Karadeniz Technical University ELKE315-ELKH315

Faculty of Engineering Introduction to Control Systems

Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
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
a. Find transfer function V0(s)/Vi(s) for this system.
b. Describe the structure of the transfer function briefly
and make a short (1 or two sentences) comment about
it such as where and why this circuit can be used.

SOLUTION
 Karadeniz Technical University ELKE315-ELKH315
Faculty of Engineering Introduction to Control Systems
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours
QUESTION 2.

(a). Obtain the transfer function of the block

diagram given in figure

(b). Use Masons Gain Formula and obtain the

transfer function of the signal flow graph
given in figure. Other solutions will not be
accepted.

SOLUTION
(a). First re-arrange the block diagram, so that the loops can be combined.

G2G3 G2G3G4
T1 T2 T1G4
1 G2G3 H 3 1 G2G3 H 3
G2G3G4
G3
T2 T2 T2G3 1 G2G3 H 3 G2G3G4G3
T3
H 2 G3 1 G2G3 H 3 G2G3G4 H 2
H G3 T2 H 2 G3 T2 H 2 G2G3G4
1 T2 2 G3
G3 G3 1 G2G3 H 3
 Karadeniz Technical University ELKE315-ELKH315
Faculty of Engineering Introduction to Control Systems
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

G2G32G4 G1G2G32G4
T3 , T4 G1T3
G3 G2G32 H 3 G2G3G4 H 2 G3 G2G32 H 3 G2G3G4 H 2

G1G2G32G4
T4 G3 G2G32 H 3 G2G3G4 H 2 G1G2G32G4
T5
1 T4 H1 G1G2G32G4 G3 G2G32 H 3 G2G3G4 H 2 G1G2G32G4 H1
1 H
G3 G2G32 H 3 G2G3G4 H 2
1

G1G2G3 G4
T ( s ) T5
1 G2G3 H 3 G2G4 H 2 G1G2G3 G4 H1

(b). Use Masons Gain Formula and obtain the transfer

function of the signal flow graph given in figure. Other
solutions will not be accepted.

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

=1- -G 3 H1 -G 5 H 2 G2G3G4G5 G2G3G8G5 G7G3G4G5 G7G3G8G5 G 6 H 3

+ -G 3 H1 -G 5 H 2

=1- -G 3H1 -G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 + G 3 H1G 5 H 2

=1+G 3H1 +G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 +G 3 H1G 5 H 2

M i i
T (s) i

G1G6 1 G 3H1 +G 5 H 2 G1G7G3G8G5 G1G7G3G4G5 G1G2G3G8G5 G1G2G3G4G5
T (s)
1+G 3H1 +G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 +G 3H1G 5 H 2

G1G6 G1G6 G 3 H1 +G1G6 G 5 H 2 G1G7G3G8G5 G1G7G3G4G5 G1G2G3G8G5 G1G2G3G4G5

T ( s)
1+G 3H1 +G 5 H 2 G2G3G4G5 H 3 G2G3G8G5 H 3 G7G3G4G5 H 3 G7G3G8G5 H 3 G6 H 3 +G 3 H1G 5 H 2
 Karadeniz Technical University ELKE315-ELKH315
Faculty of Engineering Introduction to Control Systems
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
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
(a). A detailed simulation diagram. 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)
Get the inverse Laplace y (t )
z 7 z 2 z
transformation with the initial
conditions set to zero.

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).
 Karadeniz Technical University ELKE315-ELKH315
Faculty of Engineering Introduction to Control Systems
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
FINAL EXAM 12.01. 2013
Time required: 1.5 Hours

(c). Obtain State equations of this system.

From figure above; x1 0 1 0 x1 0
x1 x2 x 0 0 1 x2 0 r
2
x2 x3 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(t ) 2 x1 7 x2 x3
c 2 7 1 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.

Observer Canonic form.

State and output equations

x1 9 1 0 x1 1 x1
x 26 0 1 x 7 r
2 2 c 1 0 0 x2
x3 24 0 0 x3 2 x3
 Karadeniz Technical University ELKE315-ELKH315
Faculty of Engineering Introduction to Control Systems
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
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.

x1 (t ) 0 1 x1 (t ) 0
x (t ) 8 6 x (t ) 1u (t )
The initial state vector x(0) is given as x1(0)=1 and x2(0)=0. The input u(t) is a
unit step . 2 2
a. Find the characteristic equation of this system.
b. Find the state-transition matrix using Laplace transformation
c. Solve the state-transition matrix for x(t).
d. Obtain transfer function of this system for C=[1 0] and D=0.

SOLUTION
a. Find the characteristic equation of this system.

The characteristic equation is the determinant of (sI-A)

1 0 0 1 s 1
( sI A) s =

0 1 8 6 8 s 6
s 1
( s ) det s 2 6s 8
8 s 6
(b). Find the state-transition matrix using Laplace transformation

(c). Solve the state-transition matrix for x(t).

(d). Obtain transfer function of this system for C=[1 0] and D=0.

Use following formula to obtain transfer function.

C sI A B D
Y (s) 1
T (s)
U (s)
 Karadeniz Technical University ELKE315-ELKH315
Faculty of Engineering Introduction to Control Systems
Department of Electrical and Electronics Engineering
Prof. Dr. smail H. ALTA
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

b. Obtain the damping ratio

=tan-1(2/2)=45o =cos = 0.707 = 0.707

c. Obtain natural frequency

n 22 22 8 (4)(2) 2 2 n 2 2
d. Obtain damping frequency

d n 1 2 2 2 1 0.7072 2 2 (0.5) 2

d 2
e. Obtain the time constant
1 1 1 1
0.5 0.5 sec.
n (0.707)2 2 2 2
f. Obtain the settling time
4 1
ts 4 4 2 ts 4 2 sec.
n 2
g. Obtain the characteristic equation.
( s ) ( s 2 j 2)( s 2 j 2)
=s 2 2 s j 2 s 2 s 4 j 4 j 2 s j 4 4
=s 2 4 s 8
( s )=s 2 4 s 8