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Prof. Dr.-Ing. F.

Keller
Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 1 / 7

Name:............................

Formulas:
Small Laplace Transform Table:

(t)

1
s

e a t

1
sa

1
s2
1
s s a

1
1 e at
a

sin at

a
s a2
s
2
s a2
2

cos at
1 d 2

1
sin

t
d

1 d 2

fr d<1:

d
t
T

1 d
mit arctan
d

1
(T s 2 d T s 1) s

und 90 180

1 1 e T
T
t

fr d=1:

T2
T1
T2
e T1
e mit T1, 2 T d d 2 1
fr d>1: 1
T1 T2
T1 T2

Prof. Dr.-Ing. F. Keller


Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 2 / 7

Problem 1: (6 points)
Given a system with input signal x(t) and output signal y(t) which is described by

y T y T x
a) Obtain the transfer function G( s )

Y ( s)
.
X ( s)

b) The input is x(t)=(t). What is the Laplace-transform of x(t) ? What is the Laplacetransform of y(t)? Obtain y(t).

c) Make a sketch of the Nyquist plot of G(s) for T=1s.


The starting point and the end point must be clearly shown.

Prof. Dr.-Ing. F. Keller


Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 3 / 7

Problem 2: (7 points)
Given a system with transfer function G ( s)

1 Ts
e
Ts

a) Make a sketch of the Nyquist plot of G(s) for T=1s.


Rough sketch is sufficient; the starting point and the end point must be clearly
shown.

b) Sketch the step response of the system for T<t<5T.

Prof. Dr.-Ing. F. Keller


Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 4 / 7

Problem 3: (11 points)

Given is the following control loop.


The process is described by
1
1
.

G ( s)
Ts 1 Ts

controller

process

a) Obtain the transfer function G(s) = C(s)/R(s) of the closed loop, if a P-controller
with gain K is used.

b) Is it possible, that the control loop is unstable with P-control ? Why ?

c) What is the steady state error (in %) for K=4, and T=1s ?

d) Find out, whether the step response of the closed loop has an overshot for K=4,
and T=1s.

Prof. Dr.-Ing. F. Keller


Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 5 / 7

Problem 4: (7 points)

The block diagram of a process is given in the following figure. Note that the process
includes a positive feedback. T and K are positive.
u

1
1 Ts

1
Ts

+
+

1
Ts

a) Find the transfer function G ( s)

b) Is the process stable? Why?

C ( s)
.
U (s)

Prof. Dr.-Ing. F. Keller


Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 6 / 7

Problem 5: (10 points)


A process defined by G process e TD s with TD 10 s is controlled by a P-Controller (gain
K).
a) Give an example for a real process which is described by this transfer function.
For your example clearly state what is the input and the output signal (with units).

b) Make a sketch of the Nyquist plot of the open loop for K=2.

c) What is the maximum value for K for which the control loop is still stable.

d) Make a drawing of the reference input, the controller output and the controlled
variable if a P-controller with gain K=2 is used and the reference input is r(t)=(t).
Drawing for 0<t<40s. What is the value c(t=35s)?

Prof. Dr.-Ing. F. Keller


Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2011

CSexss11

page 7 / 7

Problem 6: (7 points)
We consider a liquid level control system. The liquid level h (dimension: m) in a container is to be controlled. The cross section area of the container is A. The controller
output is qcontroller (flow rate, dimension: m3/s).
a) What is the transfer function of the process (input: qcontroller, output: h)

b) We use a I-controller Gcontroller ( s )


loop. Make a stability analysis!

1
. Obtain the transfer function of the closed
Ti s