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Faculty of Engineering
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
CAUTIONS:
1. Only the calculators with basic functions are allowed. Data storing type calculators are not allowed.
2. Turn off your cell phone and put it away, in your pocket or in your bag. Keep it off the sight.
3. It is your obligation to have your answer sheet not to be seen by others. You should not let your papers be seen
by others in order not to face penalties.
QUESTION 1.
An electrical circuit is given on the right. The values of
capacitors and resistors are given as;
C1 5.6 F , C2 0.1 F ,
R1 360 k ,
R2 220 k
SOLUTION
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
QUESTION 2.
(a). Obtain the transfer function of the block
diagram given in figure
SOLUTION
(a). First re-arrange the block diagram, so that the loops can be combined.
T1
G2G3
1 G2G3 H 3
T2 T1G4
G2G3G4
1 G2G3 H 3
G2G3G4
G3
T2G3
1 G2G3 H 3
G2G3G4G3
T2
T2
T3
H
G3 T2 H 2 G3 T2 H 2
G2G3G4
1 T2 2
G3
H 2 G3 1 G2G3 H 3 G2G3G4 H 2
G3
G3
1 G2G3 H 3
G2G32G4
T3
,
G3 G2G32 H 3 G2G3G4 H 2
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
G1G2G32G4
T4 G1T3
G3 G2G32 H 3 G2G3G4 H 2
G1G2G32G4
G3 G2G32 H 3 G2G3G4 H 2
G1G2G32G4
T4
T5
G1G2G32G4
1 T4 H1
G3 G2G32 H 3 G2G3G4 H 2 G1G2G32G4 H1
1
H
1
G3 G2G32 H 3 G2G3G4 H 2
T ( s ) T5
G1G2G3 G4
1 G2G3 H 3 G2G4 H 2 G1G2G3 G4 H1
Forward paths:
M 1 G1G6
1 =1-(-G 3 H1 -G 5 H 2 ) 1 G 3H1 +G 5 H 2
M 2 G1G7G3G8G5
2 =1-(0)=1
M 3 G1G7G3G4G5
3 =1-(0)=1
M 4 G1G2G3G8G5
4 =1-(0)=1
M 5 G1G2G3G4G5
5 =1-(0)=1
T (s)
T ( s)
M
i
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
QUESTION 3.
Find the followings for the transfer function given on the right.
a. A detailed simulation diagram.
b. Mark the sate variables on the simulation diagram of part (a).
c. Obtain State equations of this system.
d. Obtain the output equation of this system.
SOLUTION
C (s)
s2 7s 2
3
R( s ) s 9 s 2 26 s 24
Separate the transfer fubction into two pieces as given below
Input equations:
output equations:
R( s ) s 3 9 s 2 26 s 24 Z ( s )
Y (s) s 2 7 s 2 Z (s)
y (t )
z 7 z 2 z
r (t )
z 9
z 26 z 24 z
z 9
z 26 z 24 z r
(b). Mark the sate variables on the simulation diagram of part (a).
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
1
0 x1 0
x1 0
x 0
0
1 x2 0 r
2
x3 24 26 9 x3 1
x3 24 x1 26 x2 9 x3 r
(d). Obtain the output equation of this system.
From figure above;
x1
c 2 7 1 x2
x3
c(t ) 2 x1 7 x2 x3
UYARI:
There may be infinite number of simulation diagram for the transfer function given. This simulation diagram obtained here is
called Control Canonic Form of the state equations. Another form called Observer Canonic form may also be applied.
For example;
C (s)
s2 7s 2
3
R( s ) s 9 s 2 26 s 24
Multiply both numerator and denominator by s-3
C (s)
s 1 7 s 2 2 s 3
R( s ) 1 9 s 1 26 s 2 24 s 3
Then apply Masons gain formula to obtain the followings.
x1 9 1 0 x1 1
x 26 0 1 x 7 r
2
2
x3 24 0 0 x3 2
x1
c 1 0 0 x2
x3
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
QUESTION 4.
The state-space model of a physical system is shown on the right.
The initial state vector x(0) is given as x1(0)=1 and x2(0)=0. The input u(t) is a
unit step .
a.
b.
c.
d.
SOLUTION
a.
1 s
1 0 0
( sI A) s
=
0 1 8 6 8
1
s 6
s 1
( s ) det
s 2 6s 8
8 s 6
(b). Find the state-transition matrix using Laplace transformation
(d). Obtain transfer function of this system for C=[1 0] and D=0.
Use following formula to obtain transfer function.
T (s)
Y (s)
1
C sI A B D
U (s)
1 x1 (t ) 0
x1 (t ) 0
x (t ) 8 6 x (t ) 1u (t )
2
2
ELKE315-ELKH315
Introduction to Control Systems
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
QUESTION 5.
The locations of the poles of a second order system is shown in figure on
the right.
a. Write down the numerical values of the poles
b. Obtain the damping ratio
c. Obtain natural frequency
d. Obtain damping frequency
e. Obtain the time constant
f. Obtain the settling time
g. Obtain the characteristic equation.
SOLUTION
a. Write down the numerical values of the poles
s1=-2+j2
and
s2==-2-j2
= 0.707
n 2 2
n 22 22 8 (4)(2) 2 2
d. Obtain damping frequency
d n 1 2 2 2 1 0.7072 2 2
(0.5) 2
d 2
1
1
1
0.5
n (0.707)2 2 2
1
0.5 sec.
2
4
1
4 2
n
2
ts 4 2 sec.