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The Chinese University of Hong Kong

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Course Examination 1st Term, 2012-13

Course Code & Title:

M A F( i

~r.j

Time allowed

jUjU

IntroductIOn to Control ~ystems

1i-~

hours

"'~

Student J.D. No.

minutes
SeatNo. :

1. Answer ALL the questions on answer book (4 problems totally). Be sure to hand in Figure 3

with your answer book.

2. Full mark is 100.
3. This is a closed-book but open-note examination.
4. Calculators are permitted.
5. Solve all problems using the answer book provided.
6. Write your student number clearly on the front page of your answer book.
7. Question papers should be returnedafter the exarnination.
8. Do not turn over this page until instructed to do so.

Cont'd .. .l2

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Page2of5

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1. Consider the unity feedback system of Figure 1 with a plant transfer function of

G(s)

K(s+2)
s(s-1)(s+7) .

You are to sketch the root locus of the system, paying special attention to the

followings.

a) Determine the asymptote angles and centroid, if applicable.

b) Determine the cross-over point to the imaginary axis, if any.

c) Determine the breakaway point, if any, to within an accuracy of 0.2.

d) Locate a design point on your root locus to satisfy the specification:

:;; 4 sec.

e) Estimate the corresponding K value for your design point.

2. Consider the feedback system of Figure 1, with

G(s)

K(s+4)

a) Use the Phase Requirement to show that the point

root locus.
b) Find the corresponding value of K at point

So

(-3 + j4) is on the

So

c) Vhite down the .MATLAB command to plot the root locus of the system.
d) Now, let the negative feedback mode in Figure 1 be changed to positive
feedback mode, write down the Characteristic Equation governing the closed
loop poles of the system, and use Routh's Stability criterion to determine the
range of K for stability.

Cont'd .. ./3

30f5

3. Consider the negative feedback system in Figure 1 with

G(s)
.

_ _K_ _
(s+3)(s-1)

You are to use the Nyquist criterion with contour

the range of K for stability.

rs

of Figure 2 to determine

a) For K == 1 , obtain the expressions ofthe real and imaginary parts of G(j (j)) .
b) Determine GU{j)) for OJ

0,

OJ

-1 and

OJ -

3 rad/sec. V/hat happen to

GU{j)) as OJ -+ oo?

c) Use the above information to sketch the polar plot of G(j{j)).

d) Obtain the Nyquist plot for the contour r s , and use Nyquist stability criterion

to fmd the range of K so that the closed loop poles are all in the left half

plane.

e) Derive the stability range of K directly using the Characteristic Equation of

the system. Is it consistent with your answer to d)?

4. Consider the negative unity feedback system of Figure 1. The Bode plot of G(s)

is shown in Figure 3.
a) Out of the following three transfer functions, which one will give ri5;e to the

Bode plots of Figure 3? Give reasons for eliminating the other two. Here,

0< a,jJ s:; 1.

(i) G(s)

C
s(as+l)CBs+l)

, (ii) G(s) ==

,(iii) G(s) = CCfJ s + 1)

s(as+l)

s(as+l)

b) For G(s) identified in part a), estimate the value C from the Bode plot.
c) \Vhat are the P.M. and O.M.? Is the closed loop system stable?
d) What is the steady state error G(s) of the closed loop system subject to a step

input? .

e) If a constant K=O.l is multiplied to G(s), estimate the damping coefficient of

the resulting close loop system.

(Be sure to hand in Figure 3 with your Examination Book)

Cont'd. .14

JoO

R(s)

Yes)

.1

I G(s)

'-/

Figure 1

s=jm
(j)

:0 + -+

00

s=- jm
m: CfJ --). 0+

G)
.

Figure 2

Page 40f5

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Fig. 3. Bode Plots of G(jw) of Problem 4

** END **

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