key Problem 1 (30 pts) Por the system below, let, Hy(s) = 1,G(s) = gy, and D(s) = £ a wy @ slsteo ) 1 {4 pts} a) For w(t) = 0, determine £8 = hCG =~ Site) bs ERY RE EC+96)> R (apa epg eet oneal — scores [4 pts} b) for r(t) = 0, determine #48 = “Te bE) YG (w+ DRY) eae oe fe Boe * ek R YUrds)= EW+60R a ‘ 4(e-* sale) (4 pts} c) If r(t) =0 and w(t) is a unit step, find y(t) = VL -E g Kis fl 1, 8s feeot = fede ada aaa 2S gaose | GANG Gy 8 Fe ed sho. hype TL, [4 pts] d) If r(é) = 0 and w(t) is a unit step, find lime) =O FRY: Re 6(w4 DE) : sac, E=Rn-& anit by AnsB 2 fh 0 EG +Go)e Rw, EX R- Tew =Cien) f° sxe [A pts} e) Ifr(&) = eu(e) and w(t) = 0, find timo elt) = 3/4 ; i ie Eg- t.. Ss fins): & ay S eLE “Sis /\ss0 ) 24 ul reference control w(t) input error input output ro) Controller plant DE) ais) yo Sensor 0 Hs) flo sham Faledo TH v= & a te TT ine ea #7 e ine coy HH my=% a ® SO SP HPker Problem 2. (30 pts) b SYRSH br Given open loop transfer function G(s) aad ow x j= boot) Saga = Gaerne sri 7S (edt For the root locus: 4 y [2 pts} a) Determine the number of branches of the root locus =_? S$Z~% bles <1 (4 pts) b) Determine the locus of poles on the real axis eur ot yn =z m7 Hs 66)— ok {3 pts} c) Determine the ongles for each asymptote: ~ pum = [4 pts] d) ‘Phe approximation for the asymptote intersection point is = ~O= [9 pts} e) The angle of departure for the poles are: ao Tien Rie2 or pO E-W = Tr no? eer = 1410; 218° = 105.4 18° Ry {8 pts] f) Sketch the root locns below using rules 1-4 discussed in class. por Bons CLM Oxo. Ps: Os a “E-E 427° = (pu) Oa, ~2x6%} 27 “KF 0, +48" Igo” yas? Ok by aymmeltey , Oy = ¢]8° teProblem 4. (20 pts) Given open loop transfer function G(s): 500(s +21) Sa eae eee tee err eee (9) = Gyije+ yet 24 TO) S, ans {6 pts] a) Estimate [G(s = 10))| from transfer fumetion = Tin” (Hint: consider bi (points) kool [aa (ga40) | + loo __ [00 . y fort OM GE) (HE | GO(W)E) lone [4 pts] b) sketch Nyquist plot for G(s) below, showing clearly any encirclements. {4 pts] c) mumber of closed loop right half plane poles = 7 2 t= MIP so Lok RiPpks, MEX, ACW exinlerets of ~f [6 pts] d) Use the Nyquist upstee determine range of gain k for stability for the closed loop system 7HE5: O< & <