King Saud University ‫ﺟﺎﻣﻌﺔ ﺍﳌﻠﻚ ﺳﻌﻮﺩ‬

College of Engineering in Al-Kharj ‫ﻛﻠﻴﺔ ﺍﳍﻨﺪﺳﺔ ﲟﺤﺎﻓﻈﺔ ﺍﳋﺮﺝ‬

Department of Electrical Engineering ‫ﻗﺴﻢ ﺍﳍﻨﺪﺳﺔ ﺍﻟﻜﻬﺮﺑﺎﺋﻴﺔ‬
Automatic Control System EE3511 ‫ﺃﻧﻈﻤﺔ ﺍﻟﺘﺤﻜﻢ ﺍﻟﺘﻠﻘﺎﺋﻰ‬
‫ﺍﳌﺴﺘﻮﻱ ﺍﻟﺴﺎﺩﺱ‬
First Mid-Term Exam 1430-1431
Dr. Fayez F. El-sousy & Dr. Ahmed M. Hussein
١٤٣٠/١٢/٢٦ ‫السبت‬

Problem #1 (3 Marks)
Using Laplace transform and assuming zero initial conditions, solve the following
differential equation:

The function f(t) is assumed to be a step function with value 2.0

Solution
Using Laplace transform;
ଶ
F(S) =
ௌ
ଶ
S2X(S) + 4 SX(S) + 4 X(S) =
ௌ
ଶ
X(S) {S2 + 4S + 4} =
ௌ
ଶ ଶ
X(S) = =
ௌ (ௌ మ ା ସௌାସ) ௌ (ௌାଶ)మ

Using partial fraction

ଶ ஺ ஻ ஼
X(S) = = + +
ௌ (ௌାଶ)మ ௌ (ௌାଶ) (ௌାଶ)మ

We found that A = 0.5 & B = – 0.5 & C = –1

଴.ହ ଴.ହ ଵ
X(S) = − −
ௌ (ௌାଶ) (ௌାଶ)మ

Using Inverse Laplace transform to obtain x(t);

x(t) = 0.5 – 0.5 e –2t – t e –2t

Problem #2 (6 Marks)
a) For the control system shown in Fig. 1, draw the signal flow graph and obtain the
transfer function using Mason’s formula.
b) Known that
‫)ܵ(ܥ‬ 10 (ܵ + 1)
= ଷ
ܴ(ܵ) ܵ + 3 ܵ ଶ + 12 ܵ + 10

Find α, K, K1, K2 and K3

+
1 3 5 C(S)
R(S) + 1 1 1
_ K
_ 2 ܵ + 4 ܵ(ܵ + 1) 6
_ 4

K3

K2

K1

Fig. 1
Solution
Numbering the nodes and then draw the signal flow graph:

α
1
R(S) 1 K 2 3 4 1/4 5 ܵ(ܵ + 1) 6 C(S)
1 1/S 1 1

K3
K2

K3
There are 2 forward paths
௄ ௄ఈ
P1 = P2 =
ସ ௌ మ (ௌାଵ) ସ ௌ (ௌାଵ)

There are 5 loops

ି ௄ ௄ଷ
L1=
ௌ
ି ௄ ௄ଶ
L2=
ସௌ
ି ௄ ௄ଵ
L3=
ସ ௌ మ (ௌାଵ)
ି௄ ௄ଵ ఈ
L4=
ସ ௌ (ௌାଵ)
ି௄ ௄ଶ ఈ
L5=
ସ
௄ ௄ଷ ௄ ௄ଶ ௄ ௄ଵ ௄ ௄ଵ ఈ ௄ ௄ଶ ఈ
∆=1+{ + + + + }
ௌ ସௌ ସ ௌ మ (ௌାଵ) ସௌ (ௌାଵ) ସ
ସௌ మ (ௌାଵ)ା ሼ௄(௄ଶାସ௄ଷାఈ௄ଶ ௌ)ሽ ௌ(ௌାଵ)ା ௄௄ଵା ఈ ௄௄ଵ ௌ
=
ସ ௌ మ (ௌାଵ)

∆1 = 1 & ∆2 = 1
‫)ܵ(ܥ‬
ܴ(ܵ)
‫(ܭ‬1 + ߙܵ)
=
ܵ ଷ (4 + ߙ‫ܭܭ‬2) + ܵ ଶ (4 + ߙ‫ܭܭ‬2 + 4‫ܭܭ‬3 + ‫ܭܭ‬2) + ܵ(‫ܭܭ‬2 + 4‫ܭܭ‬3 + ߙ‫ܭܭ‬1) + ‫ܭܭ‬1
But the T.F. is given as
‫)ܵ(ܥ‬ 10 (ܵ + 1)
= ଷ
ܴ(ܵ) ܵ + 3 ܵ ଶ + 12 ܵ + 10
By comparing the coefficients;
(Numerator)
α =1 and K=10
(Denominator)
(S3 coefficients) 4 + 10K2 = 1 K2 = –0.3
(S2 coefficients) 4 – 3 + 40 K3 – 3 = 3 K3 = 0.125
(S coefficients) –3 + 5 + 10 K1 = 12 K1 = 1
(As check from S0 coefficient) KK1 = 10
Problem #3 (7 Marks)
The block diagram representing a non-unity feedback control system of unknown order
and type is shown in Fig. 2.

R(S)+ E(S) ‫ܭ‬ 1 C(S)

_ ‫ ܵ ܭ‬+ 0.3 ܵ

Fig. 2
1+K

Assuming the constant K = 0.2 and for a unit step input

First we try to obtain the T.F.
‫)ܵ(ܥ‬ 0.2
=
ܴ(ܵ) 0.2 ܵ ଶ + 0.3 ܵ + 0.24
The order of the given system is 2
Characteristic equation
0.2 S2 + 0.3 S + 0.24 = 0
S2 + 1.5 S + 1.2 = 0
The general form of the 2nd order characteristic equation is
S2 + 2ζ ωn S + ωn2 = 0
By comparing coefficients
undamped natural frequency (ωn)
ωn2 = 1.2 ωn = 1.0954
Damping ratio (ζ)
ଵ.ହ
2ζ ωn = 1.5 ζ= = 0.6847
ଶ×ଵ.଴ଽହସ
Damped natural frequency (ωd)
߱ௗ = ߱௡ ඥ1 − ߦ ଶ = 1.0954 ቀඥ1 − (0.6847)ଶ ቁ = 0.7983

Maximum overshoot (Mp)

మ
Mp = ݁ ିగక/ඥଵିక = 0.05227 = 5.226%
Peak time (tp)
గ ଷ.ଵସ
Tp = = = 3.9354 ‫ݏ‬
ఠ೏ ଴.଻ଽ଼ଷ
Rise time (tr)
First we calculate angle β = cos-1(ζ) = 46.788◦ = 0.8166 rad
గିఉ ଷ.ଵସି଴.଼ଵ଺଺
Tr = = = 2.9124 ‫ݏ‬
ఠ೏ ଴.଻ଽ଼ଷ

Delay time (td)

ଵା଴.଻ క ଵା଴.଻×଴.଺଼ସ଻
Td = = = 1.35 ‫ݏ‬.
ఠ೙ ଵ.଴ଽହସ

Settling time based on 5% tolerance

ଷ ଷ
Ts = = = 4.0 ‫ݏ‬.
కఠ೙ ଴.଺଼ସ଻×ଵ.଴ଽହସ

Steady-state error (ess)

Since the given control system is non-unity feedback system, so we need to convert it
a unity feedback.
R(S)+ E(S) ‫ܭ‬ 1 C(S)
_ _ ‫ ܵ ܭ‬+ 0.3 ܵ

R(S)+ E(S) ‫ܭ‬ C(S)

‫ܩ‬௘௤ =
_ ܵ(‫ ܵ ܭ‬+ 0.3) + ‫ ܭ‬ଶ

ଵ ଵ ଵ
Position error coefficient (Kp) = lim௦→଴ ‫ܩ‬௘௤ (ܵ) = = 5. So ess = = = 0.167
௄ ଵା ௄೛ ଺

Final value of the system output C(∞)

From the system T.F. obtained before, we can calculate the system output as:
1
0.2 × ܴ (ܵ) ܵ
‫= )ܵ( ܥ‬
0.2 ܵ ଶ + 0.3 ܵ + 0.24
଴.ଶ
Applying the final value theorem C(∞) = lim௦→଴ ܵ ‫= )ܵ(ܥ‬ = 0.833
଴.ଶସ

Another method to calculate C(∞)

C(∞) = 1 – ess = 1 – 0.167 = 0.833 (same as before)