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# Midterm Exam, EE 4314 Control Systems, Fall 2013

Instructions:
Exam time: 3:30 pm 4:50 pm (80 mins).
You are required to work alone, meaning that no discussion amongst yourselves is
allowed.
There are four problems, each requiring handwritten answers on the sheets
provided. If you need extra paper, please write on the back of the sheets provided,
or staple extra sheets to the exam.
In order to receive full credit, you must clearly explain your assumptions,
reasoning, and results (e.g. justify your answers). You will get more credit for
having a slightly incorrect answer while showing a sound understanding of the
concepts than for posting the right answer without explaining how you arrived at
the result.
Use of cell phones or calculators of any kind during this exam is not allowed, but
you can refer to the handwritten cheat sheet.
Time management: while it is up to you to manage your time during the exam,
you may consider moving on to the next problem after 20 minutes so that you can
work on all the problems in the alloted time.

## Problem 1 (25 pts) (General concepts)

Using words, and (either) diagrams or formulas explain:
a) What are the typical performance metrics of control systems? List 5 such metrics,
and ellaborate on 2 of them in more detail (5pts).
b) Discuss how modern control systems techniques differ from classical control
techniques. What advances have encouraged the different approaches (5pts)?
c) The definition of closed-loop system types 1, the definition of the velocity
constant, and a formula to calculate it.
d) Write and discuss the trade-off between closed-loop sensitivity function and noise
transmission in a control system (5pts).
e) Write the definition of pole placement for a state-space system and give a
necessary and sufficient condition for it (5pts).

## Problem 2 (25 pts) (Dynamic Models)

Consider the mechanical system in Figure 1, the motorized cart-pendulum system.
The cart has a moving mass M, and is connected to a rotating motor that drives an
inverted pendulum. The mass M linear motion has a stiffness coefficient K. The
pendulum of length l has negligible inertia and mass m, and is attached to the cart via a
rotary servo motor that can generate a torque input u.
a) Propose system states, and write the dynamical equations of motion as a
function of the states (12 pts).
b) Approximate the pendulum equations around =0, and find the transfer
function between input u and output (8 pts).
c) Is the system stable? Explain (5 pts).
x
K
M

l
m

## Problem 3 (25 pts) (State-Space Model)

Consider the third order dynamical system:

(a) Show that this system is both observable and controllable (10 pts).
(b) Design a full-state feedback controller with closed loop poles located at 1,2=-1j,
3=-2 (10 pts)
(c) Draw a block diagram realization of the system (5 pts).

## Problem 4 (25 pts) (Properties of feedback)

Consider the feedback control system with a proportional controller with gain K, a first
order plant with unity DC gain and 2 rad/s bandwidth, and a 1st order sensor filter with
unity DC gain and bandwidth B. The system has reference and disturbance inputs.
a) Draw the control system diagram of the system (5pts).
b) Derive the loop gain, the sensitivity, and the disturbance-to-output transmission of
the system. What is the system type? (10 pts)
c) Determine constants K and B such that the closed-loop response to a unit step is
underdamped, has a settling time of no more than 1 second, and a steady-state
error smaller than 0.1 (10 pts).