KEMENTERIAN RISET, TEKNOLOGI, DAN PENDIDIKAN TINGGI

UNIVERSITAS DIPONEGORO
FAKULTAS TEKNIK
DEPARTEMEN TEKNIK MESIN
LEMBAR SOAL
UJIAN AKHIR SEMESTER GENAP TA 2017/2018

Mata Kuliah :TMS21414 Teknik Pengaturan Program Studi: S1

Hari/Tgl : Selasa /5 Juni 2018 Sifat : Closed book/note. No HP.
Calculator ok.
Waktu : 10.10 sd 11.40 (90 menit) Pengampu: Dr. Joga D. Setiawan

Instructions:
- Write your Name and NIM on each page.
- Write Your Final Answers inside boxes. No score is given if a box is empty.
- Show all calculations/derivations. You may write them on extra papers provided
- Submit all your work including this problem set.

1. A plant has the response, c(t), to a unit step, a(t)=u(t) as shown in Fig 1.

Fig 1. Time response of a plant

(20 pts)
a. Estimate the system’s time constant, 2% settling time, % overshoot and steady state gain.

= sec Ts = sec PO = K=

b. Estimate the system’s damped natural frequency.

(5 pts)
𝜔𝑑 = rad/sec

1
2. The forward path transfer function (KG) of a unity feedback system shown in Fig. 2.

R(s) + E(s) C(s)


-

Fig 2. Time response of a plant

was measured for K = 1. The frequency response of G(s) is shown by the Bode Diagram in Fig. 3.

Fig 3. Bode Diagram p.581

(5 pts)
a. Is the closed-loop system stable at K=10? YES or NO (circle one)
Why ?

(5 pts)
b. What is the closed-loop systems’ Phase margin? PM= deg
Show and label it in Fig. 3.

2
 c. What is the maximum closed-loop stable value of K? Kmax =
Show how you get this from Fig. 3.
(10 pts)

d. For K=1, what is the maximum stable time delay can be added to the closed loop system ?

Tdmax = sec (10 pts)

50
3. Using the plant transfer function 𝐺(𝑆) = in the block diagram shown in Fig. 2.
𝑠(𝑠+3)(𝑠+6)

a. Determine the characteristic equation of the closed-loop system

Char’s Eq. (5 pts)

b. Show how you use Routh-Hurwitz criterion to determine the range of K that makes the system stable.

Stable range of K (20 pts)

3
4. The Root-locus diagram of the system in Problem no 3 is shown in Fig 4. Explain the time response
phenomena that can occur as we increase the proportional Gain K from 0 to infinity.

b
a

Fig 4. Root-locus Diagram

Hint: evaluate its stability, speed of response and frequency of oscillation in each range value of K

K= 0

0 < K < Ka

Ka <K < Kb

Kb < K < infinity

(20 pts) 4