EEE3005/0809/07pg/Req:HO/2xShortAB 1/6

UNIVERSITY OF SURREY©
Faculty of Engineering and Physical Sciences

ELECTRONIC ENGINEERING PROGRAMMES

For BEng and MEng Degrees

Level HE3 Modular Examination

Module EEE3005

CONTROL ENGINEERING

Duration: 2 Hours Spring 2008/09

READ THESE INSTRUCTIONS

Answer THREE questions.

You must answer AT LEAST ONE QUESTION FROM EACH SECTION

USE A SEPARATE ANSWER BOOK FOR EACH SECTION

On the front sheet of EACH answer book, complete the list of questions attempted
in that book in the order they appear. Then draw a line below this list and add the
question numbers you have attempted in the other answer book.

3 cycle log-linear paper and Nichols charts are provided

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SECTION A

A1
A closed-loop control system consists of a plant and compensator with unity gain negative
feedback. The open-loop response is that of an overdamped second order system with a d.c.
gain of 12 dB, a damping ratio of 3/√5 and an undamped natural frequency of √5 rads s-1.

4
(a) Show that the transfer function for the open-loop system is .
( s + 1)(0.2 s + 1)
[20%]

(b) Draw the straight line asymptote approximations to the open-loop Bode and Nichols plots
for the system.
[45%]

(c) Determine how much additional gain should be included in the forward path for stable closed-
loop operation with a peak closed-loop gain of +3 dB. What is the resonant frequency in this
case?
[20%]

(d) If pure time delay is included, determine its value to just destabilize the closed-loop system
(with the additional gain).
[15%]

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A2

(a) Determine the open-loop and closed-loop transfer functions for the control system shown in
figure A2. Using an open-loop Bode plot and straight line asymptote approximations
determine a minimum value for the system gain K to give a gain margin ≥ 10 dB and a
phase margin ≥ 45o. What is the system type and steady-state error constant in this case?
[60%]

(b) Design lag compensation to give a steady-state velocity error constant of 10 sec-1. The
compensator should not significantly affect the closed-loop dynamic performance of the
system in part (a). Carefully explain your design approach.
[40%]

K 1
+_
s ( s + 5)

1
s +1

Figure A2

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A3
(a) Show that the open-loop pulsed transfer function for the sampled data system shown in figure
A3 is given by:
C ( z ) K (1 − e − aT )
=
E ( z ) a( z − e −aT )
where T is the sampling period.
[40%]

(b) Determine the closed-loop pulsed transfer function for the system given the plant parameters
K = 0.5 sec-1, a = 0.5 sec-1 and sampling period T = 1 sec. Using the final value theorem,
calculate the steady state output in response to a unit step.
[35%]

(c) Sketch the z-plane root locus plot given the values of a and T in part (b) and
hence, or otherwise, determine K for which the system is marginally unstable. .

[25%]

E (s )
R(s) E*(s) 1 − e − sT K C(s)
+_
s s+a
T

Figure A3

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SECTION B

B1
a) Consider a second order system with complex poles, - σ ± jωd, where ωd is the damped
natural frequency. Write down the standard form of the transfer function of the second
order system, and hence determine expressions for σ and ωd in terms of undamped
natural frequency ωn and damping ratio ζ.
[25%]

b) A DC motor speed control is described by the differential equation x + 50 x = 500v − 1000w

where x is the motor speed, v is the armature voltage and w is the load torque. The
armature voltage v can be assumed to be a PI controller given by
t
v = −( K1 x + K 2 ∫ xdt )
0

where K1 and K2 are gain constants.

(i) Show that the transfer function X(s)/W(s) is given by

− 1000s
s + 50(1 + 10K1 ) s + 500K 2
2

[25%]

(ii) Find values of K1 and K2 that give an undamped natural frequency ωn = 50√2
radians sec-1, and damping ratio ζ = 1/√2. For these values of K1 and K2
determine the real part σ of the corresponding complex poles.

[25%]

(iii) If the specification of the speed control system of part (i) is given by the rise time
(10 – 90 %) tr ≤ 0.02 secs and a peak overshoot of Mp ≤ 17%. Find the corresponding
constraints on ωn and ζ and determine whether the speed control system described
in part (ii) is within specification.
[25%]

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B2

a) With reference to the state-space equations of a linear system, explain the concepts of
controllability and observability matrices.
[20%]

b) A simplified model for the control of a flexible robotic arm consists of a spring (spring
constant k N/m) and mass (m kg). If y is the displacement of the mass from its
equilibrium position and θ is the displacement of the end of the spring from its
equilibrium position, the equation that relates y to M,k,θ is given by
My = k (θ − y )
i) Write equations of motion in state space form, using state variables
x1 = y and x 2 = y .
[20%]
k
ii) If = 600 N/m/kg, design a full-state feedback controller that will place the
M
closed loop poles of the system at -10 ± 10j.
[30%]
iii) Design an estimator with roots at -50 ± 50j.
[30%]

Examiners: N Emerson
T Windeatt

External Examiners: A Walton

S Watts

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