Assiut University

Automatic Control (1)

Faculty of Engineering
Final Exam 28/12/2013
Mechatronics &Robotics Program
Time Allowed 3 hours
The table of Laplace transform is allowed
Answer all the following questions
1-a Mark the correct answer with and the wrong answer with X and correct the wrong
answer:
(5 points)
(I). The refrigerator is a closed loop temperature control process.
(II). The operation of P-control action with Type-1 process results in ess=0.
(III).Increase of controller gain improves the system relative stability.
(IV). The controller function is to regulate the process output.
(V). The open loop system is absolute stable.
1-b Select the correct answer from the following ( a, b, or c)
(2.5 points)
1- Damping ratio of a measuring system determines its
(a) Steady state response
(b) Transient response
(c) None of the above
2- Time constant is the time required for a system to reach ------ of its final value in
response to step input.
(a) 90 %
(b) 63.2%
(c) 73%
3-The recommended Maximum overshot Mp of a second order system is
(a) 50-70 %
(b) 5-15 %
(c) l-1.5 %
4-The phase margin for stable system
(a) Negative
(b) Zero
(c) Positive
5-The PD- controller
(a) Gives fast response

(b) Increases the

e ss

(c) Decreases

e ss

2- Consider the unity feedback control system shown in Figure 1.

(a) Draw the Bode diagram of the open- loop transfer function.
(b) Determine the phase margin and the gain margin.
(c) Determine the value of k that makes the system gain margin 8 dB, and the
corresponding phase margin
(10 points)

2500 R(s) +
.
( s 5)( s 50)
-

C(s)

1
S

Fig. 1
3- A load added to a truck results in a force
the support spring, and the tire flexes as shown
in Figure 2(a).The model for the tire movement
is shown in Figure 2(b).Determine the transfer
function X1(s)/F(s).
(5 points)

F
X
1

X
2

4- A tank level control system is shown in fig 3. It is desire to

Fig. 2 regulate the level
h2(t) where the input voltage of the system is r(t) .the output
voltage of sensor is
c(t), the voltage energizes the solenoid is va(t). The solenoid has resistance R and inductance
L. The solenoid producing a force proportional to the current in the solenoid fs(t)= ks i(t) and
the force acts on the masse M, damping B, and restraining spring K. The input flow to process
is q (t)=KV y(t) where KV is the gain of the valve. The P-controller transfer function is
Gc(s)=KC .The gain of the transducer is Kt
A-Draw the system block diagram and obtain the closed loop transfer function
H2(S)/R(S)
(10 points)
va(t)
i(t)

M
B
K

q(t)

y(t)

q1(t)

q 2(t)

Fig. 3
5-Consider the control system shown in Figure 4, and consider that Td (s)=0,
(a) What is the type of the system?, why?
(b) Find the range of the gain Ka to satisfy the system stability.
(c) Determine the static velocity error constant when the value of Ka = 4.
(d) Find

e ss

when the input is unit step when the value of Ka = 4.

(e) Find the unit step response of the plant with a PD-controller
system gain Ka = 1.

G PD ( S ) S 20

with
(10 points)

Fig. 4