TEEE2205 ENGINEERING CONTROL SYSTEMS AND TEMB2204 MECHATRONICS CONTROL 2

INSTRUCTIONS
[1] This examination paper consists of seven (7) questions.
[2] Attempt any five (5) questions for full marks.

QUESTION ONE
(a) Define the following terms as far as control systems and engineering is concerned:
(i) Controlled variable,
(ii) Control signal or manipulated variable,
(iii) Plant,
(iv) Process,
(v) System,
(vi) Disturbance,
(vii) Open loop control system,
(viii) Closed loop control system
(ix) Actuating Signal
(x) Reference Input (5 Marks)
(xi) List three advantages and two disadvantages of using open-loop control systems (5
Marks)
(b) Describe the five essential generic elements required in order to design and implement a
control system. (5 Marks)
(c) With the help of a flow chart explain the steps involved in the design of a control system. (5
Marks)

QUESTION TWO
a) Obtain the transfer functions of the following electrical networks below:
Deduce the result when R1=R2=R and C1=C2=C. for fig (a), consider
(i) V2(t) as output and V1(t) as input also
(ii) i2(t) as output and V1(t) as input
NOTE THAT THE SECOND CAPACITOR ACROSS V2(t) IS C2.

fig (a)

fig (b)
Consider V1(t) as input and V2(t) as output in fig (b) (10 Marks)
b) If R=100KΩ and C=20µF, L=2H find the inverse Laplace transform of the above in question 2(a)
and hence the output for the input being
(i) a 2-step function,
(ii) a 2-ramp function (constant velocity input),
(iii) Sinωt (10 Marks)
QUESTION THREE
a) Any system in which the output quantity is monitored and compared with the input, any
difference being used to actuate the system until the output equals the input is a closed loop
or feedback control system. With the help of a block diagram, obtain the transfer function G(s)
of a closed-loop control system relating the transformed input R(t), C(t) as output and H(t) as
feedback factor, hence determine the output C(t) when the input R(t) is a 4-unit parabolic
function(4t2) and H(t)=2t. (5
Marks)
b) By considering the generalised second-order system response to the following inputs, obtain
the output Xo(t):
(i) a 4-step input
(ii) a 4-ramp input, (5
Marks)
c) A system is described by
d2 y dy
2
+8 +25 y ( t ) =50 x (t ), Evaluate the response and maximum output for a step of 2
dx dx
units. (5
Marks)
d) Measurements conducted on a servomechanism show the error response to be:
e (t )=1.66 e−8 t sin (6 t+37 0), where the input is given a sudden unit displacement. Determine
the natural frequency, damping ratio and damped angular frequency. (5 Marks)
QUESTION FOUR
a) Explain the following terms in regard to the time response specifications in specifying the
transient-response characteristics of a control system to a unit-step input:
(i) Delay time, td
(ii) Rise time, tr
(iii) Peak time, tp
(iv) Maximum(peak) overshoot, Mp
(v) Settling time, ts
(vi) Steady state error, ess (3 Marks)
And hence write down the time response specifications of a second-order system. (2 Marks)
b) When a unity gain second-order system is subjected to a unit step input, its transient response
contains a first overshoot of 77% occurring after 32.5ms has elapsed. Find:
(i) The damped natural frequency,
(ii) The damping ratio,
(iii) The undamped natural frequency,
(iv) The system transfer function,
(v) The time to settle down to within ±2% of the final value. (5
Marks)
c) A system consists of a first-order element linked to a second-order element without
interaction. The first-order element has a time constant of 5 seconds and a steady-state gain
constant of 0,4. The second-order element has an undamped natural frequency of 8 rad/s, a
damping ratio of 0.25 and a steady-state gain constant of 2. If a ramp input of slope 10 units is
 applied to the system, find an expression for the time response. Assume zero initial conditions.
(6 Marks)
d) The closed loop transfer function of a control system is given by:
C( s) 6( s+ 3)
=
R( s) (s+8)( s2 + 4 s +8)

Find the impulse response of this system. (4

Marks)

QUESTION FIVE
a) Determine the resonant frequencyω r , resonant peak M r and Bandwidth for the control
C( s) 5
system whose transfer function is given by: = 2
R( s) s + 2 s+5
(6 Marks)
b) Check the stability of the system which has the following characteristic equations:
(i) s4 + 2 s3 + s2 + 4 s +2=0 ,
(ii) 4 s 4 +2 s 3 +4 s 2+24 s +12=0 ,
(iii) s4 + 2 s3 + s2 +2=0 ,
(iv) 4 s 4 + s2 + 4 s +2=0 ,
(v) s4 + 2 s3 + s2 + 4 s=0 , (6 Marks)
c) Given the characteristic equation:
K
1+ 2 =0
s (s +s +2)
Find the value of the proportional controller gain K1, in which K=16K1 to make the system
(i) just unstable
(ii) stable. (4
Marks)
d) Draw the block diagram of a second order control system incorporating Proportional plus
Integral plus Derivative control (PID), obtain the expression for the actuating signal and also its
transfer function. (4
Marks)
QUESTION SIX
a) The open loop transfer function of a unity feedback (ufb) system is given by:
K
G ( s )=
s (τs+ 1)
(i) By what factor should the amplifier gain K be multiplied so that the damping ratio is
increased from 0.25 to 0.75?
(ii) By what factor should K be multiplied so that the maximum overshoot of step response is
reduced from 90% to 10%? (8
Marks)
b) The closed loop transfer function of a control system is given by:
C( s) 16
=
R( s) ( s¿¿ 2+1.6 s+16)¿
 Determine the derivative feedback constant Kt and compare the rise time, peak time,
maximum overshoot and steady state error for a unit ramp input with and without derivative
feedback control, if it is desired to have the damping ratio of 0.8.
(6 Marks)
c) Sketch the root locus of
K
G ( s ) H ( s )= (6 Marks)
s( s+2)( s2 +8 s+20)

QUESTION SEVEN
K e− s
a) A feedback system has an open-loop transfer function of G ( s ) H ( s )=
s(s2 +5 s+9)
Determine by use of Routh Criterion, the maximum value of K for the closed loop system to be
stable. (4
Marks)
b) The output of a control system is related to the its input by
{s 4 +2 s 3+ 2 s2 + ( 3+ K ) s+}C ( s )=K ( s +1 ) R (s) where K represents the positive gain of an amplifier.
(i) With K=6 and a step input, will the output response be stable?
(ii) Determine the limiting positive value that K can have for a stable output response. (6
Marks)
c) The open loop transfer function of a feedback control system is given by
K
G ( s ) H ( s )= 2
s( s+ 4)( s +2 s +2)
Using the Routh criterion determine the range of K for which the system will be stable
If a zero at s=-4 is added to the forward transfer function, how is the stability affected? (4 Marks)
d) Ascertain the stability of the system given by the characteristic equation
s6 +3 s5 +5 s 4 + 9 s3 +8 s2 +6 s+ 4=0 (6 Marks)