Department of Electrical and Computer Engineering

End of Semester 1 Central Examinations - June 2013

Attendance Mode:

Internal

Centre(s):

Bentley Campus, Miri Sarawak Campus

Unit(s):

308798 - Control Systems 301

Duration:

2 Hours

Total Marks:

100

Calculator:

Yes, as approved by the school

Prior to commencement of the examination there will be a

10-minute reading period. During this period notes may be
written in margins of the examination paper.
Commencement of the examination will be indicated by the
supervisor.

Supplied by the University:

1 x 16 page answer book
Supplied by the Student:
Calculator

THIS IS A CLOSED BOOK EXAMINATION

IMPORTANT INFORMATION
- The possession or use of:
Mobile phones or any other device capable of communicating information, are prohibited during examinations.
Electronic Organisers/PDAs (with the exception of calculators) or other similar devices capable of storing text or restricted
information are prohibited during examinations.
Calculators Only calculators approved specifically by the school/department may be used during this examination. Prior to
the commencement of the examination, calculators will be checked for compliance by the examiner.
Any breach of examination regulations will be considered cheating and appropriate action will be taken in
accordance with University policy.

Other Information:
Answer ALL FOUR (4) questions.
A List of Formulas is on page 7.

Examination paper IS NOT to be released to student

Page 1 of 7

Control Systems 301

Page 2 of 7

First Semester Exam - June 2013

Question 1.
(1.1) Consider the system shown in Figure 1. Determine the transfer function from R to
Y.

[15 Marks]

Figure 1. Block diagram for Question (1.1).

(1.2) Which of the following state-space models has the same input-output relationship
as the system shown in Figure 2?

[10 Marks]

(a)

x = 1

0
h
y= 0

1
0
1
1

1
1

0 x + 0 u

0
0
i
1 x

(b)

x = 1

0
h
y= 1 0

1 1
0
1
i
0 x

0 x + 1 u

0
1

Control Systems 301

Page 3 of 7

First Semester Exam - June 2013

(c)

x = 1

0
h
y= 0 1

0 x + 0 u

0
0

1 1
0
1

i
1 x

(d)

x = 1

1
h
y= 1 0

1 0
0

0 1 x + 1 u

0 0
1
i
0 x
y
1

u
+

x1

x2

x3

Figure 2. Block diagram for Question (1.2).

Control Systems 301

Page 4 of 7

First Semester Exam - June 2013

Question 2. Consider the system shown in Figure 3.

R

1
s+1

10
s+2

Figure 3. The closed-loop system for Question 2.

(2.1) Determine the value of K such that the closed-loop response to a unit step input
has a maximum overshoot of 20%.

[15 Marks]

(2.2) Find the peak time and 2% settling time for the value of K obtained in Part (2.1).
[10 Marks]

Question 3.
(3.1) The control system shown in Figure 4 has the open-loop transfer function
G(s) =

K(s + 3)(s + 5)
s(s2 1)

+
R

G(s)

Figure 4. Block diagram for Question 3.1.

Construct the root locus for K 0.

[15 Marks]

(3.2) A DC motor has a transfer function

P (s) =

1
s(s + 1)

and is compensated by a compensator of the form

C(s) = K

s+z
s+p

(1)

Control Systems 301

Page 5 of 7

First Semester Exam - June 2013

in the feedback configuration, as shown in Figure 5.

+

C(s)

P (s)

Figure 5. Block diagram for Question 3.2.

Design a lead compensator of the form (1) with z = 2 to meet the following closedloop specifications:
The damping ratio of the complex closed-loop poles equals 0.5.
The undamped natural frequency of the complex closed-loop poles equals
4 rad/sec.
[10 Marks]
(3.3) Find the steady-state error of the system in Figure 5 to a unit ramp input for the
compensator obtained in (3.2).

[5 Marks]

Question 4. Consider the unity feedback system shown in Figure 6.

R

K
s(s+1)(s+4)

Figure 6. A unity feedback system for Question 4.

The Bode plots for the open-loop transfer function with K = 1 are shown in Figure 7.

Control Systems 301

Edited by Foxit Reader

Copyright(C) by Foxit Corporation,2005-2009
Page 6 of 7
For Evaluation Only. First Semester Exam - June 2013

(4.1) Determine the gain margin for K = 5dB.

[10 Marks]

(4.2) Which of the following values of K yields a phase margin that is closest to 40o ?
(a) 30
(b) 5
(c) 25dB
(d) -5dB
[10 Marks]
Bode Diagram of G

Magnitude [dB]

0
-20
-40
-60
-80
-100
-120
10-1

100

101

102

100

101

102

-100

Phase [deg]

-120
-140
-160
-180
-200
-220
-240
-260
10-1

Frequency [rad/s]

Figure 7. Bode Plots for Question 4.

Control Systems 301

Page 7 of 7

First Semester Exam - June 2013

A List of Formulas

= n
p
d = n 1 2

tr =

tan1

1.8/n

tp =

ts

(for = 0.5)

4.6/

4/

3/

Mp = e

(1% criterion)

(2% criterion)

(5% criterion)

1 2

END OF EXAMINATION PAPER

Control Systems 301

EXAM SOLUTIONS - June 2013

Solution to Question 1:
1.1:

1
s+3

s+8
s

s+8
s2 + 4s + 8
1.2: (a)
Solution to Question 2.
(2.1) The open-loop transfer funtion is
G(s) =

10
(s + 1 + K)(s + 2)

and the closed-loop transfer function is

H(s) =

G(s)
10
= 2
1 + G(S)
s + (3 + K)s + 2K + 12

Note that the required damping ratio is

s
(ln Mp )2
= 0.457
=
2 + (ln Mp )2
Substituting it into
2n = 3 + K

and n2 = 2K + 12

Edited by Foxit Reader

Copyright(C) by FoxitEXAM
Corporation,2005-2009
SOLUTIONS - June 2013
For Evaluation Only.

Control Systems 301

gives
K 2 + 4.33K 0.978 = 0
which has two roots -4.55 and 0.21. Therefor, the required value of K is 0.21 as the
other root makes n negative. The associated undamped natural frequency is
n = 3.5
(2.2)

p
=1
n 1 2
4
ts =
= 2.5
n

tp =

Solution to Question 3.
(3.1)

Root Locus of G
locus
open loop poles
zeros

Imaginary Axis

-2

-4

-6

-50

-40
Real Axis

-30

-20
-10
gain = [0, 61.7782]

Control Systems 301

EXAM SOLUTIONS - June 2013

(3.2) From = 0.5 and n = 4, we can find

= n = 2
p

d = n 1 2 = 2 3

which means that one of the desired complex closed-loop poles is at pd = 2+j2 3.
It follows that
G(s)|s=pd = 226.1
The angle contribution of C(s) is then given by
C(s)|s=pd = 46.1
The pole of the compensator can be found to be

p = 2 + 2 3 tan(46.1 ) = 5.6
from the angle condition, and the gain can be found to be
1

= 20.8
K = 
s+2 
G(s) s+5.6 s=p
d

from the magnitude condition. Therefore, the designed compensator is given by

C(s) = 20.8

s+2
s + 5.6

(3.3) The velocity error constant Kv can be found to be

Kv = lim sC(s)P (s) = 7.43
s0

leading to
ess =

1
= 0.13
Kv

Solution to Question 4.
(4.1) For K = 5dB, the gain margin is approximately equal to 20dB.
(4.2) (b)