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Course Examination 1st Tenn, 2010-11

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Course Code & Title :

MAEG 3050 -- Introduction to Control Systems '

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Time allowed

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Student LD. No.

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hours

minutes

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Seat No. :

1. Answer ALL the questions on answer book (4 problems totally). Be sure to hand in
Figure 3 with your answer book.

2. Full mark is 100.

3. This is a closed-book but open-note examination. Two sheets of A4 SIze,

double-sided notes are allowed.

4. Calculators are permitted.

5. Solve all problems using the answer book provided.

6. Write your student number clearly on the front page of your answer book.

7. Question papers should be returned after the examination.

8. Do not tum over this page until instructed to do so.

Cont'd /2

........ f'<1I:\EG 3050

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1. The control system given in Figure 1 has performance specifications of

and T p ~

%= 0.7854 .

m.707

a) Sketch the Allowable Region on the s-plane

b) Pick a (convenient) design point in the Allowable Region. Assume the use
of P-control, i.e., C(s)=K. Sketch the root locus. Show whether or not the
design can be achieved.
Use Phase
c) Now consider the use of PD-control: C(s)=K(s+y).
Requirement to determine y so that your design point lies on the resulting
root locus.
d) What is the type number of the system? What is the corresponding error
constant for your design?
e) Determine the steady state tracking error of the resulting closed loop
system to a parabolic input.

R(s)

+
'

C(s)

1
Yes)
s(s+4) I--""T""""".

Figure 1

Cant' d ... /3

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2. The unity feedback system in Figure 2(a) has a plant transfer function of
G(s)

= (s + 2)
(s - 4) .

a) Obtain expressions for the real and imaginary parts of GU co).

b) Sketch the Polar plot of GUm). What happens when co is very small, and
very large? Is there any special point(s) to note in-between?
c) Obtain the mapping of G(s) for the contour r s as shown in Figure 2(b).
State clearly the mappings of the various portions.
d) Apply the Nyquist stability criterion to determine the range of K for
stability.
e) Determine the range of K for stability directly from the Characteristic
Equation of the system. Compare your result with that in d).

R(s)

G(s)

I-----r-+

Y (s)

Figure 2(a)

Figure 2(b)

Cant 'd .. . /4

... MAEG 3050

3. You are to sketch the root locus of a unity feedback system with the open loop
transfer function

G(s)

K(s + 4)
(s+I)(s2 +2s+10)'

a) Mark the poles and zeros of G(s) on the s-plane, and the real axis portion
of the root locus.
b) Determine the angles and centroid of the asymptotes, if appropriate.
c) Obtain the point where the locus crosses the imaginary axis and the
corresponding value of K.
d) Determine the angle of departure at the complex poles, if any.
e) Determine the breakaway point, if any. Sketch the root locus.

4. Consider a unity feedback system with the following open loop transfer function
G(s)

2000
s(s + 10)(s + 200)

a) Sketch the Bode plots of G(jm) on Figure 3.

b) Use your Bode plots to obtain the steady state response yss(t) when G(s) is
subjected to an input of r(t)=sin(3t).
c) Let G(s) be the transfer function in Figure 2(a). What is the gain margin
and phase margin of the closed loop system for K=l? Is the closed loop
system stable?
d) For K=10, sketch the Bode plots of KG(s) also on Figure 3. Is the closed
loop system stable in this case? If so, what is the corresponding damping
coefficient for the closed loop system?
(Be sure to hand in Figure 3 together with your Exam Book)

Cant' d .. /5

Course Code

MAEG 3050

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Page

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40

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20

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0
-20
-40

Magnitude
in db

-60
-80

-100
-120
-140
-160
10"

10

1d

10'
w (red/sec)

45

-45

Phase in
degrees
-90

-135

-180

-225

-270

10"
w (red/sec)

Figure 3

- END -

10

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