Old Second Exams

Problem-1 (6pts)

 Given the dynamical system below with a P-controller installed in the loop.
a. Find the controllers gain to make the system conditionally stable
b. Find the steady state error for a step
response
c. Find the effects of the zeros (s+1)(s+2) for a
step input (do not solve)

Problem-2 (8pts)

 For the given car a Jordan University bright student decided to develop a new Auto-Parker car parking
system that will stop a car at a fixed distance from the end wall in a garage. A mini radar system with a
P-controller is used to monitor the distance from the wall as the car approaches, and to slow it to a
stop at a distance 𝑥𝑝𝑎𝑟𝑘 . Assuming the control system regulates the propulsive force Fp(t). If the car is
too close the engine will generate a reverse force and move the car back. Finally, a control on the car
dashboard allows the driver to select the desired distance to park 𝑥𝑝𝑎𝑟𝑘 . Assuming the car mass is M
and there is a friction between the car’s tires and the street with a damping coefficient C.

a. Derive a transfer function G(s) for the open-loop car, relating the distance travelled, to the engine
command φ(t), where F(t)=Ke φ(t)

b. Draw a block diagram of the feedback control system using the quantities depicted above. Then derive
the closed-loop transfer function for the position control problem with a proportional controller with
gain Kp.
c. Using whatever method you like to determine whether there will be a steady-state error in the
response x(t) to a constant command 𝑥𝑝𝑎𝑟𝑘
d. Rework the problem for velocity control at 𝑥𝑝𝑎𝑟𝑘 , that is to have a desired velocity at that point. Then
find the steady state error and compare your results with part d (provide only physical point of view
not your opinion!)
Problem-3 (6pts)

𝜃(𝑆) 5
 Given the following Motor Operated Valve (MOV) system. A DC motor system = is used to actuate
𝑉𝑖(𝑆) 𝑆(10𝑆+1)
a mechanical butterfly valve, assume its linearized mathematical model is given as 𝑞𝑖𝑛 (𝑡) = 100𝜃(𝑡).
𝑄𝑖𝑛 (𝑆)
a. Find the overall transfer function for the tank level system 𝐺(𝑆) = 𝑉𝑖(𝑆)

b. If possible develop a servo system (i.e. closed loop tracking system) with a unity feedback and a P-
controller with overshoot <5% and settling time<2sec (5% criterion).

Problem-I (15pts)

I. Given the following inverted pendulum, which is driven by a cart that

has 10g mass. Assuming the rod is massless with L=0.5m, do the following
a. Drive a Mathematical model (DEs), where theta is the output and F is
the input (Hint neglect translational motion for the first mass)
𝜃

𝜃(𝑆)
b. Neglecting the second mass (M2<<M1) Find the systems transfer function 𝐹(𝑆)
c. Assuming a force actuator of the form
𝐹(𝑆) 2
𝑈(𝑆)
= 𝑆+5 where u(t) is the controllers
output, develop a proper controller to
stabilize the system. For a bonus Tune
it using Ziegler Nichols closed loop
method