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EE312 : Control System Engineering

S hool of Engineering and Physi s

Final Examination
Semester 1, 2016

F2F Mode

Duration of exam : 3 hours + 10 minutes


Reading Time : 10 minutes
Writing Time : 3 hours

Instru tions :
• This exam has 5 questions and you are required to answer the 5 questions.
• The total mark for the questions is 95 marks.
• The presentation of the s ript will be assessed (5 marks).
• The exam is 5 pages long.
• This exam is worth 50% of your overall mark. The minimum exam mark is
40%.
• Write your answer in the booklet provided.
• Start ea h question on a new page.
• Cal ulators are allowed.
• One A4 page of handwritten personal notes is allowed ( an be double-sided).

1
Question 1 :
X(s)
a) Determine the transfer fun tion of the me hani al system given on
F (s)
Figure 1.
b) Plot the asymptoti Bode diagram of this system.
) Is it possible to have a resonan e phenomena for this me hani al system ? If
yes for whi h frequen y ωr and what is the magnitude Mr of the resonant
peak ?
d) Sket h the real magnitude frequen y response and display the values ωr and
Mr .
[20 marks℄

f (t) 3 N.s/m

1 kg 0
x(t)

16 N/m 1 N.s/m

Figure 1  Me hani al system

2
Question 2 :
Vo (s)
a) Find the transfer fun tion of the system of Figure 2.
Vi (s)
b) Compute the output of the system when the input is a step of magnitude 2
2
Vi (t) = .
s
[15 marks℄
1H

3Ω
Vi 2Ω
1H Vo

Figure 2  Ele tri al system

Question 3 :
a) Sket h the root lo us of the system on Figure 3. The root lo us has to in lude
asymptotes, jω -axis rossings and breakaway points.
b) Is it possible to have a stable losed-loop system with a pole in −7 ?
[20 marks℄
R(s) 1 Y (s)
+
- K
(s + 1)(s + 2)(s + 3)

Figure 3  Blo k diagram

3
Question 4 :
a) Design a PD ontroller (nd Kp and Td ) su h that the damping ratio and the
natural frequen y of the losed-loop system in Figure 4 are respe tively 0.7
and 0.5 rad/s. Use the root lo us method.
b) In pra ti e, a PD ontroller an be designed using the ir uit of Figure 5.
Assuming that the operational amplier is ideal and that C = 0.49 F, sele t
Eo (s)
the values of R1 and R2 to obtain = Kp (1 + Td s) where Kp and Td
Ei (s)
have be designed in 4-a).
[25 marks℄
R(s) 1 Y (s)
+- Kp (1 + Td s)
10000(s2 − 1.1772)

Figure 4  Plant + PD ontroller

R2
R1
i
-
N +
Ei(s) C −Eo(s)

Figure 5  Analog P D ontroller

4
Question 5 :
a) Redu e the blo k diagram of Figure 6 to obtain a unit feedba k system of
Figure 7 : ompute the transfer fun tion G(s).
b) The Nyquist diagram of G is given on Figure 8. Find the oordinates of the
points A,B and C.
) Is the system stable ? Provide a omplete justi ation using Nyquist riterion.
If yes give the gain stability margin in de ibel.
[15 marks℄
R(s) + 4 1 C(s)
+ s(s+3)
- s+1 -

Figure 6  Blo k diagram

R(s) C(s)
+
-
G(s)

Figure 7  Redu ed Blo k diagram

Nyquist Diagram

0.2
A C
0

−0.2
Imaginary Axis

−0.4

−0.6

−0.8

−1

−1.2

−1.4 B
−1.6
−0.5 0 0.5 1 1.5 2
Real Axis

Figure 8  Nyquist plot of G(s)