SPRING 2015 Reg#

EE341 – Control Systems 14th MAY 2015 Name:

Major Quiz (1 hours 10 minutes)

Q1 CLO_2 (C3) [02mins] (05 marks) [ ]

Q2 CLO_2 (C3) [05mins] (05 marks) [ ]
Q3 CLO_2 (C3) [15mins] (10 marks) [ ]
Q4 CLO_2 (C3) [10mins] (10 marks) [ ]
Q5 CLO_4 (C4) [10mins] (20 marks) [ ]
Q6 CLO_3 (C4) [25mins] (25 marks) [ ]

Total (75 marks) [ ]

Instructions:
 TALKING ALOUD WILL RESULT IN MARKS DEDUCTIONS.
 Each Question must be finished before starting of next question,
otherwise marks of that QUESTION will be deducted. (half the marks
you get in that Question)
 NO extension in Time
 Whitener or correction fluid CANNOT be used
 NO Questions will be entertained
 Papers CANNOT be unstapled
 Time mentioned is only a guideline
 Pencil CANNOT be used for calculations, only or drawing.
 Calculators CANNOT be BORROWED.
 Show all your workings CLEARLY
 Cheating or use of unfair means will result in severe consequences

Page 1 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q-1

Page 2 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q2 A plant has the transfer function given by:

1
𝐺(𝑠) =
(1 + 𝑠)(1 + 0.5𝑠)
And is controlled by a proportional controller 𝐺𝑐 (𝑠) = 𝐾, as shown in Figure 1.
Calculate the value of K that yields a steady state error with a magnitude equal
to 0.01 for a unit step input.

Figure 1

Page 3 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q3- Consider the systems in figure 2

a) Show that both systems have the same transfer function when
K1=K2=100.
b) Which system is most sensitive to variations in the parameter K1?
Compute the sensitivity using nominal values K1 =K2=100.

Figure 2- Two feedback systems with gains K1 and K2

Page 4 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q4- Consider the system in Figure 3

a) Derive the expression for E(s)
b) Design the values of K1 and K2 in the system to meet the following
specifications:
i. Steady state error component due to a unit step disturbance is -
0.000012
ii. Steady state error component due to a unit ramp input is 0.003

Figure 3

Page 5 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q5 For each set of poles and zeros of open loop system shown in this
TABLE. Sketch the root locus if the system is negative feedback
and if the system is positive feedback in respective columns.
KG(s)H(s) Positive feedback Negative feedback
1

Page 6 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q6- For the unity feedback system has:

𝐾
𝐺(𝑠) =
𝑠(𝑠+5)(𝑠+12)
Do the following:
a) Find the gain, K for the uncompensated system to operate with 30%
overshoot, if the root locus is shown in figure 4
b) Find the peak time (𝑇𝑃 )and 𝐾𝑣 for the uncompensated system
c) Design a lead compensator to decrease the settling time (𝑇𝑠 ) by a factor of 2,
decrease the percent overshoot by a factor of 2. (Hint: you have to use the
root locus given).
Specify all poles, zeros, gains, damping ratio, 𝜔𝑛 , and relevant angles through
each step.
Part d,e,f on the last page

Page 7 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

-1.48+j3.95

Figure 4 - Root Locus

Page 8 of 9
 SPRING 2015 Reg#
EE341 – Control Systems 14th MAY 2015 Name:

Q6- Continued
d) Draw accurate root locus of the compensated system:
Show working for:
i. Breakaway/in points
ii. Asymptotes
iii. jw crossing and K at that point
iv. Any other relevant calculations
e) Find the value of K at dominant poles of the compensated system and the
position of the third pole. Does second order approximation holds for your
compensated system? Justify your answer.
f) If I require the steady state to reduce to zero, then which compensator should
be cascaded with your compensated system? Give the transfer function for
the compensator and defend your choice for pole and zero location. Is there
any criteria that poles and zeros should meet?

Page 9 of 9