magnitude (dB): -3.01

-45 Phase (deg)

-90

-135

-180 10
-1

10

10

Frequency (rad/sec)

Figure 6: Question 6 (i) (6 Marks) Using the information in Figure 6, determine a in the transfer function for T (s). (ii) (6 Marks) Predict the P.O. and settling time Ts for a step input. Question 7 Relative Stability (16 Marks) Given the forward transfer function G(s) = of a negative unity feedback system. Find (i) (12 Marks) the gain crossover frequency in terms of , n , i.e., the frequency at which the magnitude of G(j) equals 1. (ii) (4 Marks) Use the frequency you obtained in part (i) to compute the phase margin as a function of .
2 n s(s + 2n)