S

L!NIWRSm KEBANGSAAN MALAYSIA

The National University of Malaysia

PEPERIKSAAN AKHIR
SEMESTER I SESI AKADEMIK 2016-2017
IJAZAM SARJANAMLJDA DENGAN KEPUJIAN

DISEMBER 2016/JANTIARI 2017 MASA: 2 JAM 30 NHNIT

KOD KURSIJS : KKKZ4124

TAJUK KURSUS : REKABENTIIK SISTEM KAWALAN

ARARAN : 1. Kertas liii mempunyai Bahagian A dan B.

2. Jawab SEMUA soalan Bahagian A dalani buku jawapan

yang diedarkan.

3. Jawab 2 soalan sahaja Bahagian B dalam bukujawapan yang

diedarkan.

4. Jumlah markah keseluruhan kertas mi 100 markah.

5. Kertas soalan tidak dibenarkan dibawa keluar daripada

Dewan Peperiksaan.

No. Pendaftaran: MEMENEEN (dengan perkataan)

Set:

Kertas soalan mi mengandungi 8 muka surat bercetak, tidak termasuk inuka surat mi.

MS ISO 9001 REG NO. AR 2845

 KKKZ4I 24

PART A (60 Marks)

Instruction: Answer ALL questions.

1. Consider the unity-feedback system where open-loop transfer function is

K
s(s + 1)

It is desirable to obtain velocity error constant K v = 10 and phase margin of at least

450 . Figure 1 shows the Bode plot for the uncompensated system with K value that
satisfies the steady state requirement.

a) Design a cascade lead compensator and derive the open-loop transfer function of the
compensated system to achieve the desired specifications by using frequency-domain
methods with correction factor of 31.
(9 marks)

b) Explain on how you would validate your design.

(4 marks)

c) State the purpose of correction factor in your design in part a).

(2 marks)

m
0
V

C
(5

102
100 101 102
16 i
Frequety (rad/sec)

Figure 1
 KKKZ4124

2. A dynamic system is described by the following state space equations,

i(l)= Ax(t)+Bu(t)
y=Cx(:)

where,

A=[2 ]; B=[]; c=[-4 —i]

a) Design a state feedback gain controller K = [ kj k2] so that the desired closed-loop
eigenvalues are located at -3±j6.

(8 marks)

b) Consider a control system with an open loop transfer function as shown below.

1
G(s) =
s(s+3)(s+9)

Using the Ziegler-Nichols tuning rule, design the three term controller for the
abovementioned system.

(7 marks)

3. Consider a transfer function given by,

Y(s) 35+5
3
ii) - + 2s' + 4s + 6

a) Sketch a signal flow graph of the transfer function above.

(5 marks)
b) Derive a state space representation using phase variable form.
(5 marks)
c) Change the state space representation to controller canonical form.
(5 marks)

2
 KKKZ4 124

4. Figure 2 shows an equivalent circuit of a DC motor, where v0: armature voltage; La:
armature current; ra: armature resistance; La: armature inductance; T0: motor torque; cv:
motor speed; J: moment inertia and B: viscous friction. Motor torque and back emf
constant is the same and represented by T.

a) Identify two DC motor's state variables.

(2 marks)

b) Derive the state equation.

(8 marks)
c) Derive the output equation.
(5 marks)

Figure 2

3
 KKKZ4I24

PART B (40 marks)

Instruction: Answer TWO questions only.

1. An attitude control system for a rigid satellite is shown in Figure 3.

Satellite
Converter
11
+ e
I
I U
I
I

) c I1IIII iiK.c 10Is,lIs:tu

- L:-'-----------:

Figure 3

Given below is the system's state space representation,

0
1=[ 1H1+
1-' 2 [-10K 0j{x2 j 10Kj
0i

Y=[1 0xi
tX2
Using Ackermann's method,

a) Perform a pole-placement design with state feedback for the system with the
following characteristic polynomial a, (S) = + 8s + 16
(8 marks)

b) Briefly explain, why it is necessary to check the controllability of the system.

(4 marks)

c) Design a state observer for the abovementioned system such that the desired
characteristic polynomial is a6 (s) = + 20s + 100.
(8 marks)

4
 KKKZ4I24

2. A state space steady state error can be analyzed using final value theorem (FVT).
a) Using suitable example, proof that the FVT for steady state error in state space is
represented by,
—4 2 0 0
Ar 0 —1 3; B= 1; c=i o —i
10 —5 1 0

(6 marks)

b) Solve the steady state error for the system using FVT for step and ramp inputs
respectively.
(6 marks)

c) Replacing FVT, analyze the system's steady state error using input substitution
method for step and ramp inputs, respectively.
(6 marks)

d) Identify the system's type.

(2 marks)

3. A unity-feedback uncompensated control system has the following transfer function,

K
s(s+10)2

It is specified that the velocity error constant of this system is equal to 20 while the phase
margin of the system is to be at least 651.

a) Referring to Figure 4(a) and 4(b), choose the right system response with K value that
will satisfy the steady state requirement and justify your answer.

(3 marks)

b) Design a lag compensator using frequency response method by allowing the

correction factor of 100 and the final lag compensated transfer function with K value.

(9 marks)

c) Evaluate and justify your design. Use the provided semi log paper.

(8 marks)

5
 KKKZ4124

60 1 1 1 ii I I I I I • I •FII 111FF
50
__1__1_-i_1_1_'_i!
40----

I
260
-270
10_ I
: 100 10'
Freguey (rad/sec)
102

Figure 4(a)

40 F ----- - ------
-
- - - L - _I_ _L i_LI_I_Fl ,-
- - - - I - - L - i_I- L t LLI--------I -------L

I loo

U 10
io 100 10' — 10
Frequency (radisec)

Figure 4(b)
'SELAMAT MAW JAVA'
 KKKZ4124

Appendix A

(ç,r
IKG(s) H (s )I =1
% = x 100
ZKG(s)H(s) = ±180° (2k+1)
- —ln(%OS/100)
,J2 +1n2(%OS/100)
1
K=
IG(s)H(s)I
T=
Zero Angle - Pole Angle = ±1 80°(2k + 1)

= (1.764- _0 .417C 2 +1.0394Th-i)

Tr Mp=j2. w=@1_2C2

4 if Ji4_2)+44C2+2
T= W8w=
TJ1_C2

1
e(c/o)=e (co= SICP
1 + urn G(s) =O_2c2)+V4C4_4C2+2
s-to @8W

e(co)=emmp(co)=
1+lirnsG(s) 1
5-4O
[I-2++4c I
K =limG(s)
1 1
IG(iw=7j
Ta'
= urn sG(s)
(I —
eead max

IC =lims2G(s) I
s-*O

max = sin' ['m]

= finite poles - finite zeros
#finite poles - # finite zeros

(2k+1)if
9a -
finite poles - # finite zeros

7
 KKKZ4I24

Ziegler-Nichols Tuning Rule (Vt Method)

Type of Controller Kp Ti Td

P 0

PT 0.9T/L LI0.3 0

PID 1.2T/L 2L 0.5L

Ziegler-Nichols Tuning Rule (2's Method)

Type of Controller Td

P 0.5Kcr 00 0

P1 0.45Kcr 0.833Pcr 0

PD 0.6Kcr 0.5Pcr 0.125Pcr

Ackermaun' s Formula
State Feedback
K=[0 •-. o l]Pød(A)
where
P : controllability matrix [B AB A 2B .... A'1B]

d (A) desired characteristic of the closed-loop poles

State Observer
L= D(A)P'[0 0 lI

wherel c
CA
P0 : observability matrix

(bd(A) : desired characteristic of the closed-loop poles