EE370/01

Examination No. 2 Kuwait University Electrical Engineering Department

Fall 2006/07

Name

Student I. D. : . Signature : .

Problem No. 1 2 3 4 Total

Grade 25 25 25 25 100

Problem 1 (25 points): A) (10 points) Sketch the root locus for the unity negative feedback system with the open k ( s 4) loop transfer function G ( s) ( s 2)( s 4) B) (10 points) Find the breakaway point and/or the break in point C) (5 points) Find the point where the root locus crosses the jw-axis

Problem 2 (25 points): Use the following root locus for a unity negative feedback system to answer the following questions.
Root Locus

2.5 2 1.5 1 0.5

Imaginary Axis

0 -0.5 -1 -1.5 -2 -2.5 -10

-8

-6

-4
Real Axis

-2

A) (5 points) Find the range of k for which the system is stable? B) (5 points) Can you find the value of k that will yield zero steady state error for a step input (yes or no)? Why? C) (5 points) Show the point on the root locus where the steady state error due to a ramp input is minimum? D) (5 points) can you find the value of k so that the peak time of the system is 0.1 sec (yes or no)? Why? E) (5 points) choose the simplest type of controller to yield 4 sec settling time? Do not design the controller. Problem 3 (25 points): Use the root locus technique to design a PID controller for the unity 1 negative feedback system with open loop transfer function G ( s) to yield: ( s 2)( s 4) Zero steady state error due to a step input 0.6 settling time 10% overshoot. Show all the design steps. Problem 4 (25 points): Given G ( s)

( s 2) , use asymptotic approximations to ( s 4)( s 1) A. (10 points) Sketch the Bode plot of the magnitude B. (10 points) Sketch the Bode plot of the phase C. (5 points) Consider kG( s) , find the value of k so that the phase margin of the closed loop system is zero.

EE370/01

Examination No. 2 (50 minutes) Kuwait University Electrical Engineering Department

Fall 2008/09

Name

Student I. D. : . Signature : .

Problem No.

Grade

/ 25

/ 25

/ 25

/ 25

Total

/ 100

Problem 1 (25 points): Sketch the root locus of the unity negative feedback system with the open s 2 2s 2 loop transfer function G ( s) . Find the jw -axis crossing and the gain k 0 at the ( s 4)( s 5) crossing.

Problem 2 (25 points): Use the asymptotic approximation technique to sketch the Bode plots of s3 . Show on the plots: the slope of each line, the gain margin, and the phase G( s) s ( s 1) ( s 5) margin of the feedback system?

1 . Use the ( s 4) ( s 5) ( s 23) root locus technique to design a controller that yields 0.05 steady-state error?
Problem 3 (25 points): Given the open loop transfer function G( s)

Root Locus 50

40

30

20

System: sys Gain: 6.84e+003 Pole: 0.0546 + 15.1i Damping: -0.00362 Overshoot (%): 101 Frequency (rad/sec): 15.1

10

Imaginary Axis

-10

-20

-30

-40

-50 -70

-60

-50

-40

-30 Real Axis

-20

-10

10

20

1 . Use the root s( s 5)(s 8) locus technique to design a lead controller to yield 20% overshoot and 0.8 sec peak time?
Problem 4 (25 points): Given the open loop transfer function G( s)

EE370/51

Examination No. 2 (50 minutes) Kuwait University Electrical Engineering Department

Spring 2009

Name (Arabic) Student I. D. Signature

: : . : .

Problem No.

Grade

/ 35

/ 30

/ 35

Total

/ 100

Problem 1 (35 points): For the unity negative feedback system with the open loop transfer function . a) (20 points) Sketch the root locus b) (5 points) Use the root locus to tell if the feedback system is stable or not when Why? c) (5 points) Find the breakaway and/or break-in points d) (5 points) Find the angles (in degree) of departure from poles

Problem 2 (30 points): For the unity negative feedback system with open-loop transfer function . Use the root locus technique to design a lead controller will yield a settling time 1.5 seconds and a peak time 0.6 second. Assume the value of ? that

Problem 3 (35 points): Given the Bode plots for a plant in a unity negative feedback system. Answer the following: a) (5 points): Is the feedback system stable? Why? b) (15 points): Find the gain margin, the phase margin, and the plant bandwidth? c) (5 points): Find the output (of the feedback system at steady state) when the reference signal is sin(10t ) ? d) (5 points): Estimate the damping ratio? e) (5 points): What is the maximum gain you can multiply the plant and still keep the feedback system stable?

Bode Diagram

10 0 -10
Magnitude (dB) Phase (deg)

-20 -30 -40 -50 -60 0 -45 -90

-135 -180 -225 -270 -1 10 10

0
Frequency (rad/sec)

10