Middle East Technical University

Mechanical Engineering Department

1956


ME 304 CONTROL SYSTEMS
Spring 2011
Sections 01, 02, 04

Course Instructors: Dr. Tuna Balkan, Dr. Blent E. Platin, Dr. Yiit Yazcolu

SOLUTIONS OF MIDTERM EXAMINATION II

May 18, 2010
Time Allowed: 110 minutes
Open Notes and Books
All questions are equally weighted



Student No. : ..
Name :
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E

ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazcolu Page 1
PROBLEM 1
Consider a closed loop control system with an ideal sensor where the plant transfer function has the
following form:
( )
) s 2 s )( p s (
p
s G
2
n n
2
2
n
p
e + ,e + +
e
=
The poles and zeros of the open loop transfer function of this system (together with the controller G
c
(s) ) are
shown in the complex plane below.
a) State the ranges of the controller parameters for the stable operation of this closed loop control
system.
b) Is it possible to attain a stability margin of
s
2 using the given controller type? Explain why or
why not.

Solution:
Part a)
From given information we can deduce the following
( ) 1 s H = , ( ) s K K s G
d p c
+ = , 2 p = , and
( )
) s 2 s )( p s (
p
s G
2
n n
2
2
n
p
e + ,e + +
e
= , where 1
n
= ,e and 1 1
2
n d
= , e = e .
From which we can find
( )
s
rad
2
2
d
2
n n
= e + ,e = e and
2
1 1
n
=
e
= , .
Therefore the plant transfer function becomes
( )
4 s 6 s 4 s
4
s G
2 3
p
+ + +
= .
The closed loop transfer function for the system with ideal sensor is
X
X
X O
Im(s)
Re(s)
j
-j
-1
-2 -K
p
/K
d

K
p
> 0
K
d
> 0
0
ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazcolu Page 2
( )
( )
( )
( ) ( )
( ) ( )
( ) ( ) 4 K 4 s 6 K 4 s 4 s
K 4 s K 4
s G s G 1
s G s G
s R
s C
s M
p d
2 3
p d
p c
p c
+ + + + +
+
=
+
= = .
Due to Hurwitz criterion
0 6 K 4
d
> + 5 . 1 K
d
> but 0 K
d
> already.
0 4 K 4
p
> + 1 K
p
> but 0 K
p
> already.
Due to Routh criterion
) 4 K 4 )( 1 ( ) 6 K 4 )( 4 (
p d
+ > + 5 K 4 K
d p
+ <
Alternatively, one can use Routh criterion alone as follows
0 4 K 4
p
> + but 0 K
p
> already.
) 4 K 4 )( 1 ( ) 6 K 4 )( 4 (
p d
+ > + 5 K 4 K
d p
+ <

Part b)
To test 2 >
s
substitute 2 = z s into
( ) ( ) ( ) 4 4 6 4 4
2 3
+ + + + + =
p d
K s K s s s D to obtain
( ) ( ) ( ) ( )( ) ( ) ( ) ( )
d p d p d
K K z K z z K z K z z z D 8 4 4 2 2 4 4 2 6 4 2 4 2
2 3 2 3
+ + + = + + + + + = .
Since ( ) z D fails the Hurwitz test due to 2 as the coefficient of s
2
, the system can not have a stability
margin of 2 for any value of the controller parameters.
ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazcolu Page 3
PROBLEM 2
The block diagram representation of a
feedback control system and its response to
a unit step input are shown in the figures.
0 1 2 3 4 5 6 7 8 9 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
Time [s]
c
(
t
)

a) Determine the numerical values of peak time, maximum percent overshoot, and steady-state
error from the response plot.
b) Determine the numerical value of the steady-state gain of the feedback control system from
the plot.
c) Determine the numerical value of the controller gain K
p
used to obtain such a response.
d) Determine the transfer function of the plant; that is, numerical values of a
0
and a
1
.
e) The control system designer wants to improve relative stability of this feedback control
system by setting the maximum percent overshoot to 5%. Show the possible locations of
closed-loop poles of the feedback control system in complex s-plane satisfying this
requirement.
Solution:
a) t
p
=1.4 s,
p
p p
ss
c(t )
1.2
1 1 0.50, M 50%
c 0.8
c = = = = , e
ss
=1c
ss
=10.8=0.2
b) From the figure, the steady-state gain K is 0.8 since the input is unit step and the steady-state
value of the output is 0.8.
c) The closed-loop transfer function of the system is
p 0
2
1 p 0
K a
G(s)
s a s (1 K )a
=
+ + +
with a steady-
state gain of
p
p
K
K
1 K
=
+
which is equal to 0.8 from the figure for a unit step input. Thus,
K
p
=4.
d) For
2
1
p
0.50 e
,
t
,
c = = , 0.22 , = and for
p
2
d
n
t 1.4
1
t t
= = =
e
e ,

n
e =2.3 rad/s
R(s)
E
+

K
p

0
2
1 0
a
s a s a + +

C(s)
Controller
Plant
ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazcolu Page 4
2
p 0
n
2 2 2
1 p 0 n n
K a
K
G(s)
s a s (1 K )a s 2 s
e
= =
+ + + + ,e + e

1 n
a 2 2*0.22*2.3 1 = ,e = = and
2 2
2 n
p 0 n 0
p
2.3
(1 K )a a 1
(1 K ) (1 4)
e
+ = e = = =
+ +

Thus,
0
p 2 2
1 0
a 1
G (s)
s a s a s s 1
= =
+ + + +

e) For
2
1
p
0.05 e
,
t
,
c = = 0.69 , = and
2
1
1
tan 46.4

| |
,
| | = =
|
,
\ .



Re
Im
0
=46.4
ME304(Sections01,02,04)/11S/MT2-Solutions/Balkan,Platin,Yazcolu Page 5
PROBLEM 3
Responses of five different systems are given below to a unit step input. For each system, mark
possible location(s) of their pole(s) (with ) and zero(s) (with o).

Unit Step Response Poles and zeros of G(s)
0 2 4 6 8 10
-5
-4
-3
-2
-1
0
1
2
3
4
5
StepResponse
Time (sec)
A
m
p
litu
d
e

StepResponse
Time (sec)
A
m
p
litu
d
e
0 2 4 6 8 10 12 14 16
0
0.1
0.2
0.3
0.4
0.5
0.6

0 2 4 6 8 10 12
-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
3
StepResponse
Time (sec)
A
m
p
litu
d
e

0 2 4 6 8 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
StepResponse
Time (sec)
A
m
p
litu
d
e


0 5 10 15 20 25 30 35 40
-20
-15
-10
-5
0
5
10
15
20
StepResponse
Time (sec)
A
m
p
litu
d
e


Im
Re
0
splane
Im
Re
0
splane
Im
Re
0
splane
Im
Re
0
splane


o








Im
Re
0
splane

o

o