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Mechanical Engineering Department

Faculty of Mechanical and Aerospace Engineering


Institut Teknologi Bandung

MS3200 Introduction to Control System, 2nd Semester, 2013/2014


Midterm Exam #2, Friday, April 25, 2014
Duration: 120 minutes.

1. (30%) An open loop system is to be controlled by a simple proportional control with



unity feedback. The open loop transfer function is given as:  = 
  . To

design the controller, the designer would like to have an overall view of the gain
possibilities. Please help the designer by completing the following tasks:
a. Draw the COMPLETE root locus of the above system.
b. Calculate the maximum gain before the closed-loop system becomes unstable.
c. Calculate the proportional gain K which makes the damping ratio = 0.707.
d. Find the maximum gain with no overshoot.

2. (30%) An uncompensated closed-loop system is given as the following block diagram:

1
( s + 1 )( s + 4 )

In order to improve the control system, a phase-lead compensator of the form   =
 
   , |z|<|p| is planned to be implemented as a replacement of the proportional
control block to satisfy the following design requirements:  = 0.707 and  |% = 1 s.

a. Determine the transfer function of the compensator


b. Plot the COMPLETE root locus of the compensated system to show that the
design requirements are accomplished by the new system

 
3. (40%) The open loop transfer function is given as:  =  
a. Derive the expression of the magnitude |G(i)| and phase angle G(i)
b. Calculate the magnitude |G(i)|, dB, and phase angle G(i) at the following values
of frequency .

[rad/s] |G(i)| dB = 20 log| G(i)| G(i) [deg]


1
10
c. Based on the following table, draw the frequency response of the system on the
given semilog paper, and determine the gain and phase margins. As has been
explained, gain margin is the difference (in dB) between unity gain condition (0 dB)
and magnitude of the frequency response at the phase cross-over frequency, i.e.,
the frequency at which the phase is -180o. On the other hand, the phase margin is
the difference (in degrees) between the phase at gain cross-over frequency, i.e., the
frequency at which the magnitude is equal to 0 dB.

<rad/s> dB = 20 log|G(i)| < G(i)


0.1 0.0 -84.8o
0.3 -9.2 -75.0o
1*
3 -19.9 -35.1o
10*
100 -40.0 -84.8o
* Copy from your answer in equation 3.b.

d. If G(s) = Y(s)/F(s) where f(t) is the input while y(t) is the output, then for f(t) = 2
sin 3t + 4 cos 100t, find the expression of y(t) at steady-state condition.

Good luck,
Zainal Abidin, Priyono Sutikno, and Ign Pulung Nurprasetio

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