Sana'a university Control systems- I

Faculty of engineering Final examination

Electrical Eng. department 2015-2016
Fourth year 19. 03. 2015

 Allowed time 3 hours

 Explain your answer with neat sketches.

Answer only four questions

Question 1
𝐶(𝑠) 9
A control system whose transfer function given by: 𝑅(𝑠)
= 𝐺(𝑠) = 𝑆 2 +2𝑆+10 , the input 𝑟(𝑡) =
3cos⁡(0.4𝑡)⁡is applied at t=0.
a) Find the steady-state response.
b) Find the range of t for which the system is in steady state.
c) Find the resonance frequency and maximum frequency response (Mpw).
d) Find the bandwidth frequency.
e) Approximately sketch the frequency response (|𝐺(𝑗𝑤)| as w varies from zero to infinity,
indicate some numerical values on both |𝐺(𝑗𝑤)| axis and w axis
Question 2
A. A control system that can be modeled by a second order system whose transfer function given
𝐶(𝑠) 2
𝐾𝑤𝑛
by: = 𝐺(𝑆) = 2, the system has the following response for unit step input ( the
𝑅(𝑆) 𝑆 2 +2𝜉𝑤𝑛 𝑆+𝑤𝑛
input 𝑟(𝑡) = 𝑢(𝑡)⁡: Css.(t)=1, maximum percentage over shoot Mpt %= 16%, and the time to
peak value is 0.8 second. Develop the model of the system (find k,𝜉 and wn).

B. Given a control system described by a third order transfer function:

2𝑆 2 + 50𝑆 + 420
𝐺(𝑠) =
(𝑆 + 2)(𝑆 2 + 20𝑆 + 200)
Estimate the system settling time, the peak time and the percent overshoot in the step
response. What will be the steady state response of the system if the input 𝑟(𝑡) = 10𝑢(𝑡).
Question 3
Consider the control system shown on the figure; the parameter 𝛼 has a nominal value of 5.

𝐾
(𝑆 + 𝛼)

H (S)

a) With H(S) =0 (that is the system is open loop) find the sensitivity of T(S) to 𝛼 that is 𝑆𝛼𝑇 about
the nominal value of 𝛼
b) Repeat (a) for H(s) =1.
c) Plot the sensitivity function of (a) and (b) as function of frequency for K=1.
d) Plot the sensitivity function of (a) and (b) as function of frequency for K=100.
e) From the result of (c) and (d) comment on:
1) The effect of closed loop on the sensitivity.
2) The effect of loop-gain on the sensitivity,
Question 4
For the unity feedback control system shown on the figure, the plant transfer function is given by:
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Sana'a university Control systems- I
Faculty of engineering Final examination
Electrical Eng. department 2015-2016
Fourth year 19. 03. 2015

5
𝐺𝑝 (𝑠) =
𝑆(𝑆 + 1)(𝑆 + 5)
And the controller is proportional plus derivative controller whose transfer function given by:
𝐺𝑝 (𝑠) = 𝐾𝑝 + 𝐾𝐷 𝑆
a) Determine the ranges of Kp and KD for which the system is stable.
b) For KD = 4, find
1) The rang of Kp for which the system is stable.
2) The value of Kp for which the system is marginally stable (oscillatory), the frequency and
the period of oscillation.

Gp(S) Gp(S)

Question 5
𝐾
A unity feedback control system has a loop function given by: 𝐾𝐺𝑝 (𝑆) =
𝑆(𝑆+6)
a) Accurately plot the root locus of the system.
b) Find the closed loop time constant if k is chosen such that the closed loop system poles are
complex.
c) Suppose that the system specifications require the percent over shoot for step response is
equal to or less than 4.32 that is corresponding to damping ratio of 0.707:
1) Find graphically the values of the closed loop poles.
2) The value of k corresponding to these poles.
3) The steady state error for unit step input.

If 𝑟(𝑡) = 𝐴cos⁡(𝑤1 𝑡) then 𝐶𝑠𝑠 (𝑡) = 𝐴⁡|𝐺(𝑊1 )|cos⁡(𝑤1 𝑡+< 𝐺(𝑤1 ))

𝑊𝑟 = 𝑤𝑛√1_2𝜉2

‫مع تمنياتي بالنجاح والتفوق‬

Dr.Eng. / Amin Mahyob

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