Mechanical Engineering Department

Faculty of Mechanical and Aerospace Engineering

Institut Teknologi Bandung

MS3200 Introduction to Control System, 2nd Semester, 11-12

Midterm Exam #2, Friday, April 27, 2012
Duration: 120 minutes.

1. (30%) A closed-loop system is given as the following block diagram:

16
s (s + 4)

In order to control the system, a compensator of the form
  =   , is planned to

be implemented.
a. Determine the closed loop transfer function
b. For a unit step input, we would like to have the maximum overshoot to be
 16.3%. Determine the appropriate value of the damping ratio , in which

 = 100   .

c. For unit ramp input r(t) = t, the steady-state error is set to be equal to 
with

! = 20 . Determine the appropriate value of K and z such that the requirements

of the damping ratio and the steady-state error for a ramp input are met.

2. (30%) An open loop system is to be controlled by a simple proportional control with


unity feedback. The open loop transfer function is given as:
 =  # $. To
design the controller, the engineer would like to have an overall view of the gain
possibilities. Please help the engineer by completing the following tasks:
a. Draw the root locus of the above system by calculating the poles and zeros, draw
the loci on the real axis, determine the asymptotes, find the break-away point,
calculate the imaginary axis crossings, and sketch the complete root locus.
b. Find the maximum value of the proportional gain which keeps the closed loop
system stable, i.e., the value of K at the imaginary axis crossings.


3. (40%) The open loop transfer function is given as:
 =  # $
a. Derive the expression of the magnitude |G(i)| and phase angle G(i)
b. Calculate the magnitude |G(i)|, dB, and phase angle G(i) at the following values
of frequency .

<rad/s> |G(i)| dB = 20 log|G(i)| G(i)

2
4
 c. Based on the following table, draw the frequency response of the system on the
given semi log paper, and determine the gain and phase margins. As has been
explained, gain margin is the difference (in dB) between unity gain condition (0 dB)
and magnitude of the frequency response at the phase cross-over frequency, i.e.,
the frequency at which the phase is 180o. On the other hand, the phase margin is
the difference (in degrees) between the phase at gain cross-over frequency, i.e., the
frequency at which the magnitude is equal to 0 dB, and 180o.

<rad/s> |G(i)| dB = 20 log|G(i)| G(i)

0.1 1.248 1.9 -94.3o
1 0.109 -19.3 -130.6o
2*
3 0.019 -34.7 -183.2o
4*
10 0.001 -60.8 -236.9o
* Fill in the blanks with your answer from 3.b.

d. If G(s) = Y(s)/F(s) where f(t) is the input while y(t) is the output and f(t) = 3 sin 4t,
find the expression of y(t) at steady-state condition or yss(t).

Good luck,
Zainal Abidin, Priyono Sutikno, and I. Pulung Nurprasetio