MID SEMESTER EVALUATION

TF 3203 - AUTOMATIC CONTROL

Day / Date : Monday / March 30th, 2009

Room : R - 9232
Time : 09.10 - 10.50 am (100 minutes)
Lecturers : Deddy Kurniadi / Estiyanti Ekawati
Methods : Opened Book: Ogata, K.,”Modern Control Engineering”
No any other notes allowed

5s  2
1. a. Find the inverse Laplace Transform of : F s 
s  1s  22
Solution :
5s  2 a b c
F s   
s  1s  22 s  1 s  2 s  2
2

ª 5s  2 º
a «s  1 3
¬ s  1s  22 »¼ s 1

ª 5s  2 º
«s  2 
2
b 8
¬ s  1s  22 »¼ s 2

d ª 5s  2 º ª 5s  1  5s  2  º
« s  2 
2
c 3
ds ¬ s  1s  22 »¼ s 2
«
¬ s  12 »
¼s 2

then : f t  3e  t  8te 2t  3e 2t

b. Obtain the solution of the following differential equation:

x  ax A sin Zt ; x0  b

Solution :
Z
Laplace transform Ÿ sX s   X 0   aX s  A
s Z2
2

Z
s  a  X s  A b
s Z2
2

AZ b
Ÿ X s  
s  a s  Z  s  a 
2 2

AZ § 1 sa · b
X s  2 ¨
 2 2 ¸

a  Z © s  a s  Z ¹ s  a 
2

§ AZ · 1 Aa Z AZ s
X s  ¨b  2 2 ¸
 2  2
© a Z ¹ s  a a Z s Z 2 2 2
a Z s Z2
2 2

 
§ AZ · at Aa AZ
xt  ¨ b  2 2 ¸
e  2 sin Zt  2 cos Zt ; t t 0
© a Z ¹ a Z 2
a Z2
2. Simplify the following block diagram, and obtain the closed loop transfer function
C(s)/R(s)

Solution :

 
C s  G1G2 G3  G1G3 H 1
Rs  1  G2 H 2  G2 G3 H 3  G3 H 1 H 3  G1G2 G3  G1G3 H 1
3. Consider the liquid level shown below. At steady state the inflow rate is Q and the outflow
rate is also Q. Assume that at t = 0 the inflow rate is changed from Q to Q + qi where qi is
a small quantity. The disturbance input is qd, which is also a small quantity. Draw a block
diagram of the system and simplify it to obtain H2(s) as a function of Qi(s) and Qd(s),
where H2(s) = L[h2(t)], Qi(s)= L [qi(t)], and Qd(s)= L [qd(t)]. The capacitances of tanks 1
and 2 are C1 and C2 respectively.

Solution :

H 1 s   H 2 s  H 2 s 
Q1 s  ; Q2 s 
R1 R2
Qi s   Q1 s  Q1 s   Q2 s   Qd s 
H 1 s  ; H 2 s 
C1 s C2 s
 R2
H 2 s  >Q s   R1C1s  1Qd s @
R1C1s  1R2C2 s  1  R2C1s i

4. Consider the following closed loop system transfer function. Determine the values of
]and Zn so that the system respond to a step input with approximately 5% overshoot and
with a settling time of 2 seconds (use the 2% criterion).
C s  Z n2
R s  s 2  2]Z n s  Z n2

Solution :
§¨ ] / 1] 2 ·¸S
Mp e © ¹
0,05 Ÿ ] 0,69

4 4 4
ts Ÿ Zn 2,90 rad/sec
]Z n ] ts 0,69 ˜ 2

5. Determine the range of K for stability of a unity-feedback control system whose open loop
transfer function is:
K
G s 
s s  1s  2 s  3

Solution :

The characteristic equation : s s  1s  2 s  3  K 0

s  6s  11s  6s  K
4 3 2
0
The Routh Array :
s4 1 11 K
s3 6 6 0
2
s 10 K
s 60 - 6 K
10 0
0
s K

For stability : 60 – 6 K > 0 and K > 0, then 0 < K < 10