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THE UNIVERSITY OF NEW SOUTH WALES

SCHOOL OF ELECTRICAL ENGINEERING AND
TELECOMMUNICATIONS

ELEC3114
Control Systems
Sample/Practice Final Examination

SECOND SESSION 2014

• Time Allowed: 3 hours.

• Reading time allowed: 10 minutes.
• This examination is CLOSED-BOOK. NO study materials (electronic or printed) permitted.
• This paper contains this page and 9 other pages containing four (4) Questions and a list of
formulas. There is a total of 10 pages including this page.
• Total marks available: 60.
• This exam represents 60% of the total course assessment.
• All questions are NOT of EQUAL value. Answer ALL questions.
• All questions must be answered in answer booklet.
• Answer each of the four questions in a separate booklet.
• This paper MAY NOT be retained by the candidate.
• Print your name and student ID, and signature in the spaces provided above.
• Authorised examination materials: students are allowed to bring UNSW approved calculators
only.
• All answers must be written in ink. Except where they are expressly required, pencils may
be used only for drawing, sketching or graphical work.
QUESTION 1 (17 marks)

Consider the feedback system in Figure 1, where

10(s2 + 0.2s + 1) s + 0.01
G(s) = 2
; C(s) = .
s(s + 1.2s + 9) s(s + 0.1)
and let H(s) = C(s)G(s).

Figure 1: Feedback control system

!
Answer the following questions

(a) What is the system type of this system?

(1 mark)
(b) You are told that the closed-loop system is stable. What are the steady state errors for
r(t) = 1, t, t2 , respectively?
(3 marks)
(c) For H(s), list the break frequencies in ascending order (do not include poles at the
origin as break frequencies).
(3 marks)
(d) For H(s), determine all asymptotes for the Bode magnitude plot.
(3 marks)
(e) Calculate the magnitude in dB of all normalised first order components of H(s) at their
respective break frequencies. Exclude components with a pole at the origin.
(1 mark)
(f) Calculate the second order corrections at the break frequency for each normalised second
order component in H(s).
(2 marks)
(g) Using your answers to sub-questions (c) - (f), sketch the approximate Bode magnitude
and phase plots of H(s) on the graph paper provided, and include your graph paper
with the Bode plots in your answer booklet for this question.
(4 marks)

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QUESTION 2 (14 marks)

Consider the feedback system in Figure 2, where

3
G(s) =
s(s + 1)2

and K > 0.

Figure 2: Proportional control system

(a) ! Is the open-loop transfer function G(s) stable?

(2 marks)

(b) At which frequencies ! other than ! = ±1 will the Nyquist plot intersect the negative
real axis?
(2 marks)

(c) Sketch the Nyquist plot for G(s), use the result from part (b).
(3 marks)

(d) Based on the Nyquist plot for part (c), for which values of K is the closed-loop system
stable?
(3 marks)

(e) What is the gain margin of this system (in dB) if K is set to the value K = 1/3?
(2 marks)

(f) Use Routh’s stability test to determine the region for K where the closed-loop system
in Figure 2 is stable.
(2 marks)

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 QUESTION 3 (19 marks)

Consider a plant with the transfer function

s + 10
G(s) = .
s2 (s + 8)
placed in a unity feedback loop with a controller as in Figure 3 .

R(s) + U(s) Y(s)

" K C(s) G(s)
"
! ! !
! !
!
! !Figure 3: Unity feedback
! system.
Answer the following questions:
d
e
(a) Where must the dominant closed-loop poles be placed so that the closed-loop system
r approximate peak time!"!"Tp = ⇡/3 seconds and approximate
will have !"
y damping ratio
⇣ = 0.1? #"
(2 marks)
!"
s+z1 !"
(b) Design the gain K > 0 and a lead controller CLead (s) = s+p 1
with p1 = 2 so that the
dominant poles in part (a) lie on the root locus of CLead (s)G(s).
(3 marks)
(c) Determine the part of the root locus of CLead (s)G(s) that is on the real axis.
(1 mark)
(d) Determine the departure angle of the root locus of CLead (s)G(s) from the pole at s = 0.
(1 mark)
(e) Find the angles of the asymptotes of the root locus of CLead (s)G(s) and the point from
which they radiate.
(2 marks)
(f) Determine the critical stability points at which the root locus of CLead (s)G(s) intersect
the imaginary axis.
(3 marks)
(g) The root locus of of CLead (s)G(s) has no break-in or breakaway points other than
at s = 0. Using the answers from sub-questions (c) to (f), sketch the root locus of
CLead (s)G(s) on the graph paper provided. Include your graph paper with the root
locus plot in your answer booklet.
(2 marks)
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(h) For K and CLead (s) as determined in part (b), design a lag compensator of the form
s+z2
CLag (s) = s+p 2
with p2 = 0.01 such that the closed-loop sytem in Figure 3 with C(s) =
CLag (s)CLead (s) will have Ka = 20.
(2 marks)

(i) Using the Routh-Hurwitz criterion, show that the compensator KC(s) =
KCLag (s)CLead (s) that you have designed in parts (b) and (h) yields a stable closed-loop
system.
(3 marks)

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QUESTION 4 (10 marks)

Consider a plant with the second order state-space representation

 
0 1 0
ẋ(t) = x(t) + u(t)
8 6 1
⇥ ⇤
y(t) = 2 1 x(t)

Answer the following questions:

(a) What is the transfer function of this system?

(2 marks)

(b) Is the system stable?

(2 marks)

(c) Is it possible to design an observer such that the observer poles can be placed anywhere
you want? Explain your answer. Moreover, if you answer ‘yes’ then design the observer
⇥ ⇤T
gain L = l1 l2 so that your observer poles are at s = 3 ± 4j. On the other hand,
if you answer ‘no’, what is the restriction on the coefficients of the desired observer
closed-loop characteristic polynomial d(s) that can be realised?
(3 marks)

(d) Design a state-feedback compensator with integral control with state-feedback gain
K = [ k1 k2 ] and integrator gain Ke so that the dominant closed-loop poles are at
s = 4 ± 3j and the third pole is at s = 25.
(3 marks)

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LIST OF FORMULAS

Figure 4: Laplace transforms of some common signals.

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 Figure 5: Laplace transform properties.

⇡ ⇡ p
(⇣⇡/ 1 ⇣2)
Tp = p = ; %OS = e ⇥ 100;
!n 1 ⇣2 !d
p
ln(%OS/100) ln(0.02 1 ⇣ 2) 4
⇣ = q ; Ts = ⇡
2 2 ⇣!n ⇣!n
⇡ + ln (%OS/100)

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 Figure 6: Normalised rise time !n tr vs damping ratio ⇣

✓m (s) Kt /(Ra Jm ) K T ea
= ⇣ ⇣ ⌘⌘ ; t = stall ; Kb = .
Ea (s) K K
s s + J1m Dm + Rt a b Ra ea !no load

✓ ◆ ✓ ◆
1 1 1 1 1
!max = p ; max = tan p= sin ,
T 2 1+
q p
1
|Gc (j!max )| = p ; !BW = !n (1 2⇣ 2 ) + 4⇣ 4 4⇣ 2 + 2
q p q p
4 ⇡
!BW ⇡ (1 2⇣ 2 ) + 4⇣ 4 4⇣ 2 + 2; !BW = p (1 2⇣ 2 ) + 4⇣ 4 4⇣ 2 + 2);
Ts ⇣ Tp 1 ⇣ 2
0 1
1 2⇣
MP = p ; M = tan 1 @ q p
A;
2⇣ 1 ⇣ 2 2⇣ 2 + 1 + 4⇣ 4
P P
finite poles finite zeros (2k + 1)⇡
a = ; ✓a =
#finite poles #finite zeros #finite poles #finite zeros
m
X Xn
1 1
= .
+ zi + pi
1 1

Y (s) 1
T (s) = = C(sI A) B + D;
U (s)
ẋ = (A BK)x + Br,
y = Cx.

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 ⇥ ⇤
CM = B AB A2 B . . . An 1B ,
2 3
C
6 CA 7
6 7
6 2 7
OM = 6 CA 7 ,
6 .. 7
4 . 5
CAn 1

(t) = eAt ,
Z t
x(t) = (t)x(0) + (t ⌧ )Bu(⌧ )d⌧,
0
y(t) = Cx(t) + Du(t),
    
ẋ A 0 x B 0
= + u+ r,
ẋN C 0 xN 0 1

⇥ ⇤ x
y = C 0
xN

⇥ ⇤ x
u = Kx + Ke xN = K Ke ;
xN

x̂˙ = Ax̂ + Bu + L(y ŷ),

ŷ = Cx̂,

ėx = (A LC)ex ,
y ŷ = Cex
   
ẋ A
BK BKe x 0
= + r,
ẋN C 0 xN 1

⇥ ⇤ x
y = C 0 .
xN

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End of paper.