Prof. Dr.-Ing. F.

Keller
Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2012

CSexss12.doc

page 1 / 7

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

Formulas:
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

for d<1:

d
t
T

1 d 2

t
sin
d

1 d 2

1 d
arctan
; 90 180

1
(T s 2 d T s 1) s
2

1 1 e T
T
t

for d=1:

T2
T1
T2
for d>1: 1
e T1
e where T1, 2 T d d 2 1
T1 T2
T1 T2

Prof. Dr.-Ing. F. Keller

Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2012

CSexss12.doc

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).

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 2012

CSexss12.doc

page 3 / 7

Problem 2: (7 points)
Given a system which is the series connection of an integrator (transfer func1
1
tion:
) and a lowpass-system (transfer function:
).
Ti s
1 T s

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

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

b) Obtain the step response (as a formula) of the system for Ti= T.

Prof. Dr.-Ing. F. Keller

Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2012

CSexss12.doc

page 4 / 7

Problem 3: (10 points)

Given the following control loop. The

process is described by
K
.
G ( s)
1 Ts Ts

controller

process

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

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

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

d) If the strategy of cancelling poles is to be used, which controller is to be used

(P, PI, PD, PID or I).? Why?

Prof. Dr.-Ing. F. Keller

Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2012

CSexss12.doc

page 5 / 7

Problem 4: (7 points)
1

Given the following Nyquist plot of an

open control loop. A P-controller with
gain 1 is used.

-1
imaginary part

a) What is the order of the process?

-2

-3

b) What is the maximum gain of the

controller, so that the control loop is
still stable. Approximate value is
sufficient; explain the way how the
result is obtained.

c) What is the steady state error (in %)?

-4

-5

-2

-1

1
2
real part

Prof. Dr.-Ing. F. Keller

Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2012

CSexss12.doc

page 6 / 7

Problem 5: (9 points)
A process defined by G process

1 T s
e with T 1s is controlled by a P-Controller (gain
Ts

V).
a) Draw the block diagram for the closed loop.

b) Make a sketch of the Nyquist plot of the open loop for V=1.

c) What is the maximum value for V for which the control loop is still stable?

Prof. Dr.-Ing. F. Keller

Karlsruhe University of
Applied Sciences

Control Theory
Examination Summer 2012

CSexss12.doc

page 7 / 7

Problem 6: (9 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 P-controller with gain K. Obtain the transfer function of the closed loop.
Is it possible that the control loop is unstable? Why?

c) Make a drawing of the following signals: reference input, controller output, controlled variable if the container is empty for t=0. The reference input is a step from
m3
1
0 to 1m. Parameters: A 1m 2 , K s
m