AE 3515 Review

t
1. What type of differential equation is &x&& + e &x& + tx& + 6x = 0 ?

2. If z = z e j , then

z
is
j

3. (27 )3 is
1

4. If Laplace transform of f(t) is F(s), then Lapalce transform of df(t)/dt is

5. If the Laplace transform of the response of a linear system is Y(s) =

3s
2

(s + s + 2)

, then

the initial value of the response is

6. Given that Laplace transform of f(t) is F(s), then Laplace transform of f(t-a)1(t-a) is
7. Given L{f(t)}=F(s) and L{g(t)}=G(s), then L-1{F(s)G(s)} is
8. Lapalce transform of t is 1/s2. Laplace transform of te-t is

9. If G(s) =

3s
, then the steady state response to a unit step input is
(s + 1)(s 2 s + 2)

(Questions 10-11) A force F is applied to a block resting on a frictional surface as

shown in the figure.
F

Coefficient of static friction = 0.1, Coefficient of kinetic friction = 0.09

Weight of the block = 200 N
10. Friction force in Newtons when a force of F=10 N is applied to the block

11. Friction force in Newtons when a force of F=30 N is applied to the block

(Questions 12-13) A flywheel of J=50 kg-m2 initially standing still is subjected to a

constant torque. If the angular velocity reaches 20Hz in 2 seconds
12. Angular acceleration of the flywheel in rad/sec2 is

13. Torque applied to the flywheel in N-m is

(Questions 14-15) Consider the small amplitude motion of a simple pendulum shown in
the figure. When the pendulum is at an angle the acceleration components of the mass
m are as shown in the figure.

14. Rotational inertia of the system is

15. Rotational stiffness of the system is

(Questions 16-18) Consider the dynamic system shown in the figure.

J=MR /2

y
K
K

m
x

16. Inertia moment on the pulley is

17. For mg = 1 N and K=1 N/m, the static deflection of mass m in meters is
18. If mass m is held fixed (i.e., x=0 all the time), the natural frequency of the system is
19. The system described by x& = 5 x 2 5 is linearized about the equilibrium point -1.
The resulting linearized equation is x& =

(Questions 20-21) The equation of motion of a first order system is given as

5 x& + 10 x = u

20. If x(0)=0 and a unit impulse is applied at t=0, then x(t) is

21. If x(0)=1 and u=0, then x(t) is

(Questions 22-23) A spring-mass-damper system has mass=10 kg, stiffness=1000N/m

and damping coefficient=200 N-sec/m
22. Damping ratio of the system is

23. Time period of the system in seconds is

24. The poles of a third-order system are 3, -2+j, -2-j. Write down the general response
of the system to zero input and non-zero initial conditions.
25. Given the transfer function of a system as

(s 1)
, the response of the system
(s + 2)(s2 4)

to non-zero initial conditions is

(Questions 26-27) The poles of four different spring-mass-damper systems are
System A
System B
System C
System D

-0.21j
-0.22j
-0.5, -3
-0.51j

26. The system that has the highest natural frequency is

27. The system that has the highest damping ratio is

28. What is frequency response of a system?

(Questions 29-30) The transfer function of a linear system is G(s)=10/(s+1),

29. Steady state response of the system to a sinusoidal input of sin2 t is

30. Steady state response to a sinusoidal input of sin t is

31. The phase angle at =n in the frequency response of a spring-mass-damper system
is

(Questions 32-34) From the frequency response of a stable linear system, the magnitude
and phase at a frequency of 10 rad/sec are found to be -6dB and -45o, respectively
32. From the given information, obtain, if possible, the magnitude of the steady state
response of the system to a unit impulse input.

33. From the given information, obtain, if possible, the amplitude of the steady state
response of the system to a sinusoidal input of sin 10t.

34. From the given information, obtain, if possible, the amplitude of the steady state
response of the system to a sinusoidal input of sin5t.

35. If the Bode magnitude plot has a slope of 20dB/decade at low frequency then the
system has
36. A transfer function has all its poles and zeros in the left half of the complex plane and
the phase shift at low frequency is 0o. The phase shift at high frequency is -270o. Then
the Bode magnitude plot at high frequency has a slope of
37. The low frequency approximation of the phase plot of the transfer function
3
is
G(s) =
(s 3)(s2 + 3s + 1)

38. For a system with a vibration isolator, the frequency of applied force equals twice the
natural frequency of the system. If the damping ratio of the system is increased, what
happens to the transmissibility ratio?

39. Which of the following is true:

(a) Eigenvalues are same as the zeros of the transfer function
(b) Eigenvalues are
same as the poles of the transfer function
(c) Eignevectors are same as the poles of
the tranasfer function
(d) Eigenvectors are same as the zeros of the transfer function
40. Conversion from state-space representation to transfer function representation is
(a) unique
(b) nonunique
41. Which of the following is true under linear transformation
(a) Both eignevalues and eigenvectors remain the same
(b) Both eigenvalues and
eigenvectors change
(c) Only eigenvectors change
(d) Only eigenvalues change

(Questions 42- 44)The transfer function of a system is given as

4
4
s 1
.
If the above system is represented in state-space form as x = Ax + Bu and y=Cx+Du
42. The dimension of x is

43. What are the eigenvalues of matrix A?

44. The dimension of matrix B is
45. Eigenvectors associated with a complex conjugate set of eigenvalues

(Questions 46-48) A three degrees-of-freedom linear system is shown in the figure

x1
x2
x3
k1

m1

k2

m2

k3

k4
m3

K2=k3=2k1=2k4

Natural Frequency (rad/sec)

First
Second
Third

10
20
30

Mode(x1:x2:x3)
1:1.5:1
1:0:-1
1:-1.5:1

46. If the response of m1 to initial conditions is 5sin20t, then the ratio of the force
amplitudes in k2 and k3 is
47. If the response of m3 to initial conditions is sin10t, then the amplitude of inertia force
of m2 in Newtons is
48. If the displacement of m1 at t=10 sec is 0.5m, then the displacement of m3 is

(Questions 49 - 50) The eigenvalues and corresponding eigenvectors of a fourth-order system with
x1, x2, x3 and x4 as the states are given as
Eigen values:
Eigenvectors:
x1
x2
x3
x4

23j

-2

-3

1 j
1m j
1m j
1

-2
4
0
1

-4
2
-1
1

Also, for a set of initial conditions (with zero input) the response x1(t) is found to be
x1 (t ) = e 2t sin 3t
49. x2(t)=
50. x4(t)=
51. Match the type of initial condition response and the system transfer function
5(s + 10 )
(s + 5 )(s 2 s + 10 )
6
(b)
2 2
(s + 1 ) (s + s + 1 )
(s + 2 )(s 2 )
(c) 2
(s 1 )(s + 4 )
s 1
(d)
(s + 2 )(s + 4 )
s 1
(e)
(s + 2 )(s 2 + 4 )

(a)

nonoscillatory, convergence (

oscillatory,convergence

oscillatory, divergence

oscillatory, neither converges nor diverges

nonoscillatory, divergence

Questions 52-53
D
R

G1

G2

+
H

52. Transfer function Y/R is

53. Transfer function Y/D is
Questions 54-58. Map the regions in the complex plane
54. 0.6 0.8,

n 10

55. 0.5 n 2,

n 10

56. 0.5,

5 d 10

57. n 1,

5 d 10

58. 0.6,

n 6

Questions 59-60
Consider the following non-unity feedback control system
YC

10
s 2+5s

(s+1)(s+2)
s

59. Type of the system is

60. Steady state error to a unit parabolic input is

Questions 61-64

Consider the following unity feedback control system

YC +

s(s+2)

61. Determine, if possible, the value of K required to obtain a closed loop system natural
frequency of 10 rad/sec.
62. Determine, if possible, the value of K required to obtain a closed loop system
damping ratio of 0.5.
63. Determine, if possible, the value of K required to obtain a closed loop system
damping ratio of 0.5 with a natural frequency of 10 rad/sec.
64. Determine the velocity error constant.
Questions 65-67
Consider a root locus plot of the following system for positive values of K
YC

+
_

K (s+2)

s (s+1)

65. Number of asymptotes is

66. Break-away point is at
67. Break-in point is at
Questions 68-69
The open loop poles of a control system are located at 0, 1 1 j . There are no open loop
zeros.

68. The angle of departure of the root locus from the complex pole 1+1j is
69. The real-axis intercept of the asymptotes is
Questions 70-73
Consider the block diagram of a DC servomotor as shown in the figure.

DC Motor
10
s + 10

1
s

Kd

70. With H as a proportional controller, i.e. H=Kp, what is the effect of increasing Kd on
the closed loop system damping?
71. With H as a proportional controller, i.e. H=Kp, what is the effect of increasing Kp on
the closed loop system natural frequency?

72. With H as a proportional controller, i.e. H=Kp,, what is the effect of increasing Kp on
the steady state error of the closed loop system for a ramp command input?
73. With H as a proportional-plus-integral controller, what is the effect of integral
feedback gain on closed loop system stability?
Questions 74-76
A block diagram representation of a satellite attitude control problem is shown in the
following figure:
Y

Y
C

1
s2

It is decided to use a controller of the form H(s)= K (T1s+1)/(T2s+1) where K, T1 and T2

are all positive. Determine stability of the closed loop system for the following cases:

A lead compensator, i.e., T1 > T2

74.

75. A lag compensator, i.e., T1< T2

76. A proportional controller, i.e., T1= T2

Questions 77-78
The Bode plots of the loop transfer function (GH) are shown in the following figures:

20

-20

-40 -1
10

10 0
Frequency (rad/sec)

10 1

10 0
Frequency (rad/sec)

10 1

0
-90
-180
-270
10 -1

77. The gain margin is (roughly)

78. The phase margin is (roughly)

Questions 79-86
Match the pole-zero map to the corresponding controller

(a)

(b)
j

(d)

(e)

(g)

o
(h)

79. Proportional controller

80. Derivative controller
81. Integral controller
82. Proportional-plus-derivative controller
83. Proportional-plus-integral controller

x
(f)

(c)

84. Proportional-plus-derivative-plus-integral controller

85. Lead compensator
86. Lag compensator
87. The phase angle of G ( s ) =

88. Given G ( s ) =

10
( s + 1)

for s = 1j is (in degrees)

25
, the gain crossover frequency in rad/sec is
s2

Questions 89-90.
The Nyquist plot of the open loop transfer function (GH) for a specific value of gain is
shown in the following figure. The open loop system has no poles in the open right half
complex plane.

Im

-1

Re

89. Determine the stability of the closed loop system.

90. If the 1 point lies at the A on the negative real axis, determine the stability of the
closed loop system.
Questions 91-92

Ke Ts
A closed loop system has the loop transfer function GH ( s ) =
.
s
91. For K=1, determine the maximum time delay in seconds for marginal stability.
92. Determine K for marginal stability when time delay is /4 seconds

Questions 93-94
For a unity feedback system the value of GH(j) for =1 rad/sec is obtained as 1+1j.
93. The magnitude of the closed loop system frequency response for =1 rad/sec is
94. The phase angle in degrees of the closed loop system frequency response for =1
rad/sec is

Questions 95-96

K
, where K=1/2 and =1 sec. The Nyquist
(s 1)
plot for GH(j) is shown in the following figure:

A unity feedback system has GH ( s ) =

95. Determine the stability of the closed loop system for K=1/2.
96. Determine the range of values of K for a stable closed loop system.

Questions 97 100.
A proposal is made to control the attitude of a geosynchronous satellite using an earth
sensor to measure the attitude and reaction jets to produce moments (see Figure 2).

where is satellite attitude, u is fuel flow control of reaction jets, I is mass moment of
inertia and b is moment arm to C.G. Both I and b are constant.
The configuration for the closed loop system is shown in Figure 3.

where H(s) is the controller transfer function and

0.1
G(s) = 2
s

97. Consider a proportional plus derivative controller of the form H(s)=K(s+1) for the
geosynchronous satellite attitude control. Determine the value of K that will provide a
phase margin of 60 degrees.

98. Determine gain margin of the system with the controller gain from question 97.
99. Determine the steady state response of the closed loop system with the controller of
question 97 for a command input c=0.1sin2t.
100. In reality, certain amount of time delay is introduced due to the time taken for
receiving the attitude information and for sending back the required control signal to the
satellite. The modified block diagram with the time delay block is shown in the following
figure:

Determine the maximum time delay T for which the closed-loop system is stable with the
controller of question 97.